Invention content
To solve the above problems, the present invention provides a kind of laser radar, the laser radar complexity is low and at low cost.
To achieve the above object, the present invention provides the following technical solutions：
A kind of laser radar, the laser radar include：Timing control and measurement module, laser emitting module, laser connectReceive module and scan module；
Wherein, the laser emitting module includes laser emitter, and the laser emitter includes n transmission channel, and n isPositive integer, and there are one luminescence units for setting in each transmission channel；The laser pick-off module includes photodetector,The photodetector includes m receiving channel, and m is positive integer, and m=n*i, i are positive integer, in each transmission channelThe corresponding i receiving channel of the luminescence unit, and the corresponding receiving channel of each luminescence unit is different；
The timing control and measurement module are used for generating Laser emission clock signal, the Laser emission clock signalEmit laser pulse successively in n luminescence units of control；
The timing control and measurement module are additionally operable to generate laser pick-off clock signal, the laser pick-off clock signalFor controlling the receiving channel conducting of the luminescence unit corresponding i, to receive laser pulse echo-signal；
The timing control and measurement module are additionally operable to generate rotation control signal, and the rotation control signal is for controllingThe scan module carries out rotation sweep；
The scan module to the laser pulse and the laser pulse echo-signal for carrying out horizontal direction simultaneouslyScanning, wherein define the scan module rotary shaft be vertical direction.
Preferably, in above-mentioned laser radar, the laser emitting module further includes：Drive circuit module and collimation are saturatingMirror；
Wherein, the drive circuit module is according in n transmission channels of Laser emission clock signal drivingThe luminescence unit emits laser pulse successively；
The collimation lens to the laser pulse for carrying out collimation processing.
Preferably, in above-mentioned laser radar, the laser pick-off module further includes：Receiving lens, trans-impedance amplifier, choosingLogical device, moment discrimination circuit and peak holding circuit；
Wherein, the receiving lens are for receiving the laser pulse echo-signal, and are transmitted to the luminescence unit phaseThe corresponding i receiving channels；
The gate is used to control the corresponding i of luminescence unit according to the laser pick-off clock signal a describedReceiving channel is connected；
The photodetector is used to the laser pulse echo-signal being converted to current signal；
The trans-impedance amplifier is used to the current signal being converted to voltage signal；
The moment discrimination circuit according to the voltage signal for when determining the arrival of the laser pulse echo-signalIt carves, at the time of the arrival time characterization laser radar receives the laser pulse echo-signal；
The peak holding circuit is used to determine the peak value of the voltage signal according to the voltage signal.
Preferably, in above-mentioned laser radar, the scan module is multiple surface rotating mirror, and the multiple surface rotating mirror includes at least twoA reflecting surface, and each reflecting surface is parallel with the rotary shaft of the scan module.
Preferably, in above-mentioned laser radar, the scan module is multiple surface rotating mirror, and the multiple surface rotating mirror includes at least twoA reflecting surface, and the angle between multiple reflectings surface and the rotary shaft of the scan module is distributed at arithmetic progression.
Preferably, in above-mentioned laser radar, the laser radar further includes：Driving motor and angular encoder；
Wherein, the driving motor drives the scan module to carry out rotation sweep according to the rotation control signal；
The angular encoder is used to obtain the rotation angle of the scan module in real time, and the rotation angle is fed backTo the timing control and measurement module.
Preferably, in above-mentioned laser radar, the laser radar further includes：Power management module；
Wherein, the power management module is used to power for the laser radar.
Preferably, in above-mentioned laser radar, the laser emitter is n-channel semiconductor laser.
Preferably, in above-mentioned laser radar, the photodetector is the channels m APD photodetectors.
By foregoing description it is found that a kind of laser radar provided by the invention includes：Timing control and measurement module, laserTransmitting module, laser pick-off module and scan module；Wherein, the laser emitting module includes laser emitter, the laserTransmitter includes n transmission channel, and n is positive integer, and there are one luminescence units for setting in each transmission channel；The laser connectsIt includes photodetector to receive module, and the photodetector includes m receiving channel, and m is positive integer, and m=n*i, i are just wholeIt counts, the corresponding i receiving channel of the luminescence unit in each transmission channel, and each luminescence unit is correspondingThe receiving channel it is different.
The timing control and measurement module are used for generating Laser emission clock signal, the Laser emission clock signalEmit laser pulse successively in n luminescence units of control；The timing control and measurement module are additionally operable to generation laser and connectTime receiving sequential signal, the laser pick-off clock signal are led for controlling corresponding i receiving channels of the luminescence unitIt is logical, to receive laser pulse echo-signal；The timing control and measurement module are additionally operable to generate rotation control signal, the rotationTurn control signal and carries out rotation sweep for controlling the scan module；The scan module is for simultaneously to the laser pulseThe scanning of horizontal direction is carried out with the laser pulse echo-signal, wherein the rotary shaft for defining the scan module is verticalDirection.
By foregoing description it is found that the position of laser emitter and photodetector immobilizes in the laser radar, lead toIt crosses rotation scan module and realizes the scanning for carrying out horizontal direction to the laser pulse and the laser pulse echo-signal simultaneously,For the prior art that compares, it is no longer necessary to use slip ring, not have to carry out the function modules such as wireless power and wireless communication, simultaneouslyUsing laser emitter according to sequential time division emission laser pulse, photodetector subchannel receives laser pulse echo-signal,To reduce the quantity of signal processing module, have many advantages, such as that at low cost, adjustment is convenient, compact-sized and be easy to volume production.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific realApplying mode, the present invention is described in further detail.
With reference to figure 1, Fig. 1 is a kind of theory structure schematic diagram of laser radar provided in an embodiment of the present invention.
The laser radar includes：Timing control and measurement module 11, laser emitting module 12,13 and of laser pick-off moduleScan module 14.
Wherein, the laser emitting module 12 includes laser emitter 121, and the laser emitter 121 includes n transmittingChannel, n are positive integer, and there are one luminescence units for setting in each transmission channel；The laser pick-off module 13 includes photoelectricityDetector 131, the photodetector 131 include m receiving channel, and m is positive integer, and m=n*i, i are positive integer, eachThe corresponding i receiving channel of the luminescence unit in the transmission channel, and each luminescence unit is corresponding describedReceiving channel is different.For example, the laser emitter 121 includes 4 transmission channels, the photodetector 131 connects including 8Channel is received, then defining corresponding 1st and the 2nd receiving channel of the 1st transmission channel, the 2nd transmission channel the corresponding 3rd and the 4th connectsReceive channel, corresponding 5th and the 6th receiving channel of the 3rd transmission channel, corresponding 7th and the 8th receiving channel of the 4th transmission channel.
The timing control and measurement module 11 are for generating Laser emission clock signal, the Laser emission clock signalEmit laser pulse successively for controlling the n luminescence units.
The timing control and measurement module 11 are additionally operable to generate laser pick-off clock signal, the laser pick-off sequential letterNumber for controlling the luminescence unit corresponding i receiving channels conductings, to receive laser pulse echo-signal.
The timing control and measurement module 11 are additionally operable to generate rotation control signal, and the rotation control signal is for controllingIt makes the scan module 14 and carries out rotation sweep.
The scan module 14 to the laser pulse and the laser pulse echo-signal for carrying out level side simultaneouslyTo scanning, wherein define the scan module 14 rotary shaft be vertical direction.
It is by foregoing description it is found that solid by the position of laser emitter 121 and photodetector 131 in the laser radarIt is fixed constant, it is realized by rotation sweep module 14 and level is carried out to the laser pulse and the laser pulse echo-signal simultaneouslyThe scanning in direction, for the prior art that compares, it is no longer necessary to use slip ring, not have to carry out the work(such as wireless power and wireless communicationEnergy module, while using laser emitter 121 according to sequential time division emission laser pulse, 131 subchannel of photodetector receivesLaser pulse echo-signal has that at low cost, adjustment is convenient, compact-sized and be easy to reduce the quantity of signal processing moduleThe advantages that volume production.
That is, photodetector 131 of the laser radar using the laser emitter 121 and multichannel of multichannel,Coordinate corresponding time sequence control logic again, so that laser emitter 121 and the position of photodetector 131 is immobilized, no longer needAdditional function module is wanted, and then has above-mentioned advantage.
Further, the laser emitter 121 includes, but are not limited to n-channel semiconductor laser, needs to illustrateIt is that the laser array of 4 channel bands drivings has engineering sample currently on the market, carry out volume production that can be quickly.
Further, the photodetector 131 includes, but are not limited to the channels m APD photodetectors, needs to illustrateIt is, currently on the market APD (Avalanche Photodiode) photodetector array in 16 channels comparative maturity, it can be withIt is applied to automotive field well.
That is, the laser emitter 121 and photodetector 131 that are used in the embodiment of the present invention, are not necessarily to additionallyR＆D costs, and the price of product is relatively low, and then the production cost of laser radar provided by the invention can be reduced.
It should be noted that the channel number and power of the laser emitter 121 need the detection of connected applications sceneThe combined factors such as distance, vertical direction field angle, eye-safe standard and device maturity determine.
It should be noted that the channel number of the photodetector 131 needs the detection range of connected applications scene, erectsHistogram is determined to combined factors such as field angle, angular resolution, device maturity and costs.
Further, as shown in Fig. 2, the laser emitting module 12 further includes：Drive circuit module 122 and collimation lens123。
Wherein, the drive circuit module 122 is according in n transmission channels of Laser emission clock signal drivingThe luminescence unit emit laser pulse successively.
The collimation lens 123 to the laser pulse for carrying out collimation processing.
Specifically, after the drive circuit module 122 receives the Laser emission clock signal, current impulse is generated,To drive corresponding luminescence unit to emit laser pulse.Due to diverging of the laser pulse on vertically and horizontallyAngle cannot generally be met the requirements, and the usual angle of divergence is larger, about 10 ° × 25 ° or so, therefore a collimation lens is at least arrangedThe angle of divergence of the laser pulse of 123 pairs of output carries out pH effect, so that the hair of the laser after collimation adjustment in the vertical directionThe field angle for dissipating angle and vertical direction matches, and the angle of divergence of horizontal direction reduces as far as possible, usually mrad magnitudes.
That is, the laser emitting module 12 is mainly used under the control of the timing control and measurement module 11Emit the vertical direction angle of divergence and irradiates target with certain angle and the horizontal direction angle of divergence laser beam small as possible.
It should be noted that in embodiments of the present invention, 123 optical device of collimation lens is included at least, it can alsoIncrease the adjustment that additional other optical devices carry out the laser pulse optical parameter.
By foregoing description it is found that the laser emitting module 12 is simple in structure, and the laser of meet demand can be launchedPulse increases the accuracy of measurement of laser radar.
Further, as shown in figure 3, the laser pick-off module 13 further includes：Receiving lens 132, trans-impedance amplifier133, gate 134, moment discrimination circuit 135 and peak holding circuit 136.
Wherein, the receiving lens 132 are for receiving the laser pulse echo-signal, and are transmitted to the luminescence unitThe corresponding i receiving channels.
Specifically, the receiving lens 132 include but is not limited to camera lens, it is mainly used for will reflect back into the laser pulse comeEcho-signal is transmitted in the photodetector 131 in corresponding receiving channel.For example, what first luminescence unit was sent outLaser pulse, the reflected laser pulse echo-signal of the laser pulse need to be transmitted to first luminescence unit correspondingIn i receiving channel.
The gate 134 is used to control according to the laser pick-off clock signal the corresponding i of luminescence unit describedThe receiving channel conducting.
Specifically, controlling the laser emitting module 12 in the timing control and measurement module 11 launches laser pulseWhen, while the gate 134 is controlled, so that the corresponding receiving channel of the luminescence unit for emitting the laser pulse is completely inConducting state, to receive the reflected laser pulse echo-signal of the laser pulse.
The photodetector 131 is used to the laser pulse echo-signal being converted to current signal.
The trans-impedance amplifier 133 is used to the current signal being converted to voltage signal.
Specifically, the current signal is converted to voltage signal by the trans-impedance amplifier 133, the size of multiple is convertedIt the equivalent resistance of itself can be determined by the trans-impedance amplifier 133.
The moment discrimination circuit 135 is used to determine the arrival of the laser pulse echo-signal according to the voltage signalMoment, at the time of the arrival time characterization laser radar receives the laser pulse echo-signal.
Specifically, the timing control and measurement module 11 are driving the laser emitting module 12 to launch laser pulseWhen, a start time is recorded, after getting arrival time, the two is calculated according to the start time and the arrival timeBetween time difference, handle to obtain range image according to the time difference.
The peak holding circuit 136 is used to determine the peak value of the voltage signal according to the voltage signal.
Specifically, the peak value represents the intensity of the laser pulse echo-signal, i.e., the described timing control and measurement mouldBlock 11 is handled according to the peak information of acquisition can obtain intensity image, which characterizes reflectivity information.
By foregoing description it is found that due to multi-channel laser transmitter 121 and multichannel photodetection in the laser radarThe position of device 131 immobilizes, while using laser emitter 121 according to sequential time division emission laser pulse, photodetector131 subchannels receive laser pulse echo-signal, therefore no longer need to use slip ring, do not have to carry out wireless power and wireless communicationEtc. function modules, the quantity for reducing signal processing module of high degree.
Further, the scan module 14 is multiple surface rotating mirror, and the multiple surface rotating mirror includes at least two reflectings surface, and everyA reflecting surface is parallel with the rotary shaft of the scan module.
Specifically, the multiple surface rotating mirror includes at least two reflectings surface, for ensureing the multiple surface rotating mirror in comprehensive rotationThe scanning to laser pulse or laser pulse echo-signal may be implemented during turning, each reflecting surface is during rotationThe multiple row pixel in visual field can be scanned.
Or, the scan module is multiple surface rotating mirror, the multiple surface rotating mirror includes at least two reflectings surface, and multiple described anti-The angle penetrated between face and the rotary shaft of the scan module is distributed at arithmetic progression.
Specifically, it is assumed that the multiple surface rotating mirror includes N number of reflecting surface, each adjacent two reflecting surface with it is describedThe difference of angle between rotary shaft is △ β, then the angle between h-th of reflecting surface (h=1~N) and the rotary shaft is β(h)=(h-1) * △ β.
Wherein, △ β are determined according to laser emitter and photodetector in the field angle of vertical direction, are ensured adjacentScanning field of view between reflecting surface can be stitched together, and N times of laser radar can be extended using the scanning means of the structureIn the field angle of vertical direction.
It should be noted that the value needs of N carry out considering determination according to application scenarios.
By foregoing description it is found that by by the rotation of the multiple reflectings surface and the scan module in multiple surface rotating mirrorAngle between axis is distributed at arithmetic progression, you can expanded laser light radar is in the field angle of vertical direction, and this is simple in structure.
Further, as shown in figure 5, the laser radar further includes：Driving motor and angular encoder 15.
Wherein, the driving motor drives the scan module 14 to carry out rotation sweep according to the rotation control signal.
The angular encoder is used to obtain the rotation angle of the scan module 14 in real time, and the rotation angle is anti-It is fed to the timing control and measurement module 11.
Specifically, the driving motor is mainly used for that the scan module 14 is driven to be rotated, often rotating 1/n weeks can be withScan a frame image.The timing control and measurement module 11 according to driving motor described in the rotation angle real-time control intoRow rotation.
It is arranged it should be noted that driving motor and angular encoder 15 can be integratedization, can also be two onlyVertical individual, then fixed by mechanical structure.
By foregoing description it is found that in embodiments of the present invention by the way that the driving motor and angular encoder 15 is arranged,It realizes closed loop feedback control, the accuracy of measurement of laser radar can be improved.
Further, as shown in fig. 6, the laser radar further includes：Power management module 16.
Wherein, the power management module 16 is used to power for the laser radar.
Specifically, the power management module 16 is used to be powered for modules in the laser radar, ensure eachA module can work normally.
Based on the laser radar that the above embodiment of the present invention provides, below with 4 multichannel laser transmitters and 16 channel photoelectricityDetector, laser emission frequency illustrate for being 20KHz.
As shown in fig. 7, the timing control and measurement module generate the Laser emission clock signal of four luminescence unit LD,Four luminescence unit LD emit laser pulse with the frequency of 20KHz respectively, and are spaced 1us successively.
As shown in figure 8, the timing control and measurement module send out 4 Start signals, between 4 Start signals successivelyIt is spaced 1us, 4 Start signal control drive circuits modules drive four luminescence unit transmitting laser pulses successively.
When first emitting laser pulse positioned at the luminescence unit LD1 of the 1st transmission channel, the timing control and measurement module noteStart time is recorded, its hot spot is diffused in the regions a of visual field, the laser pulse echo-signal of the laser pulse after collimation lensIn the 1-4 receiving channels for exposing to photodetector behind the regions a1 of field of view of receiver, 4 road gates gate the 1st simultaneouslyRoad, i.e. the 1-4 receiving channels conducting of photodetector, obtain 4 road laser pulse echo-signals of 1-4 receiving channels, theThe laser pulse echo-signal is converted to current signal by 1-4 receiving channels, and trans-impedance amplifier converts the current signalFor voltage signal, moment discrimination circuit generates 4 road Stop signals according to the voltage signal, and determines the laser pulse echoThe arrival time of signal, peak holding circuit determine the peak value of the voltage signal according to the voltage signal.
In turn, the timing control and measurement module calculate between the two according to the start time and the arrival timeTime difference, handle to obtain range image according to the time difference, and intensity image can be obtained according to peak information processing, shouldIntensity image characterizes reflectivity information.The range image and intensity image can be very good to react the 4 road laser pulse echo letterNumber the parameter informations such as level angle, vertical angle, detection range and reflected intensity.
Similarly, after being located at the luminescence unit LD2 transmitting laser pulses of the 2nd transmission channel, the 5-8 of photodetector is receivedChannel conductive, the same 4 road laser pulse echo-signals for obtaining 5-8 receiving channels.
After the luminescence unit LD3 transmitting laser pulses of the 3rd transmission channel, the 9-12 receiving channels of photodetectorConducting, the same 4 road laser pulse echo-signals for obtaining 9-12 receiving channels.
After the luminescence unit LD4 transmitting laser pulses of the 4th transmission channel, the 13-16 of photodetector, which is received, to be led toRoad is connected, and obtains 4 road laser pulse echo-signals of 13-16 receiving channels.
Assuming that the reflecting surface of scanning means is K, it is constantly heavy under the drive of driving motor in scanning means rotary courseThe multiple above process, it is when a reflecting surface completes all scanning elements (driving motor rotates 360/K degree) in multiple reflectings surface, i.e., completeAt the scanning of a frame.
It should be noted that the maximum field of view angle of horizontal direction is determined by the number of scanning means reflecting surface, it is assumed that scanningThe reflecting surface of device is K, then horizontal direction field angle F≤360/K degree；The angular resolution R1 of horizontal direction is by luminescence unitTranmitting frequency J and the rotating speed L of motor determine：R1=120L/J；The resolution ratio R2 of vertical direction by vertical direction field angle GIt is determined with the number m of receiving channel：R2=G/m.
By foregoing description it is found that a kind of laser radar provided in an embodiment of the present invention passes through multi-path laser transmitter and moreThe position of road photodetector immobilizes, and is realized simultaneously to the laser pulse and the laser arteries and veins by rotation sweep moduleThe scanning that echo-signal carries out horizontal direction is rushed, for the prior art that compares, it is no longer necessary to use slip ring, not have to carry out wirelessThe function modules such as power supply and wireless communication, while using laser emitter according to sequential time division emission laser pulse, photodetectionDevice subchannel receives laser pulse echo-signal, to reduce the quantity of signal processing module, at low cost, adjustment is convenient, knotThe advantages that structure is compact and is easy to volume production.
Also, it is only necessary to i signal processing modules can be realized to being measured while the signal of the roads m, the drop of high degreeThe low quantity of signal processing function module, and then reduce cost.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weightPoint explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to oneEntity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operationThere are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to containLid non-exclusive inclusion, so that article or equipment including a series of elements include not only those elements, but alsoIncluding other elements that are not explicitly listed, or further include for this article or the intrinsic element of equipment.Do not havingIn the case of more limitations, the element that is limited by sentence "including a ...", it is not excluded that in the article for including above-mentioned elementOr there is also other identical elements in equipment.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.Various modifications to these embodiments will be apparent to those skilled in the art, as defined hereinGeneral Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the inventionIt is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase oneThe widest range caused.