CN112731415A - Multi-line laser radar detection system and method - Google Patents

Multi-line laser radar detection system and method Download PDF

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CN112731415A
CN112731415A CN202011505824.6A CN202011505824A CN112731415A CN 112731415 A CN112731415 A CN 112731415A CN 202011505824 A CN202011505824 A CN 202011505824A CN 112731415 A CN112731415 A CN 112731415A
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detection
photoelectric conversion
light emitting
emitting area
conversion pixel
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任玉松
罗先萍
林建东
李进强
秦屹
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Whst Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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Abstract

The invention provides a multiline laser radar detection system and a method, wherein the multiline laser radar detection system is applied to the technical field of radar detection and comprises the following steps: the device comprises a transmitting module, a receiving module and a main control module; the emitting module comprises a plurality of light emitting areas, the receiving module comprises a plurality of photoelectric conversion pixels, and a detection light beam emitted by each light emitting area correspondingly covers the plurality of photoelectric conversion pixels; the main control module controls the light emitting area to emit detection beams and controls and starts the photoelectric conversion pixels corresponding to the light emitting area while controlling the light emitting area to emit the detection beams; the photoelectric conversion pixel performs photoelectric conversion on the received detection light beam and sends an electric signal generated by the photoelectric conversion to the main control module; and the main control module determines the three-dimensional space information of the detection area of the multi-line laser radar according to the time of sending the detection light beam by the light emitting area and the time of receiving the electric signal. The system and the method for detecting the multi-line laser radar have simple design and can realize multi-line detection by one-time adjustment.

Description

Multi-line laser radar detection system and method
Technical Field
The invention belongs to the technical field of radar detection, and particularly relates to a multi-line laser radar detection system and a multi-line laser radar detection method.
Background
The multi-line laser radar can sense the surrounding three-dimensional environment, so that the multi-line laser radar is rapidly developed in recent years and becomes an industrial research hotspot. At present, the multi-line laser radar is realized by aligning a plurality of laser transmitters and a plurality of photoelectric conversion detectors one by one, the system is complex, the adjustment cost is high, and the production and the application of the multi-line laser radar system are greatly limited.
Disclosure of Invention
The invention aims to provide a multi-line laser radar detection system and a multi-line laser radar detection method, and aims to solve the technical problems that a multi-line laser radar system is complex and the adjustment cost is high in the prior art.
In order to achieve the above object, the present invention provides a multiline lidar detection system, including:
the device comprises a transmitting module, a receiving module and a main control module, wherein the transmitting module and the receiving module are arranged correspondingly, and the receiving module is connected with the main control module;
the emitting module comprises a plurality of light emitting areas which are arranged in an integrated mode, the receiving module comprises a plurality of photoelectric conversion pixels which are arranged in an integrated mode, and a detection light beam emitted by each light emitting area correspondingly covers the plurality of photoelectric conversion pixels;
the main control module is used for controlling the light emitting area to emit detection beams and controlling the light emitting area to emit the detection beams and simultaneously controlling and starting the photoelectric conversion pixels corresponding to the light emitting area;
the photoelectric conversion pixel is used for performing photoelectric conversion on the received detection light beam and sending an electric signal generated by the photoelectric conversion to the main control module; and the main control module determines the three-dimensional space information of the multi-line laser radar detection area according to the time of sending the detection light beam by the light emitting area and the time of receiving the electric signal.
Optionally, the transmitting module further comprises a first driving unit;
the first driving unit is respectively connected with the main control module and the transmitting module;
the first driving unit is used for receiving a first control signal sent by the main control module and controlling each light emitting area of the emitting module to independently emit the detection light beams or controlling at least one light emitting area to simultaneously emit the detection light beams according to the first control signal.
Optionally, the main control module includes a timing processing unit, a driving control unit, and a signal processing unit;
the drive control unit is used for controlling the light emitting area to emit the detection light beams and controlling and starting the photoelectric conversion pixels corresponding to the light emitting area while controlling the light emitting area to emit the detection light beams;
the signal processing unit is used for receiving the electric signal sent by the photoelectric conversion pixel, processing the electric signal and sending the processed electric signal to the timing processing unit;
the timing processing unit is used for starting timing when the drive control unit controls the light emitting area to emit the detection light beams, stopping timing when receiving the electric signals after signal processing, and determining the detection distance of each photoelectric conversion pixel according to timing time.
Optionally, the signal processing unit includes a plurality of transimpedance amplification units and at least one post-stage amplification unit;
the multiple mutual resistance amplifying units are correspondingly connected with the multiple photoelectric conversion pixels one by one, and the at least one post-stage amplifying unit is connected with the timing processing unit; and the plurality of mutual resistance amplifying units corresponding to each light emitting area are connected with the at least one post-stage amplifying unit in a one-to-one correspondence manner.
Optionally, the receiving module further includes a second driving unit;
the second driving unit is respectively connected with the main control module and the receiving module;
the second driving unit is used for receiving a second control signal sent by the main control module and starting the photoelectric conversion pixel corresponding to the light emitting area according to the second control signal.
Optionally, the transmitting module further includes a collimating optical element, and the receiving module further includes a condensing optical element;
the light emitting area emits a detection beam through the collimating optical element, and the photoelectric conversion pixel receives the detection beam through the condensing optical element.
Optionally, the focal lengths of the collimating optical element and the condensing optical element satisfy the following relationship:
Figure BDA0002844897960000031
wherein f islIs the focal length of the collimating optical element, fAN is the number of light emitting regions, W, for the focal length of the condensing optical elementlA width of a slow axis direction of each light emitting region, glA gap between two adjacent light emitting regions, W, not emitting lightl+glThe central distance between two adjacent light emitting areas; m is the number of photoelectric conversion pixels, WAFor the width of each photoelectric conversion pixel, gAA gap W between two adjacent photoelectric conversion pixels in which no light is emittedA+gAThe center distance between two adjacent photoelectric conversion pixel elements.
In order to achieve the above object, the present invention further provides a multiline lidar detection method based on the multiline lidar detection system, wherein the multiline lidar detection method comprises:
s11: setting k to 1, kmaxSetting the deflection angle of the detection beam as gamma and the maximum deflection angle of the detection beam as gamma for the number of the luminous areasmax；
S22: the main control module controls a kth luminous zone of the emission module to emit a detection beam with a deflection angle of gamma, and controls and starts a photoelectric conversion pixel corresponding to the kth luminous zone while controlling the kth luminous zone to emit the detection beam; the photoelectric conversion pixel performs photoelectric conversion on the received detection light beam and sends an electric signal generated by the photoelectric conversion to the main control module; the main control module determines the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area according to the time for sending a detection beam by the kth light emitting area and the time for receiving an electric signal, determines the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area, and records the detection distance and the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area as k-position angle information;
s33: if k is<kmaxThen, return to execute step S22;
s44: if k is not less than kmaxAnd gamma is<γmaxIf yes, let γ be γ + Δ γ, and return to step S22;
s55: if gamma is not less than gammamaxAnd the main control module determines the three-dimensional space information of the multi-line laser radar detection area according to the deflection angle information of all the detection beams and the obtained all the position angle information.
Optionally, the method for determining the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area is as follows:
Figure BDA0002844897960000041
wherein L isiIs the detection distance of the ith photoelectric conversion pixel, c is the speed of light, tkIs the light emitting time of the kth light emitting zone, tiFor the time when the ith photoelectric conversion pixel receives the detection light beam of the kth luminous zone, delta t is the circuit delay of the multi-line laser radar system;
the method for determining the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area comprises the following steps:
Figure BDA0002844897960000042
wherein, betaiIs the detection angle, h, of the ith photoelectric conversion pixeliIs the distance between the ith photoelectric conversion pixel and the main optical axis of the corresponding condensing optical element group, fAIs the focal length of the condensing optical element group corresponding to the ith photoelectric conversion pixel.
Optionally, after the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area, the method further includes a step of correcting the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area;
the step of correcting the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area comprises the following steps:
Figure BDA0002844897960000043
wherein L isieFor the corrected detection distance, L, of the ith photoelectric conversion pixeliThe detection distance before the correction of the ith photoelectric conversion pixel, c is the light speed, delta t1For the change of the leading edge time of the probe signal, Δ t, caused by the change of the signal width of the probe beam2The circuit delay variation of the multi-line laser radar system caused by temperature variation.
The multiline laser radar detection system and method provided by the invention have the beneficial effects that:
different from the scheme of realizing one-to-one alignment of a plurality of laser emitters and a plurality of photoelectric conversion detectors in the prior art, one light emitting area can cover a plurality of photoelectric conversion pixels. On the one hand, in terms of system complexity, the method effectively reduces the complexity of a multi-line laser radar detection system; on the other hand, in the aspect of system adjustment, a plurality of light emitting areas and a plurality of photoelectric conversion pixels are integrated, and multi-line detection can be realized through one-time adjustment. In other words, the invention effectively reduces the adjustment cost while reducing the complexity of the multi-line laser radar detection system.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-line lidar detection system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a four-transmit-sixteen-receive multiline lidar detection system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an eight-transmitter sixteen-receiver multiline lidar detection system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an eight-transmitter sixty-four-receiver multiline lidar detection system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a four-transmit-sixteen-receive multiline lidar detection system according to another embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a multi-line lidar detection system according to an embodiment of the present invention, where the multi-line lidar detection system includes:
the device comprises a transmitting module 10, a receiving module 20 and a main control module 30, wherein the transmitting module 10 and the receiving module 20 are correspondingly arranged, and the receiving module 20 is connected with the main control module 30.
The emitting module 10 includes a plurality of light emitting areas integrally arranged, and the receiving module 20 includes a plurality of photoelectric conversion pixels integrally arranged, and the detection light beam emitted by each light emitting area correspondingly covers the plurality of photoelectric conversion pixels.
The main control module 30 is used for controlling the light emitting area to emit the detection light beam and simultaneously controlling to start the photoelectric conversion pixel corresponding to the light emitting area.
The photoelectric conversion pixel is configured to perform photoelectric conversion on the received detection light beam, and send an electrical signal generated by the photoelectric conversion to the main control module 30. The main control module 30 determines the three-dimensional space information of the detection area of the multi-line lidar according to the time of sending the detection beam by the light emitting area and the time of receiving the electric signal.
In this embodiment, the main control module 30 can control each light emitting area to emit the detecting beam independently, and can also control at least one light emitting area to emit the detecting beam simultaneously.
In this embodiment, the emission module 10 may further comprise a collimating optical element through which the light emitting region emits the probe light beam. The receiving module 20 may further include a condensing optical element through which the photoelectric conversion pixel receives the detection beam.
Wherein, the emitting module 10 is a laser diode.
In the present embodiment, activating a photoelectric conversion pixel corresponding to a light emitting region means: and supplying power to the photoelectric conversion pixel corresponding to the light emitting area.
Preferably, the number of photoelectric conversion pixels covered by the detection light beam emitted by each light emitting region is the same, that is, the number of photoelectric conversion pixels corresponding to each light emitting region is the same.
As can be seen from the above description, in the present invention, one light emitting region may cover a plurality of photoelectric conversion pixel elements, unlike the prior art in which a plurality of laser emitters and a plurality of photoelectric conversion detectors are aligned one on another. On the one hand, in terms of system complexity, the method effectively reduces the complexity of a multi-line laser radar detection system; on the other hand, in system adjustment, the main control module can control a plurality of light emitting areas to emit light simultaneously, and multi-line detection can be realized through one-time adjustment. Therefore, the invention effectively reduces the adjustment difficulty while reducing the complexity of the multi-line laser radar detection system.
Optionally, as a specific implementation manner of the multiline lidar detection system provided by the present invention, the transmitting module may further include a first driving unit.
The first driving unit is respectively connected with the main control module and the transmitting module.
The first driving unit is used for receiving a first control signal sent by the main control module and controlling each light emitting area of the emitting module to independently emit the detection light beams or controlling at least one light emitting area to simultaneously emit the detection light beams according to the first control signal.
In this embodiment, the first driving unit may control each light emitting region of the emitting module to emit the detection beam independently according to the first control signal, or may control at least one light emitting region to emit the detection beam simultaneously according to the first control signal.
In this embodiment, the transmitting module may further include a first gating unit. The first gating unit is arranged between the first driving unit and the emitting module and used for gating the corresponding light emitting area in the emitting module according to the driving signal of the first driving unit (namely, supplying power to the corresponding light emitting area so as to enable the corresponding light emitting area to emit the detection light beam).
Optionally, as a specific implementation manner of the multi-line lidar detection system provided by the present invention, the main control module includes a timing processing unit, a driving control unit, and a signal processing unit.
The drive control unit is used for controlling the light emitting area to emit the detection light beams and controlling and starting the photoelectric conversion pixel corresponding to the light emitting area while controlling the light emitting area to emit the detection light beams.
The signal processing unit is used for receiving the electric signals sent by the photoelectric conversion pixel, processing the electric signals and sending the processed electric signals to the timing processing unit.
The timing processing unit is used for starting timing when the drive control unit controls the light emitting area to emit the detection light beams, stopping timing when the electric signals after signal processing are received, and determining the detection distance of each photoelectric conversion pixel according to the timing time.
In this embodiment, the driving control unit may simultaneously send two control signals, a first control signal is used to control the light emitting region to send out the detection light beam, and a second control signal is used to control the activation of the photoelectric conversion pixel corresponding to the light emitting region.
In this embodiment, the signal processing unit receives a current signal sent by the photoelectric conversion pixel, amplifies the current signal, converts the amplified current signal into a voltage signal, and amplifies the voltage signal to obtain an electrical signal after signal processing.
Optionally, as a specific implementation manner of the multiline lidar detection system provided by the present invention, the signal processing unit includes a plurality of transimpedance amplification units and at least one post-amplification unit.
The multiple mutual resistance amplifying units are correspondingly connected with the multiple photoelectric conversion pixels one by one, and at least one post-stage amplifying unit is connected with the timing processing unit; the multiple mutual resistance amplifying units corresponding to each light emitting area are connected with at least one post-stage amplifying unit in a one-to-one correspondence mode.
In this embodiment, the transimpedance amplification unit is configured to receive a current signal sent by the photoelectric conversion pixel, amplify the current signal, and convert the amplified current signal into a voltage signal; the post-stage amplifying unit is used for amplifying the voltage signal and outputting the amplified signal to the timing processing unit.
In this embodiment, the post-stage amplification unit may be provided with at least one signal processing channel, wherein the number of signal processing channels in the post-stage amplification unit is equal to the number of light emitting areas. The timing processing unit comprises at least one timing processing channel, and the number of the timing processing channels in the timing processing unit is equal to the number of the light emitting areas. That is, each transimpedance amplification unit corresponds to one photoelectric conversion pixel, and each photoelectric conversion pixel corresponding to each light emitting region corresponds to a different post-stage amplification unit. Wherein, the signal processing channel of the post-stage amplifying unit corresponds to the timing processing channel of the timing processing unit.
In this embodiment, in order to more conveniently implement the gating control of the signal, at least one second gating unit may be added to the signal processing unit, and the connection relationship inside the signal processing unit at this time is:
the multiple mutual resistance amplifying units are connected with the multiple photoelectric conversion pixels in a one-to-one corresponding mode, the at least one second gating unit is connected with the at least one post-stage amplifying unit in a one-to-one corresponding mode, and the at least one post-stage amplifying unit is connected with the timing processing unit. And the plurality of mutual resistance amplifying units corresponding to each light emitting area are connected with at least one second gating unit in a one-to-one correspondence mode.
In this embodiment, after the second gating unit is added, the second gating unit may set a plurality of gating channels, and at this time, the driving control unit may simultaneously send three control signals, where the first control signal is used to control the light emitting region to send the detection light beam, the second control signal is used to control and start the photoelectric conversion pixel corresponding to the light emitting region, and the third control signal is used to sequentially gate the gating channels of the second gating unit according to a preset sequence, so as to sequentially process each detection light beam.
Optionally, as a specific implementation manner of the multiline lidar detection system provided by the present invention, the receiving module further includes a second driving unit.
The second driving unit is respectively connected with the main control module and the receiving module.
The second driving unit is used for receiving a second control signal sent by the main control module and starting the photoelectric conversion pixel corresponding to the light emitting area according to the second control signal.
Optionally, as a specific implementation manner of the multi-line lidar detection system provided by the present invention, the focal lengths of the collimating optical element and the condensing optical element satisfy the following relationship:
Figure BDA0002844897960000091
wherein f islIs the focal length of the collimating optical element, fAN is the number of light emitting regions, W, for the focal length of the condensing optical elementlA width of a slow axis direction of each light emitting region, glA gap between two adjacent light emitting regions, W, not emitting lightl+glIs the center-to-center distance between two adjacent light emitting areas. m is the number of photoelectric conversion pixels, WAFor the width of each photoelectric conversion pixel, gAA gap W between two adjacent photoelectric conversion pixels in which no light is emittedA+gAThe center distance between two adjacent photoelectric conversion pixel elements.
On the basis of the above description, the angular resolution θ of the multiline lidar detection system is:
Figure BDA0002844897960000092
optionally, referring to fig. 2, as a specific implementation of the multi-line lidar detection system provided in the present invention, the embodiment takes a four-transmit-sixteen-receive system as an example to describe the multi-line lidar detection system of the present invention:
the emitting module in fig. 2 includes 4 light emitting areas, i.e., a light emitting area 111, a light emitting area 112, a light emitting area 113, and a light emitting area 114, and each light emitting area can be controlled by the first driving unit to emit light independently or at least one light emitting area can be controlled to emit light simultaneously. The light beam emitted by the light emitting area of the emitting module is collimated by the collimating optical element to form a detection light beam.
Fig. 2 includes 16 photoelectric conversion pixels, which are pixels 21a to 21p, and each pixel can be driven and controlled independently. The main control module comprises a driving control unit 311a, a timing processing unit 32 and a signal processing unit, wherein the signal processing unit comprises transimpedance amplification units 312a to 312p, second gating units 313a to 313d and post-stage amplification units 314a to 314 d. The driving control unit drives and controls the first driving unit, the second driving unit and the second gating unit. The timing processing unit 32 detects the time information of the received and transmitted signals, and processes the time information to obtain the position angle information.
When the driving circuit works, the control signals generated by the driving control unit 311a are divided into three paths, wherein the first control signal is sent to the first gating unit 311b, 311b gates four light emitting areas according to the first control signal, and the corresponding light emitting areas emit light; the second control signal controls and starts the photoelectric conversion pixel corresponding to the light emitting area; the third control signal is sent to the second gating units 313a to 313d, is used for gating corresponding channels of the second gating units 313a to 313d, receives the detection light beam received by the corresponding photoelectric conversion pixel, and outputs the electric signals after amplification processing to the four channels of the timing processing unit 32 respectively after amplification processing. The driving control unit 311a generates a driving signal (the driving signal is used for instructing each timing channel of the timing unit to start timing) while generating a control signal, the driving signal is divided into four channels which respectively enter the timing processing unit 32, and the four channels simultaneously record the light emitting time of each light emitting area. And the timing processing unit 32 obtains the light beam detection distance on the corresponding pixel field according to the time difference between the power-on signal and the driving signal of each channel.
The specific working process is as follows: for example, the first gating unit 311b gates the channel 1 to control the light emitting region 111 of the emitting module to emit light, the timing processing unit 32 records the light emitting time of the four channels at the same time, and controls the channel 1 gating of the second gating units 313a to 313d to gate the light, the corresponding four photoelectric conversion pixels convert the detected light signals into current signals, the corresponding complementary amplifying units 312a to 312d amplify the current signals output by the connected pixels into voltage signals, the voltage signals are amplified by the first gating unit and the subsequent amplifying units 314a to 314d, the amplified electric signals enter the timing processing unit 32 to be timed, and the timing processing unit 32 calculates the time difference between the power signals and the detected light beam signals of different channels, so as to obtain the light beam detection distance on the corresponding pixel field. And then, respectively controlling the channels 2-4 of the first gating unit 311b to gate (i.e. starting the light emitting zones 112-114), and simultaneously respectively controlling the corresponding channels of the second gating units 313 a-313 d to gate, so as to obtain the corresponding field detection distances of other pixels.
Fig. 3 is a schematic structural diagram of an eight-transmission sixteen-reception multiline lidar detection system according to an embodiment of the present invention, and fig. 4 is a schematic structural diagram of an eight-transmission sixty-four-reception multiline lidar detection system according to an embodiment of the present invention, and the working principle thereof is similar to fig. 2, and is not repeated here.
Optionally, as a specific implementation manner of the multi-line lidar detection system provided in an embodiment of the present invention, fig. 5 further shows a connection structure different from fig. 2 (where a difference between fig. 2 and fig. 5 is that the connection structure in fig. 2 supports time-sharing control, that is, in fig. 2, the main control module controls each light emitting area to emit a probe beam in a time-sharing manner, and the connection structure in fig. 5 supports simultaneous control, that is, in fig. 5, the main control module controls each light emitting area to emit a probe beam simultaneously), where a specific working process of the multi-line lidar detection system shown in fig. 5 may be:
the driving control unit 311a sends two control signals, wherein the first control signal controls the four light emitting areas 111-114 to send out detection beams at the same time, the second control signal controls the photoelectric conversion pixels 21 a-21 p corresponding to each light emitting area to be started, after the photoelectric conversion pixels 21 a-21 p receive the detection beams, the corresponding complementary amplification units 312 a-312 d amplify the current signals output by the photoelectric conversion pixels 21 a-21 p and convert the current signals into voltage signals, the voltage signals are amplified by the subsequent amplification units 314 a-314 d respectively, then the amplified electric signals enter sixteen channels of the timing processing unit 32 respectively for timing, and the timing processing unit 32 calculates the time difference between the power signals and the driving signals of different channels respectively to obtain the detection distance of the beams on the corresponding pixel field. The driving signal is an indication signal for the driving control unit 311a to control each light emitting area to emit the detection light beam, that is, the driving control unit 311a also emits a driving signal at the same time of emitting the first control signal, and the driving signal is used for indicating each channel of the timing processing unit 32 to start timing.
On the basis of the above embodiment, the present invention further provides a multiline lidar detection method based on the multiline lidar detection system, and the multiline lidar detection method includes:
s11: setting k to 1, kmaxSetting the deflection angle of the detection beam as gamma and the maximum deflection angle of the detection beam as gamma for the number of the luminous areasmax。
S22: the main control module controls a kth luminous zone of the emission module to emit a detection beam with a deflection angle of gamma, and controls and starts a photoelectric conversion pixel corresponding to the kth luminous zone while controlling the kth luminous zone to emit the detection beam. The photoelectric conversion pixel performs photoelectric conversion on the received detection light beam and sends an electric signal generated by the photoelectric conversion to the main control module. The main control module determines the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area according to the time of emitting a detection beam by the kth light emitting area and the time of receiving an electric signal, determines the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area, and records the detection distance and the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area as k-position angle information.
S33: if k is<kmaxThen, the execution returns to step S22.
S44: if k is not less than kmaxAnd gamma is<γmaxThen, let γ be γ + Δ γ, and return to step S22.
S55: if gamma is not less than gammamaxAnd the main control module determines the three-dimensional space information of the multi-line laser radar detection area according to the deflection angle information of all the detection beams and the obtained all the position angle information.
In this embodiment, the three-dimensional spatial information of the multiline lidar detection area is a set of spatial coordinates of detection points of the multiline lidar detection area, where the spatial coordinates of the detection points may be (L, β, γ), where L is a distance (i.e., a detection distance) between the detection points and the multiline lidar system, β is an angle (i.e., a detection angle) of the detection points relative to the multiline lidar system, and γ is a deflection angle of the detection beam corresponding to the detection points.
In this embodiment, the multiline lidar detection method may be further detailed as follows:
s11: setting the deflection angle of the detection beam as gamma and the maximum deflection angle of the detection beam as gammamax。
S22: the main control module controls each luminous zone of the emission module to simultaneously emit detection beams with a deflection angle of gamma, and controls each photoelectric conversion pixel to be started while controlling each luminous zone to emit the detection beams. The photoelectric conversion pixel performs photoelectric conversion on the received detection light beam and sends an electric signal generated by the photoelectric conversion to the main control module. And the main control module determines the detection distance of each photoelectric conversion pixel corresponding to each light emitting region according to the time of sending the detection light beam by each light emitting region and the time of receiving the electric signal.
S33: if gamma is<γmaxThen, let γ be γ + Δ γ, and return to step S22。
S55: if gamma is not less than gammamaxAnd then the main control module determines the detection angle of each photoelectric conversion pixel corresponding to each light emitting area, and determines the three-dimensional space information of the multi-line laser radar detection area according to the deflection angle information of all the detection beams, the detection angle of each photoelectric conversion pixel and the detection distance of each photoelectric conversion pixel.
Optionally, as a specific implementation manner of the multi-line lidar detecting method provided by the present invention, the method for determining the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area is as follows:
Figure BDA0002844897960000121
wherein L isiIs the detection distance of the ith photoelectric conversion pixel, c is the speed of light, tkIs the light emitting time of the kth light emitting zone, tiAnd delta t is the time when the ith photoelectric conversion pixel receives the detection light beam of the kth luminous zone, and is the circuit delay of the multi-line laser radar system.
The method for determining the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area comprises the following steps:
Figure BDA0002844897960000131
wherein, betaiIs the detection angle, h, of the ith photoelectric conversion pixeliIs the distance between the ith photoelectric conversion pixel and the main optical axis of the corresponding condensing optical element group, fAIs the focal length of the condensing optical element group corresponding to the ith photoelectric conversion pixel.
Optionally, as a specific implementation manner of the multi-line lidar detecting method provided by the present invention, after the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area, a step of correcting the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area is further included.
The step of correcting the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area comprises the following steps:
Figure BDA0002844897960000132
wherein L isieFor the corrected detection distance, L, of the ith photoelectric conversion pixeliThe detection distance before the correction of the ith photoelectric conversion pixel, c is the light speed, delta t1For the change of the leading edge time of the probe signal, Δ t, caused by the change of the signal width of the probe beam2The circuit delay variation of the multi-line laser radar system caused by temperature variation.
In the present embodiment, Δ t1Can be updated in real time according to the signal width of the detection beam, delta t2And the real-time updating can be carried out according to the temperature change.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A multiline lidar detection system, comprising:
the device comprises a transmitting module, a receiving module and a main control module, wherein the transmitting module and the receiving module are arranged correspondingly, and the receiving module is connected with the main control module;
the emitting module comprises a plurality of light emitting areas which are arranged in an integrated mode, the receiving module comprises a plurality of photoelectric conversion pixels which are arranged in an integrated mode, and a detection light beam emitted by each light emitting area correspondingly covers the plurality of photoelectric conversion pixels;
the main control module is used for controlling the light emitting area to emit detection beams and controlling the light emitting area to emit the detection beams and simultaneously controlling and starting the photoelectric conversion pixels corresponding to the light emitting area;
the photoelectric conversion pixel is used for performing photoelectric conversion on the received detection light beam and sending an electric signal generated by the photoelectric conversion to the main control module; and the main control module determines the three-dimensional space information of the multi-line laser radar detection area according to the time of sending the detection light beam by the light emitting area and the time of receiving the electric signal.
2. The multiline lidar detection system of claim 1 wherein the transmit module further comprises a first drive unit;
the first driving unit is respectively connected with the main control module and the transmitting module;
the first driving unit is used for receiving a first control signal sent by the main control module and controlling each light emitting area of the emitting module to independently emit the detection light beams or controlling at least one light emitting area to simultaneously emit the detection light beams according to the first control signal.
3. The multiline lidar detection system of claim 1 wherein the master control module includes a timing processing unit, a drive control unit, a signal processing unit;
the drive control unit is used for controlling the light emitting area to emit the detection light beams and controlling and starting the photoelectric conversion pixels corresponding to the light emitting area while controlling the light emitting area to emit the detection light beams;
the signal processing unit is used for receiving the electric signal sent by the photoelectric conversion pixel, processing the electric signal and sending the processed electric signal to the timing processing unit;
the timing processing unit is used for starting timing when the drive control unit controls the light emitting area to emit the detection light beams, stopping timing when receiving the electric signals after signal processing, and determining the detection distance of each photoelectric conversion pixel according to timing time.
4. The multiline lidar detection system of claim 3 wherein the signal processing unit includes a plurality of transimpedance amplification units, at least one post-amplification unit;
the multiple mutual resistance amplifying units are correspondingly connected with the multiple photoelectric conversion pixels one by one, and the at least one post-stage amplifying unit is connected with the timing processing unit; and the plurality of mutual resistance amplifying units corresponding to each light emitting area are connected with the at least one post-stage amplifying unit in a one-to-one correspondence manner.
5. The multiline lidar detection system of claim 1 wherein the receive module further includes a second drive unit;
the second driving unit is respectively connected with the main control module and the receiving module;
the second driving unit is used for receiving a second control signal sent by the main control module and starting the photoelectric conversion pixel corresponding to the light emitting area according to the second control signal.
6. The multiline lidar detection system of claim 1 wherein the transmit module further includes collimating optics and the receive module further includes condensing optics;
the light emitting area emits a detection beam through the collimating optical element, and the photoelectric conversion pixel receives the detection beam through the condensing optical element.
7. The multiline lidar detection system of claim 6 wherein the focal lengths of the collimating optics and the condensing optics satisfy the following relationship:
Figure FDA0002844897950000021
wherein f islIs the focal length of the collimating optical element, fAN is the number of light emitting regions, W, for the focal length of the condensing optical elementlA width of a slow axis direction of each light emitting region, glFor two adjacent hairsGaps between light zones, W, not emitting lightl+glThe central distance between two adjacent light emitting areas; m is the number of photoelectric conversion pixels, WAFor the width of each photoelectric conversion pixel, gAA gap W between two adjacent photoelectric conversion pixels in which no light is emittedA+gAThe center distance between two adjacent photoelectric conversion pixel elements.
8. Multiline lidar detection method based on the multiline lidar detection system of any of claims 1 to 7, comprising:
s11: setting k to 1, kmaxSetting the deflection angle of the detection beam as gamma and the maximum deflection angle of the detection beam as gamma for the number of the luminous areasmax；
S22: the main control module controls a kth luminous zone of the emission module to emit a detection beam with a deflection angle of gamma, and controls and starts a photoelectric conversion pixel corresponding to the kth luminous zone while controlling the kth luminous zone to emit the detection beam; the photoelectric conversion pixel performs photoelectric conversion on the received detection light beam and sends an electric signal generated by the photoelectric conversion to the main control module; the main control module determines the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area according to the time for sending a detection beam by the kth light emitting area and the time for receiving an electric signal, determines the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area, and records the detection distance and the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area as k-position angle information;
s33: if k is<kmaxThen, return to execute step S22;
s44: if k is not less than kmaxAnd gamma is<γmaxIf yes, let γ be γ + Δ γ, and return to step S22;
s55: if gamma is not less than gammamaxAnd the main control module determines the three-dimensional space information of the multi-line laser radar detection area according to the deflection angle information of all the detection beams and the obtained all the position angle information.
9. The multiline lidar detection method of claim 8 wherein the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting zone is determined by:
Figure FDA0002844897950000031
wherein L isiIs the detection distance of the ith photoelectric conversion pixel, c is the speed of light, tkIs the light emitting time of the kth light emitting zone, tiFor the time when the ith photoelectric conversion pixel receives the detection light beam of the kth luminous zone, delta t is the circuit delay of the multi-line laser radar system;
the method for determining the detection angle of each photoelectric conversion pixel corresponding to the kth light emitting area comprises the following steps:
Figure FDA0002844897950000032
wherein, betaiIs the detection angle, h, of the ith photoelectric conversion pixeliIs the distance between the ith photoelectric conversion pixel and the main optical axis of the corresponding condensing optical element group, fAIs the focal length of the condensing optical element group corresponding to the ith photoelectric conversion pixel.
10. The multiline lidar detection method of claim 8 further comprising the step of correcting the detection distance of each photoelectric conversion pixel corresponding to a kth light emitting area after the detection distance of each photoelectric conversion pixel corresponding to a kth light emitting area;
the step of correcting the detection distance of each photoelectric conversion pixel corresponding to the kth light emitting area comprises the following steps:
Figure FDA0002844897950000041
wherein L isieFor the corrected probe of the ith photoelectric conversion pixelMeasuring distance, LiThe detection distance before the correction of the ith photoelectric conversion pixel, c is the light speed, delta t1For the change of the leading edge time of the probe signal, Δ t, caused by the change of the signal width of the probe beam2The circuit delay variation of the multi-line laser radar system caused by temperature variation.
CN202011505824.6A 2020-12-18 2020-12-18 Multi-line laser radar detection system and method Pending CN112731415A (en)

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