CN210243843U - Multi-beam laser ranging sensor based on TOF - Google Patents
Multi-beam laser ranging sensor based on TOF Download PDFInfo
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- CN210243843U CN210243843U CN201920639477.2U CN201920639477U CN210243843U CN 210243843 U CN210243843 U CN 210243843U CN 201920639477 U CN201920639477 U CN 201920639477U CN 210243843 U CN210243843 U CN 210243843U
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Abstract
The utility model provides a multi-beam laser ranging sensor based on TOF, which comprises a digital processing unit, a laser transmitting unit, an optical system unit and a laser receiving unit; the laser emission unit is used for emitting at least three paths of laser according to the laser emission signal sent by the digital processing unit; the optical system unit is used for focusing each path of laser to a measured object and focusing the laser reflected by the measured object to the laser receiving unit; the laser receiving unit is used for generating a laser receiving signal based on the received laser and sending the laser receiving signal to the digital processing unit; and the digital processing unit is used for acquiring the distance from the corresponding laser to the measured object based on the laser emission signal and the laser receiving signal. The utility model discloses a multi-beam laser rangefinder sensor based on TOF has solved the problem that current laser survey frequency and resolution ratio are low, the object profile is unclear, the detection field of vision is narrow through multi-beam laser rangefinder.
Description
Technical Field
The utility model relates to a laser rangefinder's technical field especially relates to a multi-beam laser rangefinder based on Time of Flight (Time of Flight, TOF).
Background
The TOF technology is that a sensor emits modulated near infrared light, the modulated near infrared light is reflected after meeting an object, the sensor converts the distance of the object according to the time difference or the phase difference by calculating the time difference or the phase difference of light emission and reflection so as to generate depth information, and in addition, the three-dimensional outline of the object can be presented in a topographic map mode that different colors represent different distances by combining the echo energy intensity reflected by the object and the distance measurement.
In the prior art, most of TOF-based laser ranging sensors use single-beam laser emission as a measurement core. The single-beam laser ranging sensor projects the surface of an object by one laser point, measures the distance from the current object to a ranging center, and is more applied to aspects such as security engineering. With the development of the laser radar field, the single-line laser ranging cannot meet the operation requirements, such as the applications of Automatic Guided Vehicle (AGV) navigation obstacle avoidance, Unmanned Aerial Vehicle (UAV) height determination and mapping, security monitoring, Unmanned Vehicle driving and the like. These applications require laser ranging sensors that can reflect the environment ahead and the state of the object in three dimensions or more in detail, in real time, at high speed.
SUMMERY OF THE UTILITY MODEL
In view of the above shortcoming of the prior art, the utility model aims at providing a multi-beam laser rangefinder sensor based on TOF has solved the problem that current laser survey frequency and resolution ratio are low, the object profile is unclear, the detection field of vision is narrow through multi-beam laser rangefinder.
In order to achieve the above objects and other related objects, the present invention provides a TOF-based multi-beam laser ranging sensor, which includes a digital processing unit, a laser emitting unit, an optical system unit and a laser receiving unit; the laser emission unit is connected with the digital processing unit and is used for emitting at least three paths of laser according to a laser emission signal sent by the digital processing unit; the optical system unit is connected with the laser emitting unit and the laser receiving unit and used for focusing each path of laser to a measured object and focusing the laser reflected by the measured object to the laser receiving unit; the laser receiving unit is connected with the optical system unit and the digital processing unit, and is used for generating a laser receiving signal based on the received laser and sending the laser receiving signal to the digital processing unit; and the digital processing unit is used for acquiring the distance from the corresponding laser to the measured object based on the laser emission signal and the laser receiving signal.
In an embodiment of the present invention, the digital processing unit includes an FPGA module and a TOF time difference measuring circuit; the TOF flight time difference measuring circuit is used for calculating the time difference between the laser emission signal and the laser receiving signal; the FPGA module is used for generating laser emission signals, sending the laser emission signals to the laser emission unit, and calculating the distance between the corresponding laser and the object to be measured according to the time difference.
In an embodiment of the present invention, the laser emitting unit includes a laser driving circuit and an array laser diode; the array laser diode comprises at least three laser diodes which are arranged up and down in parallel; the laser driving circuit is used for generating driving signals of the laser diodes based on the laser emission signals so as to drive each laser diode to emit laser in a time-sharing manner;
the laser receiving unit comprises an array APD diode and a laser receiving circuit; the array APD diodes comprise at least three APD diodes which are arranged up and down in parallel, and the APD diodes and the laser diodes are arranged in sequence in a one-to-one correspondence manner; each APD diode is used for receiving laser emitted by the corresponding laser diode, and the laser receiving circuit is used for generating a laser receiving signal and outputting the laser receiving signal to the digital processing unit.
In an embodiment of the present invention, the laser driving circuit includes a single high-speed driving circuit and laser diode control circuits corresponding to the laser diodes one by one; the high-speed driving circuit is used for generating a laser diode driving signal based on the laser emission signal; the laser diode control circuit is used for controlling the on-off of the corresponding laser diodes so as to realize the time-sharing conduction of the laser diodes.
In an embodiment of the present invention, the laser receiving circuit includes an I/V circuit, a gain amplifying circuit, a constant ratio timing circuit, and a digital shaping circuit; the I/V circuit is used for converting a current signal output by the APD diode into a voltage signal; the gain amplifying circuit is used for amplifying the voltage signal; the constant ratio timing circuit and the digital shaping circuit are respectively used for carrying out constant ratio timing and digital shaping on the amplified voltage signal.
In an embodiment of the present invention, the laser diodes in the array laser diodes are arranged at a predetermined angle from top to bottom; the APD diodes in the array APD diodes are arranged at the preset angle from top to bottom.
In an embodiment of the present invention, the number of the laser diodes and the APD diodes is 3 to 16.
In an embodiment of the present invention, the optical system unit includes an emission mirror and a receiving mirror; the emission mirror surface is used for focusing laser emitted by the laser diode to the object to be measured; the receiving mirror surface is used for focusing the laser reflected by the measured object to the APD diode corresponding to the laser diode.
In an embodiment of the present invention, the system further includes a system compensation unit, connected to the laser receiving unit and the digital processing unit, including a temperature compensation circuit and an APD high voltage compensation circuit; the temperature compensation circuit is used for collecting the temperature information of the APD diodes of the array and outputting the temperature information to the digital processing unit; the APD high-voltage compensation circuit is used for generating direct-current high voltage to drive the array APD diode and collecting voltage information on the array APD diode to output to the digital processing unit; and the digital processing unit is also used for carrying out temperature compensation and high-voltage compensation on the APD diode array based on the temperature information and correcting the direct-current high voltage according to the voltage information.
In an embodiment of the present invention, the laser emission signal is a narrow pulse signal, and the frequency of the narrow pulse signal is evenly distributed to each laser diode as the driving frequency of the laser diode.
As above, multi-beam laser rangefinder sensor based on TOF, the utility model has the following beneficial effects:
(1) by adopting an optical structure and a circuit design, the laser emitting unit can only drive one laser diode at the same time, and simultaneously, based on the receiving angle between the Avalanche Photo Diode (APD) of the receiving unit and the Laser Diode (LD) of the emitting unit, the APD energy of the receiving unit is ensured to be maximum at the same time, and the APD outputs are connected in parallel, so that the sensitivity of a receiving end is increased; whether the received signal is effective at the moment is judged based on an algorithm, so that the usefulness of the signal is ensured;
(2) the laser receiving and transmitting device has the characteristics of three-dimensional space measurement, can realize the emission and the reception of a plurality of laser beams by a plurality of laser beams, each laser emitting circuit corresponds to one laser receiving circuit, the laser receiving and transmitting devices correspond to one another and are arranged at a certain angle from top to bottom, and a three-dimensional graph can be formed under the condition of horizontal scanning;
(3) the device has the characteristic of wide visual field detection, can detect the target distance within the visual field range of 30 degrees to the maximum extent, has the central angle of 0, and has the maximum angle range of 15 degrees arranged up and down;
(4) the ultra-high speed ranging method has the characteristics that multiple laser beams can sequentially drive each laser diode at the frequency of 20khz at the frequency of 320kz, the laser diodes are not interfered with each other, and the highest ranging frequency can reach 3200000 times per second;
(5) compared with the traditional multi-line receiving circuit, the circuit is simple, the cost is low, the reliability is high, the size is small and the like;
(6) the high-speed FPGA module is used as a control core unit, a plurality of TOF measuring channels are arranged outside the high-speed FPGA module, and the high-speed FPGA module is used for controlling the measurement and data output of the TOF measuring channels respectively, so that the time difference measuring device is suitable for 3-16 time difference measuring channels, can simultaneously measure multi-channel laser flight time difference, and has the characteristics of multi-channel high-speed measurement and the like;
(7) the method is suitable for the high-speed multi-line laser radar industry.
Drawings
Fig. 1 is a schematic structural diagram of a TOF-based multi-beam laser ranging sensor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a laser emitting unit according to an embodiment of the present invention;
FIG. 3 is a timing diagram of a narrow pulse signal and a clock signal according to an embodiment of the present invention;
FIG. 4 is a timing diagram of the narrow pulse signal and the driving signals on each laser diode according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the operation of an optical system unit according to an embodiment of the present invention;
fig. 6 is a timing diagram of the laser flight initiation measurement signal and the time difference flight signal according to an embodiment of the present invention.
Description of the element reference numerals
1 digital processing unit
11 FPGA module
12 TOF time difference of flight measurement circuit
2 laser emitting unit
21 laser driving circuit
211 high speed driving circuit
212 laser diode control circuit
22 array laser diode
3 optical system unit
31 emission mirror
32 receiving mirror
4 laser receiving unit
41 array APD diode
42 laser receiving circuit
5 System Compensation Unit
51 temperature compensation circuit
52 APD high voltage compensation circuit
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.
The utility model discloses a multi-beam laser rangefinder sensor based on TOF has solved the problem that current laser survey frequency and resolution ratio are low, the object profile is unclear, the detection field of vision is narrow through multi-beam laser rangefinder, can realize the hypervelocity range finding, and only adopts single receiving circuit, simple structure, and is with low costs, has the practicality.
As shown in fig. 1, in an embodiment, the multi-beam laser ranging sensor based on TOF of the present invention includes a digital processing unit 1, a laser emitting unit 2, an optical system unit 3 and a laser receiving unit 4.
The laser emitting unit 2 is connected with the digital processing unit 1 and is used for emitting at least three paths of laser according to the laser emitting signal sent by the digital processing unit 1.
Specifically, the digital processing unit 1 sends a narrow pulse signal as a laser emission signal to the laser emission unit 2. In an embodiment of the present invention, as shown in fig. 2, the laser emitting unit 2 includes a laser driving circuit 21 and an array laser diode 22, so as to realize time-sharing continuous emission of multiple laser diodes. Wherein, the array laser diode 22 comprises at least three laser diodes which are arranged up and down in parallel; the laser driving circuit 21 is configured to generate a driving signal of the laser diode based on the laser emission signal, so as to drive each laser diode to emit laser light in a time-sharing manner. Preferably, the array laser diode 22 includes 3 to 16 SMD chip type pulse laser diodes, which are arranged at an acute angle from top to bottom, and have a view field angle (i.e., an angle between two laser diodes at the upper and lower edges) of at most 30 degrees, and are arranged according to a view field with a central angle of 0 degree, and 15 degrees from top to bottom. According to the number of the laser diodes, the angular resolution of every two adjacent laser diodes is 1-10 degrees.
In an embodiment of the present invention, the laser driving circuit 21 includes a single high-speed driving circuit 211 and laser diode control circuits 212 corresponding to the laser diodes one by one; the high-speed driving circuit 211 is configured to generate a laser diode driving signal based on the laser emission signal; the laser diode control circuit 212 is configured to control the on/off of the corresponding laser diode, so as to implement time-sharing conduction of the plurality of laser diodes. Under the coordination of a plurality of laser diode control circuits, the time-sharing conduction of a plurality of laser diodes is realized, and each path generates a certain phase time difference, so that the plurality of laser diodes continuously emit laser signals in turn without mutual interference; specifically, the narrow pulse signal is connected to the PWM port of the laser emission unit 2, and has a frequency of 60khz to 320 khz. The specific frequency is determined according to the number of the laser diodes, and the driving frequency of each laser diode after frequency division needs to be ensured to be 20 khz. The 60-320khz narrow pulse signal is amplified through a high-speed driving circuit, and the output signal is connected with the anode of the array laser diode 22. Meanwhile, the digital processing unit 1 generates 3-16 paths of clock signals, each path is 20khz, the high level time is longer than the narrow pulse time, and the output end is connected with the G1G2G3. Each path of the clock signal has different output time, the interval of rising edges of adjacent time differences is Ta, and the control time sequence is shown in FIG. 3. Where Tz1 is the narrow pulse width, ts is the time interval between the rising edge of the clock signal and the rising edge of the PWM, ta is the time interval between the rising edges of the adjacent clock signals, and Tz2 is the high time of the clock signal. The clock signal on G1-Gn controls the conduction of the array laser diodes 22 by turns through 3-16 laser diode control circuits, so that the switching frequency of each laser diode reaches 20 khz. The driving frequency on each laser diode is finally as shown in fig. 4.
The laser receiving unit 4 is connected to the optical system unit 1 and the digital processing unit 2, and configured to generate a laser receiving signal based on the received laser and send the laser receiving signal to the digital processing unit 1. Specifically, the laser receiving unit 4 includes an array APD diode 41 and a laser receiving circuit 42; the array APD diodes comprise at least three APD diodes which are arranged in parallel, and the APD diodes and the laser diodes are arranged in sequence in a one-to-one correspondence manner; each APD diode is configured to receive laser light emitted from a corresponding laser diode, and the laser receiving circuit 42 is configured to generate a laser receiving signal and output the laser receiving signal to the digital processing unit 1. Preferably, the APD diodes 41 in the array include 3 to 16 surface mount APD diodes, and are arranged at an angle from top to bottom, the arrangement angle is the same as that of the laser diodes in the laser emission unit 2, the maximum receiving field angle is 30 °, the angular resolution of the adjacent APD diodes is 2 ° at most, and the arrangement angle error is guaranteed to be ± 0.05 °. The APD diodes are arranged in parallel, and the output ends of the APD diodes are connected to the laser receiving circuit 42 after intersecting in parallel. Partial signals of the laser from the laser emission unit 2 after being reflected by the object to be measured are received by the APD diodes in the array, and each APD diode can ensure to receive the laser signals emitted by the corresponding laser diode. A plurality of APD diodes are connected in parallel, and meanwhile, the sensitivity of receiving signals can be increased, so that the stability is good.
In an embodiment of the present invention, the laser receiving circuit 42 includes an I/V circuit, a gain amplifying circuit, a constant ratio timing circuit and a digital shaping circuit; the I/V circuit is used for converting a current signal output by the APD diode into a voltage signal; the gain amplifying circuit is used for amplifying the voltage signal; the constant ratio timing circuit and the digital shaping circuit are respectively used for carrying out constant ratio timing and digital shaping on the amplified voltage signal. Specifically, the weak current signal from the APD diodes of the array is I/V converted to an identifiable voltage signal, amplified to a stable voltage signal sufficient to identify availability, and finally subjected to constant ratio timing and shaping to make the signal more stable and useful for input to the digital processing unit 1.
The optical system unit 3 is connected with the laser emitting unit 1 and the laser receiving unit 4, and is configured to focus each path of laser to a measured object, and focus the laser reflected by the measured object to the laser receiving unit 4.
As shown in fig. 5, in an embodiment of the present invention, the optical system unit 3 includes an emission mirror 31 and a receiving mirror 32; the emission mirror 31 is used for focusing the laser emitted by the laser diode to the object to be measured; the receiving mirror 32 is used for focusing the laser reflected by the object to be measured to the APD diode corresponding to the laser diode. Specifically, the emission mirror 31 is composed of a high-precision optical collimating lens, and can focus 3-16 paths of scattered laser into 3-16 small dots with the same size and arranged at a certain angle from top to bottom, and the energy of the light spot can be projected within the range of 100-200 meters. When multiple lasers emit laser light, part of the signal after diffuse reflection returns to the receiving mirror 32. The receiving mirror 32 projects each laser beam onto the APD diode corresponding to the laser diode, thereby realizing one-to-one laser beam reception.
Specifically, as shown in fig. 6, the laser diode LD1 emits a 20khz pulse signal and generates a laser flight initiation measurement signal START1, which is focused to a laser spot by the emission mirror 31 and projected at an angle to the surface of the object to be measured. Part of the energy is focused on the receiver mirror 32 by diffuse reflection from the object under test. Because the laser diode LD1 and the APD diode APD1 are installed at the same angle and are positioned in parallel, after the laser is reflected by the object to be measured, the APD diode APD1 can be ensured to receive enough return energy. Because the anodes of a plurality of APD diodes are connected in parallel, the APD diodes APD2, APD3. The set energy is expressed in dB, then dBapd1> dBapd2> dBadd3. Therefore, the final output current of the array APD diode is I ═ Iapd1+ Iapd2+ Iapd3.. and + Iapdn, so that the output current is increased, and the sensitivity is improved. The above equation may be expressed as In ═ IAPDn + IAPDe, where In is the current output by the APD diode In the array when the laser diode LDn emits, IADPn is the current received by the APDn after the laser diode LDn emits and returns, IAPDe is the current signal output by the other adjacent APD diodes, and ideally, the current is 0.
The current In is input and amplified by the laser receiving circuit 4, and finally, a time difference flight signal STOP is output, so that the available flight time difference t1 is provided for the digital processing unit 1 to calculate the distance D1; similarly, when the laser diode LD2 transmits, it is ensured that the APD diode APD2 can receive the laser signal to obtain the time difference of flight t2 and calculate the distance D2.
The digital processing unit 1 is configured to obtain a distance from the corresponding laser to the object to be measured based on the laser emission signal and the laser reception signal.
In an embodiment of the present invention, the digital processing unit 1 includes an FPGA module 11 and a TOF time difference measurement circuit 12. The TOF time difference of flight measurement circuit 12 is used for calculating the time difference between the laser emission signal and the laser receiving signal; the FPGA module 11 is used for generating laser emission signals, sending the laser emission signals to the laser emission unit, and calculating the distance between the corresponding laser and the object to be measured according to the time difference.
Specifically, the TOF time difference of flight measuring circuit includes a plurality or multiple channels of high-speed time difference measuring ICs and peripheral circuits for calculating the time difference of flight from the laser START of flight measuring signal START and the time difference flight signal STOP. The output end of the laser receiving circuit 4 is directly connected to the TDC time difference of flight measuring circuit 12, the laser receiving circuit 4 outputs 20k-320k measurement pulses per second, and the TDC time difference of line measuring circuit 12 measures 3-16 laser echo signals each time.
Specifically, the FPGA module 11 calculates a distance between the corresponding laser and the object to be measured according to the time difference of flight. The FPGA module 11 comprises an ultra-high-speed FPGA core controller and other peripheral circuits, and is mainly responsible for generating high-precision narrow pulse signals of 60-320khz and outputting the narrow pulse signals to the laser emission unit 2, so that the laser diode control circuit of the laser emission unit 2 controls the on-off of a single laser diode; and simultaneously reading the time difference result from the TDC flight time difference measuring circuit in a high-speed state, and processing data according to an algorithm. Preferably, the FPGA module 11 uses ACTEL unique SmartFusion series controller, which has a core of Cortex-M3 with high efficiency, an internal M3 operating frequency up to 100Mhz, and 2M RAM inside, including rich AD/DA interfaces. M3 is closely connected with FPGA control logic, so that the data throughput rate is higher, and the confidentiality of a system software algorithm is enhanced.
In an embodiment of the utility model, the utility model discloses a multi-beam laser rangefinder sensor based on TOF still includes system compensation unit 5, with laser receiving element 4 with digital processing unit 1 links to each other, including temperature compensation circuit 51 and APD high pressure compensating circuit 52. The temperature compensation circuit 51 is configured to collect temperature information of the APD array diode 41 and send the temperature information to the digital processing unit 1; the APD high-voltage compensation circuit 52 is configured to generate a direct-current high voltage to drive the array APD diode 41, collect voltage information on the array APD diode 41, and send the voltage information to the digital processing unit 1; the digital processing unit 1 is further configured to perform temperature compensation and high voltage compensation on the array APD diode 22 based on the temperature information, and correct the dc high voltage according to the voltage information.
Specifically, the temperature compensation circuit 51 is connected to the digital processing unit 1, and is configured to detect temperature changes of the APD array diode 41 and the system, and transmit detected temperature information to the digital processing unit 1 in real time. The temperature sensor in the temperature compensation circuit 51 is close to the array APD diode 41, so as to accurately detect the temperature change on the array APD diode 41, and simultaneously detect the overall temperature change of the laser receiving unit 4 in real time. The output of the temperature compensation circuit 51 is connected to an ADC unit inside the FPGA module 11, and sends the temperature information to the FPGA module 11, so that the FPGA module 11 performs temperature algorithm compensation by using a software algorithm.
The APD high-voltage compensation circuit 52 is connected with the digital processing unit 1 and is used for generating a 50V-200V high-voltage direct-current power supply so as to drive the APD array diode 41; and meanwhile, high-voltage information at the upper end of the APD diode 41 is acquired, the acquired high-voltage information is fed back to the FPGA module 11, the FPGA module 11 performs high-voltage compensation on the APD diode 41 according to the temperature information transmitted by the temperature detection circuit, and controls the output magnitude of high-voltage direct current according to the high-voltage information fed back by the APD high-voltage compensation circuit 52, so that the APD diode 41 can keep the optimal working state at various environmental temperatures, and can have optimal gain at different environmental temperatures, thereby better receiving echo waves and ensuring the signal stability. Specifically, the APD high-voltage compensation circuit 52 can output a direct-current high-voltage driving capability of 50V to 200V and 10mA, the driving capability is as low as 50mV power supply ripple, the output high voltage is adjustable, the adjustment resolution can reach 0.3V, the output end of the APD high-voltage compensation circuit is directly connected with the reverse end of the APD diode 41 in the array, and 3 to 16 APD diodes can be driven to work simultaneously.
The utility model discloses in, APD high pressure compensating circuit 52 with temperature compensating circuit 51 ring is detained mutually, works as temperature sensor in the temperature compensating circuit 51 examines the change of the temperature of laser receiving element 4 to give temperature information transfer FPGA module 11, FPGA module 11 control APD high pressure compensating circuit 52 is right array APD diode 41 carries out high pressure compensation.
In summary, the multi-beam laser ranging sensor based on TOF of the present invention adopts optical structure and circuit design, the laser emitting unit can only drive one laser diode at the same time, and simultaneously, based on the receiving angle between the APD of the receiving unit and the LD of the emitting unit, the APD energy of the receiving unit is ensured to be maximum at the same time, and a plurality of APD outputs are connected in parallel, thereby increasing the sensitivity of the receiving end; whether the received signal is effective at the moment is judged based on an algorithm, so that the usefulness of the signal is ensured; the laser receiving and transmitting device has the characteristics of three-dimensional space measurement, can realize the emission and the reception of a plurality of laser beams by a plurality of laser beams, each laser emitting diode corresponds to one laser receiving diode, the laser receiving and transmitting devices correspond to one another and are arranged at a certain angle from top to bottom, and a three-dimensional graph can be formed under the condition of horizontal scanning; the device has the characteristic of wide visual field detection, can detect the target distance within the visual field range of 30 degrees to the maximum extent, has the central angle of 0, and has the maximum angle range of 15 degrees arranged up and down; the ultra-high speed ranging method has the characteristics that multiple laser beams can sequentially drive each laser diode at the frequency of 20khz at the frequency of 320kz, the laser diodes are not interfered with each other, and the highest ranging frequency can reach 3200000 times per second; compared with the traditional multi-line receiving circuit, the circuit is simple, the cost is low, the reliability is high, the size is small and the like; the high-speed FPGA module is used as a control core unit, a plurality of TOF measuring channels are arranged outside the high-speed FPGA module, and the high-speed FPGA module is used for controlling the measurement and data output of the TOF measuring channels respectively, so that the time difference measuring device is suitable for 3-16 time difference measuring channels, can simultaneously measure multi-channel laser flight time difference, and has the characteristics of multi-channel high-speed measurement and the like; the method is suitable for the high-speed multi-line laser radar industry. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A multi-beam laser ranging sensor based on TOF, characterized in that: the laser processing device comprises a digital processing unit, a laser emitting unit, an optical system unit and a laser receiving unit;
the laser emission unit is connected with the digital processing unit and is used for emitting at least three paths of laser according to a laser emission signal sent by the digital processing unit;
the optical system unit is connected with the laser emitting unit and the laser receiving unit and used for focusing each path of laser to a measured object and focusing the laser reflected by the measured object to the laser receiving unit;
the laser receiving unit is connected with the optical system unit and the digital processing unit, and is used for generating a laser receiving signal based on the received laser and sending the laser receiving signal to the digital processing unit;
and the digital processing unit is used for acquiring the distance from the corresponding laser to the measured object based on the laser emission signal and the laser receiving signal.
2. The TOF-based multi-beam laser ranging sensor according to claim 1, wherein: the digital processing unit comprises an FPGA module and a TOF time difference of flight measuring circuit; the TOF flight time difference measuring circuit is used for calculating the time difference between the laser emission signal and the laser receiving signal; the FPGA module is used for generating laser emission signals, sending the laser emission signals to the laser emission unit, and calculating the distance between the corresponding laser and the object to be measured according to the time difference.
3. The TOF-based multi-beam laser ranging sensor according to claim 1, wherein:
the laser emission unit comprises a laser driving circuit and an array laser diode; the array laser diode comprises at least three laser diodes which are arranged in parallel; the laser driving circuit is used for generating driving signals of the laser diodes based on the laser emission signals so as to drive each laser diode to emit laser in a time-sharing manner;
the laser receiving unit comprises an array APD diode and a laser receiving circuit; the array APD diodes comprise at least three APD diodes which are arranged in parallel, and the APD diodes and the laser diodes are arranged in sequence in a one-to-one correspondence manner; each APD diode is used for receiving laser emitted by the corresponding laser diode, and the laser receiving circuit is used for generating a laser receiving signal and outputting the laser receiving signal to the digital processing unit.
4. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the laser driving circuit comprises a single high-speed driving circuit and laser diode control circuits which are in one-to-one correspondence with the laser diodes; the high-speed driving circuit is used for generating a laser diode driving signal based on the laser emission signal; the laser diode control circuit is used for controlling the on-off of the corresponding laser diodes so as to realize the time-sharing conduction of the laser diodes.
5. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the laser receiving circuit comprises an I/V circuit, a gain amplifying circuit, a constant ratio timing circuit and a digital shaping circuit; the I/V circuit is used for converting a current signal output by the APD diode into a voltage signal; the gain amplifying circuit is used for amplifying the voltage signal; the constant ratio timing circuit and the digital shaping circuit are respectively used for carrying out constant ratio timing and digital shaping on the amplified voltage signal.
6. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the laser diodes in the array laser diodes are arranged at a preset angle from top to bottom; the APD diodes in the array APD diodes are arranged at the preset angle from top to bottom.
7. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the number of the laser diodes and the APD diodes is 3-16.
8. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the optical system unit comprises an emission mirror and a receiving mirror; the emission mirror surface is used for focusing laser emitted by the laser diode to the object to be measured; the receiving mirror surface is used for focusing the laser reflected by the measured object to the APD diode corresponding to the laser diode.
9. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the system compensation unit is connected with the laser receiving unit and the digital processing unit and comprises a temperature compensation circuit and an APD high-voltage compensation circuit; the temperature compensation circuit is used for collecting the temperature information of the APD diodes of the array and outputting the temperature information to the digital processing unit; the APD high-voltage compensation circuit is used for generating direct-current high voltage to drive the array APD diode and collecting voltage information on the array APD diode to output to the digital processing unit; and the digital processing unit is also used for carrying out temperature compensation and high-voltage compensation on the APD diode array based on the temperature information and correcting the direct-current high voltage according to the voltage information.
10. The TOF-based multi-beam laser ranging sensor according to claim 3, wherein: the laser emission signal is a narrow pulse signal, and the frequency of the narrow pulse signal is evenly distributed to each laser diode as the driving frequency of the laser diode.
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