CN210199306U - Laser radar transmitting power and echo gain automatic regulating device - Google Patents
Laser radar transmitting power and echo gain automatic regulating device Download PDFInfo
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- CN210199306U CN210199306U CN201822039624.0U CN201822039624U CN210199306U CN 210199306 U CN210199306 U CN 210199306U CN 201822039624 U CN201822039624 U CN 201822039624U CN 210199306 U CN210199306 U CN 210199306U
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Abstract
The utility model provides a laser radar transmitted power and echo gain automatic regulating apparatus, it stores the echo signal data of laser radar scanning target object in advance through the memory, before the scanning, extract the echo signal of a plurality of positions that the scanning position is adjacent, obtain the original amplitude of a plurality of echo signals, then weigh the original amplitude of echo signal, calculate the echo signal amplitude of waiting to scan the position, at last according to the gain parameter configuration laser radar's of this scanning position transmission laser pulse, and receive the echo signal that the position of waiting to scan returns, extract echo signal data and save from the echo signal that returns, like this, need not to improve the transmission laser peak power or through the method among the prior art such as the amplification factor of increase receiving circuit, can be in order to improve the scanning precision to target object far away, and the system can continuously update and store the echo data information.
Description
Technical Field
The utility model relates to a laser radar scanning technical field, specifically speaking relates to a laser radar transmitted power and echo gain automatic regulating apparatus.
Background
In the active detection method based on the laser radar in the prior art, the basic working principle is that the laser radar emits laser to a target to be detected, the laser irradiates the target to be detected and then is reflected on the surface of the target to be detected, then a receiver receives a laser signal reflected by the target to be detected, and the round-trip time of the laser signal is measured to obtain the distance between the laser radar and the target to be detected. Due to the characteristics of high coherence, directivity, monochromaticity and the like of the laser, the active detection mode of the laser radar can realize the function of long-distance and high-precision distance measurement, and the active detection mode of the laser radar can be widely applied to many aspects such as automatic driving, building three-dimensional modeling, terrain mapping and the like.
In the prior art, the time-of-flight ranging method generally adopted by laser radar is to obtain the distance from a light source to a target object by continuously transmitting light pulses to the target object, receiving a light beam returning from the target object by using a sensor and detecting the round-trip time of the light pulses. When the return time of a certain optical pulse is obtained, the return time is compared with the sending time of the optical pulse to obtain the time length of the laser not impacting to and fro the target object, and the obtained flight time length is multiplied by the light speed to obtain the distance data of the target object from the light source.
Because under the premise that other equipment factors such as a receiving lens for transmitting the laser peak power and receiving the optical pulse reflected by the target object are kept to be certain, the light intensity of the reflected optical pulse received by the laser radar is reduced along with the increase of the distance between the target object and the transmitting light source, correspondingly, the amplitude of the received echo electric signal is reduced along with the proportion, and then, the accuracy of ranging by the time-of-flight ranging method is greatly reduced when the distance between the target object and the transmitting light source is far because of the reduction of the light intensity and the reduction of the amplitude of the echo electric signal. It has been proposed in long-term practice to solve the above-mentioned technical problems in the prior art by using two methods of increasing the peak power of the transmitted laser and increasing the amplification factor of the receiving circuit, but these two methods also have respective disadvantages:
1) in a feasible method, the method of improving the peak power of the emitted laser can be adopted to improve the ranging precision and extend the detectable distance of the laser radar, however, correspondingly, the improvement of the peak power of the emission light source can correspondingly increase the electrical power consumption of the laser radar, which inevitably increases the system burden of the whole equipment of the laser radar device, in addition, the continuous laser pulse emitted by the overhigh peak power of the laser also causes certain damage to the vision of operators, which is not beneficial to continuous measurement or long-term measurement, obviously, although the method can solve the problem of insufficient precision of the long-distance ranging of the laser radar, the applicability of the method is also limited;
2) in another possible approach, the range-finding accuracy for a target object at a longer distance can be improved by increasing the amplification factor of the receiving circuit, however, increasing the amplification factor of the receiving circuit leads to circuit noise enhancement, and when the amplitude of the echo signal is sufficient, the signal-to-noise ratio is reduced.
In addition, in both of the above two prior art methods, it is difficult to dynamically and adaptively adjust the laser emission power of the laser radar system and the echo gain of the system in real time according to the change of the characteristics of the surrounding environment or the special effect of the target object, so that the applicability and the dynamic range of the laser radar in the prior art are greatly limited.
In view of the above, the prior art should be improved to solve the above technical problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a solve above-mentioned technical problem and make, its purpose provides one kind and can need not to increase dedicated circuit or set up complicated parameter, can be so that laser radar scanning device realizes changing according to perimeter environment and target special effect, adjusts laser emission power and system gain adaptively, can improve laser radar scanning adaptability and scan dynamic range's laser radar emission power and echo gain automatic regulating apparatus.
In order to achieve the above object, the utility model provides a laser radar transmitted power and echo gain automatic regulating apparatus, the device includes: the main control module controls the emission of the laser and generates a synchronous signal; the laser emission module comprises an electric control galvanometer and a laser; the echo receiving module comprises receiving optics, a photoelectric sensor and an amplifying circuit; the echo information extraction module comprises a threshold trigger circuit, a multi-high-precision circuit and a peak value measurement circuit; the storage module comprises a nonvolatile power-down memory and is used for storing echo information of a time neighborhood and a space neighborhood; a gain calculating and distributing module for calculating echo gain parameters required by the position to be scanned and configuring the gain, wherein, when the laser radar transmitting power and echo gain automatic adjusting device works, before the scanning of the position to be scanned, the echo signals of the time and space neighborhood corresponding to the position to be scanned are extracted from the storage module, the amplitude of the echo signals is calculated, and calculating an amplitude deviation value of a position to be measured according to the pre-stored echo signal amplitude deviation, adjusting and configuring a transmitting laser signal according to a gain adjusting parameter and the amplitude deviation value, transmitting the laser signal to a photoelectric detector of the echo receiving module after the laser signal is reflected by a target object, obtaining and storing current pulse information after the laser signal is converted into an electric signal, and updating the pre-stored echo deviation value by using the current pulse information.
Preferably, the electrically controlled galvanometer may be a one-dimensional and/or two-dimensional mechanical scanning mirror.
According to the above description and practice, it can be known that among laser radar transmitted power and echo gain automatic regulating apparatus, echo signal amplitude, target physical distance and gain parameter to laser radar scanning target object are stored in advance through the memory, before treating the scanning position to scan as required, extract this echo signal of treating a plurality of positions that the scanning position is adjacent from the memory, and obtain the original amplitude of adjacent a plurality of position echo signals according to the echo information that draws, and then weigh the original amplitude of the echo signal of a plurality of positions, and calculate the echo signal amplitude of obtaining the position of treating the scanning according to echo signal amplitude deviation value, finally dispose laser radar's transmission laser pulse according to this gain parameter of treating the scanning position, and receive the echo signal that the position of treating the scanning returns, extract echo signal amplitude of echo signal from the echo signal that returns, The target physical distance and the gain parameter are stored, so that the scanning precision of a far target object can be improved without increasing the peak power of the emitted laser or increasing the amplification factor of a receiving circuit and other methods in the prior art, the system can continuously update and store echo data information, and the amplitude deviation value of the echo signal is continuously updated through the echo data information, so that the scanning precision is further improved. To sum up, laser radar transmitted power and echo gain automatic regulating apparatus can need not to increase dedicated circuit or set up complicated parameter, can be so that laser radar scanning device realizes changing according to perimeter environment and target special effect, adjust laser transmitted power and system gain adaptively, can improve laser radar scanning adaptability and scanning dynamic range, the too high whole system burden of increase equipment of laser radar electric power under the prior art has been solved, and cause the technical problem of harm to operating personnel's eyesight, and can keep the system SNR, reduce the scanning cost, the whole life of extension equipment.
Drawings
Fig. 1 is a schematic diagram illustrating a structure of an automatic laser radar transmission power and echo gain adjustment device according to an embodiment of the present invention.
Detailed Description
The following describes an embodiment of the laser radar transmitting power and echo gain automatic adjusting device according to the present invention with reference to the drawings. Those of ordinary skill in the art will recognize that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in the present description, the drawings are not to scale and like reference numerals refer to like parts.
The embodiment of the utility model provides an in the embodiment provide a laser radar transmitted power and echo gain automatic regulating apparatus, figure 1 is the schematic diagram, shows the utility model discloses an in the embodiment laser radar transmitted power and echo gain automatic regulating apparatus's structure. As shown in fig. 1, in the embodiment of the present invention, the laser radar transmitting power and echo gain automatic adjusting device includes a main control module 1, a laser transmitting module 2, an echo receiving module 3, an echo information extracting module 4, a storage module 5, and a gain calculating and distributing module 6.
The main control module 1 controls the emission of the laser and generates a synchronous signal; the laser emission module 2 comprises an electric control galvanometer and a laser; the echo receiving module 3 comprises a receiving optical and photoelectric sensor and an amplifying circuit; the echo information extraction module 4 comprises a threshold trigger circuit, a multi-high-precision circuit and a peak value measurement circuit; the storage module 5 comprises a nonvolatile power-down memory, and the storage module 5 is used for storing echo information of a time neighborhood and a space neighborhood; the gain calculation and distribution module 6 calculates the echo gain parameters needed by the position to be scanned, and performs gain configuration,
work as laser radar transmitted power and echo gain automatic regulating apparatus during operation, before treating the scanning position scanning, extract the echo signal who treats time and space neighborhood that the scanning position corresponds from storage module 5, calculate echo signal's amplitude, and calculate the amplitude deviation value of the volume of awaiting measuring position according to the echo signal amplitude deviation of prestore, again according to gain control parameter and amplitude deviation value adjustment configuration transmission laser signal, laser signal transmits to echo receiving module 3's photoelectric detector after the target object reflection, obtain current pulse's information and save after being transformed into the signal of telecommunication, and utilize current pulse information to update the echo deviation value of prestore.
The laser radar transmitting power and echo gain automatic regulating device in the embodiment of the utility model scans and images the laser radar through the scanning device to the target object, and stores the echo signal amplitude, the target physical distance and the gain parameter of the echo signal in a plurality of column periods in the scanning process; reading echo signals of a plurality of positions adjacent to the position to be scanned according to the position to be scanned of the next scanning point, and calculating the original amplitude values of the echo signals of the adjacent positions; weighting the original amplitudes of the echo signals at the positions, and calculating the amplitude of the echo signal at the position to be scanned according to the amplitude deviation value of the echo signal; and then calculating a gain parameter of the position to be scanned according to the amplitude of the echo signal, configuring a laser pulse transmitted by the laser radar according to the gain parameter, receiving the echo signal of the position to be scanned, extracting the amplitude of the echo signal, the target physical distance and the gain parameter of the echo signal from the received echo signal, storing the amplitude deviation value of the echo signal, and updating the amplitude deviation value of the echo signal.
Specifically, in the embodiment of the present invention, the angular resolution of the one-dimensional MEMS galvanometer is 0.1 degree, the peak value of the semiconductor laser is 905 nanometers, the peak power is 76 watts, the photodetector is a silicon photomultiplier, the size of the photosensitive element is 6 millimeters by 6 millimeters, and the supply voltage is in the range of 24 volts to 30 volts. The gain of the echo amplification circuit is in the range of 1 to 100 times. The amplitude of the echo signal measured by peak hold is in the range of 30mV to 1000V. Before scanning begins, setting a time neighborhood range m to be 1, setting a space window threshold n to be 2, selecting a two-dimensional Gaussian function as a window function, and setting two variances of the Gaussian function to be sigma respectivelyi＝1，σ j2. Lower limit of amplitude ATLSet as 300mV, amplitude lower limit ATHSetting the value to 500mV, and adjusting the step length lambda0＝0，λT＝0.1。
Set up scanning point space coordinate, at the scanning beginning of next time, extract the echo signal of waiting time and space neighborhood that the scanning position corresponds from the data of memory prestore the utility model discloses an in this embodiment, calculate the range of the 7 echo signals of time and space neighborhood that correspond, calculate the range estimate value that obtains next scanning position according to the historical amplitude deviation of prestore again.
According to the spatial position P of the position to be scannedt，xExtracting echo signals P in 7 time neighborhoods of n window thresholds adjacent to the position to be scanned and m periods adjacent to the position to be scanned from echo information of the echo signals stored in advancet-m，x±nThen calculates the original amplitude Areal(t, x), original amplitude Areal(t, x) satisfies: original amplitude Areal(t, x) is the echo signal amplitude a (t, x)/gain parameter G (t, x).
Calculating the amplitude of an echo signal of a position to be scanned, wherein the amplitude satisfies the following conditions:
wherein W (t, x) is an echo signal amplitude weighting function, and the echo signal amplitude weighting function is a Gaussian function.
Presetting expected value A of echo receiving amplitudeeThen the gain parameter G (t, x) satisfies: gain parameter G (t, x) ═ echo signal amplitude/echo received amplitude expected value A of position to be scannede. And, making the amplitude of the echo signal deviate from the value lambdatSatisfies the following conditions:
wherein λ isTFor adjusting the step size, λTH、λTLThe upper and lower limit values of the amplitude deviation.
The utility model discloses an in this embodiment, the gain parameter is total gain value in step S4, adopts the look-up table after obtaining the gain parameter will the gain parameter decomposes laser gain, photodetector response gain, echo signal amplifier gain. And calculating required gain adjustment parameters according to the amplitude estimation value, configuring laser signals transmitted by the laser radar according to the gain adjustment parameters obtained by calculation, transmitting the laser signals to a photoelectric detector for receiving the signals after the laser signals are reflected by a target object, calculating and storing current pulse information after the laser signals are converted into electric signals, and updating the pre-stored echo estimation deviation by using the current pulse information.
According to the above description and practice, it can be known that among laser radar transmitted power and echo gain automatic regulating apparatus, echo signal amplitude, target physical distance and gain parameter to laser radar scanning target object are stored in advance through the memory, before treating the scanning position to scan as required, extract this echo signal of treating a plurality of positions that the scanning position is adjacent from the memory, and obtain the original amplitude of adjacent a plurality of position echo signals according to the echo information that draws, and then weigh the original amplitude of the echo signal of a plurality of positions, and calculate the echo signal amplitude of obtaining the position of treating the scanning according to echo signal amplitude deviation value, finally dispose laser radar's transmission laser pulse according to this gain parameter of treating the scanning position, and receive the echo signal that the position of treating the scanning returns, extract echo signal amplitude of echo signal from the echo signal that returns, The target physical distance and the gain parameter are stored, so that the scanning precision of a far target object can be improved without increasing the peak power of the emitted laser or increasing the amplification factor of a receiving circuit and other methods in the prior art, the system can continuously update and store echo data information, and the amplitude deviation value of the echo signal is continuously updated through the echo data information, so that the scanning precision is further improved. To sum up, laser radar transmitted power and echo gain automatic regulating apparatus can need not to increase dedicated circuit or set up complicated parameter, can be so that laser radar scanning device realizes changing according to perimeter environment and target special effect, adjust laser transmitted power and system gain adaptively, can improve laser radar scanning adaptability and scanning dynamic range, the too high whole system burden of increase equipment of laser radar electric power under the prior art has been solved, and cause the technical problem of harm to operating personnel's eyesight, and can keep the system SNR, reduce the scanning cost, the whole life of extension equipment.
The automatic laser radar transmission power and echo gain adjusting device according to the present invention has been described above by way of example with reference to the accompanying drawings. However, it should be understood by those skilled in the art that various modifications can be made to the automatic laser radar transmitting power and echo gain adjusting device provided in the present invention without departing from the scope of the present invention. Therefore, the scope of the present invention should be determined by the content of the appended claims.
Claims (2)
1. An automatic adjusting device for transmitting power and echo gain of laser radar is characterized in that the device comprises:
the main control module controls the emission of the laser and generates a synchronous signal;
the laser emission module comprises an electric control galvanometer and a laser;
the echo receiving module comprises receiving optics, a photoelectric sensor and an amplifying circuit;
the echo information extraction module comprises a threshold trigger circuit, a multi-high-precision circuit and a peak value measurement circuit;
the storage module comprises a nonvolatile power-down memory and is used for storing echo information of a time neighborhood and a space neighborhood;
a gain calculation and distribution module for calculating echo gain parameters required by the position to be scanned and configuring the gain, wherein,
when the laser radar transmitting power and echo gain automatic adjusting device works, before a position to be scanned is scanned, echo signals of a time neighborhood and a space neighborhood corresponding to the position to be scanned are extracted from the storage module, the amplitude of the echo signals is calculated, the amplitude deviation value of the position to be measured is calculated according to the amplitude deviation of the prestored echo signals, the transmitting laser signals are adjusted and configured according to gain adjusting parameters and the amplitude deviation value, the laser signals are transmitted to a photoelectric detector of the echo receiving module after being reflected by a target object, the current pulse information is obtained and stored after being converted into electric signals, and the prestored echo deviation value is updated by utilizing the current pulse information.
2. The lidar transmit power and echo gain automatic adjustment device of claim 1, wherein the electronically controlled galvanometer is a one-dimensional and/or two-dimensional mechanical scanning mirror.
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| CN201822039624.0U CN210199306U (en) | 2018-12-06 | 2018-12-06 | Laser radar transmitting power and echo gain automatic regulating device |
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| CN201822039624.0U CN210199306U (en) | 2018-12-06 | 2018-12-06 | Laser radar transmitting power and echo gain automatic regulating device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870678A (en) * | 2018-12-06 | 2019-06-11 | 苏州镭图光电科技有限公司 | Laser radar transmission power and the Gain Automatic adjusting method of echo and regulating device |
| CN111596282A (en) * | 2020-04-19 | 2020-08-28 | 北京理工大学 | Pulse laser ranging echo amplitude automatic adjusting system |
| CN114442109A (en) * | 2021-12-17 | 2022-05-06 | 北京理工大学 | Large dynamic range mixed solid state laser radar system based on transceiving array module |
-
2018
- 2018-12-06 CN CN201822039624.0U patent/CN210199306U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870678A (en) * | 2018-12-06 | 2019-06-11 | 苏州镭图光电科技有限公司 | Laser radar transmission power and the Gain Automatic adjusting method of echo and regulating device |
| CN109870678B (en) * | 2018-12-06 | 2024-02-20 | 苏州镭图光电科技有限公司 | Laser radar transmitting power and echo gain automatic adjusting method and adjusting device |
| CN111596282A (en) * | 2020-04-19 | 2020-08-28 | 北京理工大学 | Pulse laser ranging echo amplitude automatic adjusting system |
| CN114442109A (en) * | 2021-12-17 | 2022-05-06 | 北京理工大学 | Large dynamic range mixed solid state laser radar system based on transceiving array module |
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