CN209117863U - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN209117863U CN209117863U CN201821665707.4U CN201821665707U CN209117863U CN 209117863 U CN209117863 U CN 209117863U CN 201821665707 U CN201821665707 U CN 201821665707U CN 209117863 U CN209117863 U CN 209117863U
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- laser radar
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Abstract
A kind of laser radar is disclosed in the embodiments of the present invention, the laser radar includes: laser emitter, in a transmit cycle, sends N number of pulse laser；Laser pickoff receives respective pulses echo within a reception period, and the respective pulses echo is the corresponding echo of N number of laser pulse in the reception period corresponding transmit cycle；The respective pulses echo received in one reception period is overlapped, obtains superposition echo by echo processor.The laser radar of the utility model emits multiple pulse lasers in a transmit cycle, multiple pulse echos are received when receiving, processing to multiple pulse echos, effective return laser beam and interference signal can be distinguished, it reduces in laser radar, the error rate that detects at a distance, it is low to improve accuracy, to meet the needs of radar centering, remote probe.
Description
Technical field
The utility model relates to detection field, in particular to a kind of laser radar.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
The laser beam of existing laser radar transmitting is usually pulse signal, from the reflected echo-signal of target
It is pulse signal.When underway remote probe, the propagation medium and communication space of laser beam can introduce great decaying, right
In medium and long distance, due to decaying and the presence of white Gaussian noise, be difficult to distinguish return laser beam and interference signal so that in it is remote
The detecting error rate of distance is high, accuracy is low.Traditional impulse type radar meets by the peak power of improving laser pulse
The demand of medium-long range detection.
In existing laser radar, the peak power of pulse laser is improved, so that cost, volume, power consumption etc. are all big
Amplitude improves, so that bottleneck is encountered, in addition, the peak power for improving laser pulse may also be in user and tested range
Article, pedestrian cause certain injury.
As it can be seen that can not also solve pulse lidar centering, long-range detection demand in the prior art.
Utility model content
A kind of laser radar is provided in the utility model embodiment, is able to satisfy laser radar centering, at a distance detection
Demand.
In order to solve the above-mentioned technical problem, the utility model embodiment discloses following technical solution:
Provide a kind of laser radar, which is characterized in that the laser radar includes:
Laser emitter sends N number of pulse laser in a transmit cycle；
Laser pickoff receives respective pulses echo within a reception period, and the respective pulses echo is described connects
Receive the corresponding echo of N number of laser pulse in period corresponding transmit cycle；
The respective pulses echo received in one reception period is overlapped, is superimposed by echo processor
Echo.
Optionally, the laser emitter is also used to, and in a transmit cycle, sends a pulse laser；
Laser pickoff was also used within a reception period, received a pulse echo, and one pulse echo is
The corresponding echo of a pulse laser sent in a corresponding transmit cycle；
Since echo processor be also used to currently receiving the period, the pulse echo being superimposed in N-1 preamble reception period,
Obtain superposition echo.
Optionally, the laser radar further include:
Range finder, for obtaining detecting distance according to the superposition echo.
Optionally, the laser radar further includes controller, is used for
Obtain emphasis scanning area；
The controller is also used in the laser radar scanning emphasis scanning area, so that the laser emitter exists
N number of pulse laser is sent in one transmit cycle.
Optionally, the controller is also used in the non-emphasis scanning area of the laser radar scanning, so that described swash
Optical transmitting set sends a pulse laser in a transmit cycle.
Optionally, laser radar further includes controller, and the controller is for obtaining emphasis scanning area；
When the controller is also used in the laser radar scanning key area, so that the echo processor connects from currently
The period is received, the pulse echo being superimposed in N-1 preamble reception period obtains superposition echo.
A kind of laser radar is disclosed in the embodiments of the present invention, the laser radar includes: laser emitter,
In one transmit cycle, N number of pulse laser is sent；Laser pickoff receives respective pulses echo within a reception period,
The respective pulses echo is the corresponding echo of N number of laser pulse in the reception period corresponding transmit cycle；At echo
Device is managed, the respective pulses echo received in one reception period is overlapped, superposition echo is obtained.The utility model
Laser radar emit multiple pulse lasers in a transmit cycle, receive when receive multiple pulse echos, to multiple
The processing of pulse echo can distinguish effective return laser beam and interference signal, reduce in laser radar, spy at a distance
The error rate of survey, raising accuracy is low, to meet the needs of radar centering, remote probe.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 show the schematic diagram of the laser radar of the utility model embodiment；
Fig. 2 show the pulse echo schematic diagram of the utility model embodiment；
Fig. 3 show multiple pulse echo echoes superposition schematic diagram of the utility model embodiment.
Specific embodiment
The utility model following examples provide a kind of laser radar, are able to satisfy laser radar centering, visit at a distance
Survey demand.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clear, complete description, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1 show the schematic diagram of the laser radar of the utility model embodiment, as shown in Figure 1, the laser radar packet
It includes:
Laser emitter 110 sends N number of pulse laser in a transmit cycle；
Laser pickoff 120 receives respective pulses echo, the respective pulses echo is institute within a reception period
State the corresponding echo of N number of laser pulse received in period corresponding transmit cycle；
The respective pulses echo received in one reception period is overlapped, is folded by echo processor 130
Add-back wave.
The laser radar of pulsed can send N number of pulse laser in a transmit cycle, in the transmit cycle
The pulse laser of transmitting it is different it is surely all reflected, become pulse echo, so the respective pulses echo received
Quantity is possible to the quantity of the pulse laser less than transmitting.
The superposition of pulse echo can be realized using circuit in the prior art, such as diode circuit, supercircuit etc..
In the embodiments of the present invention, the laser radar further include:
Range finder, for obtaining detecting distance according to the superposition echo.
It may include: usually average, weighted average etc. to the processing method of superposition echo.
Due to transmitting N number of pulse laser in a transmit cycle, the interval between this N number of pulse laser is very short, can be with
Think that the waveform of the corresponding effective return laser beam of these pulse lasers is the same or similar, and interference signal is random.
Include effective return laser beam and interference signal in corresponding return laser beam, after superposition after, effective return laser beam it is strong
Degree will be much larger than interference signal, for example, the ratio of effective return laser beam and interference signal is 2:1 in single pulse echo, then
After being superimposed three pulse echos, the ratio of effective return laser beam and interference signal can be 6:1.Actual conditions are complex, and
Cannot simply it be illustrated with amplitude scale, in one embodiment, noise signal can be white Gaussian noise, white Gaussian noise
Its standard deviation is by suppressed N*3dB after being overlapped averagely, and effectively return laser beam is since it is there are the certainty of position,
There will not be too big variation after superposed average.As it can be seen that it is theoretical in practice, in the utility model, effective laser can be returned
Wave and interference signal distinguish, and reduce in laser radar, the error rate that detects at a distance, and it is low to improve accuracy, to meet
The demand of radar centering, remote probe.
Fig. 2 show the pulse echo schematic diagram of the utility model embodiment, as shown in Fig. 2, wrapping in single pulse echo
Include effective return laser beam 210 and interference signal 220, interference signal can have multiple, three pulse echos be shown in Fig. 2, often
It all include white Gaussian noise interference signal in a pulse echo.
Fig. 3 show multiple pulse echo echoes superposition schematic diagram of the utility model embodiment, as shown in figure 3, effectively
Pulse echo can be reinforced, but interference signal be it is random, will not be reinforced.As it can be seen that in Fig. 3, effective return laser beam and interference
The intensity ratio of signal is greater than shown in Fig. 2.
In another embodiment of the utility model, the laser emitter is also used to, in a transmit cycle, hair
Send a pulse laser；
Laser pickoff was also used within a reception period, received a pulse echo, and one pulse echo is
The corresponding echo of a pulse laser sent in a corresponding transmit cycle；
Since echo processor be also used to currently receiving the period, the pulse echo being superimposed in N-1 preamble reception period,
Obtain superposition echo.
The interval that laser radar emits laser pulse is although adjustable, but is influenced by device itself, it is impossible to
Unconfined increase in unit time, if therefore to emit a fairly large number of pulse laser in a transmit cycle, then
One transmit cycle will be longer, this performance for being also unfavorable for improving laser radar therefore can also for the superposition of pulse echo
To be the superposition in multiple reception periods.
In the utility model above-described embodiment, a pulse laser is still emitted in a transmit cycle, one corresponding
It receives in the period and also receives a pulse echo, when processing, by pulse echo in the reception period and one upper
The pulse echo received in the period is overlapped, and also can achieve the intensity for increasing effective return laser beam, thus by effective laser
Echo and interference signal distinguish.The intensity of limited return laser beam in order to further increase can also receive in the period from current
Start, the pulse echo being superimposed in N-1 preamble reception period, so as to more efficiently distinguish effective return laser beam and do
Disturb signal.
In one embodiment of the utility model, the laser radar further includes controller, for obtaining emphasis scanning
Region；
The controller is also used in the laser radar scanning emphasis scanning area, so that the laser emitter exists
N number of pulse laser is sent in one transmit cycle.
The controller is also used in the non-emphasis scanning area of the laser radar scanning, so that the laser emitter
A pulse laser is sent in a transmit cycle.
In the embodiments of the present invention, laser radar sends N number of pulse laser in a transmit cycle, will increase
The power of laser radar also will increase the processing load of subsequent echoes processor, therefore can control laser hair by controller
Emitter sends N number of pulse laser in emphasis scanning area in one transmit cycle, and in non-emphasis scanning area, one
A pulse laser is only sent in transmit cycle.Both can satisfy in this way in important scanning area, long-range detection it is accurate
The requirement of degree, error rate, can also suitably reduce the overall power and load of laser radar.
In another embodiment of the utility model, laser radar further includes controller, and the controller is for obtaining
Emphasis scanning area；
When the controller is also used in the laser radar scanning key area, so that the echo processor connects from currently
The period is received, the pulse echo being superimposed in N-1 preamble reception period obtains superposition echo.
In the embodiment, transmitter all only emits a pulse laser in all transmit cycles, but scans in emphasis
In region, the pulse echo that can be continuously superimposed in N number of reception period, thus meet in important scanning area, remote visit
The requirement of the accuracy, error rate of survey.
A kind of laser radar is disclosed in the embodiments of the present invention, the laser radar includes: laser emitter,
In one transmit cycle, N number of pulse laser is sent；Laser pickoff receives respective pulses echo within a reception period,
The respective pulses echo is the corresponding echo of N number of laser pulse in the reception period corresponding transmit cycle；At echo
Device is managed, the respective pulses echo received in one reception period is overlapped, superposition echo is obtained.The utility model
Laser radar emit multiple pulse lasers in a transmit cycle, receive when receive multiple pulse echos, to multiple
The processing of pulse echo can distinguish effective return laser beam and interference signal, reduce in laser radar, spy at a distance
The error rate of survey, raising accuracy is low, to meet the needs of radar centering, remote probe.
Those skilled in the art can be understood that the technology in the utility model embodiment can add by software
The mode of required common hardware realizes that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal element
Device etc., naturally it is also possible to by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc.
It realizes, but the former is more preferably embodiment in many cases.Based on this understanding, the skill in the utility model embodiment
Substantially the part that contributes to existing technology can be embodied in the form of software products art scheme in other words, the calculating
Machine software product can store in storage medium, as read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disk, CD etc., including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes each embodiment of the utility model or embodiment
Method described in certain parts.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
Above-described the utility model embodiment, does not constitute the restriction to scope of protection of the utility model.It is any
Modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in the utility model
Protection scope within.
Claims (6)
1. a kind of laser radar, which is characterized in that the laser radar includes:
Laser emitter sends N number of pulse laser in a transmit cycle；
Laser pickoff receives respective pulses echo within a reception period, and the respective pulses echo is the reception week
The corresponding echo of N number of laser pulse in phase corresponding transmit cycle；
The respective pulses echo received in one reception period is overlapped, obtains superposition echo by echo processor.
2. laser radar as described in claim 1, which is characterized in that the laser emitter is also used to, a transmitting week
In phase, a pulse laser is sent；
Laser pickoff was also used within a reception period, received a pulse echo, and one pulse echo is to correspond to
A transmit cycle in send the corresponding echo of a pulse laser；
Since echo processor be also used to currently receiving the period, and the pulse echo being superimposed in N-1 preamble reception period obtains
It is superimposed echo.
3. laser radar as claimed in claim 1 or 2, which is characterized in that the laser radar further include:
Range finder, for obtaining detecting distance according to the superposition echo.
4. laser radar as described in claim 1, which is characterized in that the laser radar further includes controller, for obtaining
Emphasis scanning area；
The controller is also used in the laser radar scanning emphasis scanning area, so that the laser emitter is at one
N number of pulse laser is sent in transmit cycle.
5. laser radar as claimed in claim 4, which is characterized in that the controller is also used in the laser radar scanning
When non-emphasis scanning area, so that the laser emitter sends a pulse laser in a transmit cycle.
6. laser radar as claimed in claim 2, which is characterized in that laser radar further includes controller, and the controller is used
In acquisition emphasis scanning area；
When the controller is also used in the laser radar scanning key area, so that the echo processor receives week from current
Phase, the pulse echo being superimposed in N-1 preamble reception period obtain superposition echo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821665707.4U CN209117863U (en) | 2018-10-12 | 2018-10-12 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821665707.4U CN209117863U (en) | 2018-10-12 | 2018-10-12 | Laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN209117863U true CN209117863U (en) | 2019-07-16 |
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| CN201821665707.4U Active CN209117863U (en) | 2018-10-12 | 2018-10-12 | Laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333499A (en) * | 2018-10-12 | 2019-10-15 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| WO2023004629A1 (en) * | 2021-07-28 | 2023-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar anti-interference method and apparatus, readable storage medium, and terminal device |
-
2018
- 2018-10-12 CN CN201821665707.4U patent/CN209117863U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333499A (en) * | 2018-10-12 | 2019-10-15 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| WO2023004629A1 (en) * | 2021-07-28 | 2023-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar anti-interference method and apparatus, readable storage medium, and terminal device |
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