CN207096443U - Suitable for the DLP receiving systems of laser radar - Google Patents
Suitable for the DLP receiving systems of laser radar Download PDFInfo
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- CN207096443U CN207096443U CN201720949099.9U CN201720949099U CN207096443U CN 207096443 U CN207096443 U CN 207096443U CN 201720949099 U CN201720949099 U CN 201720949099U CN 207096443 U CN207096443 U CN 207096443U
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Abstract
The utility model discloses a kind of DLP receiving systems suitable for laser radar, generating laser externally launches laser signal by laser scanning mirror, form laser scanning region, DLP signal receivers carry out signal acquisition to the scanning element in the laser scanning region, the DLP signal receivers include multiple DLP micro mirrors of array arrangement, and more than one corresponding DLP micro mirror is tracked and received in the DLP micro mirrors that the laser reflection signal of each scanning element is arranged by the array；The generating laser and the DLP signal receivers are integrally disposed, or, the generating laser is disposed adjacent with the DLP signal receivers；The DLP micro mirrors arranged by array synchronize tracking and receive the laser reflection signal in Laser Radar Scanning region, control the deflection of DLP micro mirror arrays synchronous with Laser Radar Scanning, the region project by target echo imaging is scanned of selectivity is to photoelectric sensor, so as to improve the signal to noise ratio for receiving Laser Radar Scanning region laser reflection signal, while realize more preferable noiseproof feature.
Description
Technical field
Laser radar technique field is the utility model is related to, particularly a kind of DLP signals suitable for laser radar receive
System.
Background technology
Laser radar LiDAR (Light Laser Detection and Ranging), is laser acquisition and range-measurement system
Abbreviation, it is the radar by the use of laser as radiation source.Laser radar is the product that laser technology is combined with Radar Technology,
Including at least transmitter and receiver.Emitter is various forms of lasers, such as carbon dioxide laser, neodymium doped yttrium aluminum pomegranate
Solid-state laser of stone laser, semiconductor laser and tunable wave length etc.；Receiver uses various forms of photodetections
Device, such as photomultiplier, semiconductor photo diode, avalanche photodide, infrared and visible ray multiunit detector part.
Wherein, solid-state laser radar has the scannings such as big scanning coverage, imaging rate are high, image fault is small special
The scanning coverage of point, particularly solid-state laser radar is big, it is necessary to which solid-state could fully be realized by matching corresponding reception technique
The big view field imaging of laser radar.It is main using traditional same axial receivers when the scanning coverage of laser radar is larger
Suitable for rangefinder, the laser that the scanning coverage fully effective may also can not be received due to the limitation of itself is anti-
Penetrate signal.
Utility model content
The utility model to solve the above problems, provide a kind of DLP receiving systems suitable for laser radar, its
The DLP micro mirrors arranged by array synchronize tracking and receive the laser reflection signal in Laser Radar Scanning region, control DLP
The deflection of micro mirror array is synchronous with Laser Radar Scanning, selective to arrive the region project for scanning target echo imaging
Photoelectric sensor, so as to improve the signal to noise ratio for receiving Laser Radar Scanning region laser reflection signal, while realize more preferable
Noiseproof feature.
To achieve the above object, the technical solution adopted in the utility model is：
A kind of DLP receiving systems suitable for laser radar, generating laser (10) pass through laser scanning mirror (11)
Externally transmitting laser signal, formed laser scanning region (30)；Also include the scanning to the laser scanning region (30) to click through
The DLP signal receivers (20) of row signal acquisition, the DLP signal receivers (20) include multiple DLP micro mirrors of array arrangement
(21) more than one corresponding DLP in the DLP micro mirrors (21) that, the laser reflection signal of each scanning element is arranged by the array
Micro mirror (21) is tracked and received；The generating laser (10) and the DLP signal receivers (20) are integrally disposed, or
Person, the generating laser (10) are disposed adjacent with the DLP signal receivers (20)；Pass through the laser scanning mirror (11)
Synchronizing signal is controlled DLP micro mirrors (21) corresponding to DLP signal receivers (20) opening.
Preferably, the laser scanning mirror (11) uses the micro- tilting mirrors of MEMS.
Preferably, the DLP signal receivers (20) also include receiving camera lens (23), collection camera lens (24), photoelectric sensing
Device (25), the front for receiving camera lens (23) and being arranged on the DLP micro mirrors (21) of array arrangement, the laser scanning region (20)
Laser reflection signal pass through the reception camera lens (23) enter corresponding to DLP micro mirrors (21), the DLP micro mirrors (21) reflect institute
State laser reflection signal and the photoelectric sensor (25) is entered by the collection camera lens (24).
Preferably, the DLP signal receivers (20) also include switch controller, laser scanning mirror (11) scanning pair
When answering the scanning element of position, DLP micro mirrors (21) corresponding to the switch controller control opening carry out receiving the scanning element
Laser reflection signal.
The beneficial effects of the utility model are：
DLP signal receivers of the present utility model include multiple DLP micro mirrors of array arrangement, and the laser of each scanning element is anti-
More than one DLP micro mirror corresponding in the DLP micro mirrors that signal is arranged by the array is penetrated to be tracked and receive；The laser
Transmitter and the DLP signal receivers are integrally disposed, or, the generating laser and the DLP signal receivers (20)
It is disposed adjacent, the DLP micro mirrors arranged by array synchronize tracking and receive the laser reflection letter in Laser Radar Scanning region
Number, control the deflection of DLP micro mirror arrays synchronous with Laser Radar Scanning, it is selective to scan target echo imaging
Region project is to photoelectric sensor, so as to improve the signal to noise ratio for receiving Laser Radar Scanning region laser reflection signal, together
The more preferable noiseproof features of Shi Shixian.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding to of the present utility model, forms one of the present utility model
Point, schematic description and description of the present utility model is used to explain the utility model, does not form to of the present utility model
Improper restriction.In the accompanying drawings：
Fig. 1 is a kind of structural representation of DLP receiving systems suitable for laser radar of the utility model；Fig. 2 is
A kind of structural representation of the DLP signal receivers of DLP receiving systems suitable for laser radar of the utility model；
10- generating lasers；11- laser scanning mirrors；12- shoot lasers；
20-DLP signal receivers；21-DLP micro mirrors；22- laser reflection signals；23- receives camera lens；24- gathers camera lens；
25- photoelectric sensors；
30- laser scannings region.
Embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are clearer, clear, with
The utility model is further elaborated lower combination drawings and Examples.It is it should be appreciated that described herein specific real
Example is applied only to explain the utility model, is not used to limit the utility model.
As depicted in figs. 1 and 2, a kind of DLP receiving systems suitable for laser radar of the present utility model, laser hair
Emitter 10 externally launches laser signal by laser scanning mirror 11, forms laser scanning region 30；Also include sweeping the laser
The scanning element for retouching region 30 carries out the DLP signal receivers 20 of signal acquisition, and the DLP signal receivers 20 are arranged including array
Multiple DLP micro mirrors 21, corresponding one in the DLP micro mirrors 21 that the laser reflection signal of each scanning element is arranged by the array
Individual above DLP micro mirrors 21 are tracked and received；The DLP letters are controlled by the synchronizing signal of the laser scanning mirror 11
Number receiver 20 open corresponding to DLP micro mirrors 21.
The generating laser 10 and the DLP signal receivers 20 are integrally disposed, it is preferred that the generating laser 10
It is coaxially disposed with the DLP signal receivers 20, or, the generating laser 10 may be used also with the DLP signal receivers 20
Using located off-axis, the generating laser 10 is disposed adjacent with the DLP signal receivers 20, preferably adjacent setting, is made
The axle center for obtaining the two is closer.
The laser scanning mirror 11 uses the micro- tilting mirrors of MEMS.The DLP signal receivers 20 also include receiving camera lens 23, adopted
Collect camera lens 24, photoelectric sensor 25, switch controller, before the reception camera lens 23 is arranged on the DLP micro mirrors 21 of array arrangement
Side, the laser reflection signal in the laser scanning region 20 are described by DLP micro mirrors 21 corresponding to reception camera lens 23 entrance
DLP micro mirrors 21 reflect the laser reflection signal and enter the photoelectric sensor 25 by the collection camera lens 24.It is described to swash
When optical scanning mirror 11 scans the scanning element of correspondence position, DLP micro mirrors 21 corresponding to the switch controller control opening are connect
Receive the laser reflection signal of the scanning element.
The course of work of DLP receiving systems of the present utility model is summarized as follows：
A. generating laser 10 externally launches laser signal by default temporal regularity, forms laser scanning region 30；
B.DLP signal receivers 20 search opening for optimal DLP micro mirrors 21 to the scanning element in the laser scanning region 30
Open position and open quantity；
C.DLP signal receivers 20 synchronize tracking to the scanning element, and according to the optimal DLP micro mirrors 21
Open position and unlatching quantity are controlled the renewal frequency of the DLP micro mirrors 21.
The transmitting of laser is that according to certain rules, some time interval is launched to some direction.Generating laser 10 is swept
There is corresponding optimum reception region between the DLP micro mirrors 21 that described point is arranged with the array of DLP signal receivers 20, this is optimal
Receiving area includes the optimal open position of DLP micro mirrors 21 and optimal unlatching quantity.
In described step b, the open position of optimal DLP micro mirrors 21 and the lookup method for opening quantity, are under
The mechanism that b1 and b2 search experiment is combined with prognostic experiment is stated, search efficiency, specific scaling step can greatly be improved
Including：
B1. the experiment scanned for current scan point, using the most strong DLP micro mirrors 21 of reception signal as current scan point
Signal receiving center, and calculate corresponding to optimum reception radius, according to the signal receiving center and optimum reception radius calculation
The open position and unlatching quantity of the corresponding optimal DLP micro mirrors 21 of current scan point；Wherein, signal receiving center determines
The open position of DLP micro mirrors 21, receive the unlatching quantity that radius determines DLP micro mirrors；
B2. the experiment being predicted to the neighbor scanning point of current scan point, by the letter for the current scan point having calculated that
The prediction that number reception center is predicted neighbor scanning point as reference point receives center, enters further according to the prediction reception center
Go and search optimum reception radius corresponding to actual reception center and calculating, according to the actual reception center and optimum reception radiuscope
Calculate the open position of the corresponding optimal DLP micro mirrors 21 of neighbor scanning point and open quantity.
Calibration process is exactly the parameter calibration in the laser progress optimum reception region for each single-point, searches each laser
The optimum reception center of optimal DLP micro mirrors and optimum reception radius corresponding to scanning element.In b1 calibration process, Laser emission
Device 10 carries out single transmitter to each scanning element, i.e. each frame only has a point to be lit.It is right while each frame is launched
Corresponding DLP micro mirrors do corresponding adjustment, reception center are arranged to the DLP micro mirror that reception signal is most strong, then to DLP
Micro mirror is finely adjusted, and finds optimum reception radius, realizes most strong received signal strength.Found when using b1 calibrating method
After the DLP micromirror positions of some scanning elements, you can pair for searching other neighbor scanning points is predicted using b2 calibrating method
DLP micro mirrors are answered, centered on the DLP positions by the future position directly expanded, the mode of area is progressively reduced, is quickly found out prediction
Optimal DLP micromirror positions corresponding to scanning element.
Specifically, in described step b2, using the signal receiving center for the current scan point having calculated that as reference point
The prediction for being predicted neighbor scanning point receives center, and the reference point includes two or more, and its computational methods is as follows：
Dlp_pointn.x=(laser_pointn.x-laser_point1.x) * (dlp_point2.x-dlp_
point1.x)/(laser_point2.x-laser_point1.x)+dlp_point1.x；
Dlp_pointn.y=(laser_pointn.y-laser_point1.y) * (dlp_point2.y-dlp_
point1.y)/(laser_point2.y-laser_point1.y)+dlp_point1.y；
Wherein,
Dlp_pointn.x, dlp_pointn.y refer to x, the y-coordinate for predicting reception center,
Dlp_point1.x, dlp_point1.y refer to x, the y-coordinate of the 1st reference point,
Dlp_point2.x, dlp_point2.y refer to x, the y-coordinate of the 2nd reference point,
Laser_pointn.x, laser_pointn.y refer to x, the y-coordinate for predicting the corresponding scanning element at reception center,
Laser_point1.x, laser_point1.y refer to x, the y-coordinate of the corresponding scanning element of the 1st reference point,
Laser_point2.x, laser_point2.y refer to x, the y-coordinate of the corresponding scanning element of the 2nd reference point.
Regulated the speed due to DLP minute surface and do not reach the speed of Laser emission.Every time renewal DLP mirror positions when
Wait, in order to which whole laser emission points to before next update can be received with optimal situation, it is necessary to currently sweeping
The position of described point is accurately obtained.In the step c of the present embodiment, yet further still according to the transmitting of the generating laser 10
Speed, using current scan point as starting point, the DLP micro mirrors 21 corresponding to follow-up multiple prediction scanning elements are disposably opened
Open.That is, the renewal frequency of DLP micro mirrors 21, carry out opening the collection of DLP micro mirrors 21 corresponding to multiple scanning elements when referring to update every time
DLP micro mirrors 21 corresponding to a scanning element are only opened when closing, rather than updating every time, so that the renewal speed of DLP micro mirrors 21
Spend and match with the emission rate of generating laser 10, realize optimum signal-noise ratio.
The background noise of system is possible to when the minute surface of optimal size is opened, to trigger the circuit of reception, produces
System noise.Noise level demarcation is carried out to system by timing in operation, DLP controlling mechanisms can be allowed by less than making an uproar
Tone mark accurate DLP minute surfaces quantity opens the minute surface of correlation.Also, the present invention also further detection background noise intensity, and pin
The DLP micro mirrors 21 of different stalls are set to open quantity to different grades of background noise intensity.Such as in strong light and hot environment
Under, system can open quantity by the eyeglass of minimum, to set the minute surface of opening, to reduce noise jamming, and realize preferable
Detectivity.In the present embodiment, 5 grades are divided into background noise intensity, and are correspondingly arranged the DLP micro mirrors of 5 gears
21 unlatching quantity, is followed successively by 800,400,200,100,50, and checks whether generation system noise.Under home, open
Quantity is arranged to 200 DLP micro mirrors, under strong light and hot environment, opens quantity and is arranged to minimum value 50, done to reduce noise
Disturb；Under the low light environments such as night, the unlatching quantity of DLP micro mirrors can be increased as needed, such as 400 or 800 can be used, to carry
High detection sensitivity.
Preferred embodiment of the present utility model has shown and described in described above, it should be understood that the utility model not limits to
In form disclosed herein, the exclusion to other embodiment is not to be taken as, and can be used for various other combinations, modification and ring
Border, and can be modified in this paper utility model contemplated scopes by the technology or knowledge of above-mentioned teaching or association area.
, then all should be in the utility model and the change and change that those skilled in the art are carried out do not depart from spirit and scope of the present utility model
In the protection domain of appended claims.
Claims (4)
1. a kind of DLP receiving systems suitable for laser radar, generating laser (10) is right by laser scanning mirror (11)
Outer transmitting laser signal, formed laser scanning region (30)；Characterized in that, also include to the laser scanning region (30)
Scanning element carries out the DLP signal receivers (20) of signal acquisition, and the DLP signal receivers (20) include the multiple of array arrangement
DLP micro mirrors (21), corresponding one in the DLP micro mirrors (21) that the laser reflection signal of each scanning element is arranged by the array
Above DLP micro mirrors (21) are tracked and received；The generating laser (10) integrates with the DLP signal receivers (20) and set
Put, or, the generating laser (10) is disposed adjacent with the DLP signal receivers (20)；Pass through the laser scanning mirror
(11) synchronizing signal is controlled DLP micro mirrors (21) corresponding to DLP signal receivers (20) opening.
A kind of 2. DLP receiving systems suitable for laser radar according to claim 1, it is characterised in that：It is described
Laser scanning mirror (11) uses the micro- tilting mirrors of MEMS.
A kind of 3. DLP receiving systems suitable for laser radar according to claim 1, it is characterised in that：It is described
DLP signal receivers (20) also include receiving camera lens (23), collection camera lens (24), photoelectric sensor (25), the reception camera lens
(23) front of the DLP micro mirrors (21) of array arrangement is arranged on, the laser reflection signal of the laser scanning region (30) passes through
DLP micro mirrors (21) corresponding to reception camera lens (23) entrance, the DLP micro mirrors (21) are reflected the laser reflection signal and led to
Cross the collection camera lens (24) and enter the photoelectric sensor (25).
4. a kind of DLP receiving systems suitable for laser radar according to any one of claims 1 to 3, its feature
It is：The DLP signal receivers (20) also include switch controller, and laser scanning mirror (11) the scanning correspondence position is swept
During described point, DLP micro mirrors (21) corresponding to the switch controller control opening receive the laser reflection letter of the scanning element
Number.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107402385A (en) * | 2017-07-31 | 2017-11-28 | 岭纬公司 | Suitable for the DLP receiving systems and its adaptive regulation method of laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107402385A (en) * | 2017-07-31 | 2017-11-28 | 岭纬公司 | Suitable for the DLP receiving systems and its adaptive regulation method of laser radar |
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Effective date of registration: 20200817 Address after: No.558 FenHu Avenue, Lili Town, Wujiang District, Suzhou City, Jiangsu Province Patentee after: Suzhou Lingwei Intelligent Technology Co.,Ltd. Address before: 5026 Jinsong Road, Dublin, CA Patentee before: NEUVITION Inc. |