CN207408591U - A kind of three-dimensional laser range unit of array APD time-sharing multiplexes - Google Patents
A kind of three-dimensional laser range unit of array APD time-sharing multiplexes Download PDFInfo
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- CN207408591U CN207408591U CN201721413513.0U CN201721413513U CN207408591U CN 207408591 U CN207408591 U CN 207408591U CN 201721413513 U CN201721413513 U CN 201721413513U CN 207408591 U CN207408591 U CN 207408591U
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Abstract
The utility model discloses a kind of three-dimensional laser range unit of array APD time-sharing multiplexes, the three-dimensional laser range unit includes：Laser emitting module, array switch module, APD array module, amplification module, moment identification module, timing module and main control module, motor module, it is characterised in that multiple signal ends of APD array module are connected with array switch module, and the common port of APD array module is connected with single amplification module；The utility model utilizes the mode of array APD time-sharing multiplexes, only with single channel amplification module, moment identification module and timing module, it is not only able to avoid the problem that interfering with each other between array APD, the resources such as amplification module, moment identification module can also be saved, range accuracy is promoted, reduces ranging cost.
Description
Technical field
The utility model is related to laser detection field, more particularly to a kind of three-dimensional laser ranging of array APD time-sharing multiplexes
Device.
Background technology
With the continuous development of laser measuring technology, three-dimensional laser radar technology has also obtained development at full speed.Laser thunder
It is just gradually being converted up to technology from military field to civil field, in airborne, unmanned, vehicle detection, harbour anticollision, tunnel
The industries such as detection, the manufacturing are widely used.Laser radar technique based on pulsed and phase type measurement method,
And pulsed measurement method has far measuring distance, strong interference immunity, the advantages such as cooperative target is not required, it will in centimetre class precision
The detection field asked is widely used.
Three-dimensional laser radar can generally use array APD (linear array or face battle array) to achieve the purpose that three-dimensional ranging at present
Or multiple single tube APD, for receiving the return laser beam energy of different angle；The array APD of integrated form is generally common-anode, N
A cathode；When in use, it is necessary to the public anode end of array APD be connected negative high voltage, when array APD receives laser signal
When, one or more cathodes of array APD will generate faint current signal, by the amplification of multiple electric signals, screen, you can
To the measured object range information of different angle；But since N number of photosurface of array APD is compact-sized, and Laser emission lens
The angle of divergence and APD receive field angle be difficult to be completely superposed, correspond, thus when multiple laser simultaneously shine when, it is right
The APD units answered can not only receive the energy of corresponding laser tube, moreover it is possible to receive the energy of other laser, and the interference of light
It can cause the crosstalk of electricity again, influence the quality of signal and the accuracy of ranging；If multiple Laser Time Sharings shine, light disturbs still
In the presence of therefore APD array module must have N number of corresponding amplifying circuit, avoid between the electric signal that different APD units generate mutually
Mutually influence；
A kind of three-dimensional laser range unit of array APD time-sharing multiplexes is provided in the utility model, by the more of array APD
A signal end is as high voltage control end, and single common port is as light signal output end；According to the angle of transmitting laser, control corresponds to
The high-voltage switch gear of the APD of angle, common port timesharing output electric signal；Can not only avoid light between array APD disturb and
Accurately ranging is realized in electrical interference；Substantial amounts of amplification module, moment identification module and timing module can also be saved simultaneously,
Easily realize miniaturization, the 3 D laser scanning ranging of low cost.
Utility model content
To ensure the miniaturization of three-dimensional laser ranging and low cost, range measurement resource is saved, the utility model provides：
1st, a kind of three-dimensional laser range unit of array APD time-sharing multiplexes, which is characterized in that described
Device includes：
Laser emitting module：Including N (N >=2) a laser emission element, emit different angle to measured object for timesharing
Laser signal；
APD array module：Including N number of photoelectric conversion unit, for receiving the backward energy of different angle laser, and by light
Energy is converted to electric signal；
Array switch module：Including N number of switch unit, for controlling the open and close of N number of photoelectric conversion unit；
Amplification module：The N roads electric signal received is amplified for timesharing, and amplified signal is sent to and is reflected constantly
Other module；
Moment identification module：Timesharing carries out moment discriminating processing to N roads amplified signal；It is geostationary to obtain temporal information
Digital signal, and digital signal is sent to timing module by treated；
Timing module：Pulse start time information and corresponding number for the N number of laser emission element transmitting of acquisition time
The temporal information of word signal.
2nd, a kind of three-dimensional laser range unit of array APD time-sharing multiplexes according to claim 1, feature exist
In the APD array module is common-anode or the APD of common cathode.
3rd, a kind of three-dimensional laser range unit of array APD time-sharing multiplexes according to claim 1, feature exist
In N number of signal end of the APD array module is connected with N number of switch unit；The common port of the APD array module with it is single
Amplification module connects.
4th, further, a kind of three-dimensional laser range unit of array APD time-sharing multiplexes further includes motor module,
The motor module is being rotated perpendicular to the direction that laser signal emits with constant rotating speed, and angle information is sent out in real time
Give laser emitting module；
For the laser module after the angle information of motor module is received, N number of laser cell cycles transmitting laser successively
Initial signal；
5th, further, a kind of three-dimensional laser range unit of array APD time-sharing multiplexes further includes main control module,
The main control module obtains the clocking information of timing module acquisition for controlling motor module, array switch module, obtain by
Survey the distance of object；
The utility model using array APD common anodes or common cathode characteristic, around and with it, using Time-sharing control
Mode not only avoids the interference between different APD；Also save amplification module, moment identification module and timing module
Resource can easily realize 3 D laser scanning ranging.
Description of the drawings
Fig. 1 is a kind of structural representation of the three-dimensional laser range unit of 4 line APD time-sharing multiplexes of embodiment of the utility model
Figure；
Fig. 2 is the pulse information signal that a kind of three-dimensional laser of 4 line APD time-sharing multiplexes of embodiment of the utility model shines
Figure；
Fig. 3 is a kind of hot spot schematic diagram of the three-dimensional laser of 4 line APD time-sharing multiplexes of embodiment of the utility model；
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment carries out the technical scheme in the embodiment of the utility model clear, complete description, it is clear that retouched
The embodiment stated is only the utility model part of the embodiment, instead of all the embodiments.Reality based on the utility model
Apply example, the every other embodiment that those of ordinary skill in the art are obtained without making creative work, all
Belong to the scope of the utility model protection.
Fig. 1 shows a kind of knot of the three-dimensional laser range unit of 4 array APD time-sharing multiplexes of embodiment of the utility model
Structure schematic diagram, as shown in Fig. 2, the three-dimensional laser range unit of the present embodiment, including：Laser emitting module 101, APD array mould
Block 102, array switch module 103, amplification module 104, moment identification module 105, timing module 106；
Laser emitting module 101：Including 4 laser emission elements, emit the laser of 4 angles to measured object for timesharing
Signal；
APD array module 102：For 4 array APD of common-anode, including 4 photoelectric conversion units, for receiving 4 angles
The backward energy of laser, and light energy is converted into electric signal；
Array switch module 103：Including 4 switch units, the cathode of 4 switch units and 4 photoelectric conversion units connects
It connects, for controlling the open and close of 4 photoelectric conversion units；
Amplification module 104：It is connected with the common-anode of 4 photoelectric conversion units, the 4 road electric signals that will be received for timesharing
It is amplified, and amplified signal is sent to moment identification module；
Moment identification module 105：Timesharing carries out moment discriminating processing to 4 tunnel amplified signals；Obtain temporal information relatively not
The digital signal of change, and digital signal is sent to timing module by treated；
Timing module 106：For the pulse start time information of 4 laser array units of acquisition time transmitting and corresponding
The temporal information of digital signal；And clocking information is sent to main control module；
Motor module 107 is further included, motor module is being carried out perpendicular to the direction that laser signal emits with constant rotating speed
Rotation, and angle information is sent to laser emitting module in real time；
Main control module 108 is further included, main control module obtains timing module and adopt for controlling motor module, array module
The clocking information of collection obtains the distance of measured object；
It is illustrated in figure 2 the pulse information schematic diagram that the three-dimensional laser range unit of 4 array APD time-sharing multiplexes shines, Fig. 2
In：
200 be angle information of the motor in scanning area, it is assumed that the scanning area of motor is 360 °, and resolution ratio is minimum
0.5 °, then angle be followed successively by respectively 0.5 °, 1 °, 1.5 ° ... 360 °；
201 be the illuminated message of the first laser transmitter unit of the laser emitting module 101, corresponds to motor angle respectively
0.5 °, 2.5 °, 4.5 ° ... 358.5 °；
202 be the illuminated message of the second laser transmitter unit of the laser emitting module 101, corresponds to motor angle respectively
1 °, 3 °, 5 ° ... 359 °；
203 be the illuminated message of the 3rd laser emission element of the laser emitting module 101, corresponds to motor angle respectively
1.5 °, 3.5 °, 5.5 ° ... 359.5 °；
204 be the illuminated message of the 4th laser emission element of the laser emitting module 101, corresponds to motor angle respectively
2 °, 4 °, 6 ° ... 360 ° (0 °)；
205 electric signals exported for the APD array module enable the mode of array APD modules according to timesharing, by 4
The backward energy of laser emission element is output to the amplification module by a public port；
The 301 hot spot schematic diagram to shine for the three-dimensional laser range unit of 4 array APD time-sharing multiplexes in Fig. 3, can from figure
To see, 101 4 laser emission elements of laser emitting module perpendicular to the direction that motor scans angle timesharing, follow
Ring emits laser pulse, so as to form 4 scanning curves, realizes 3-D scanning.
Finally it should be noted that：Various embodiments above only illustrates one kind by the use of 4 array APD of common-anode as embodiment
The composition of the three-dimensional laser range unit of APD time-sharing multiplexes and how timesharing shines, how to realize array APD time-sharing multiplexes,
But the embodiment is only used for illustrating the technical solution of the utility model, is not limited；The present embodiment can be used N >=
2 General Cell APD, either common-anode or common cathode, therefore the present embodiment can be used in the arbitrary of N >=2 by the way of
On multi-thread 3-D scanning laser equipment, although the utility model is described in detail with reference to foregoing embodiments, ability
The those of ordinary skill in domain should be understood：It can still modify to the technical solution recorded in foregoing embodiments or
Person carries out equivalent substitution to which part or all technical characteristic；And these modifications or replacement, do not make relevant art side
The essence of case departs from the utility model claims limited range.
Claims (3)
1. a kind of range unit of the three-dimensional laser of array APD time-sharing multiplexes, which is characterized in that described device includes：
Laser emitting module：Including N (N >=2) a laser emission element, for timesharing to the laser of measured object transmitting different angle
Signal；
APD array module：Including N number of photoelectric conversion unit, for receiving the backward energy of different angle laser, and by light energy
Be converted to electric signal；
Array switch module：Including N number of switch unit, for controlling the open and close of N number of photoelectric conversion unit；
Amplification module：The N roads electric signal received is amplified for timesharing, and amplified signal is sent to and differentiates mould constantly
Block；
Moment identification module：Timesharing carries out moment discriminating processing to N roads amplified signal；Obtain the geostationary number of temporal information
Signal, and digital signal is sent to timing module by treated；
Timing module：Pulse start time information and corresponding number letter for the N number of laser emission element transmitting of acquisition time
Number temporal information.
2. a kind of range unit of the three-dimensional laser of array APD time-sharing multiplexes according to claim 1, which is characterized in that
The APD array module is common-anode or the APD of common cathode.
3. a kind of range unit of the three-dimensional laser of array APD time-sharing multiplexes according to claim 1, which is characterized in that
N number of signal end of the APD array module is connected with N number of switch unit；The common port of the APD array module and single amplification
Module connects.
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| CN201721413513.0U CN207408591U (en) | 2017-10-30 | 2017-10-30 | A kind of three-dimensional laser range unit of array APD time-sharing multiplexes |
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| CN201721413513.0U CN207408591U (en) | 2017-10-30 | 2017-10-30 | A kind of three-dimensional laser range unit of array APD time-sharing multiplexes |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020047857A1 (en) * | 2018-09-07 | 2020-03-12 | 深圳市大疆创新科技有限公司 | Laser distance measurement module, apparatus, and method, and mobile platform |
| CN111596308A (en) * | 2020-05-29 | 2020-08-28 | 上海擎朗智能科技有限公司 | Laser receiving system, laser radar system and robot equipment |
| CN111830532A (en) * | 2020-07-22 | 2020-10-27 | 厦门市和奕华光电科技有限公司 | Multi-module multiplexing laser radar and sweeping robot |
-
2017
- 2017-10-30 CN CN201721413513.0U patent/CN207408591U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020047857A1 (en) * | 2018-09-07 | 2020-03-12 | 深圳市大疆创新科技有限公司 | Laser distance measurement module, apparatus, and method, and mobile platform |
| CN111164457A (en) * | 2018-09-07 | 2020-05-15 | 深圳市大疆创新科技有限公司 | Laser ranging module, device and method and mobile platform |
| EP3848726A4 (en) * | 2018-09-07 | 2022-02-16 | SZ DJI Technology Co., Ltd. | Laser distance measurement module, apparatus, and method, and mobile platform |
| CN111164457B (en) * | 2018-09-07 | 2023-04-14 | 深圳市大疆创新科技有限公司 | Laser ranging module, device and method and mobile platform |
| CN111596308A (en) * | 2020-05-29 | 2020-08-28 | 上海擎朗智能科技有限公司 | Laser receiving system, laser radar system and robot equipment |
| CN111830532A (en) * | 2020-07-22 | 2020-10-27 | 厦门市和奕华光电科技有限公司 | Multi-module multiplexing laser radar and sweeping robot |
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Effective date of registration: 20231205 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Wuhan Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: 100085 Building 5, No.1 Shangdi East Road, Haidian District, Beijing 601 Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |