CN210514625U - Multi-lens multi-line laser radar ranging system - Google Patents
Multi-lens multi-line laser radar ranging system Download PDFInfo
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- CN210514625U CN210514625U CN201920639291.7U CN201920639291U CN210514625U CN 210514625 U CN210514625 U CN 210514625U CN 201920639291 U CN201920639291 U CN 201920639291U CN 210514625 U CN210514625 U CN 210514625U
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Abstract
The embodiment of the utility model discloses a multi-lens multi-line laser radar ranging system, which comprises a structural part and a plurality of laser transceiving modules; the structural member is provided with a plurality of corresponding positioning holes for each group of laser transceiving modules according to the application scene requirements, vertical adjusting screw holes and angular adjusting screw holes in each laser transceiving module are inserted into the corresponding positioning holes, and each laser transceiving module is installed and fixed on the structural member by screwing in screws; the vertical angle of the laser transceiver module is adjusted by adjusting the height of the vertical adjusting screw hole in the positioning hole, and any angle of the laser transceiver module is adjusted by rotating by taking the angle adjusting screw hole as the center. The installation position of the laser transmitting and receiving module in the whole machine is completely set according to the application scene requirements, the vertical resolution is improved through the adjustment of the vertical angle and the angle, the blind area of short-distance measurement is reduced, and therefore the problem that the blind area of short-distance measurement is large due to the fact that the existing multi-line laser radar is vertically stacked and installed is solved.
Description
Technical Field
The utility model relates to a laser rangefinder technical field especially relates to a multi-line laser radar ranging system of many camera lenses.
Background
The existing multi-line laser radar adopts a semiconductor laser transmitter to transmit laser, and echo signals are detected through a photoelectric sensor. The multiline laser radar comprises a plurality of laser transmitters and a plurality of photoelectric sensors, and each pair of the laser transmitter and the photoelectric sensor can measure a distance but only has one transmitting lens and one receiving lens.
Because the traditional installation mode of the multi-line laser radar adopts a mode of stacking according to a certain radian in the vertical direction, the vertical resolution of the multi-line laser radar is seriously influenced, the blind area of short-distance ranging caused by the vertical angle is limited, and the installation mode is limited by the space of two adjacent lines, so the assembly difficulty is high, the space of an adjusting light path is limited, and the adjustment is difficult; meanwhile, during time discrimination, single-channel AD sampling is adopted, and a sampling signal and an echo signal can be overlapped at a short distance.
SUMMERY OF THE UTILITY MODEL
To the technical problem, the embodiment of the utility model provides a many camera lenses multi-line laser radar ranging system and range finding method thereof to solve the great problem of blind area that current multi-line laser radar piles up the installation perpendicularly and leads to closely measuring range.
The embodiment of the utility model provides a multi-lens multi-line laser radar ranging system, which comprises a structural part and a plurality of laser transceiving modules;
the structural member is provided with a plurality of corresponding positioning holes for each group of laser transceiving modules according to the application scene requirements, vertical adjusting screw holes and angular adjusting screw holes in each laser transceiving module are inserted into the corresponding positioning holes, and each laser transceiving module is installed and fixed on the structural member by screwing in screws; the vertical angle of the laser transceiver module is adjusted by adjusting the height of the vertical adjusting screw hole in the positioning hole, and any angle of the laser transceiver module is adjusted by rotating by taking the angle adjusting screw hole as the center.
Optionally, in the multi-lens multi-line lidar ranging system, the laser transceiver module includes a laser transmitter module, an optical module, an echo detection module, a signal sampling module, and a logic control module;
the laser emission module is connected with the signal sampling module and the logic control module, the echo detection module is connected with the signal sampling module and the logic control module, and the signal sampling module is connected with the logic control module;
the laser emission module generates and emits corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module, and also generates a reference signal to the signal sampling module; the optical module transmits the high-frequency pulse laser to a target object and receives a laser echo generated by the target object; the echo detection module generates an echo signal according to a laser echo, filters and amplifies the echo signal and transmits the echo signal to the signal sampling module, the signal sampling module samples a reference signal and the echo signal respectively and transmits the sampled reference signal and the sampled echo signal to the logic control module, and the logic control module calculates the distance between the laser emission module and a target object according to the sampling time of the reference signal and the sampling time of the echo signal.
Optionally, in the multi-lens multi-line lidar ranging system, the laser emission module includes a laser driving circuit and a laser diode;
the laser driving circuit is connected with the laser diode, the logic control module and the signal sampling module; the laser driving circuit controls the laser diode to emit corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module, and also detects a signal at the moment of laser emission when the laser is emitted and records the signal as a reference signal to the signal sampling module.
Optionally, in the multi-lens multi-line lidar ranging system, the laser driving circuit includes a power supply, a charging circuit, a switch control circuit, an energy storage circuit, and a switch;
the charging circuit is connected with the power supply and a transmission end of the switch, a selection end of the switch is connected with the switch control circuit and the energy storage circuit, the other transmission end of the switch is connected with the anode of the laser diode, and the cathode of the laser diode is connected with the energy storage circuit and the ground;
when the switch control circuit detects the low level of the high-frequency pulse signal, the power supply is controlled to charge the energy storage circuit through the charging circuit; when the switch control circuit detects the high level, the electric quantity of the energy storage circuit is controlled to be released through the laser diode to generate laser beams.
Optionally, in the multi-lens multi-line lidar ranging system, the optical module includes a receiving lens and a transmitting lens that are arranged side by side on an outer side surface of the housing of the laser transceiver module, the transmitting lens converges laser into a light beam and strikes a target object, and the receiving lens receives a laser echo generated by the target object.
Optionally, in the multi-lens multiline lidar ranging system, the optical module further includes a shielding cover covering surfaces of the receiving lens and the transmitting lens.
Optionally, in the multi-lens multiline lidar ranging system, the echo detection module includes a photosensor and a signal processing circuit; the photoelectric sensor is connected with the signal processing circuit and the logic control module, and the signal processing circuit is connected with the signal sampling module;
the photoelectric sensor detects laser echoes generated after laser is applied to a target object and converts the laser echoes into echo signals, and the signal processing circuit carries out filtering and denoising and signal amplification on the echo signals and then transmits the echo signals to the signal sampling module.
Optionally, in the multi-lens multiline lidar ranging system, the signal sampling module is a dual-channel ADC converter.
The embodiment of the utility model provides an aspect provides an adopt many camera lenses multiline laser radar ranging system's range finding method, include:
step A, a laser emission module generates and emits corresponding high-frequency pulse laser according to a high-frequency pulse signal output by a logic control module, and also generates a reference signal to a signal sampling module;
b, the optical module transmits the high-frequency pulse laser to a target object and receives a laser echo generated by the target object;
step C, the echo detection module generates an echo signal according to the laser echo, filters and amplifies the echo signal and transmits the echo signal to the signal sampling module, and the signal sampling module samples the reference signal and the echo signal respectively and transmits the reference signal and the echo signal to the logic control module;
and D, the logic control module calculates the distance between the laser emission module and the target object according to the sampling time of the reference signal and the echo signal.
Optionally, in the distance measuring method, in the step D, the distance formula is
Where T1 is the instantaneous time of the reference signal, T2 is the instantaneous time of the echo signal, and C is the propagation velocity of light 3 × 108。
In the technical scheme provided by the embodiment of the utility model, the multi-lens multi-line laser radar ranging system comprises a structural part and a plurality of laser transceiving modules; the structural member is provided with a plurality of corresponding positioning holes for each group of laser transceiving modules according to the application scene requirements, vertical adjusting screw holes and angular adjusting screw holes in each laser transceiving module are inserted into the corresponding positioning holes, and each laser transceiving module is installed and fixed on the structural member by screwing in screws; the vertical angle of the laser transceiver module is adjusted by adjusting the height of the vertical adjusting screw hole in the positioning hole, and any angle of the laser transceiver module is adjusted by rotating by taking the angle adjusting screw hole as the center. The installation position of the laser transceiver module in the whole machine is set completely according to the application scene requirements, so that the problem that the laser transceiver module is limited by a vertical angle in the prior art can be solved. Each laser transmitting and receiving module is an independent individual, and the optical path can be independently adjusted, so that the influence of other adjacent lines during assembly can be avoided, and the problem that the limited space of the whole machine is too small and difficult to operate is solved; and through the regulation of vertical angle and angle, improved vertical resolution, reduced the blind area of closely finding range to the installation leads to the great problem of the blind area of closely finding range perpendicularly to having solved current multi-thread laser radar.
Drawings
Fig. 1 is a schematic view of a view angle of an embodiment of the present invention.
Fig. 2 is a schematic diagram of another view angle of the multi-lens multi-line lidar ranging system in the embodiment of the present invention.
Fig. 3 is the embodiment of the utility model provides an in the embodiment of the multi-lens multi-line lidar ranging system's the block diagram.
Fig. 4 is a schematic diagram of a laser driving circuit according to an embodiment of the present invention.
Fig. 5 is a diagram of the instantaneous time waveform of the reference signal and the echo signal according to an embodiment of the present invention.
Fig. 6 is a flowchart of a distance measuring method of the multi-lens multi-line lidar distance measuring system in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts, belong to the protection scope of the present invention.
Referring to fig. 1, fig. 2 and fig. 3 together, the multi-lens multi-line lidar ranging system according to an embodiment of the present invention includes a structural member 7 and a plurality of laser transceiver modules a (4 are shown in fig. 1 as an example and are disposed on a platform of the structural member 7), the structural member 7 is provided with a plurality of corresponding positioning holes for each set of laser transceiver modules according to application scene requirements (1 laser transceiver module is used as an example in fig. 1, 4, i.e., 9, 11, 12, 14 are correspondingly disposed), vertical adjustment screw holes (8, 10) and angular adjustment screw holes (13, 15) inside each laser transceiver module are inserted into the corresponding positioning holes (8 is inserted into 9, 10 is inserted into 11, 13 is inserted into 12, 15 is inserted into 14), and each laser transceiver module is mounted and fixed on the structural member 7 by screwing screws; the vertical angle of the laser transceiver module can be automatically adjusted by adjusting the height of the vertical adjusting screw holes (8, 10) in the positioning holes, any angle of the laser transceiver module can be randomly adjusted by rotating by taking the angle adjusting screw holes (13, 15) as the center, and the vertical angle and any angle can be adjusted simultaneously.
Because the locating hole sets up according to using the scene demand, the laser is sent out and is received the module and can install the optional position on structure 7 in the complete machine, need not install the laser and send out and receive the module on same horizontal plane, also need not even interval and set up, sets up the mounted position of laser and send out and receive the module in the complete machine according to using the scene demand completely, can solve the current problem that is limited by vertical angle. Only the initial rotation angle of the laser radar needs to be calibrated during installation; each laser transmitting and receiving module is an independent individual, the optical path can be independently adjusted, and the optical path of the laser can be well adjusted before the complete machine is assembled, so that the influence of other adjacent lines during assembly can be avoided, and the problem that the limited complete machine space is too small and difficult to operate is solved; and through the regulation of vertical angle and angle, improved vertical resolution, reduced the blind area of closely finding range to the installation leads to the great problem of the blind area of closely finding range perpendicularly to having solved current multi-thread laser radar. The assembly and fixation are also very simple, and the angle position can be adjusted by screwing.
The laser transmitting and receiving module comprises a laser transmitting module 1, an optical module 2, a logic control module 5 and a circuit board, wherein an echo detection module 3 and a signal sampling module 4 are integrated on the circuit board, and the logic control module 5 is arranged in a structural part 7; the laser emission module 1 is connected with the signal sampling module 4 and the logic control module 5, the echo detection module 3 is connected with the signal sampling module 4 and the logic control module 5, the signal sampling module 4 is connected with the logic control module 5, and the optical module 2 receives and transmits light with the laser emission module 1 and the echo detection module 3.
The laser emission module 1 generates and emits corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module 5, and also generates a reference signal to the signal sampling module 4; the optical module 2 transmits the high-frequency pulse laser to the target object and receives the laser echo generated by the target object. The echo detection module 3 generates an echo signal according to the laser echo, filters and amplifies the echo signal and transmits the echo signal to the signal sampling module 4, the signal sampling module 4 samples the reference signal and the echo signal respectively and transmits the sampled reference signal and echo signal to the logic control module 5, and the logic control module 5 calculates the distance between the laser emission module and a target object according to the sampling time of the reference signal and the echo signal.
The laser emitting module 1 comprises a laser driving circuit and a laser diode LD; the laser driving circuit is connected with the laser diode LD, the logic control module 5 and the signal sampling module 4; the laser driving circuit controls the laser diode LD to emit corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module 5, and also detects a signal at the moment of laser emission when the laser is emitted and records the laser emission as a reference signal to the signal sampling module 4.
Referring to fig. 4, the laser driving circuit includes a power supply, a charging circuit, a switch control circuit, an energy storage circuit, and a switch; the charging circuit is connected with the power supply and a transmission end c of the switch, a selection end k of the switch is connected with the switch control circuit and the energy storage circuit, the other transmission end d of the switch is connected with the anode of the laser diode LD, and the cathode of the laser diode LD is connected with the energy storage circuit and the ground. When the switch control circuit detects the low level of the high-frequency pulse signal, the power supply is controlled to charge the energy storage circuit through the charging circuit; when the switch control circuit detects the high level, the switch control circuit controls the electric quantity of the energy storage circuit to be released through the laser diode LD to generate laser beams. The method specifically comprises the following steps: the logic control module 5 outputs a high-frequency pulse signal (such as a square wave signal shown in fig. 4), when the switch control circuit detects the low level of the high-frequency pulse signal, the switch control circuit controls the selection terminal k of the switch to be connected with a transmission terminal c, the power voltage output by the power supply charges the energy storage circuit through the charging circuit, and at this time, the laser diode LD does not emit a laser beam. When the switch control circuit detects the high level of the high-frequency pulse signal, the charging is finished, the energy storage circuit has enough electric quantity, the selection end k of the switch control circuit controls the switch to be connected with the other transmission end d, the electric quantity in the energy storage circuit is quickly released through the laser diode LD, and the laser diode LD passes through large current in a short time, so that a laser beam with short time is released. When the low level is detected again, no laser beam is emitted; by switching between high and low, a high-frequency pulse laser corresponding to the high-frequency pulse signal can be generated.
In specific implementation, the switch may be an MOS transistor, the high-frequency pulse signal (a square wave signal) is output through an MOS transistor driver arranged in the switch control circuit to control the on and off of the MOS transistor, and the MOS transistor is connected to the power supply and the laser diode LD. The conventional way is to directly transmit a high-frequency pulse signal to a laser diode, and the defect is that the rising edge is slow. According to the embodiment, the MOS tube enters the MOS tube through the MOS tube driver, and the MOS tube is connected with the laser diode, so that a pulse with a steep rising edge can be generated, and the distance measurement distance and the precision are improved.
In this embodiment, the optical module 2 includes a receiving lens 21 and an emitting lens 22 which are arranged side by side on an outer side surface of the housing of the laser transceiver module. The transmitting lens 22 converges the laser light into a light beam and irradiates the target object, and the receiving lens 21 receives the laser echo generated by the target object. In order to obtain more accurate precision, the laser emitting spot is required to be as small as possible, and the emitting lens 22 is a convex lens for collecting the laser emitting astigmatism and then projecting the astigmatism to the target. Since the light-sensing area of the APD is not large, when the detected echo signal is more dispersed, the photoelectric sensor in the echo detection module 3 can detect the echo signal more easily, and the receiving lens 21 may employ a concave mirror. Preferably, the surfaces of the receiving lens 21 and the transmitting lens 22 are covered with a shielding case, and an optical film is attached in the shielding case, so that stray light except for a pulse laser wave band can be shielded, and a better signal-to-noise ratio is achieved.
In this embodiment, the echo detection module 3 includes a photoelectric sensor 31 (preferably, of a model S12926) and a signal processing circuit 32 for processing the detected signal. The photoelectric sensor adopts APD (Avalanche photo diode, the sensitivity of which is very high) to detect laser echo generated after laser hits a target object and convert the laser echo into an echo signal, and the signal processing circuit carries out filtering and de-noising and signal amplification (the amplification processing adopts a triode for multiple times of amplification) on the echo signal and then transmits the echo signal to the signal sampling module 4.
In the prior art, single-channel AD sampling is adopted, so that the sampling signal or the echo signal cannot be distinguished due to the fact that data processing is not performed in a short distance, and the calculation error is large. In this embodiment, the signal sampling module 4 adopts a dual-channel ADC converter (analog-to-digital converter, preferably, the model is ADCMP553), and one channel is used for sampling a reference signal during laser emission; one path is used for sampling echo signals. By separating the sampling signal and the echo signal, the situation of signal overlapping does not occur; therefore, the problem that the sampling signal and the echo signal are overlapped when the FPGA processes the data in a short-distance range is solved.
In this embodiment, the logic control module 5 includes an FPGA (Field-Programmable Gate Array, model number is preferably XC7Z007S-1CLG225C) and a peripheral circuit thereof, and is configured to output a high-frequency pulse signal to control the laser emitting module 1 to generate a high-frequency pulse laser, and perform digital processing on an echo signal. The method specifically comprises the following steps: the FPGA processes and analyzes the reference signal and the echo signal by using a digitization technique, and calculates a time interval T Δ ═ T2-T1, where T2 is an instantaneous time of the echo signal, and T1 is an instantaneous time of the reference signal, as shown in fig. 5. According to the distance formula
Wherein C is the propagation velocity of light 3X 108) The distance d between the laser transmitting and receiving module and the target object can be calculated, and the distance d can be integrated into a data packet through the FPGA and transmitted to an external system through a serial port or a network port.
Based on foretell many line laser radar ranging system of many camera lenses, the utility model discloses still provide a many line laser radar ranging system's of many camera lenses range finding, please refer to fig. 6, the range finding method includes:
s10, the laser emission module generates and emits corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module, and also generates a reference signal to the signal sampling module;
s20, the optical module transmits the high-frequency pulse laser to a target object and receives a laser echo generated by the target object;
s30, the echo detection module generates an echo signal according to the laser echo, filters and amplifies the echo signal and transmits the echo signal to the signal sampling module, and the signal sampling module samples the reference signal and the echo signal respectively and transmits the sampled signals to the logic control module;
and S40, the logic control module calculates the distance between the laser emission module and the target object according to the sampling time of the reference signal and the echo signal.
Preferably, in step S40, the distance formula is
Where T1 is the instantaneous time of the reference signal, T2 is the instantaneous time of the echo signal, and C is the propagation velocity of light 3 × 108。
To sum up, the utility model provides a many camera lenses multi-line laser radar ranging system and range finding method thereof sets up the mounted position of laser transceiver module in the complete machine according to the application scene demand completely, can solve the current problem that is subject to vertical angle. Each laser transmitting and receiving module is an independent individual, the optical path can be independently adjusted, and the optical path of the laser can be well adjusted before the complete machine is assembled, so that the influence of other adjacent lines during assembly can be avoided, and the problem that the limited complete machine space is too small and difficult to operate is solved; and through the regulation of vertical angle and angle, improved vertical resolution, reduced the blind area of closely finding range to the installation leads to the great problem of the blind area of closely finding range perpendicularly to having solved current multi-thread laser radar. The assembly and fixation are also very simple, and the angle position can be adjusted by screwing. The ADC converter with two channels is adopted for sampling, and the situation of signal overlapping can not occur by separating a sampling signal from an echo signal; therefore, the problem that the sampling signal and the echo signal are overlapped when the FPGA processes the data in a short-distance range is solved.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (8)
1. A multi-lens multi-line laser radar ranging system is characterized by comprising a structural part and a plurality of laser transmitting and receiving modules;
the structural member is provided with a plurality of corresponding positioning holes for each group of laser transceiving modules according to the application scene requirements, vertical adjusting screw holes and angular adjusting screw holes in each laser transceiving module are inserted into the corresponding positioning holes, and each laser transceiving module is installed and fixed on the structural member by screwing in screws; the vertical angle of the laser transceiver module is adjusted by adjusting the height of the vertical adjusting screw hole in the positioning hole, and any angle of the laser transceiver module is adjusted by rotating by taking the angle adjusting screw hole as the center.
2. The multi-lens multiline lidar ranging system of claim 1 wherein the laser transceiver module comprises a laser transmitter module, an optical module, an echo detection module, a signal sampling module, and a logic control module;
the laser emission module is connected with the signal sampling module and the logic control module, the echo detection module is connected with the signal sampling module and the logic control module, and the signal sampling module is connected with the logic control module;
the laser emission module generates and emits corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module, and also generates a reference signal to the signal sampling module; the optical module transmits the high-frequency pulse laser to a target object and receives a laser echo generated by the target object; the echo detection module generates an echo signal according to a laser echo, filters and amplifies the echo signal and transmits the echo signal to the signal sampling module, the signal sampling module samples a reference signal and the echo signal respectively and transmits the sampled reference signal and the sampled echo signal to the logic control module, and the logic control module calculates the distance between the laser emission module and a target object according to the sampling time of the reference signal and the sampling time of the echo signal.
3. The multi-lens multiline lidar ranging system of claim 2 wherein the laser transmit module includes a laser driver circuit and a laser diode;
the laser driving circuit is connected with the laser diode, the logic control module and the signal sampling module; the laser driving circuit controls the laser diode to emit corresponding high-frequency pulse laser according to the high-frequency pulse signal output by the logic control module, and also detects a signal at the moment of laser emission when the laser is emitted and records the signal as a reference signal to the signal sampling module.
4. The multi-lens multiline lidar ranging system of claim 3 wherein the laser drive circuit comprises a power supply, a charging circuit, a switch control circuit, a tank circuit, and a switch;
the charging circuit is connected with the power supply and a transmission end of the switch, a selection end of the switch is connected with the switch control circuit and the energy storage circuit, the other transmission end of the switch is connected with the anode of the laser diode, and the cathode of the laser diode is connected with the energy storage circuit and the ground;
when the switch control circuit detects the low level of the high-frequency pulse signal, the power supply is controlled to charge the energy storage circuit through the charging circuit; when the switch control circuit detects the high level, the electric quantity of the energy storage circuit is controlled to be released through the laser diode to generate laser beams.
5. The multi-lens multiline lidar ranging system of claim 2 wherein the optical module includes a receiving lens and a transmitting lens disposed side by side on an outer side of the laser transceiver module housing, the transmitting lens converging the laser light into a beam and impinging on the target object, the receiving lens receiving a laser echo generated by the target object.
6. The multi-lens multiline lidar ranging system of claim 5 wherein the optical module further comprises a shield covering the surfaces of the receive and transmit lenses.
7. The multi-lens multiline lidar ranging system of claim 2 wherein the echo detection module includes a photosensor and signal processing circuitry; the photoelectric sensor is connected with the signal processing circuit and the logic control module, and the signal processing circuit is connected with the signal sampling module;
the photoelectric sensor detects laser echoes generated after laser is applied to a target object and converts the laser echoes into echo signals, and the signal processing circuit carries out filtering and denoising and signal amplification on the echo signals and then transmits the echo signals to the signal sampling module.
8. The multi-lens multiline lidar ranging system of claim 2 wherein the signal sampling module is a dual channel ADC converter.
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