CN116540205A - Processing module, laser radar, control method and device and storage medium - Google Patents
Processing module, laser radar, control method and device and storage medium Download PDFInfo
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- CN116540205A CN116540205A CN202210089919.7A CN202210089919A CN116540205A CN 116540205 A CN116540205 A CN 116540205A CN 202210089919 A CN202210089919 A CN 202210089919A CN 116540205 A CN116540205 A CN 116540205A
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- 238000012545 processing Methods 0.000 title claims abstract description 147
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- 238000003199 nucleic acid amplification method Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 description 14
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Classifications
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- 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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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the disclosure relates to the technical field of laser radars, and provides a processing module, a laser radar, a control method and device of the laser radar, and a storage medium. The processing module disclosed in the embodiment of the disclosure includes: the processing component is used for being connected with the receiving module and processing the electric signal generated by the echo signal received by the receiving module; the receiving module comprises a plurality of receiving channels; the switching component is used for switching the receiving channel which is electrically connected and conducted with the processing component according to the transmitting angle and the time difference between the initial transmitting time and the current time of the laser signal in the measuring period of the laser signal of the transmitting angle; wherein the echo signal is returned based on the laser signal; wherein the echo signal is returned based on the laser signal.
Description
Technical Field
The present invention relates to the field of lidar technologies, and in particular, to a processing module, a lidar, a method and apparatus for controlling the lidar, and a storage medium.
Background
The laser radar emits laser signals, and after the laser signals meet the measured object, the propagation direction of the laser signals is changed to form echo signals. After the returned echo signals are received by the laser radar, the range finding of the laser radar can be realized according to the transmitting parameters of the laser signals and the receiving parameters of the echo signals.
However, the change of distance between the object to be measured and the laser radar can generate the phenomenon of facula drift of echo signals, so that a plurality of receiving channels are introduced into the laser radar.
In some related art, multiple receiving channels are respectively connected to the processing module. However, it is found that although the laser radar can solve the problem of the spot drift of the echo signal, the laser radar with different receiving channels connected with different processing modules has a complex structure and high hardware cost.
In other related art, two receiving channels sharing a set of processing modules each receive a signal value of an echo signal, and determine which receiving channel receives the echo signal to process by comparing the signal value with a distance threshold value, and the like. Such a lidar by calculation of a signal value and a distance threshold has a problem in that the processing is complicated or more ranging delay is introduced because the processing is complicated.
Disclosure of Invention
The embodiment of the invention provides a processing module, a laser radar, a processing method, processing device equipment and a storage medium.
A first aspect of an embodiment of the present disclosure provides a processing module, including:
the processing component is used for being connected with the receiving module and processing the electric signal generated by the echo signal received by the receiving module; the receiving module comprises a plurality of receiving channels;
the switching component is used for switching the receiving channel which is electrically connected and conducted with the processing component according to the transmitting angle and the time difference between the initial transmitting time and the current time of the laser signal in the measuring period of the laser signal of the transmitting angle; wherein the echo signal is returned based on the laser signal.
Based on the above scheme, the processing assembly includes:
the amplifying module is used for amplifying the electric signals provided by the receiving module;
and the processing module is connected with the amplifying module and is used for receiving the electric signals amplified by the amplifying module and performing signal processing on the amplified electric signals.
Based on the above scheme, the processing module includes:
the analog-to-digital converter ADC is used for performing analog-to-digital conversion on the electric signal provided by the receiving module;
Or alternatively, the process may be performed,
and the time-to-digital converter TDC is used for outputting time information according to the electric signal provided by the receiving module.
Based on the above scheme, the amplifying module includes:
and the transimpedance amplifier TIA is used for converting the photocurrent provided by the receiving module into a voltage signal and amplifying the voltage signal.
Based on the above scheme, the amplifying module further includes:
and the operational amplifier is connected with the TIA and is used for discharging the amplified voltage signal output by the TIA and providing the voltage signal to the processing module.
Based on the scheme, the operational amplifier is a common operational amplifier shared by a plurality of receiving modules;
one of the TIAs is configured to connect with one of the receiving channels;
the switching component is specifically used for switching the TIA which is electrically connected and conducted with the operational amplifier according to the emission angle and the time difference between the initial emission time and the current time of the laser signal in the measurement period of the laser signal with the emission angle.
Based on the scheme, the amplifying module is a public amplifying module;
the switching component is specifically used for switching the receiving channel connected and conducted with the amplifying module according to the transmitting angle and the time difference between the initial transmitting time and the current time of the laser signal in the measuring period of the laser signal of the transmitting angle.
Based on the above scheme, one of the amplifying modules is used for being connected with one of the receiving channels;
the switching component is specifically used for switching the amplifying module which is electrically connected and conducted with the processing module according to the emission angle and the time difference between the initial emission time and the current time of the laser signal in the measurement period of the laser signal with the emission angle.
Based on the above scheme, the switching component is configured to query the receiving configurations of the receiving time windows of different receiving channels according to the j-th emission angle of the laser signal, determine the receiving time window containing the time difference according to the time difference between the current time and the starting emission time of the laser signal of the j-th emission angle, and conduct the electrical connection between the processing component and the receiving channel corresponding to the receiving time window containing the time difference.
Based on the above scheme, for the echo signal corresponding to the laser signal of the j-th emission angle, the receiving time window of the i-th receiving channel is:wherein, the liquid crystal display device comprises a liquid crystal display device,
the receiving angle corresponding to the maximum ranging distance of the receiving module is set;
the receiving angle corresponding to the minimum ranging distance of the receiving module is set;
N is the total number of the receiving channels;
d is the distance between the receiving module and the transmitting module for transmitting the laser signal;
θ j an emission angle value that is a j-th emission angle;
wherein i is a positive integer equal to or greater than 2.
A second aspect of an embodiment of the present disclosure provides a lidar comprising:
the transmitting module is used for transmitting laser signals;
the receiving module comprises a plurality of receiving channels and is used for receiving echo signals of the laser signals and outputting electric signals based on the received echo signals;
the processing module provided by any of the foregoing technical solutions is connected with the receiving module, and is configured to process an electrical signal provided by the receiving module.
Based on the above scheme, the transmitting optical axis of the transmitting module is different from the receiving optical axis of the receiving module.
A third aspect of an embodiment of the present disclosure provides a laser radar control method, including:
in a measurement period of a laser signal with an emission angle, determining a target receiving channel for receiving an echo signal at the current moment from a plurality of alternative receiving channels according to the emission angle and the time difference between the initial emission moment and the current moment of the laser signal;
the conduction processing module is electrically connected with the target receiving channel.
Based on the above-mentioned scheme, in the measurement period of the laser signal with one emission angle, according to the emission angle and the time difference between the initial emission time and the current time of the laser signal, determining a target receiving channel for receiving the echo signal at the current time from a plurality of candidate receiving channels, including:
inquiring a receiving configuration corresponding to the j-th emission angle according to the j-th emission angle of the laser signal, wherein the receiving configuration at least indicates receiving time windows of receiving the echo signals by different alternative receiving channels;
determining a receiving time window containing the time difference according to the time difference between the current time and the initial transmitting time of the jth transmitting angle;
and determining an alternative receiving channel corresponding to the receiving time window containing the time difference as the target receiving channel.
Based on the above scheme, for the echo signal corresponding to the laser signal of the j-th emission angle, the receiving time window of the i-th receiving channel is:wherein, the liquid crystal display device comprises a liquid crystal display device,
the receiving angle corresponding to the maximum ranging distance of the receiving module is set;
the receiving angle corresponding to the minimum ranging distance of the receiving module is set;
n is the total number of the receiving channels;
d is the distance between the receiving module and the transmitting module for transmitting the laser signal;
θ j an emission angle value that is a j-th emission angle;
wherein i is a positive integer equal to or greater than 2.
A fourth aspect of the disclosed embodiments provides a lidar control device, including:
the determining module is used for determining a target receiving channel for receiving the echo signal at the current moment from a plurality of alternative receiving channels according to the transmitting angle of the laser signal;
and the control module is used for conducting the electric connection between the processing module and the target receiving channel.
Based on the above scheme, the determining module is specifically configured to query, according to a j-th emission angle of the laser signal, a receiving configuration corresponding to the j-th emission angle, where the receiving configuration at least indicates a receiving time window in which the echo signal is received by different alternative receiving channels; determining a receiving time window containing the time difference according to the time difference between the current time and the initial transmitting time of the jth transmitting angle; and determining an alternative receiving channel corresponding to the receiving time window containing the time difference as the target receiving channel.
Based on the above scheme, for the echo signal corresponding to the laser signal of the j-th emission angle, the receiving time window of the i-th receiving channel is: Wherein, the liquid crystal display device comprises a liquid crystal display device,
the receiving angle corresponding to the maximum ranging distance of the receiving module is set;
the receiving angle corresponding to the minimum ranging distance of the receiving module is set;
n is the total number of the receiving channels;
d is the distance between the receiving module and the transmitting module for transmitting the laser signal;
θ j an emission angle value that is a j-th emission angle;
wherein i is a positive integer equal to or greater than 2.
A fifth aspect of embodiments of the present disclosure is a computer storage medium storing computer-executable instructions; the computer executable instructions, when executed by the processor, enable the implementation of a method for controlling a lidar according to any of the aspects of the third aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the beneficial effects that:
the processing module comprises: the switching component is used for switching the receiving channels which are electrically connected and conducted with the processing components according to the time difference between the starting moment and the current moment of emission in the measuring period of the laser signals of the emission angles, so that the processing components are shared by a plurality of receiving channels in the measuring period of the laser signals of the emission angles, and the processing components are connected relative to one receiving channel, the number of the processing components contained in the laser radar is reduced, the structure of the laser radar is simplified, the volume of the laser radar is reduced, and the hardware cost of the laser radar is reduced. Meanwhile, the processing component can only process the electric signal of one receiving channel at one moment, and has the characteristic of simple processing, so that more ranging delay can not be introduced due to the complexity of electric signal processing, and the advantage of high ranging efficiency is realized.
Drawings
FIG. 1 is a schematic diagram of a processing module according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a receiving channel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a processing module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lidar according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a receiving channel according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of laser signal transmission and reception of a laser radar according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a laser radar according to an embodiment of the present invention;
FIG. 8 is a schematic flow chart of a laser radar control method according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of a laser radar control method according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a lidar control device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
As shown in fig. 1, an embodiment of the present disclosure provides a processing module 01, where the processing module 01 includes:
the processing component 10 is used for being connected with the receiving module and processing the electric signals generated by the echo signals received by the receiving module; the receiving module comprises a plurality of receiving channels;
and the switching component 20 is used for switching the receiving channel which is electrically connected and conducted with the processing component according to the transmitting angle and the time difference between the initial transmitting time and the current time of the laser signal in the measuring period of the laser signal with the transmitting angle.
The receiving module may be an Avalanche Photodiode (APD) array. One of the receiving modules includes a plurality of receiving channels, and different areas of the APD array correspond to different receiving channels. As shown in fig. 2, different regions of the arrayed APD belong to different receive channels. The receiving channels may or may not have a Gap region between them. Fig. 2 shows a receive channel a and a receive channel B; as can be seen from fig. 2: receive channel a and receive channel B correspond to different regions of the APD array.
The echo signal is an optical signal, and is a signal that the laser signal is reflected back by an obstacle. The receiving module converts the optical signal into an electrical signal. The electrical signal includes, but is not limited to, a photocurrent.
The laser signal may be emitted by a laser emitter. For example, the transmitting module in the laser radar transmits laser signals with different transmitting angles according to the configuration file of laser transmission. The laser signals include, but are not limited to: a laser pulse signal.
The emitting module can emit laser signals of different angles, and the laser signal of one emitting angle can correspond to one measuring period. The receiving module receives the laser signal of the emission angle to act on the echo signal formed by the return of the measured object in the measuring period, and the distance measurement is completed according to the flight time of the signal. The receiving channels in electrical communication with the processing components may be different when the time difference is different during a measurement period of the laser signal at an emission angle. Thus, during a measurement period of an emission angle, different receiving channels may share a processing component.
The processing component 10 performs signal processing on the electrical signals converted by the receiving module.
The processing component processes the electrical signal provided by the receiving module, including but not limited to at least one of:
Amplifying signals;
signal denoising, including but not limited to: filtering crosstalk signals from the received echo signals;
conversion between different types of signals, e.g., conversion of analog signals to digital signals;
scaling between the electrical signal and various information used to calculate the ranging value, etc., which illustratively includes, but is not limited to, time information. The time information may include: and the time length information of the transmitting time of the laser signal and the receiving time of the received echo signal.
In the disclosed embodiments, the switching assembly 20 may include various control circuits and/or control chips, etc. The switching component 20 controls the receiving module connected with the processing component 10. The receiving module connected to the processing module 10 provides the processing module 10 with the electrical signal generated by the optical signal received by the receiving module, and the processing module 10 performs signal processing on the electrical signal provided by the receiving module. Thus, when the electrical connection between the processing component 10 and other receiving channels is conducted, the electrical signals provided by the other receiving channels are processed, so that the plurality of receiving channels share one processing component 10, the number of the processing components 10 is reduced, the size of the processing module is reduced, and the hardware cost of the processing module 01 is reduced. Meanwhile, the processing assembly 10 can only process the electric signal of one receiving channel at one moment, and has the characteristic of simple processing, so that more ranging delay is not introduced due to the complexity of electric signal processing, and the advantage of high ranging efficiency is achieved.
The switching assembly 20 has an electrical connection with the processing assembly 10 that is at least operable to transmit control signals to the processing assembly 10 that are operable to control the receiving channels to which the processing assembly 10 is connected.
In some embodiments, the switching component 20 and the processing component 10 may be integrally disposed, and illustratively, the switching component 20 and the processing component 10 may be located on the same printed circuit board (Printed Circuit Board, PCB) to form a System on Chip (SoC).
For example, separate interfaces are provided on the SoC, one of which may be used to electrically connect with one of the receive channels. The independent interface is provided with one or more connecting terminals (Pin). The PCB of the SoC has electrical connections thereon connecting the processing component 10 with each of the individual interfaces. These electrical connections have controlled switches thereon. The switching assembly 20 controls the on and off of the corresponding controlled switch according to the current emission angle of the laser signal, thereby controlling the on and off of the electrical connection between the processing assembly 10 and the receiving channel.
For another example, a common interface connected with a plurality of receiving modules is arranged on the SoC, and different connection terminals (pins) in the common interface are electrically connected with different receiving channels. The processing module 01 has electrical connections with the common interface, with controlled switches on these electrical connections. The switching assembly 20 may control the on and off of the corresponding controlled switch according to the emission angle of the laser signal, thereby controlling the on and off of the electrical connection between the processing assembly 10 and the receiving channel.
The aforementioned controlled switches include, but are not limited to, various transistors and the like.
In some embodiments, as shown in fig. 3, the processing assembly 10 includes:
an amplifying module 11, configured to amplify the electrical signal provided by the receiving module;
and the processing module 12 is connected with the amplifying module 11 and is used for receiving the electric signal amplified by the amplifying module 11 and performing signal processing on the amplified electric signal.
The amplification module 11 is at least applicable for amplifying an electrical signal. For example, the amplification module 11 may amplify photocurrents generated by the APD array detection optical signals.
Illustratively, the amplifying module 11 may include: an electronic component for amplifying the light current and/or an electronic component for amplifying the voltage after the light current conversion.
The processing module 12 is connected to the rear end of the amplifying module 11, and is used for performing signal processing on the electric signal amplified by the amplifying module 11.
The processing module 01 may comprise various application specific integrated circuits, a CPU or MCU, etc. In summary, the structure of the processing module 12 is not limited to any one of the above-mentioned structures.
In some embodiments, the processing module 12 includes:
an Analog-to-Digital Converter (ADC) for performing an Analog-to-digital conversion on the electrical signal provided by the receiving module;
Or alternatively, the process may be performed,
and a Time-to-Digital Converter (TDC) converter for outputting Time information according to the electric signal provided by the receiving module.
The receiving module converts the optical signal into an electrical signal, and the electrical signal is an analog signal; to facilitate subsequent computation and data storage, the ADC will convert the analog signal to a digital signal.
The TDC is a chip or integrated circuit with more functions, and can firstly convert an analog signal acquired by a receiving module into a digital signal, then further analyze and process the digital signal, and directly obtain time information. The time information can be converted by devices such as a programmable array to obtain the emission angle and/or the receiving angle of the laser signal corresponding to the ranging value, and the relative position between the measured object and the laser radar can be obtained.
The time information is a time series in the form of a digital signal, etc., which can be used for subsequent calculation of the range value of the lidar. Illustratively, the information includes, but is not limited to, time information. The time information may include: and the time length information of the transmitting time of the laser signal and the receiving time of the received echo signal.
The amplifying module 11 further includes: and a trans-impedance amplifier (trans-impedance amplifier, TIA) for converting the photocurrent provided by the receiving module into a voltage signal, and directly providing the amplified voltage signal to the processing module 12, or providing the voltage signal output by the TIA to the processing module 12 after further amplification.
Illustratively, the amplifying module 11 may further include: and the operational amplifier (operational amplifier, OPA) can amplify the electric signals in multiple stages, so that the electric signals can be conveniently converted by a subsequent circuit or chip to obtain the ranging value. The OPA is connected to the rear end of the TIA, and is configured to amplify the voltage signal output from the TIA in one or more stages, and then transmit the amplified voltage signal to the processing module 12 for processing. As shown in fig. 4, the processing assembly 10 includes: OPA and ADC, or alternatively, processing assembly 10 may include: OPA and TDC.
The TIA may convert a current signal corresponding to the photocurrent into a voltage signal, amplify the voltage signal, and output an amplified voltage signal, where the amplified voltage signal may be input to the OPA, which may further amplify the voltage signal.
In some embodiments, the processing module 12 may include an OPA. If the processing module 12 does not include OPA, the TIA may be integrated with a chip where the receiving module is located, and after the receiving module collects the photocurrent, the receiving module directly amplifies and converts the photocurrent through the TIA integrated with the receiving module, and then provides the voltage signal to the processing module 12 that does not include OPA for processing. At this time, if the TIA may be an independent TIA, that is, one TIA corresponds to one receiving channel, the switching component 20 is specifically configured to switch the TIA electrically connected to the processing module 12 according to the emission angle and a time difference between the initial emission time and the current time of the laser signal in a measurement period of the laser signal at the emission angle.
If a TIA is shared by multiple receiving channels, that is, a TIA is a common TIA shared by multiple receiving channels, the switching component 20 may switch the receiving channels connected with the TIA according to the emission angle and a time difference between an initial emission time and a current time of the laser signal in a measurement period of the laser signal at the emission angle.
In one embodiment, the operational amplifier may be a common operational amplifier shared by multiple receive modules;
one of the TIAs is configured to connect with one of the receiving channels;
the switching component 20 is specifically configured to switch the TIA electrically connected to the operational amplifier according to the emission angle and a time difference between an initial emission time and a current time of the laser signal in a measurement period of the laser signal with an emission angle.
In the embodiment of the present disclosure, the receiving modules do not share the TIA, but share the OPA, and at this time, the switching component 20 specifically controls the electrical connection between the OPA and the corresponding TIA to be turned on or off, so as to realize the switching of the receiving channels electrically connected to the processing component 11.
In some embodiments, the amplification module 11 is a common amplification module 11;
The switching component 20 is specifically configured to switch the receiving channel connected to the amplifying module 11 according to the emission angle and the time difference between the initial emission time and the current time of the laser signal in a measurement period of the laser signal with an emission angle.
In the embodiment of the present disclosure, the entire amplifying module 11 is a common amplifying module 11, and thus, the TIA and OPA included in the amplifying module 11 are shared by a plurality of receiving channels. At this time, the switching component 20 specifically controls the on or off of the electrical connection between the amplifying module 11 and the receiving channel according to the emission angle of the laser signal, so as to realize the switching of the receiving channel that is electrically connected with the processing component 10. Notably, are: the common amplification module 11 may include at least TIA; in some embodiments, the common amplification module may include: TIA and OPA connected to the TIA back-end.
If the amplifying module 11 in the processing assembly 10 is also a common amplifying module 11 shared by a plurality of receiving channels, the sharing of the whole processing assembly 10 by the plurality of receiving channels is realized, so that the electronic components used are further reduced, and the hardware cost is saved.
In some embodiments, one of the amplifying modules 11 is configured to connect with one of the receiving channels;
The switching component 20 is specifically configured to switch the amplifying module 11 electrically connected to the processing module 12 according to the emission angle and a time difference between an initial emission time and a current time of the laser signal in a measurement period of the laser signal with an emission angle.
That is, the amplifying module 11 in the processing assembly 10 is not shared by a plurality of receiving channels, but the processing module 12 in the processing assembly 10 is shared by a plurality of receiving channels, then the switching assembly 20 is specifically configured to switch on and off the electrical connection between the independent amplifying module 11 and the processing module 12 according to the emission angle of the laser signal, so as to switch the receiving channels to which the electrical connection between the processing assembly 10 is conducted.
In some embodiments, the switching component 20 is configured to query a receiving configuration of a receiving time window of the different receiving channels according to a j-th emission angle of the laser signal, determine the receiving time window including the time difference according to a time difference between a current time and a starting emission time of the laser signal of the j-th emission angle, and conduct an electrical connection between the processing component 10 and the receiving channel corresponding to the receiving time window including the time difference.
The receiving module may further include: a memory.
The memory stores a predetermined reception configuration. The switching component 20 specifically queries the receiving configuration according to the current emission angle of the laser signal, and controls the receiving modules connected to the processing component 10 according to the receiving configuration indicating the receiving time windows of the receiving modules.
Assuming that the APD array areas corresponding to different receiving channels may be the same or different, the receiving channels may divide the angle values of all the receiving angles corresponding to the one transmitting angle equally, and convert the angle values into receiving time windows and store the receiving time windows in the receiving configuration so as to facilitate the control component to switch the receiving channels electrically connected with the processing component according to the receiving configuration.
The reception configuration of the laser signal of one emission angle may map a plurality of reception time windows, and the reception configuration of the laser signal of a plurality of emission angles may be stored in the same configuration file or different configuration files. A kind of electronic device
As shown in fig. 5, the APD array of the photosensitive surface of the receiving module is divided into N regions, and the N regions respectively correspond to N receiving channels.
If a receiving time window is configured for each receiving module, the time difference between the current time and the initial transmitting time of the laser signal of the j-th transmitting angle transmitted by the laser transmitting module can be used. From which of the reception time windows of the plurality of reception channels contains the time difference, the reception channel containing the time difference may be the target reception channel that the processing component 10 currently needs to maintain electrical connection on.
In some embodiments, for the echo signal corresponding to the laser signal of the jth emission angle, the receive time window of the ith receive channel is:wherein, the liquid crystal display device comprises a liquid crystal display device,
a receiving angle corresponding to the maximum ranging distance of the receiving module
A receiving angle which is the minimum ranging distance of the receiving module;
n is the total number of the receiving channels;
d is the distance between the receiving module and the transmitting module for transmitting the laser signal;
θ j an emission angle value that is a j-th emission angle;
wherein i is a positive integer equal to or greater than 2.
In the above formula, R max The maximum ranging distance of the receiving module is obtained. R is R min Is the minimum ranging distance of the receiving module.
In the embodiment of the disclosure, the receiving modules and the transmitting modules are distributed at intervals, and the receiving optical axes of the receiving modules and the transmitting optical axes of the transmitting modules are not overlapped, namely the transmitting modules and the receiving modules are not coaxial. Since the transmitting module and the receiving module are not coaxial, R is preferable min Not equal to 0.R is R min The parameters of the structure and the components of the laser radar system are determined together, and when the value is smaller, the short-distance range blind area of the laser radar is smaller.
R j，i-1 Minimum distance measurement distance for receiving echo signal corresponding to jth transmitting angle for ith receiving channel and ith-1 th receiving channel The maximum ranging distance of the echo signal corresponding to the j-th transmitting angle; r is R j，i The maximum ranging distance of the echo signal corresponding to the j-th transmitting angle can be received for the j-th receiving channel.
The value of N may be any positive integer equal to or greater than 2. Illustratively, the value of N may be 4, 9, 16, 32, or 64, and the specific value of N may be determined according to the drift angles of the maximum ranging distance and the minimum ranging distance of the lidar.
Referring to fig. 6, the distance between the receiving module and the transmitting module is d; the emission angle of the laser emitted by the emission module is theta tx The method comprises the steps of carrying out a first treatment on the surface of the The x and x' can be the distance between the measured object and the connecting line between the transmitting module and the receiving module, namely the distance between the measured object and the laser radar.
The distance between the measured object and the laser radar is different, and then the receiving angles of the echo signals received by the receiving module are different, and the distances between the receiving module and the laser radar are x and x', and the receiving angles are respectively: θ rx And theta rx’ 。
Considering that d is smaller, the triangular ranging effect when the laser signal reaches the object to be measured and returns can be ignored, and the optical path length of the laser signal is considered to be 2x or 2x', so that the following functional relationship exists:
receiving angle change delta theta= |theta caused by change of distance measurement from x to x' rx' -θ rx I, if Δθ occurs>θ fov It is explained that after the drift of the echo signal, the receiving channels electrically connected to the processing component need to be switched, i.e. different receiving channels are needed for receiving at different distances x and x' for the same exit angle. θ fov Is the receiving field angle of one of the receiving channels. Thus, at R min Is received at an angle ofDistance R max When in useThe receiving angle is +.>The calculation formula is as follows:
the actual angle can then be calculated at R min To R max The angle change between them isAccording to the angle area theta of the photosensitive surface of each receiving channel fov A comparison is made with the angle change amount to see if the actual angle change amount requires different reception channel processing. For example, it may be determined whether a receive path that is electrically conductive to a processing component needs to be switched according to the following functional relationship:
if so, switching a receiving channel for receiving the echo signal; if not, the actual situation can be that only the current receiving channel receives the echo signal.
According to the actually acquired range and the angle range which is responsible for a single channel, determining how many receiving channels are needed to process, wherein the specific calculation formula is as follows:
For the situation that N receiving channels are required to process the whole range, the angle difference of the original ranging range mapping is required to be solved successivelyIs an inverse function of (c).
According toAnd under the condition of angle change, uniform distribution is carried out, namely the total receiving angle change quantity of the whole receiving module is as follows:
if the reception of the echo signal is to be optimized,
therefore, the receiving angle difference of two adjacent receiving channels is
The single pulse with a transmitting angle has a measuring period of T, and the following receiving time windows are all in a single measuring period from T 0 The moment starts. T (T) 0 Is the starting emission moment of a single pulse of one emission angle.
The 1 st receive channel is responsible for R min ,R 1 ) Wherein R is 1 The calculation process of (1) is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
the reception time window of the 1 st reception channel isWherein c is the speed of light.
By analogy: the i-th receiving channel has a receiving distance R i-1 ,R i ) Corresponding echo signals, where R i The calculation process of (1) is that
Wherein the method comprises the steps ofThe reception time window of the ith reception channel isWherein c is the speed of light.
The N-th receiving channel is responsible for ranging distance R N-1 ,R N ]And the receiving window of the Nth receiving channel isWherein c is the speed of light.
The 1 st receiving channel is in the receiving time window The 2 nd receive channel is in the receive time window +.>Received signal, … …, and ith receive channel in receive time window +.>Until the nth reception channel is within the reception time window +.>Is provided. And splicing the echo signals received by the N receiving channels in the time domain to obtain all echo signals of the laser signals transmitted by one transmitting angle.
As shown in fig. 7, an embodiment of the present disclosure provides a lidar including:
a transmitting module 02 for transmitting a laser signal;
the receiving module 03 comprises a plurality of receiving channels and is used for receiving echo signals of the laser signals and outputting electric signals based on the received echo signals;
the processing module 01 provided in any one of the foregoing technical solutions is connected to the receiving module 03, and is configured to process an electrical signal provided by the receiving module 03.
The transmitting module 02 may comprise at least one laser transmitter for transmitting laser signals. The transmitting module 02 transmits, for example, laser pulses. The measurement period of a laser pulse of one emission module 02 for one emission angle may be T, within which the emission module 02 continuously emits a laser signal equal to the emission angle. The laser signal encounters an obstacle such as a measured object, and the propagation direction changes, so that an echo signal received by the receiving module 03 is formed.
The receive module 03 may include multiple receive channels arranged side-by-side, which may correspond to different areas of the APD array, with different receive channels including different APDs.
The processing module 01 is shared by a plurality of receiving channels, the processing module 01 comprises a processing component and a switching component, only one receiving channel is electrically connected with the processing component at one moment, the receiving channel electrically connected with the processing component is a channel which is receiving echo signals at the current moment, so that detection of objects to be detected with different distances is realized through the arrangement of multiple channels, the processing module 01 is shared by a plurality of receiving channels on the basis of the processing module 01 comprising the switching component and the processing component, the number of the processing modules 01 contained in the laser radar is reduced, the hardware cost of the laser radar is reduced, and the characteristics of simplicity and convenience in electric signal processing and simplicity in distance measurement value calculation are realized.
In some embodiments, the emission axis of the emission module 02 is different from the reception axis of the reception module 03.
In the embodiment of the disclosure, the transmitting optical axis of the transmitting module 02 is different from the receiving optical axis of the receiving module 03, which indicates that the lidar is a paraxial lidar.
As shown in fig. 8, an embodiment of the present disclosure provides a laser radar control method, including:
s110: in a measurement period of a laser signal with an emission angle, determining a target receiving channel for receiving an echo signal at the current moment from a plurality of alternative receiving channels according to the emission angle and the time difference between the initial emission moment and the current moment of the laser signal;
s120: the conduction processing module is electrically connected with the target receiving channel.
In the embodiment of the disclosure, a target receiving channel to be conducted at the current moment is determined from a plurality of alternative receiving channels of the receiving module according to the transmitting angle of the laser signal and the time difference between the current moment and the laser starting transmitting moment of the transmitting angle. The controlled laser radar is the laser radar provided by any embodiment.
Illustratively, the time difference may be obtained by: starting a timer when starting to emit a laser signal with a certain emission angle; the current timing duration of the timer is the time difference between the current time and the initial emission time of the laser signal corresponding to the emission angle. By introducing the timer, the target receiving channel can be directly determined according to the timing of the timer without calculating the time difference, so that the method has the characteristic of simpler and more convenient realization.
Illustratively, S110 may include: and periodically determining a target receiving channel, wherein the period of the target receiving channel is determined to be smaller than or equal to the duration of the receiving time window of any receiving channel.
Also illustratively, S110 may include: and determining a target receiving channel in real time.
After the target receiving channel is determined, the electrical connection between the processing module and the target receiving channel is conducted, so that the processing module receives the electrical signal detected by the echo signal from the target receiving channel and performs signal processing on the electrical signal.
The receiving channels that may need to be electrically connected to the processing module at different time points are different, so S120 may include: and switching the receiving channel which is electrically connected with the processing module into the target receiving channel.
Therefore, the multi-receiving channel can share one processing module, so that the structure of the laser radar is simplified, and the hardware cost of the laser radar is reduced.
In one embodiment, as shown in fig. 9, the S110 may include:
s111: inquiring a receiving configuration corresponding to the j-th emission angle according to the j-th emission angle of the laser signal, wherein the receiving configuration at least indicates receiving time windows of receiving the echo signals by different alternative receiving channels;
S112: determining a receiving time window containing the time difference according to the time difference between the current time and the initial transmitting time of the jth transmitting angle;
s113: and determining an alternative receiving channel corresponding to the receiving time window containing the time difference as the target receiving channel.
The receiving configuration can be written in the configuration file of the laser in advance, so that the receiving configuration can be queried according to the transmitting angle of the current laser signal and the target receiving channel for receiving the echo signal can be determined by combining the duration of transmitting the laser signal. And further according to the conduction of the electrical connection between the target receiving channel and the processing module, the electrical signal generated by the echo signal received by the target receiving channel is submitted to the processing module based on the conduction of the electrical connection.
For example, when the laser signal (e.g., laser pulse) of the jth emission angle is emitted, the initial emission time of the laser signal of the jth emission angle is recorded, and according to the time difference between the current time and the initial emission time (or simply the initial time), the time difference falls into which receiving time window, the candidate receiving channel corresponding to the receiving time window is determined as the target receiving channel.
In some embodiments, if the time lengths of the receiving time length windows of any two receiving channels are equal, and the time lengths of the receiving time length windows are all Δt, the method can be according toA target receive channel is determined. For example, a->The channel number of the target reception channel. T (T) cur Can be the current moment; t (T) 0 The starting emission time of the laser signal of the j-th emission angle may be.
In another embodiment, for an echo signal corresponding to the laser signal of the jth emission angle, the reception time window of the ith reception channel is:wherein, the liquid crystal display device comprises a liquid crystal display device,
/>
the receiving angle corresponding to the maximum ranging distance of the receiving module is set;
the receiving angle corresponding to the minimum ranging distance of the receiving module is set;
n is the total number of the receiving channels;
d is the distance between the receiving module and the transmitting module for transmitting the laser signal;
θ j an emission angle value that is a j-th emission angle;
wherein i is a positive integer equal to or greater than 2.
If the receiving configuration records the receiving time range of each receiving time window, the switching of the receiving channels which are electrically connected and conducted with the processing module can be well realized even if the areas of the APD arrays corresponding to the receiving channels are different, so that the flexible setting of the receiving channels can be realized.
As shown in fig. 10, an embodiment of the present disclosure provides a lidar control device including:
a determining module 110, configured to determine, in a measurement period of a laser signal with an emission angle, a target receiving channel for receiving an echo signal at a current time from a plurality of candidate receiving channels according to the emission angle and a time difference between a starting emission time and the current time of the laser signal;
and the control module 120 is used for conducting the electrical connection between the processing module and the target receiving channel.
The laser radar control device may include: in the laser radar described above.
In some embodiments, the determination module 110 and the control module 120 may be program modules; after the program module is executed by the processor, a plurality of receiving channels can share one processing module, so that the structure of the laser radar is simplified, and the hardware cost of the laser radar is reduced.
In some embodiments, the determination module 110 and the control module 120 may be a soft-hard combining module; the soft and hard combined die block comprises but is not limited to: various programmable arrays; the programmable array includes, but is not limited to: a field programmable array and/or a complex programmable array.
In still other embodiments, the determination module 110 and the control module 120 may be purely hardware modules; the pure hardware modules include, but are not limited to: various application specific integrated circuits.
In some embodiments, the determining module 110 is specifically configured to query, according to a j-th emission angle of the laser signal, a reception configuration corresponding to the j-th emission angle, where the reception configuration indicates at least a reception time window in which the echo signal is received by a different candidate reception channel; determining a receiving time window containing the time difference according to the time difference between the current time and the initial transmitting time of the jth transmitting angle; and determining an alternative receiving channel corresponding to the receiving time window containing the time difference as the target receiving channel.
In some embodiments, for the echo signal corresponding to the laser signal of the jth emission angle, the receive time window of the ith receive channel is:wherein, the liquid crystal display device comprises a liquid crystal display device,
/>
the receiving angle corresponding to the maximum ranging distance of the receiving module is set;
the receiving angle corresponding to the minimum ranging distance of the receiving module is set;
n is the total number of the receiving channels;
d is the distance between the receiving module and the transmitting module for transmitting the laser signal;
θ j An emission angle value that is a j-th emission angle;
wherein i is a positive integer equal to or greater than 2.
Embodiments of the present disclosure also provide a computer storage medium having stored thereon computer-executable instructions; the computer executable instructions, when executed by a processor, may implement the lidar control method provided in any of the foregoing embodiments, and the processor may implement any of the methods shown in fig. 8 and/or fig. 9 by executing the executable instructions, for example.
It will be understood by those skilled in the art that the sequence number of each step in the above embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A process module, the process module comprising:
the processing component is used for being connected with the receiving module and processing the electric signal generated by the echo signal received by the receiving module; the receiving module comprises a plurality of receiving channels;
the switching component is used for switching the receiving channel which is electrically connected and conducted with the processing component according to the transmitting angle and the time difference between the initial transmitting time and the current time of the laser signal in the measuring period of the laser signal of the transmitting angle; wherein the echo signal is returned based on the laser signal.
2. The processing module of claim 1, wherein the processing assembly comprises:
the amplifying module is used for amplifying the electric signals provided by the receiving module;
and the processing module is connected with the amplifying module and is used for receiving the electric signals amplified by the amplifying module and performing signal processing on the amplified electric signals.
3. The processing module of claim 2, wherein the processing module comprises:
the analog-to-digital converter ADC is used for performing analog-to-digital conversion on the electric signal provided by the receiving module;
or alternatively, the process may be performed,
And the time-to-digital converter TDC is used for outputting time information according to the electric signal provided by the receiving module.
4. The processing module of claim 2, wherein the amplification module comprises:
and the transimpedance amplifier TIA is used for converting the photocurrent provided by the receiving module into a voltage signal and amplifying the voltage signal.
5. The processing module of claim 2, wherein the amplification module is a common amplification module;
the switching component is specifically used for switching the receiving channel connected and conducted with the amplifying module according to the transmitting angle and the time difference between the initial transmitting time and the current time of the laser signal in the measuring period of the laser signal of the transmitting angle.
6. The processing module of claim 2, wherein one of said amplification modules is configured to interface with one of said receive channels;
the switching component is specifically used for switching the amplifying module which is electrically connected and conducted with the processing module according to the emission angle and the time difference between the initial emission time and the current time of the laser signal in the measurement period of the laser signal with the emission angle.
7. A lidar, comprising:
the transmitting module is used for transmitting laser signals;
the receiving module comprises a plurality of receiving channels and is used for receiving echo signals of the laser signals and outputting electric signals based on the received echo signals;
the processing module of any one of claims 1 to 6, coupled to the receiving module, for processing the electrical signal provided by the receiving module.
8. A laser radar control method, characterized by comprising:
in a measurement period of a laser signal with an emission angle, determining a target receiving channel for receiving an echo signal at the current moment from a plurality of alternative receiving channels according to the emission angle and the time difference between the initial emission moment and the current moment of the laser signal;
the conduction processing module is electrically connected with the target receiving channel.
9. A lidar control device, comprising:
the determining module is used for determining a target receiving channel for receiving the echo signal at the current moment from a plurality of alternative receiving channels according to the transmitting angle and the time difference between the initial transmitting moment and the current moment of the laser signal in the measuring period of the laser signal at the transmitting angle;
And the control module is used for conducting the electric connection between the processing module and the target receiving channel.
10. A computer storage medium having stored thereon computer executable instructions; the computer-executable instructions, when executed by a processor, enable the implementation of the method of controlling a lidar as provided in claim 8.
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