CN217404534U - Laser radar apparatus - Google Patents
Laser radar apparatus Download PDFInfo
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- CN217404534U CN217404534U CN202123250653.XU CN202123250653U CN217404534U CN 217404534 U CN217404534 U CN 217404534U CN 202123250653 U CN202123250653 U CN 202123250653U CN 217404534 U CN217404534 U CN 217404534U
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The utility model belongs to the technical field of laser radar, especially, relate to a laser radar equipment, laser radar equipment includes the laser emission subassembly, the laser receiving subassembly, temperature detection circuit, multistage amplifier circuit and constant ratio timing circuit, wherein, including a plurality of series connection's amplifier in the multistage amplifier circuit, each amplifier is connected with constant ratio timing circuit, therefore, closely or when long-range, can receive the different echo signal after the amplification, constant ratio timing circuit determines the echo signal that wherein does not saturate as effective echo signal, and confirm its transmission and receipt time respectively and calculate the average value, and adjust the delay compensation time of a plurality of amplifiers according to ambient temperature, thereby confirm ultimate laser flight time, improve the range finding precision and the range finding scope of distance.
Description
Technical Field
The utility model belongs to the technical field of laser radar, especially, relate to a laser radar equipment.
Background
In a laser radar system, a common ranging method is to calculate the time of flight of laser, and it is necessary to measure the time from laser light emission to echo reception. At present, the main timing methods comprise front edge timing, zero-crossing timing and constant ratio timing, wherein the front edge timing has the advantages of simple circuit and small error caused by noise, and has the defects of large time movement and large timing error; zero-crossing timing can eliminate time errors caused by signal amplitude change, but timing errors caused by noise are large; the constant ratio timing is characterized in that zero-crossing pulses are generated at a constant ratio point of input pulse amplitude, the advantages of leading edge timing and zero-crossing timing are integrated, time movement caused by signal amplitude change is eliminated, and the trigger ratio is adjustable.
However, since the received echo signal requires a slow rising edge when the constant ratio timing is used, when a single amplification module is used, the echo signal at a short distance is saturated when the echo signal is present at a long distance, which affects the accuracy of short-distance measurement.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a laser radar equipment aims at realizing improving the range finding precision when adopting the constant ratio timing method.
An embodiment of the utility model provides a laser radar equipment, include:
a laser emitting assembly for emitting a laser signal;
the laser receiving component is used for receiving the laser signal and converting the laser signal into an echo signal;
the temperature detection circuit is used for collecting the ambient temperature;
a multistage amplification circuit connected to the laser receiving assembly, the multistage amplification circuit including a plurality of amplifiers connected in series in multistage;
a constant ratio timing circuit connected to the laser emitting assembly, the temperature detection circuit and the plurality of amplifiers;
the constant ratio timing circuit is used for driving the laser emitting component to emit light, adjusting the delay compensation time of each amplifier according to the environment temperature, and determining the laser flight time and the distance information of the object to be measured by the echo signals output by each amplifier in a constant ratio timing mode.
Optionally, the lidar apparatus further comprises a power circuit connected to the laser receiving assembly and the constant ratio timing circuit;
the constant ratio timing circuit is further used for outputting a voltage regulating signal to the power supply circuit according to the environment temperature so as to regulate the working voltage of the laser receiving assembly.
Optionally, the laser emitting assembly comprises a laser.
Optionally, the laser is an LD laser.
Optionally, the laser light receiving assembly comprises a photodetector.
Optionally, the photodetector is an APD detector.
Optionally, the plurality of amplifiers connected in series in the plurality of stages includes a transimpedance amplifier of the first stage and a plurality of voltage amplification chips connected in series in sequence.
Optionally, the constant ratio timing circuit includes a plurality of ADC chips respectively connected to signal output terminals of the plurality of amplifiers, and an FPGA chip connected to the plurality of ADC chips.
Optionally, the power supply circuit comprises:
the power input end of the power conversion circuit is used for inputting a direct-current power supply, and the power output end of the power conversion circuit is connected with the power end of the laser receiving assembly;
and the voltage detection circuit is connected with the constant ratio timing circuit and the power output end of the power conversion circuit and is used for feeding back a voltage signal of the output voltage of the power conversion circuit to the constant ratio timing circuit.
Optionally, the power conversion circuit comprises a boost circuit.
The utility model discloses through adopting the laser emission subassembly among the laser radar equipment, the laser receiving subassembly, temperature detection circuitry, multistage amplifier circuit and constant ratio timing circuit, wherein, including a plurality of series connection's amplifier in the multistage amplifier circuit, each amplifier and constant ratio timing circuit connection, therefore, closely or when long distance, can receive the different echo signal after the amplification, constant ratio timing circuit determines the echo signal of wherein not saturating as effective echo signal, and confirm its transmission and receipt time and calculate the average value respectively, and adjust the delay compensation time of a plurality of amplifiers according to ambient temperature, thereby confirm ultimate laser flight time, improve the range finding precision and the range finding scope of distance.
Drawings
Fig. 1 is a first schematic structural diagram of a laser radar apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a second structure of a laser radar apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third laser radar apparatus according to an embodiment of the present invention;
fig. 4 is a fourth schematic structural diagram of a laser radar apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The embodiment of the utility model provides a laser radar equipment is provided.
As shown in fig. 1, in the present embodiment, the laser radar apparatus includes:
a laser emitting assembly 20 for emitting a laser signal;
a laser receiving component 10 for receiving laser signals and converting the laser signals into echo signals;
a temperature detection circuit 30 for collecting ambient temperature;
a multistage amplification circuit 40 connected to the laser receiving module 10, the multistage amplification circuit 40 including a plurality of stages of amplifiers U1 connected in series;
a constant ratio timing circuit 50 connected to the laser emitting assembly 20, the temperature detection circuit 30 and the plurality of amplifiers U1;
and the constant ratio timing circuit 50 is used for driving the laser emitting component 20 to emit light, adjusting the delay compensation time of each amplifier U1 according to the ambient temperature, and determining the laser flight time and the distance information of the object to be measured by the echo signal output by each amplifier U1 in a constant ratio timing mode.
In this embodiment, the laser emitting assembly 20 and the laser receiving assembly 10 are correspondingly disposed, the number of the laser emitting assemblies and the number of the laser receiving assemblies can be correspondingly disposed according to requirements, and can be one or more, and similarly, the positions of the laser emitting assemblies and the laser receiving assemblies can be correspondingly disposed corresponding to the object to be tested.
When the laser constant ratio timing circuit works, the constant ratio timing circuit 50 outputs a driving signal to the laser emitting component 20, the laser emitting component 20 emits a laser signal to an object to be detected at a corresponding angle, meanwhile, the laser receiving component 10 receives a laser echo reflected by the object to be detected and converts the laser echo into a corresponding echo signal, the echo signals are respectively amplified by the multi-stage amplifier U1 and then respectively output echo signals at corresponding amplification levels to the constant ratio timing circuit 50, wherein the amplification levels of the amplifiers U1 of the multi-stage amplifier U1 can be increased or decreased progressively according to a preset difference value or changed proportionally, and can also be set to be the same amplification level, and the specific amplification level is not changed.
The constant ratio timing circuit 50 detects and judges the received multiple amplified echo signals in a constant ratio timing mode, wherein the constant ratio timing method is to perform time delay and attenuation on the original signals respectively, perform subtraction on the two signals to obtain a zero-crossing discrimination forming signal, and only when the zero-crossing point of the forming signal is ensured to be at the rising edge of the input signal, the rising time change of the input signal can be compensated. In order to acquire more data in the rise time and improve timing accuracy, the rise time of the amplified signal needs to be longer, and a phenomenon of signal saturation cannot occur, therefore, the constant timing circuit 50 determines an echo signal in an unsaturated state as an effective echo signal, and determines the echo signal in a saturated state as an invalid echo signal, wherein the effective echo signal includes one or more effective echo signals, and when the echo signals include a plurality of effective echo signals, the constant ratio timing circuit 50 averages laser flight times of a receiving time point and a transmitting time point of the received effective echo signals, takes the average flight time as a final laser flight time, and determines distance information of the object to be measured by using the average flight time.
Meanwhile, the time for transmitting the laser to the receiver is also influenced by the delay time of the amplifier U1, that is, the total flight time is T2-T1-T0, wherein T2 is the time for receiving the echo signal by the constant ratio timing circuit 50, T1 is the time for transmitting the laser signal, T0 is the delay time of the corresponding amplifier U1, and the delay time is influenced by the temperature, therefore, the laser radar apparatus is further provided with a temperature detection circuit 30 for detecting the ambient temperature and performing time delay compensation of the amplifier U1 according to the ambient temperature, thereby determining each delay time under the current environment and the final laser flight time, and determining the distance of the object to be measured according to the time of half of the laser flight time and the laser flight speed, wherein the delay time increases with the increase of the temperature, the specific temperature coefficient is actually measured and written into the constant ratio timing circuit 50, and according to different temperatures, different corresponding values are written in, and the delay time of each amplifier U1 is adjusted according to the temperature value, so that real-time feedback adjustment is realized.
For example, when long-distance ranging is performed, the power of the current laser signal is high, and at this time, after the near-end echo signal passes through the amplifier U1 with the same amplification level, a saturated state will occur, and the distance information of the near-end object to be measured cannot be determined, but after the amplifier U1 with multiple corresponding amplification levels is set, the near-end echo signal passing through the amplifier U1 with one or more smaller amplification levels has an unsaturated state, at this time, the unsaturated echo signal is determined as a valid echo signal, the transmitting and receiving times of the valid echo signal are respectively determined, the average value is calculated, and the delay compensation time of the amplifiers U1 is adjusted according to the ambient temperature, so that the final laser flight time is determined, and the ranging accuracy and the ranging range of the long-distance and the short-distance are improved.
Similarly, when short-distance ranging is performed, the power of the current laser signal is low, and at this time, after a far-end echo signal passes through the amplifier U1 with the same amplification level, the problem that identification cannot be performed due to the fact that the far-end echo signal is too small will occur, and the distance information of the far-end object to be measured cannot be determined, but after the corresponding amplifiers U1 with multiple amplification levels are arranged, the echo signal at the far end of one or more amplifiers U1 with the larger amplification level is in an unsaturated state and reaches a preset amplitude value, at this time, the echo signal which meets the amplitude value requirement and is unsaturated is determined as an effective echo signal, the transmitting and receiving time of the echo signal is respectively determined, the average value is calculated, the delay compensation time of the multiple amplifiers U1 is adjusted according to the ambient temperature, and therefore the final laser flight time is determined, and the ranging accuracy and the ranging range of the far-near distance are improved.
In the meantime, the laser emitting assembly 20 may employ a laser and may further include a corresponding laser driving circuit, and the specific structure is not limited, and optionally, the laser emitting assembly 20 includes a laser, and meanwhile, the laser may employ a different type of laser, as shown in fig. 3, and the laser is an LD laser 21.
Correspondingly, the laser receiving assembly 10 may employ a corresponding photoelectric converter, photoelectric conversion circuit, etc., such as a photodiode, a transimpedance amplifier, etc.
Optionally, the laser receiving assembly 10 includes a photodetector, the photodetector performs photoelectric conversion, and outputs an echo signal corresponding to the laser echo to the constant ratio timing circuit 50, the type of the photodetector is not limited, as shown in fig. 3, and optionally, the laser detector is an APD detector 11.
The temperature detection circuit 30 may be a temperature detector, a thermistor, or the like, and the specific structure is not limited.
The constant ratio timing circuit 50 may employ a corresponding control chip, such as an MCU, an FPGA chip U3, and as shown in fig. 3, the constant ratio timing circuit 50 includes a plurality of ADC chips U2 respectively connected to signal output ends of a plurality of amplifiers U1 and an FPGA chip U3 connected to the plurality of ADC chips U2, where the ADC chip U2 implements analog-to-digital conversion to convert each received amplified echo signal into a corresponding digital signal, and the FPGA chip U3 performs comparison and judgment on each digital signal to determine a corresponding effective echo signal, and meanwhile, determines a distance of an object to be measured according to an average flight time of the effective echo signal and a delay time of the amplifier U1 corresponding to participate in amplification of the effective echo signal, so as to improve ranging accuracy and a ranging range.
In order to reduce crosstalk of interference signals, a corresponding filter circuit, such as a filter capacitor, may be further disposed between the laser receiving assembly 10 and the multistage amplification circuit 40, so as to filter interference signals and improve feedback reliability.
The utility model discloses through adopting laser emission subassembly 20 among the laser radar equipment, laser receiving component 10, temperature-detecting circuit 30, multistage amplifying circuit 40 and constant ratio timing circuit 50, wherein, include a plurality of series connection's amplifier U1 in the multistage amplifying circuit 40, each amplifier U1 is connected with constant ratio timing circuit 50, therefore, closely or when long-range, can receive the different echo signal after the amplification, constant ratio timing circuit 50 determines the echo signal that wherein does not saturate as effective echo signal, and confirm its transmission and receipt time and calculate the average value respectively, and adjust the delay compensation time of a plurality of amplifiers U1 according to ambient temperature, thereby confirm final laser flight time, improve the range finding precision and the range finding range of far and near distance.
As shown in fig. 2, since the operating voltage of the laser receiving assembly 10 is affected by temperature, and the operating voltage affects the amplitude of the output echo signal of the laser receiving assembly 10, in order to ensure that the laser receiving assembly 10 can reliably output the echo signal, optionally, the laser radar apparatus further includes a power circuit 60 connected to the laser receiving assembly 10 and the constant ratio timing circuit 50, and the constant ratio timing circuit 50 further outputs a voltage adjusting signal to the power circuit 60 according to the ambient temperature to adjust the operating voltage of the laser receiving assembly 10, so as to implement real-time adjustment of the operating voltage, and ensure that the laser receiving assembly 10 operates in an optimal state, thereby improving the adjustment accuracy of the operating voltage, and further improving the accuracy of laser ranging.
Wherein, power supply circuit 60 can adopt structures such as corresponding power conversion circuit 61, power conversion chip, optional west, as shown in fig. 4, power supply circuit 60 includes:
a power input end of the power conversion circuit 61 is used for inputting a direct current power, and a power output end of the power conversion circuit 61 is connected with a power end of the laser receiving component 10;
and the voltage detection circuit 62 is connected with the constant ratio timing circuit 50 and the power output end of the power conversion circuit 61, and the voltage detection circuit 62 is used for feeding back a voltage signal of the output voltage of the power conversion circuit 61 to the constant ratio timing circuit 50.
During operation, the constant timing circuit determines the current working voltage output to the laser receiving assembly 10 through the voltage detection circuit 62, determines the required working voltage of the laser receiving assembly 10 according to the current ambient temperature, and outputs a control signal to the power conversion circuit 61, so that the output voltage of the power conversion circuit 61 reaches the required working voltage, and voltage closed-loop regulation is realized.
The power conversion circuit 61 may be a BOOST circuit, a buck circuit, or a buck-BOOST circuit, optionally, the power conversion circuit 61 is a BOOST circuit, and the BOOST circuit may be a BOOST circuit composed of an inductor, a diode, and an electronic switch tube, or may be a BOOST chip structure, and the specific structure is not limited.
The voltage detection circuit 62 may adopt a structure of a resistor divider circuit, a sampling resistor, and a transformer to realize voltage detection, and the specific structure is not limited.
Meanwhile, the type of each amplifier U1 may be set correspondingly according to a requirement, optionally, the multiple amplifiers U1 connected in series at multiple stages include a transimpedance amplifier at a first stage and multiple voltage amplification chips connected in series in sequence, where the transimpedance amplifier U1 converts a current signal output by the APD detector 11 into a voltage signal, the post-stage amplifier U1 implements voltage amplification at different voltage levels, and outputs the voltage signals at different amplification levels to the constant ratio timing circuit 50, thereby implementing multiple-stage amplification feedback.
The above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; 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 substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A lidar apparatus, comprising:
a laser emitting assembly for emitting a laser signal;
the laser receiving component is used for receiving the laser signal and converting the laser signal into an echo signal;
the temperature detection circuit is used for collecting the ambient temperature;
a multistage amplification circuit connected to the laser receiving assembly, the multistage amplification circuit including a plurality of amplifiers connected in series in multistage;
a constant ratio timing circuit connected to the laser emitting assembly, the temperature detection circuit and the plurality of amplifiers;
the constant ratio timing circuit is used for driving the laser emitting component to emit light, adjusting the delay compensation time of each amplifier according to the environment temperature, and determining the laser flight time and the distance information of the object to be measured by the echo signals output by each amplifier in a constant ratio timing mode.
2. The lidar apparatus of claim 1, further comprising a power circuit connected to the laser receive assembly and the constant ratio timing circuit;
the constant ratio timing circuit is further used for outputting a voltage regulating signal to the power supply circuit according to the environment temperature so as to regulate the working voltage of the laser receiving assembly.
3. The lidar apparatus of claim 1, wherein the laser emitting assembly comprises a laser.
4. Lidar apparatus of claim 3, wherein the laser is an LD laser.
5. The lidar apparatus of claim 1, wherein the laser receiving assembly comprises a photodetector.
6. The lidar apparatus of claim 5, wherein the photodetector is an APD detector.
7. The lidar device of claim 1, wherein the plurality of stages of amplifiers in series comprises a transimpedance amplifier of a first stage and a plurality of voltage amplification chips connected in series in sequence.
8. The lidar apparatus of claim 1, wherein the constant ratio timing circuit comprises a plurality of ADC chips connected to signal outputs of a plurality of amplifiers, respectively, and an FPGA chip connected to the plurality of ADC chips.
9. The lidar apparatus of claim 2, wherein the power circuit comprises:
the power input end of the power conversion circuit is used for inputting a direct-current power supply, and the power output end of the power conversion circuit is connected with the power end of the laser receiving assembly;
and the voltage detection circuit is connected with the constant ratio timing circuit and the power output end of the power conversion circuit and is used for feeding back a voltage signal of the output voltage of the power conversion circuit to the constant ratio timing circuit.
10. The lidar apparatus of claim 9, wherein the power conversion circuit comprises a boost circuit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123250653.XU CN217404534U (en) | 2021-12-22 | 2021-12-22 | Laser radar apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123250653.XU CN217404534U (en) | 2021-12-22 | 2021-12-22 | Laser radar apparatus |
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| CN217404534U true CN217404534U (en) | 2022-09-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115616593A (en) * | 2022-11-22 | 2023-01-17 | 深圳煜炜光学科技有限公司 | Laser radar, calibration method and method for improving measurement precision of laser radar |
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2021
- 2021-12-22 CN CN202123250653.XU patent/CN217404534U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115616593A (en) * | 2022-11-22 | 2023-01-17 | 深圳煜炜光学科技有限公司 | Laser radar, calibration method and method for improving measurement precision of laser radar |
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