Laser radar circuit system and laser radar

Abstract

The embodiment of the present invention discloses a laser radar circuit system and a laser radar, wherein the circuit system includes: a transmitting control module for controlling the transmitting unit of the laser radar; a receiving control module for controlling the receiving unit of the laser radar; a scanning control module for controlling the galvanometer of the laser radar; a preprocessing module including a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit; and a data processing module connected to the preprocessing module for processing the preprocessed data to obtain ranging information. The preprocessing module of the circuit system of the present invention includes a plurality of preprocessing branches, which can simultaneously process the reflected laser received by the receiving unit in multiple parallel channels, thereby improving efficiency and processing data at a fast speed. In addition, the circuit system of the embodiment of the present invention includes a plurality of control modules, but has a high degree of integration and a small size.

Description

Technical Field

[0001] The present invention relates to the field of circuits, and in particular to a laser radar circuit system and a laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target characteristics such as position and speed. Its working principle is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] The laser radar mainly consists of a transmitting unit, a receiving unit and a processing unit. The transmitting unit is used to transmit a laser beam, the receiving unit is used to receive a reflected beam, and the processing unit processes the received reflected beam and obtains target-related information from it. The above functional units of the laser radar are all controlled by circuits, but the laser radar-related circuits in the prior art are all separate components with low integration and high power consumption. They are not suitable for integrating multiple laser detection channels, and the data volume is large, with a lot of invalid data, and the processing capability of the back-end ranging logic part is high, resulting in a slow processing speed.

[0004] The circuits in the existing technology cannot meet the requirements of lidar. Summary of the invention

[0005] The embodiments of the present invention provide a laser radar circuit system and a laser radar with fast processing speed, high integration and small size.

[0006] In order to solve the above technical problems, the embodiments of the present invention disclose the following technical solutions:

[0007] In one aspect, a laser radar circuit system is provided, comprising:

[0008] A launch control module, used to control the launch unit of the laser radar;

[0009] A receiving control module, used to control the receiving unit of the laser radar;

[0010] Scanning control module, used to control the galvanometer of the laser radar;

[0011] A preprocessing module, comprising a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit;

[0012] The data processing module is connected to the preprocessing module and is used to process the preprocessed data to obtain ranging information.

[0013] Optionally, the emission control module controls the emission unit of the laser radar, including:

[0014] Controlling the interval and power of the laser emitted by the emitting unit;

[0015] Controlling the charging of the transmitting unit.

[0016] Optionally, the receiving control module controls a receiving unit of the laser radar, including:

[0017] One or more receiving units are selected from the plurality of receiving units of the laser radar to receive reflected laser light.

[0018] Optionally, the receiving control module is further used for:

[0019] controlling a bias voltage of the receiving unit;

[0020] The gain of the receiving unit is controlled.

[0021] Optionally, each of the preprocessing branches is connected to one of the receiving units; and / or

[0022] A plurality of each pre-processing branch is connected to each receiving unit; and / or

[0023] Each of the pre-processing branches is connected to a plurality of the receiving units.

[0024] Optionally, the preprocessing branch includes:

[0025] An amplifier, used to amplify the analog echo signal output by the receiving unit;

[0026] An analog-to-digital converter, used for converting the analog echo signal amplified by the amplifier into a digital echo signal;

[0027] A preprocessing unit is used to preprocess the digital echo signal.

[0028] Optionally, the preprocessing unit includes:

[0029] A filtering unit, used for filtering the digital echo signal;

[0030] A shaping unit, used for shaping the filtered digital echo signal;

[0031] A correction unit, used for performing baseline calibration on the shaped digital echo signal;

[0032] A compensation unit, used for performing digital time gain compensation on the digital echo signal after baseline calibration;

[0033] A detection unit, used for detecting the digital echo signal after digital time gain compensation;

[0034] The arbitration unit is used to arbitrate the detected digital signal.

[0035] Optionally, the scanning control module controls the galvanometer of the laser radar, including:

[0036] The scanning of the galvanometer is adjusted according to the distance measurement data obtained by the data processing module.

[0037] Optionally, the transmitting control module, receiving control module and scanning control module are controlled synchronously.

[0038] In a second aspect, a laser radar is provided, comprising:

[0039] A transmitting unit, used for transmitting an outgoing laser;

[0040] A receiving unit, used to receive reflected laser light, where the reflected laser light is the laser light after the outgoing laser light is reflected;

[0041] A galvanometer, used to change the direction of the emitted laser;

[0042] A launch control module, used to control the launch unit;

[0043] A receiving control module, used for controlling the receiving unit;

[0044] A scanning control module, used for controlling the galvanometer;

[0045] A preprocessing module, comprising a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit;

[0046] The data processing module is connected to the preprocessing module and is used to process the preprocessed data to obtain ranging information.

[0047] The embodiment of the present invention discloses a laser radar circuit system and a laser radar, wherein the circuit system includes: a transmitting control module for controlling the transmitting unit of the laser radar; a receiving control module for controlling the receiving unit of the laser radar; a scanning control module for controlling the galvanometer of the laser radar; a preprocessing module including a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit; and a data processing module connected to the preprocessing module for processing the preprocessed data to obtain ranging information. The preprocessing module of the circuit system of the present invention includes a plurality of preprocessing branches, which can simultaneously process the reflected laser received by the receiving unit in multiple parallel channels, thereby improving efficiency and processing data at a fast speed. In addition, the circuit system of the embodiment of the present invention includes a plurality of control modules, but has a high degree of integration and a small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 Shown is a schematic diagram of a laser radar circuit system according to an embodiment of the present invention;

[0050] Figure 2 FIG. 4 is a schematic diagram of a preprocessing branch according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following embodiments of the present invention provide a laser radar circuit system and a laser radar with high integration, fast data processing speed and high efficiency.

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Figure 1 FIG. 1 is a schematic diagram of a laser radar circuit system according to an embodiment of the present invention. Figure 1 As shown, the laser radar circuit system includes:

[0054] A transmission control module 110, used to control the transmission unit of the laser radar;

[0055] A receiving control module 120, used to control the receiving unit of the laser radar;

[0056] A scanning control module 130, used to control the galvanometer of the laser radar;

[0057] A preprocessing module 140, comprising a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit;

[0058] The data processing module 150 is connected to the preprocessing module and is used to process the preprocessed data to obtain ranging information.

[0059] In the embodiment of the present invention, the emission control module 110 controls the emission unit of the laser radar, including:

[0060] Controlling the interval and power of the laser emitted by the emitting unit;

[0061] Controlling the charging of the transmitting unit.

[0062] The interval and power of laser emission can be controlled. By controlling the interval and power of laser emission, coded outgoing laser can be emitted to improve the anti-interference performance of the laser radar. In addition, controlling the charging of the transmitting unit can also control the power of the outgoing laser.

[0063] In an embodiment of the present invention, the control of the laser radar transmitting unit by the transmission control module 100 includes but is not limited to the situations described above, and can also control the startup and shutdown of the transmitting unit, etc., which will not be repeated here.

[0064] In the embodiment of the present invention, the receiving control module 120 controls the receiving unit of the laser radar, including:

[0065] One or more receiving units are selected from the plurality of receiving units of the laser radar to receive reflected laser light.

[0066] In the embodiment of the present invention, the receiving control module 120 is further used for:

[0067] controlling a bias voltage of the receiving unit;

[0068] The gain of the receiving unit is controlled.

[0069] The field of view of laser radar is large, and a single receiver may not be able to cover the entire field of view, so the receiving unit of laser radar can be composed of multiple receivers. In addition, in order to improve the fault tolerance rate, multiple receivers may be used to receive the same field of view; in addition, some laser radars use multiple receivers to receive reflected lasers, which can also improve the accuracy of laser radars in accordance with subsequent processing.

[0070] Therefore, in the embodiment of the present invention, the receiving control module 120 can select one or more receiving units to receive the reflected laser within a certain time period according to demand.

[0071] In the embodiment of the present invention, the preprocessing module 140 includes a plurality of preprocessing branches, each of which is connected to one of the receiving units; and / or

[0072] A plurality of each pre-processing branch is connected to each receiving unit; and / or

[0073] Each of the pre-processing branches is connected to a plurality of the receiving units.

[0074] The preprocessing branch preprocesses the data output by the receiving unit, so the connection method between the preprocessing branch and the receiving unit is related to the splicing method, working method, etc. of the receiving unit, so the connection method is also diverse.

[0075] Figure 2 FIG. 1 is a schematic diagram of a preprocessing branch according to an embodiment of the present invention. Figure 2 As shown, the preprocessing branch includes:

[0076] Amplifier 210, used to amplify the analog echo signal output by the receiving unit;

[0077] an analog-to-digital converter 220, configured to convert the analog echo signal amplified by the amplifier into a digital echo signal;

[0078] The preprocessing unit 230 is used to preprocess the digital echo signal.

[0079] like Figure 2 As shown, in this embodiment of the present invention, the pre-processing unit 230 includes:

[0080] A filtering unit 231, configured to filter the digital echo signal;

[0081] A shaping unit 232, used for shaping the filtered digital echo signal;

[0082] The correction unit 233 is used to perform baseline calibration on the shaped digital echo signal;

[0083] The compensation unit 234 is used to perform digital time gain compensation on the digital echo signal after baseline calibration;

[0084] The detection unit 235 is used to detect the digital echo signal after digital time gain compensation;

[0085] The arbitration unit 236 is used to arbitrate the detected digital signal.

[0086] Figure 2 Three pre-processing branches are shown in FIG.

[0087] In the embodiment of the present invention, the preprocessing unit 230 may include all of the above functional units, or may include some of the functional units. For example, the preprocessing unit may not include the shaping unit 232 or other functional units, which will not be described in detail here.

[0088] In the embodiment of the present invention, the scanning control module controls the galvanometer of the laser radar, including:

[0089] The scanning of the galvanometer is adjusted according to the distance measurement data obtained by the data processing module.

[0090] The laser radar can adjust the scanning speed, scanning angle, scanning range, scanning density, etc. of the galvanometer according to the currently obtained ranging data; the laser radar can also adjust the galvanometer according to the comparison between the currently obtained ranging data and the ranging data obtained in the previous scanning cycle or the previous scanning cycles; the laser radar can also adjust the galvanometer according to the comparison between the currently obtained ranging data and the preset ranging data. It can be seen that the control of the laser radar galvanometer by the scanning control module can be closed-loop control, open-loop control, or a combination of open-loop and closed-loop control, and the specific method will not be repeated here.

[0091] In the embodiment of the present invention, the transmitting control module, the receiving control module and the scanning control module are controlled synchronously.

[0092] The embodiment of the present invention provides a laser radar circuit system, including: a transmission control module for controlling the transmission unit of the laser radar; a receiving control module for controlling the receiving unit of the laser radar; a scanning control module for controlling the galvanometer of the laser radar; a preprocessing module, including a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit; a data processing module, connected to the preprocessing module, for processing the preprocessed data to obtain ranging information. The preprocessing module of the circuit system of the present invention includes a plurality of preprocessing branches, which can simultaneously process the reflected laser received by the receiving unit in multiple parallel channels, thereby improving efficiency and processing data quickly. In addition, the circuit system of the embodiment of the present invention includes a variety of control modules, but with high integration and small size.

[0093] The embodiment of the present invention further provides a laser radar, including:

[0094] A transmitting unit, used for transmitting an outgoing laser;

[0095] A receiving unit, used to receive reflected laser light, where the reflected laser light is the laser light after the outgoing laser light is reflected;

[0096] A galvanometer, used to change the direction of the emitted laser;

[0097] A launch control module, used to control the launch unit;

[0098] A receiving control module, used for controlling the receiving unit;

[0099] A scanning control module, used for controlling the galvanometer;

[0100] A preprocessing module, comprising a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit;

[0101] The data processing module is connected to the preprocessing module and is used to process the preprocessed data to obtain ranging information.

[0102] The embodiment of the present invention discloses a laser radar circuit system and a laser radar, wherein the circuit system includes: a transmitting control module for controlling the transmitting unit of the laser radar; a receiving control module for controlling the receiving unit of the laser radar; a scanning control module for controlling the galvanometer of the laser radar; a preprocessing module including a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit; and a data processing module connected to the preprocessing module for processing the preprocessed data to obtain ranging information. The preprocessing module of the circuit system of the present invention includes a plurality of preprocessing branches, which can simultaneously process the reflected laser received by the receiving unit in multiple parallel channels, thereby improving efficiency and processing data at a fast speed. In addition, the circuit system of the embodiment of the present invention includes a plurality of control modules, but has a high degree of integration and a small size.

[0103] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus necessary general hardware, and the general hardware includes general integrated circuits, general CPUs, general memories, general components, etc., and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc., but in many cases the former is a better implementation method. Based on this understanding, the technical solution in the embodiments of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as a read-only memory (ROM), a random access memory (RAM), a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention or some parts of the embodiments.

[0104] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0105] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar circuit system, characterized in that: include: A transmission control module, used to control the transmission unit of the laser radar, wherein the transmission control module is specifically used to control the interval and power of the laser transmission by the transmission unit, the charging of the transmission unit, and the start and stop of the transmission unit; A receiving control module, used to control the receiving unit of the laser radar; Scanning control module, used to control the galvanometer of the laser radar; A preprocessing module, comprising a plurality of preprocessing branches, each of which is used to preprocess the reflected laser received by the receiving unit, and each of the preprocessing branches is connected to one of the receiving units; The preprocessing branch includes: an amplifier, used to amplify the analog echo signal output by the receiving unit; an analog-to-digital converter, used to convert the analog echo signal amplified by the amplifier into a digital echo signal; a preprocessing unit, used to preprocess the digital echo signal; The preprocessing unit includes: a filtering unit for filtering the digital echo signal; a shaping unit for shaping the filtered digital echo signal; a correction unit for performing baseline calibration on the shaped digital echo signal; a compensation unit for performing digital time gain compensation on the digital echo signal after baseline calibration; a detection unit for detecting the digital echo signal after digital time gain compensation; and an arbitration unit for arbitrating the detected digital signal. The data processing module is connected to the preprocessing module and is used to process the preprocessed data to obtain ranging information.

2. The system according to claim 1, characterized in that The receiving control module controls the receiving unit of the laser radar, including: One or more receiving units are selected from the plurality of receiving units of the laser radar to receive reflected laser light.

3. The system according to claim 2, characterized in that The receiving control module is also used for: controlling a bias voltage of the receiving unit; The gain of the receiving unit is controlled.

4. The system according to claim 1, characterized in that The scanning control module controls the galvanometer of the laser radar, including: The scanning of the galvanometer is adjusted according to the distance measurement data obtained by the data processing module.

5. The system according to claim 1, wherein: The transmitting control module, receiving control module and scanning control module are controlled synchronously.

Images