CN206311760U - A kind of laser radar system - Google Patents
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Abstract
The utility model is related to a kind of laser radar system, by laser transmitting system to the detection mutually different range laser signal of thing emission characteristic attribute and at least a branch of redundancy check optical signal；Laser receiver system receives the laser signal that detection thing diffusing reflection is returned；Master control system calculates the characteristic attribute information of all optical signals of range laser signal and at least a branch of redundancy check optical signal according to laser signal transmitting and the time difference for receiving and verification of comparing to it.Laser radar system of the present utility model can not only judge whether each measurement data receives interference, additionally it is possible to by the redundancy ranging data obtained using redundancy check optical signal, it is ensured that the accurate reliability of measurement data.
Description
Technical field
The utility model is related to laser radar field, it is more particularly to a kind of realized by the way of redundant measurement it is anti-tampering
Laser radar system.
Background technology
Laser radar is a kind of photoelectric measurement instrument, with the development of laser technology and electronics technologies effectively advance it is sharp
The fast development of optical radar technology.The advantage of target three-dimensional spatial information can be accurately and fast obtained by it, laser radar is
It is successfully applied to intelligent transportation, mapping, power-line patrolling, the field such as agricultural vegetation and historical relic's protection.In recent years, with automatic
Driving, the rise of the emerging smart machine such as unmanned plane and intelligent robot, it is huge that laser radar system is just increasingly manifesting its
Application potential.
But existing laser radar is in the case of normal work, there is the problem for interfering.If many laser radars are same
When work, when scanning same panel region, the flashlight that laser radar cannot be distinguished by receiving is the letter of oneself or other equipment
Number light, produces the ranging data of mistake.In survey field, this problem may be only to generate some measuring error points, if but
May then trigger serious traffic accident in automatic Pilot field.2015, in the Black Hat Europe in Europe
Jonathan Petit are demonstrated in Security Conference, only with the semiconductor laser and light of low cost
Fulgurite, has just cheated the laser radar of pilotless automobile, makes to which create the ranging data of mistake, it is sufficient to cause the mistake of automobile
Operation, and drawn the conclusion of current product sensor and not up to complete responsible rank.
At present, sensor producer does not introduce jamproof hardware design, user in the laser radar product of production
Need to filter out these interference informations in object identification or other software processing aspects.This has not only aggravated user's
Workload, it is also possible to because the imperfection of complex environment information or filter method causes to process by mistake.This in automatic Pilot or
The application fields such as unmanned plane avoidance, are that can not definitely allow appearance.Therefore, strengthen the antijamming capability of laser radar, obtain
Reliable initial data, is extremely important and valuable for the application of laser radar.
Utility model content
(1) technical problem to be solved
The utility model mesh technical problem to be solved is laser radar system when carrying out Laser emission and receiving, may
Being disturbed or interfering causes ranging data mistake.
(2) technical scheme
In order to solve the above-mentioned technical problem, it is of the present utility model there is provided a kind of laser radar system, including Laser emission
System, laser receiver system and master control system；
The laser transmitting system is to detection thing transmitting laser signal；
The laser receiver system receives the laser signal that detection thing diffusing reflection is returned；
The master control system is launched according to laser signal and the time difference of reception calculates the range information for detecting thing；
Wherein, the laser signal includes the mutually different range laser signal of characteristic attribute and at least a branch of redundancy check
Optical signal；
The master control system is to the mutually different range laser signal of the characteristic attribute and at least a branch of redundancy check light
The characteristic attribute of all optical signals of signal is compared verification.
Wherein, the laser transmitting system includes LASER Light Source unit, closes Shu Danyuan and optical emitting unit；
The LASER Light Source unit is used to produce range laser signal and at least a branch of redundancy check optical signal；
The conjunction Shu Danyuan is used for range laser signal and all optical signals of at least a branch of redundancy check optical signal are closed
Into a branch of signal detection light；
The optical emitting unit is used to be collimated the signal detection light and launches to detection thing.
Wherein, the laser receiver system includes optical receiver unit, beam splitting unit and photoelectric detection unit；
The optical receiver unit is used to collect the laser signal that detection thing diffusing reflection is returned；
All optical signals that the beam splitting unit is used to return the detection thing diffusing reflection that optical receiver unit is collected are mutual
Separate；
The photoelectric detection unit is converted into electric signal for that will detect all optical signals that thing diffusing reflection is returned.
Wherein, the master control system includes timing range cells, verification unit and control unit；
The timing range cells are used to gather all light of range laser signal and at least a branch of redundancy check optical signal
The transmitting of signal and the time of reception, and calculate the distance of detection thing respectively according to the time difference；
The verification unit is used to analyze all light of contrast range laser signal and at least a branch of redundancy check optical signal
Ranging data deviation and/or transmitting and reception time delay and/or pulsewidth, and verification of comparing to it between signal；
Described control unit is used to provide control instruction to laser transmitting system and laser receiver system.
Wherein, the spy in the mutually different range laser signal of the characteristic attribute and at least a branch of redundancy check optical signal
It is wavelength, x time, light intensity, pulsewidth, polarization state and one or more combination being loaded with modulation intelligence to levy attribute.
(3) beneficial effect
The beneficial effect of laser radar system provided by the utility model is, by increasing redundancy in distance measuring signal light
Verification optical signal, when finding range every time, be required for verifying this measurement, it is ensured that this time measurement obtain data reliability
Property.The verification optical signal of redundancy, not only serves as the reference signal of distance measuring signal light, and whether perception has the presence of interference signal.
Standby distance measuring signal light can also be served as, there is provided ranging information.Therefore, laser radar system of the present utility model can not only be sentenced
Break and whether each measurement data receives interference, additionally it is possible to by the redundancy range finding number obtained using redundancy check optical signal
According to, it is ensured that the accurate reliability of measurement data.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of laser radar system of the present utility model
Fig. 2 is the structural representation of the emission system of laser radar system of the present utility model
Fig. 3 is the structural representation of the reception system of laser radar system of the present utility model
Fig. 4 is the schematic flow sheet of laser radar system distance-finding method of the present utility model
Reference：1. laser transmitting system, 2. laser receiver system, 3. master control system, 4. detection thing, 1a. laser lights
Source unit, 1b. close Shu Danyuan, 1c. optical emitting unit, 2a. optical receiver units, 2b. beam splitting units, 2c. photodetection lists
Unit, 3a. timing range cells, 3b. verification units, 3c. control units.
Specific embodiment
With reference to Figure of description and embodiment, specific embodiment of the present utility model is made further to retouch in detail
State.Following examples are merely to illustrate the utility model, but can not be used for limiting scope of the present utility model.
As shown in figure 1, the laser radar system of the present embodiment, including：Laser transmitting system 1, laser receiver system 2 and master
Control system 3.The laser transmitting system 1 is distance measuring signal source, for detection thing transmitting laser signal.Described laser signal
Verification optical signal including range laser signal and redundancy, wherein, the verification optical signal of redundancy is to ensure laser signal unicity
Identification information.The laser receiver system 2 is ranging signal reception device, for receiving the laser that detection thing diffusing reflection is returned
Signal；The laser receiver system 2 utilizes same set of light path system, by the range laser signal in laser signal and the school of redundancy
Optometry signal is received back to come together, it is ensured that range finding and the realization of verifying function.The master control system 3 is the master of laser radar system
Control unit is wanted, for controlling laser transmitting system to detection thing transmitting laser signal, and the moment of transmitting laser is recorded.Work as institute
State after laser receiver system 2 detects the laser signal that diffusing reflection is returned, the master control system 3 also to record return laser light when
Carve, made the difference by with the transmitting laser moment, the range information of detection thing is calculated, additionally, also checking to the verification light of redundancy
Signal.If both ranging information gaps each obtained by calculating are less than range accuracy, it is considered as effective ranging data, if both survey
Range accuracy away from information gap more than several times, then be considered as ranging data and be disturbed.Here it should be noted that laser ranging
Duplicate measurements trueness error is typically compliant with normal distribution, and 0.27% is should be less than beyond the probability of three times range accuracy, is now subject to
The possibility of interference is very big.Therefore 3 or 4 times of deviations of range accuracy are typically can use as disturbed normal line.
As shown in Fig. 2 the laser transmitting system 1 includes LASER Light Source unit 1a, closes Shu Danyuan 1b and optical emitting list
First 1c.Wherein, the LASER Light Source unit 1a is used for receiving the LED control signal from master control system 3, produces the survey of pulse
Away from laser signal, and redundancy verification optical signal.Usually semiconductor laser, optical fiber laser, solid state laser or LED
It is used in mixed way etc. one or more in the light source that can produce pulsed optical signals.
For acquisition preferably anti-tampering effect, the verification optical signal of range laser signal and redundancy should use two or more
The light source that luminous parameters differ greatly, such as wavelength differ more than 50 nanometers, polarization direction is vertical or pulsewidth differ 20 nanoseconds with
It is first-class, it is ensured that to be difficult by while disturbing.
The conjunction Shu Danyuan 1b are used for a branch of range laser signal and remaining the redundancy school for producing LASER Light Source unit
Optometry signal synthesizes a branch of signal detection light.Wherein, if light source uses optical fiber source, optical-fiber bundling device can be used, by multi beam
Probe source is combined into a branch of.If signal detection light uses semiconductor or solid state laser, can be using film coated type light combination mirror piece or inclined
The piece that shakes carries out conjunction beam.
The optical emitting unit 1c, a branch of signal detection light for will close Shu Danyuan synthesis is entered using same set of light path
Row collimation, it is ensured that all of signal detection light can be transmitted into same sensing point.Wherein, collimation transmitting light path can using monolithic or
The optical elements with collimating effect such as multiple-piece collimation lens, GRIN Lens, Fresnel Lenses and binary optical eyeglass.
As shown in figure 3, the laser receiver system 2 includes optical receiver unit 2a, beam splitting unit 2b and photodetection list
First 2c.Wherein, the optical receiver unit 2a is used to collect the signal detection light returned from detection thing diffusing reflection.The beam splitting list
The redundancy check that first 2b includes with the effect for closing Shu Danyuan 1b conversely, the signal detection light for optical receiver unit to be collected
Optical signal and range laser Signal separator are opened, in order to follow-up signal transacting.The beam splitting unit 2b can using Amici prism,
Point beam photoelectric device such as fiber optic splitter, beam splitting polarizer and film coated type beam splitting eyeglass.The photoelectric detection unit 2c respectively will
The laser signal of range finding and the verification optical signal of redundancy are converted into electric signal, and are sent to master control system and carry out at follow-up signal
Reason.
As shown in figure 1, the master control system 3 includes timing range cells 3a, verification unit 3b and control unit 3c.
Wherein, timing range cells 3a can realize the chip of clocking capability using TDC chips or FPGA etc., use
The transmitting of all optical signals of range laser signal and redundancy check optical signal and the time of reception in signal detection light is gathered, and
According to both respective differential time of flight calculate respectively detection thing distance, and they launch time postpone and receive when
Between time delay.Timing range cells 3a can be used as x time by reading the luminous drive signal of light source driving circuit, also may be used
To increase a scattered light signal when photodetector detects luminous near light source as x time, the time of reception is by each
From photoelectric detection unit provide.
The verification unit 3b can realize the core of Data Analysis Services using MCU chip, FPGA or DSP etc.
Piece, transmitting and the time of reception according to all optical signals in the signal detection light that timing range cells 3a is provided, analysis contrast is surveyed
Ranging data deviation between laser signal and redundancy check optical signal, or analysis contrast they launch time postpone and
Time delay is received, or analysis contrasts the redundancy check informations such as their optical signal pulsewidth, and this ranging data is confirmed with this
It is whether effective or disturbed.Wherein, the ranging data deviation between range laser signal and redundancy check optical signal takes 3,4 times
Range accuracy as standard deviation value；Between range laser signal and redundancy check optical signal, both launch times postpone
With the deviation for receiving time delay, the corresponding light velocity run duration value of 3,4 times of range accuracies is should be less than；Range laser signal and
Between redundancy check optical signal, the ratio between both launching light pulsewidths and receive the deviation of the ratio between light pulsewidth, should be less than 0.3 or
0.4。
Described control unit 3c is used to provide control instruction to laser transmitting system and laser receiver system, and according to verification
The check results that unit is provided judge whether this ranging data is effective or disturbed, and transmit effective distance measuring data, mark
The disturbed ranging data of note.Specifically, control unit will respectively to range laser signal and the luminous control of redundancy check optical signal
Signal processed, verifies and is difficult replicability for convenience, and the luminous time delay between them can be randomly choosed between 10-100 nanoseconds, and will
This random light emission time delay is sent to verification unit；Control unit will control laser pick-off while LED control signal is given
System opens the function of receiving optical signal, and stops receiving optical signal afterwards 1 millisecond (corresponding to 150 meters of range), and reduction is received
To the possibility of interference.
Further, if in order to ensure obtaining very reliable ranging data, it is also possible to set the redundancy check light of multichannel
Signal.After control unit is judged this time to measure disturbed, moreover it is possible to contrast the ranging data that the verification optical signal of multichannel is obtained
Whether satisfaction verification is required, if meeting, it would however also be possible to employ verification optical signal is used as ranging data.
As shown in figure 4, being based on laser radar system of the present utility model, its ranging step is as follows：
After this laser radar system is powered, and when starting normal work, can sequentially enter according to step 401 to step 409
OK, work of once finding range is completed；And repetition aforesaid way carries out new once range finding work, until being stopped.
In step 401, control unit is according to one random verification primary data of Program Generating, in case disturbed side is easily
Crack.This random verification primary data can be generally also limited within the scope of one, such as range laser signal and redundancy
Luminous time delay between verification optical signal will be limited between 10-100 nanoseconds.
In step 402, control unit drive signal is sent to laser transmitting system according to random verification primary data and
Laser receiver system, controls each LASER Light Source to start to light according to random delay, and control each photoelectric detection unit simultaneously
Start to receive signal.
In step 403, timing range cells can read luminous moment and the pulsewidth of each LASER Light Source, calculate their hair
After light time delay, verification unit is sent to, as one group of verification primary data.Timing range cells can read control unit transmission
To each light source driving control signal as their own luminous moment, it is also possible to visited by additional several photodetectors
Diffusing as respective luminous moment when surveying each light source luminescent.
In step 404, laser transmitting system is closed the verification optical signal of range laser signal and redundancy by closing beam system
Into a branch of, by transmitting extremely detects thing in the same direction after eyeglass collimation.
In step 405, laser receiver system collects the signal detection light returned from detection thing diffusing reflection by optical mirror slip,
Range laser signal and verification optical signal are separated by divided beam system, respective photodetector is respectively sent to, by it
Be converted into electric signal.
In step 406, after driving laser transmitting system to start to light, 1 millisecond of time delay (corresponds to 150 meters to control unit
Range) stop the work of laser receiver system, the possibility that is interfered of reduction afterwards.Control unit controls range laser signal
After successively being lighted respectively with the verification optical signal of redundancy, also corresponding reception photodetection is successively controlled after 1 millisecond of time delay respectively
Being stopped for unit, no longer receives any optical signal, until control unit drives their tasks again.
In step 407, timing range cells read the electric signal of photodetector conversion, record range laser signal and school
The optometry signal respective time of reception, pulsewidth, and time of reception time delay between the two, and verification unit is sent to, as one
Group ranging data to be verified.Timing range cells can use threshold method, and the lead and trail edge of pulsed optical signals is read respectively,
Used as the time of reception, both differences are used as pulsewidth in forward position.In addition the other modes such as high pass capacitance-resistance or constant proportion definite value can also be used
Moment discrimination circuit.
In step 408, verification unit reads the transmitting of all optical signals in the signal detection light that timing range cells are provided
And the time of reception, the ranging data deviation between analysis contrast range laser signal and redundancy check optical signal, or analyze right
Postpone and receive time delay than their launch time, or analysis contrasts the redundancy checks such as their optical signal pulsewidth letter
Breath, confirms whether this ranging data is effective or disturbed with this.Wherein, between range laser signal and redundancy check optical signal
Ranging data deviation take 3,4 times of range accuracy as standard deviation value；Range laser signal and redundancy check optical signal
Between, both launch time postpones and receives the deviation of time delay, should be less than the corresponding light velocity fortune of 3,4 times of range accuracies
Dynamic time value；Between range laser signal and redundancy check optical signal, the ratio between both launching light pulsewidths and receive light pulsewidth it
The deviation of ratio, should be less than 0.3 or 0.4.
In step 409, control unit reads the check results of verification unit, and transmits the result of this time measurement.Wherein, if
This range measurement has passed through verification, then directly transmit；If this measurement result is represented receives interference, multichannel is contrasted
Verification optical signal between obtain ranging data whether meet verification require, if meeting, it would however also be possible to employ verification optical signal make
For ranging data is exported, and indicate disturbed.If this measurement result is represented receives interference, the verification optical signal of multichannel
Between also fail to by verification, then abandon this measurement result, and indicate by severe jamming.
Anti-tampering laser radar system of the present utility model, by increasing the verification light source of redundancy, when finding range every time, passes through
Master control system introduces random identification information, and ranging data that this is obtained and verification data are compared verification, it is ensured that
The data reliability that this time measurement is obtained.The verification optical signal of redundancy, not only serves as the verification reference signal of distance measuring signal light,
Master control system is set to judge whether measurement data receives interference, additionally it is possible to by the redundancy obtained using redundancy check optical signal
Ranging data, improves the anti-tampering ability of laser radar system.
Embodiment of above is merely to illustrate the utility model, rather than to limitation of the present utility model.Although with reference to implementation
Example has been described in detail to the utility model, it will be understood by those within the art that, to technology of the present utility model
Scheme carries out various combinations, modification or equivalent, without departure from the spirit and scope of technical solutions of the utility model, all should
Cover in the middle of right of the present utility model.
Claims (5)
1. a kind of laser radar system, it is characterised in that including laser transmitting system, laser receiver system and master control system；
The laser transmitting system is to detection thing transmitting laser signal；
The laser receiver system receives the laser signal that detection thing diffusing reflection is returned；
The master control system is launched according to laser signal and the time difference of reception calculates the range information for detecting thing；
Wherein, the laser signal includes the mutually different range laser signal of characteristic attribute and at least a branch of redundancy check light letter
Number；
The master control system is to the mutually different range laser signal of the characteristic attribute and at least a branch of redundancy check optical signal
The characteristic attribute information of all optical signals compare verification.
2. laser radar system according to claim 1, it is characterised in that the laser transmitting system includes LASER Light Source
Unit, conjunction Shu Danyuan and optical emitting unit；
The LASER Light Source unit is used to produce range laser signal and at least a branch of redundancy check optical signal；
The conjunction Shu Danyuan is used for range laser signal and all optical signals of at least a branch of redundancy check optical signal synthesize one
Beam signal detection light；
The optical emitting unit is used to be collimated the signal detection light and launches to detection thing.
3. laser radar system according to claim 1, it is characterised in that the laser receiver system includes that optics is received
Unit, beam splitting unit and photoelectric detection unit；
The optical receiver unit is used to collect the laser signal that detection thing diffusing reflection is returned；
All optical signals that the beam splitting unit is used to return the detection thing diffusing reflection that optical receiver unit is collected are disconnected from each other；
The photoelectric detection unit is converted into electric signal for that will detect all optical signals that thing diffusing reflection is returned.
4. laser radar system according to claim 1, it is characterised in that it is single that the master control system includes that timing is found range
Unit, verification unit and control unit；
The timing range cells are used to gather all optical signals of range laser signal and at least a branch of redundancy check optical signal
Transmitting and the time of reception, and according to the time difference respectively calculate detection thing distance；
The verification unit is used to analyze all optical signals of contrast range laser signal and at least a branch of redundancy check optical signal
Between ranging data deviation and/or transmitting with receive time delay and/or pulsewidth, and verification of comparing to it；
Described control unit is used to provide control instruction to laser transmitting system and laser receiver system.
5. the laser radar system according to claim 1-4 any one, it is characterised in that the mutual not phase of the characteristic attribute
Characteristic attribute in same range laser signal and at least a branch of redundancy check optical signal is wavelength, x time, light intensity, arteries and veins
Wide, polarization state and one or more combination being loaded with modulation intelligence.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107316466A (en) * | 2017-07-15 | 2017-11-03 | 太仓诚泽网络科技有限公司 | A kind of intelligent Transportation Information Collection System |
| CN108205142A (en) * | 2016-12-16 | 2018-06-26 | 北京万集科技股份有限公司 | A kind of laser radar system and distance measuring method |
| CN108572372A (en) * | 2018-04-24 | 2018-09-25 | 中国科学技术大学 | Time-sharing multiplex F-P etalon Doppler's zero-frequency calibrating installations |
| CN108802746A (en) * | 2017-11-30 | 2018-11-13 | 北醒（北京）光子科技有限公司 | A kind of jamproof distance measuring method and device |
| CN109683154A (en) * | 2017-10-19 | 2019-04-26 | 北京万集科技股份有限公司 | Laser radar self calibration time set and method based on FPGA |
| WO2019104613A1 (en) * | 2017-11-30 | 2019-06-06 | 北醒（北京）光子科技有限公司 | Anti-interference method and device for distance measurement |
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| CN108205142A (en) * | 2016-12-16 | 2018-06-26 | 北京万集科技股份有限公司 | A kind of laser radar system and distance measuring method |
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| CN107316466A (en) * | 2017-07-15 | 2017-11-03 | 太仓诚泽网络科技有限公司 | A kind of intelligent Transportation Information Collection System |
| CN109683154A (en) * | 2017-10-19 | 2019-04-26 | 北京万集科技股份有限公司 | Laser radar self calibration time set and method based on FPGA |
| CN109683154B (en) * | 2017-10-19 | 2020-12-18 | 北京万集科技股份有限公司 | Laser radar self-calibration timing device and method based on FPGA |
| CN108802746A (en) * | 2017-11-30 | 2018-11-13 | 北醒（北京）光子科技有限公司 | A kind of jamproof distance measuring method and device |
| WO2019104613A1 (en) * | 2017-11-30 | 2019-06-06 | 北醒（北京）光子科技有限公司 | Anti-interference method and device for distance measurement |
| US10809363B2 (en) | 2017-11-30 | 2020-10-20 | Benewake (Beijing) Co., Ltd. | Anti-interference ranging method and apparatus |
| CN108802746B (en) * | 2017-11-30 | 2024-02-13 | 北醒（北京）光子科技有限公司 | Anti-interference ranging method and device |
| CN108572372A (en) * | 2018-04-24 | 2018-09-25 | 中国科学技术大学 | Time-sharing multiplex F-P etalon Doppler's zero-frequency calibrating installations |
| CN108572372B (en) * | 2018-04-24 | 2020-10-27 | 中国科学技术大学 | Time-sharing multiplexing F-P etalon Doppler zero frequency calibration device |
| CN111427023A (en) * | 2020-05-18 | 2020-07-17 | 武汉天眸光电科技有限公司 | Laser radar anti-interference method, laser radar system and storage medium |
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