A kind of laser radar system and laser ranging systemTechnical field
The present invention relates to laser radar technique field more particularly to a kind of laser radar systems and laser ranging system.
Background technique
Laser radar, is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed, and work is formerReason is then to be compared the target echo received with transmitting signal to objective emission detectable signal, after making proper treatment,It is achieved with target for information about, such as target range, orientation, height, speed, posture, even shape parameter；
Laser radar is advanced detection mode of the laser technology in conjunction with modern detecting technique, by emission system, is connectThe part such as receipts system, information processing forms, and laser radar uses two kinds of working methods of pulse or continuous wave, and detection method is according to spyThe principle difference of survey can be divided into the laser thunder such as Mie scattering, Rayleigh scattering, Raman scattering, Brillouin scattering, fluorescence, DopplerIt reaches, laser radar technique is widely used in automatic Pilot, earth's surface topographic, military surveillance, Atmospheric Survey, robot visionEqual fields；
Current laser radar system and laser ranging system is inconvenient for use, and control process is more troublesome, and detects accuracyIt is to be improved with detection efficient.
Summary of the invention
A kind of laser radar system and laser ranging system proposed by the present invention are easy to use, and detection accuracy is high, are improvedThe detection efficient of laser radar, and control instruction is simplified, it is convenient for controlling.
To achieve the goals above, present invention employs following technical solutions:
A kind of laser radar system, including host computer, signal dispatcher module and radar；
Host computer for sending instruction to radar with the running of control radar, and shows the information that radar transmissions are returned；
Signal dispatcher module communication connection host computer and radar, for the command information of host computer to be sent to radar, andThe information that radar obtains is sent to host computer, realizes transmitted in both directions；
Wherein, radar includes laser emitting module, reflecting module, laser pick-off module and analysis and processing module；Reflect mouldBlock includes the first reflecting module and the second reflecting module；
Laser emitting module, for emitting the laser pulse of preset wavelength, laser pulse is laser or laser beam；
First reflecting module, for laser pulse to be reflected into object；
Second reflecting module, object carry out laser pulse to reflect to form detection echo, and the second reflecting module will detectOn echo reflection to laser pick-off module；
Laser pick-off module is converted into detectable signal for receiving detection echo, and by detection echo, and by relevant informationIt is sent to analysis and processing module；
Analysis and processing module, for receiving and processing detectable signal, to obtain the range information of object.
It preferably, further include laser transmission module and collimating module；
Laser transmission module connects laser emitting module and collimating module；Laser transmission module is used for transmission Laser emission mouldThe laser pulse of block transmitting；Collimating module is used for collimation laser pulse, and laser pulse is made to be adjusted to parallel laser pulse.
Preferably, further include drive module, rotate horizontally module, vertical rotary module and lifting module；
Drive module is moved accordingly for driving to rotate horizontally module, vertical rotary module and go up and down module, withAchieve the purpose that the direction, tilt angle and the height that control reflecting module；
Module is rotated horizontally, for making reflecting module carry out horizontal direction rotation, the direction of reflecting module is adjusted；
Vertical rotary module carries out the tilt angle of reflecting module for making reflecting module carry out vertical direction rotationAdjustment；
Module is gone up and down, for making reflecting module carry out vertical direction movement, the height of reflecting module is adjusted.
It preferably, further include optical shaping element；
Optical shaping element is used to the laser beam that laser emitting module emits being converted to linear laser beam.
Preferably, radar can send work to host computer by signal dispatcher module at interval of certain time after workState.
Preferably, upper machine information connection uses Transmission Control Protocol, realizes control and parameter configuration to radar；TCP message connectsIt connects after being successfully established, both sides can carry out two-way command interaction and radar and transmit scan data to host computer；
Channel connection uses udp protocol, transmits scan data to host computer for radar.
Preferably, laser emitting module is semiconductor laser or optical fiber laser.
Preferably, reflecting module is reflecting mirror.
Preferably, laser pick-off module includes assembling module and filtration module；
Convergence module is convergent lens, for assembling the reflection signal of the detection echo through the reflection of the second reflecting module, andDetection echo is converged into linear array APD detector；
Filtration module, for filtering out the reflection letter of other light beams in detection echo except the laser pulse of preset wavelengthNumber.
The invention also provides a kind of laser ranging systems, including laser radar system described in above-mentioned any one.
Compared with prior art, the beneficial effects of the present invention are:
Upper machine information connection uses Transmission Control Protocol, realizes control and parameter configuration to radar；TCP message connection is establishedAfter success, both sides can carry out two-way command interaction and radar and transmit scan data to host computer；Channel connection is assisted using UDPView transmits scan data to host computer for radar；Signal dispatcher module communication connection host computer and radar are used for host computerCommand information be sent to radar, and the information that radar obtains is sent to host computer, realizes transmitted in both directions；
Host computer is sent to radar by information transmission modular and is instructed；Laser pulse is reflected into target by the first reflecting moduleOn object；Object carries out laser pulse to reflect to form detection echo, and the second reflecting module will detect echo reflection and connect to laserIt receives in module；Laser pick-off module receives detection echo, and converts detectable signal for detection echo, and relevant information is sent toAnalysis and processing module；Analysis and processing module receives and processes detectable signal, to obtain the range information of object；Radar passes through letterIt ceases transmission module and the relevant information of object is sent to host computer；
It drives to rotate horizontally module, vertical rotary module and go up and down module by drive module and be moved accordingly, it canTo control direction, tilt angle and the height of reflecting module, facilitates and carry out detection operation；
The present invention is convenient to use, and detection accuracy is high, improves the detection efficient of laser radar, and in radar and upperTCP connection is established between machine and connects two kinds of interface channels with UDP, can be divided according to the Content of Communication between radar and host computerWith different communication channels, radar control and parameter configuration etc. are carried out using TCP, carries out data transmitting using UDP, that is to say, thatContent of Communication between radar and host computer instruction class and data class are divided into, instruction class is transmitted using TCP, and data are adoptedIt is transmitted with UDP, simplifies control instruction, facilitated and controlled.
Detailed description of the invention
Fig. 1 is a kind of system frame of laser radar system in laser radar system and laser ranging system proposed by the present inventionFigure；
Fig. 2 is drive module and reflecting module in a kind of laser radar system and laser ranging system proposed by the present inventionSystem block diagram.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-2, a kind of laser radar system, including host computer, signal dispatcher module and radar；
Host computer for sending instruction to radar with the running of control radar, and shows the information that radar transmissions are returned；
Signal dispatcher module communication connection host computer and radar, for the command information of host computer to be sent to radar, andThe information that radar obtains is sent to host computer, realizes transmitted in both directions；
Wherein, radar includes laser emitting module, reflecting module, laser pick-off module and analysis and processing module；Reflect mouldBlock includes the first reflecting module and the second reflecting module；
Laser emitting module, for emitting the laser pulse of preset wavelength, laser pulse is laser or laser beam；
First reflecting module, for laser pulse to be reflected into object；
Second reflecting module, object carry out laser pulse to reflect to form detection echo, and the second reflecting module will detectOn echo reflection to laser pick-off module；
Laser pick-off module is converted into detectable signal for receiving detection echo, and by detection echo, and by relevant informationIt is sent to analysis and processing module；
Analysis and processing module, for receiving and processing detectable signal, to obtain the range information of object.
It in an alternative embodiment, further include laser transmission module and collimating module；
Laser transmission module connects laser emitting module and collimating module；Laser transmission module is used for transmission Laser emission mouldThe laser pulse of block transmitting；Collimating module is used for collimation laser pulse, and laser pulse is made to be adjusted to parallel laser pulse.
In an alternative embodiment, further include drive module, rotate horizontally module, vertical rotary module and lifting mouldBlock；
Drive module is moved accordingly for driving to rotate horizontally module, vertical rotary module and go up and down module, withAchieve the purpose that the direction, tilt angle and the height that control reflecting module；
Module is rotated horizontally, for making reflecting module carry out horizontal direction rotation, the direction of reflecting module is adjusted；
Vertical rotary module carries out the tilt angle of reflecting module for making reflecting module carry out vertical direction rotationAdjustment；
Module is gone up and down, for making reflecting module carry out vertical direction movement, the height of reflecting module is adjusted.
It in an alternative embodiment, further include optical shaping element；
Optical shaping element is used to the laser beam that laser emitting module emits being converted to linear laser beam.
In an alternative embodiment, radar is after work, at interval of certain time can by signal dispatcher module toHost computer sends working condition.
In an alternative embodiment, upper machine information connection uses Transmission Control Protocol, realizes control and parameter to radarConfiguration；After TCP message connection is successfully established, both sides can carry out two-way command interaction and radar and transmit scanning number to host computerAccording to；
Channel connection uses udp protocol, transmits scan data to host computer for radar.
In an alternative embodiment, laser emitting module is semiconductor laser or optical fiber laser.
In an alternative embodiment, reflecting module is reflecting mirror.
In an alternative embodiment, laser pick-off module includes assembling module and filtration module；
Convergence module is convergent lens, for assembling the reflection signal of the detection echo through the reflection of the second reflecting module, andDetection echo is converged into linear array APD detector；
Filtration module, for filtering out the reflection letter of other light beams in detection echo except the laser pulse of preset wavelengthNumber.
The invention also provides a kind of laser ranging system, which includes swashing described in above-mentioned any oneOptical detection and ranging system.
In the present invention, upper machine information connection uses Transmission Control Protocol, realizes control and parameter configuration to radar；TCP messageAfter connection is successfully established, both sides can carry out two-way command interaction and radar and transmit scan data to host computer；Channel connectionUsing udp protocol, scan data is transmitted to host computer for radar；Signal dispatcher module communication connection host computer and radar are usedIn the command information of host computer is sent to radar, and the information that radar obtains is sent to host computer, realizes transmitted in both directions；
Host computer is sent to radar by information transmission modular and is instructed；The laser arteries and veins of laser emitting module transmitting preset wavelengthPunching, laser pulse are laser or laser beam；Optical shaping element is converted to the laser beam that laser emitting module emits linear sharpLight beam；Laser transmits the laser pulse of module transfer laser emitting module transmitting；Collimating module is used for collimation laser pulse, makes to swashLight pulse is adjusted to parallel laser pulse；Laser pulse is reflected on object by the first reflecting module；Object is to laserPulse carries out reflecting to form detection echo, and the second reflecting module will detect on echo reflection to laser pick-off module；Laser pick-offModule receives detection echo, and converts detectable signal for detection echo, and relevant information is sent to analysis and processing module；ItsIn, laser pick-off module includes assembling module and filtration module, and convergence module is convergent lens, for assembling through the second reflection mouldThe reflection signal of the detection echo of block reflection, and detection echo is converged into linear array APD detector, filtration module is for filtering outThe reflection signal of other light beams in echo except the laser pulse of preset wavelength is detected, to improve the accuracy of detection result；Analysis and processing module receives and processes detectable signal, to obtain the range information of object；Radar will by information transmission modularThe relevant information of object is sent to host computer；
And it drives to rotate horizontally module, vertical rotary module and go up and down module by drive module and be transported accordinglyIt is dynamic, it can control direction, tilt angle and the height of reflecting module, facilitate and carry out detection operation；
The present invention is convenient to use, and detection accuracy is high, improves the detection efficient of laser radar, and in radar and upperTCP connection is established between machine and connects two kinds of interface channels with UDP, can be divided according to the Content of Communication between radar and host computerWith different communication channels, radar control and parameter configuration etc. are carried out using TCP, carries out data transmitting using UDP, that is to say, thatContent of Communication between radar and host computer instruction class and data class are divided into, instruction class is transmitted using TCP, and data are adoptedIt is transmitted with UDP, simplifies control instruction, facilitated and controlled.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and itsInventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.