A lidar system

Abstract

This invention discloses a lidar system, comprising: a transmitting device for transmitting a laser detection signal; a scanning device for controlling the laser detection signal to a target object; the scanning device further for controlling a laser echo signal to a receiving device; the receiving device for determining a first current signal based on the laser echo signal and a first interference signal, and determining a second current signal based on a second interference signal; a processing device for determining a first target feedback signal based on the first interference signal and the second interference signal; the receiving device further for adjusting and processing the first current signal and the second current signal according to the first target feedback signal to obtain a current difference signal, which is then converted into a voltage signal and amplified; and the processing device for sampling the amplified voltage signal to obtain a sampled signal, and parsing the sampled signal to obtain target object information. This enables accurate identification of target object information, etc.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and more particularly to a lidar system. Background Technology

[0002] LiDAR technology utilizes laser emission signals emitted towards a target object to return laser echo signals. By receiving and processing these echo signals, information about the target object (e.g., its shape, position, distance, speed, and angular position) can be identified. Therefore, the quality of the laser echo signals received by the LiDAR system directly determines its performance.

[0003] Currently, the following problems exist when using lidar technology to identify and detect object information: when receiving laser echo signals, it is easily affected by the external environment, resulting in inaccurate identification of the detected object information; when detecting objects at a distance, the received laser echo signals are weak, leading to inaccurate identification of the detected object information; the processing time for receiving laser echo signals is long, resulting in low efficiency in identifying the detected object information. Summary of the Invention

[0004] Based on this, it is necessary to propose a lidar system that can accurately identify target detection information and has high efficiency in identifying target detection information in order to address the above problems.

[0005] To achieve the above objectives, the present invention provides a lidar system, the system comprising:

[0006] Transmitting device, scanning device, one or more receiving devices, processing device;

[0007] The receiving device is connected to the processing device;

[0008] The transmitting device is used to transmit laser detection signals;

[0009] The scanning device is used to control the laser detection signal to the target object;

[0010] The scanning device is also used to control the laser echo signal to the receiving device when the laser detection signal generates a laser echo signal after it touches the target detection object;

[0011] The receiving device is used to determine a first current signal based on the laser echo signal and a first interference signal, and to determine a second current signal based on a second interference signal;

[0012] The processing device is used to determine a first target feedback signal based on the first interference signal and the second interference signal, and to transmit the first target feedback signal to the receiving device;

[0013] The receiving device is further configured to adjust and process the first current signal and the second current signal according to the first target feedback signal to obtain a current difference signal, and convert the current difference signal into a voltage signal, and amplify the voltage signal before transmitting it to the processing device.

[0014] The processing device is used to sample the amplified voltage signal to obtain a sampled signal, and to analyze the sampled signal to obtain the target detection object information.

[0015] Optionally, the transmitting device includes a laser modulation module, one or more lasers, and one or more collimating lenses;

[0016] The laser modulation module is connected to the laser, and the laser and the collimating lens correspond one-to-one. The collimating lens is located at the laser emitting end of the laser.

[0017] The laser modulation module is used to transmit the modulation signal to the laser;

[0018] The laser is used to generate the laser detection signal according to the modulation signal and to emit the laser detection signal;

[0019] The collimating lens is used to collimate the laser detection signal when the laser emits the laser detection signal.

[0020] Optionally, the scanning device includes a horizontal scanning module and a vertical scanning module;

[0021] The longitudinal scanning module rotates around the X-axis at a preset speed, and the angle between the longitudinal scanning module and the direction of the laser detection signal or the laser echo signal is within a preset angle range when the longitudinal scanning module rotates; the transverse scanning module rotates around the Y-axis at the preset speed.

[0022] The longitudinal scanning module is used to deflect the laser detection signal to the lateral scanning module, and the lateral scanning module is used to deflect the laser detection signal to the target object.

[0023] The lateral scanning module is further configured to deflect the laser echo signal to the longitudinal scanning module, and the longitudinal scanning module is further configured to deflect the laser echo signal to the receiving device.

[0024] Optionally, the receiving device includes a first condenser lens group, a first photodetector, a second photodetector, a first adaptive adjustable module, and peripheral circuitry for the first detector.

[0025] Both the first photodetector and the second photodetector are connected to the first adaptive adjustable module. The first adaptive adjustable module is connected to the processing device and the peripheral circuit of the first detector, respectively. The peripheral circuit of the first detector is connected to the processing device.

[0026] The first focusing lens group is used to guide the laser echo signal and the first interference signal to the first photodetector, and to guide the second interference signal to the second photodetector;

[0027] The first photodetector is used to output the first current signal to the first adaptive adjustable module based on the laser echo signal and the first interference signal;

[0028] The second photodetector is used to output the second current signal to the first adaptive adjustable module according to the second interference signal;

[0029] The processing device is used to send the first target feedback signal to the first adaptive adjustable module;

[0030] The first adaptive adjustable module is used to adjust the first current signal and the second current signal according to the first target feedback signal to obtain the current difference signal, and transmit the current difference signal to the peripheral circuit of the first detector.

[0031] The peripheral circuit of the first detector is used to convert the current difference signal into the voltage signal, and to amplify the voltage signal before transmitting it to the processing device.

[0032] Optionally, the first focusing lens group is further configured to guide the first interference signal to the first photodetector and to guide the second interference signal to the second photodetector;

[0033] The first photodetector is also used to output a first raw current signal to the first adaptive adjustable module based on the first interference signal;

[0034] The second photodetector is also used to output a second raw current signal to the first adaptive adjustable module based on the second interference signal;

[0035] The processing device is also used to transmit the first preset feedback signal to the first adaptive adjustable module;

[0036] The first adaptive adjustable module is further configured to adjust the first original current signal and the second original current signal according to the first preset feedback signal to obtain an original current difference signal, and transmit the original current difference signal to the peripheral circuit of the first detector.

[0037] The peripheral circuit of the first detector is also used to convert the original current difference signal into an original voltage signal, and to amplify the original voltage signal before transmitting it to the processing device;

[0038] The processing device is further configured to sample the amplified original voltage signal to obtain an original sampled signal, and determine the first target feedback signal based on the original sampled signal;

[0039] The first target feedback signal is used to adjust the first original current signal and the second original current signal to be equal.

[0040] Optionally, the first photodetector includes a first photodiode, the second photodetector includes a second photodiode, the first adaptive adjustable module includes a first controllable current amplifier and a second controllable current amplifier, and the peripheral circuit of the first detector includes a first conversion module and a first operational amplifier module.

[0041] The first photodiode is connected to the first controllable current amplifier, the second photodiode is connected to the second controllable current amplifier, both the first and second controllable current amplifiers are connected to the first conversion module, the first conversion module is connected to the first operational amplifier module, the first operational amplifier module is connected to the processing device, and the processing device is connected to both the first and second controllable current amplifiers.

[0042] Optionally, the processing device is further configured to determine a second target feedback signal based on the first interference signal and the second interference signal, and transmit the second target feedback signal to the receiving device;

[0043] The receiving device is further configured to adjust and process the laser echo signal and the first interference signal according to the second target feedback signal to obtain a third current signal, and to adjust and process the second interference signal to obtain a fourth current signal.

[0044] The receiving device is further configured to convert the current difference signal between the third current signal and the fourth current signal into the voltage signal, and to amplify the voltage signal before transmitting it to the processing device.

[0045] Optionally, the receiving device includes a second condenser lens group, a third photodetector, a fourth photodetector, a second adaptive adjustable module, and peripheral circuitry for the second detector.

[0046] The third photodetector and the fourth photodetector are both connected to the second adaptive adjustable module, the second adaptive adjustable module is connected to the processing device, and the peripheral circuit of the second detector is connected to the third photodetector, the fourth photodetector, and the processing device respectively.

[0047] The second focusing lens group is used to guide the laser echo signal, the first interference signal and the second interference signal to the second adaptive adjustable module;

[0048] The processing device is used to transmit the second target feedback signal to the second adaptive adjustable module;

[0049] The second adaptive adjustable module is used to adjust and process the laser echo signal and the first interference signal according to the second target feedback signal and then transmit them to the third photodetector, and to adjust and process the second interference signal and then transmit it to the fourth photodetector.

[0050] The third photodetector is used to output the third current signal to the peripheral circuit of the second detector based on the adjusted laser echo signal and the adjusted first interference signal;

[0051] The fourth photodetector is used to output the fourth current signal to the peripheral circuit of the second detector according to the adjusted second interference signal;

[0052] The peripheral circuit of the second detector is used to convert the current difference signal between the third current signal and the fourth current signal into the voltage signal, and to amplify the voltage signal before transmitting it to the processing device.

[0053] Optionally, the second focusing lens group is used to guide the first interference signal and the second interference signal to the second adaptive adjustable module;

[0054] The processing device is also used to transmit the first preset feedback signal to the second adaptive adjustable module;

[0055] The second adaptive adjustable module is further configured to adjust the first interference signal according to the first preset feedback signal and then transmit it to the third photodetector, and to adjust the second interference signal and then transmit it to the fourth photodetector.

[0056] The third photodetector is also used to output a third original current signal to the peripheral circuit of the second detector based on the adjusted first interference signal.

[0057] The fourth photodetector is also used to output a fourth original current signal based on the adjusted second interference signal and transmit it to the peripheral circuit of the second detector.

[0058] The second detector peripheral circuit is also used to convert the original current difference signal between the third original current and the fourth original current signal into an original voltage signal, and to amplify the original voltage signal before transmitting it to the processing device.

[0059] The processing device is further configured to sample the amplified original voltage signal to obtain an original sampled signal, and determine the second target feedback signal based on the original sampled signal;

[0060] The second target feedback signal is used to adjust the first interference signal and the second interference signal to be equal.

[0061] Optionally, the third photodetector includes a third photodiode, and the fourth photodetector includes a fourth photodiode; the second adaptive adjustable module includes a first adjustable optical attenuator and a second adjustable optical attenuator; the peripheral circuit of the second detector includes a second conversion module and a second operational amplifier module.

[0062] The first tunable light attenuator is connected to the third photodiode, the second tunable light attenuator is connected to the fourth photodiode, the third photodiode and the fourth photodiode are both connected to the second conversion module, the second conversion module is connected to the second operational amplifier module, the second operational amplifier module is connected to the processing device, and the processing device is connected to the first tunable light attenuator and the second tunable light attenuator respectively.

[0063] The embodiments of the present invention have the following beneficial effects: the receiving device is connected to the processing device; the transmitting device is used to transmit a laser detection signal; the scanning device is used to control the laser detection signal to the target detection object; the scanning device is also used to control the laser echo signal to the receiving device when a laser echo signal is generated after the laser detection signal touches the target detection object; the receiving device is used to determine a first current signal based on the laser echo signal and a first interference signal, and to determine a second current signal based on a second interference signal; the processing device is used to determine a first target feedback signal based on the first interference signal and the second interference signal, and to transmit the first target feedback signal to the receiving device; the receiving device is also used to adjust and process the first current signal and the second current signal according to the first target feedback signal to obtain a current difference signal, and to convert the current difference signal into a voltage signal, and to amplify the voltage signal before transmitting it to the processing device; the processing device is used to sample the amplified voltage signal to obtain a sampled signal, and to parse the sampled signal to obtain target detection object information. This system determines the first target feedback signal based on the first interference signal and the second interference signal, and uses the first target feedback signal to adjust and process the first current signal and the second current signal respectively, so that the current difference signal only contains the laser echo signal. That is, by eliminating the influence of the external environment, the system can accurately identify the target object information. Furthermore, by converting the current difference signal into a voltage signal and amplifying the voltage signal, the system can accurately identify the target object information even when detecting targets at a long distance, and the system has high efficiency in identifying target object information. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] in:

[0066] Figure 1 This is a schematic diagram of the structure of a lidar system according to an embodiment of this application;

[0067] Figure 2 This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0068] Figure 3 This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0069] Figure 4This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0070] Figure 5 This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0071] Figure 6 This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0072] Figure 7 This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0073] Figure 8 This is another structural schematic diagram of a lidar system according to an embodiment of this application;

[0074] Figure 9 This is another structural schematic diagram of a lidar system according to an embodiment of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0076] Please see Figure 1 The image shows a schematic diagram of a lidar system according to an embodiment of this application. The system includes: a transmitting device 110, a scanning device 120, one or more receiving devices 130, and a processing device 140.

[0077] The receiving device 130 is connected to the processing device 140.

[0078] In one feasible implementation, the transmitting device 110 is used to transmit a laser detection signal; the scanning device 120 is used to control the laser detection signal to the target detection object 150; the scanning device 120 is also used to control the laser echo signal to the receiving device 130 when a laser echo signal is generated after the laser detection signal touches the target detection object 150; the receiving device 130 is used to determine a first current signal based on the laser echo signal and a first interference signal, and to determine a second current signal based on a second interference signal; the processing device 140 is used to determine a first target feedback signal based on the first interference signal and the second interference signal, and to transmit the first target feedback signal to the receiving device 130; the receiving device 130 is also used to adjust and process the first current signal and the second current signal according to the first target feedback signal to obtain a current difference signal, and to convert the current difference signal into a voltage signal, and to amplify the voltage signal before transmitting it to the processing device 140; the processing device 140 is used to sample the amplified voltage signal to obtain a sampled signal, and to analyze the sampled signal to obtain target detection object information of the target detection object 150.

[0079] The target object 150 can be any object that needs to be detected and identified using a lidar system. The target object signal includes, but is not limited to, the shape, position information, distance, speed, angle position, etc. of the target object. There are no restrictions here.

[0080] It should be noted that the first interference signal and the second interference signal can be any external interference signal in the environment other than the laser echo signal, and the signal can be received by the receiving device 130.

[0081] It should be further explained that the first target feedback signal is determined based on the first interference signal and the second interference signal. It can be understood that the first target feedback signal can adjust the current signals of the first interference signal and the second interference signal to be equal, so that the current difference signal between the adjusted current signals of the first interference signal and the adjusted current signals of the second interference signal is 0. At this time, the current difference signal obtained after adjusting the first current signal and the second current signal according to the first target feedback signal is the current signal of the laser echo signal.

[0082] It can be understood that by converting the current difference signal into a voltage signal and amplifying the voltage signal, the target object information can be accurately identified even when the received laser echo signal is weak when detecting a target object 150 at a relatively far distance.

[0083] In this embodiment, a first target feedback signal is determined based on a first interference signal and a second interference signal. The first current signal and the second current signal are then adjusted using the first target feedback signal, so that the current difference signal only contains the laser echo signal. This eliminates the influence of the external environment, thereby accurately identifying the target object information. Furthermore, by converting the current difference signal into a voltage signal and amplifying the voltage signal, the target object information can be accurately identified even when detecting a target object 150 at a relatively long distance, and the identification efficiency of the target object information is high.

[0084] Please see Figure 2 The following is another structural schematic diagram of a lidar system in an embodiment of this application. The transmitting device 110 includes a laser modulation module 210, one or more lasers 220, and one or more collimating lenses 230.

[0085] The laser modulation module 210 is connected to the laser 220, and the laser 220 corresponds one-to-one with the collimating lens 230. The collimating lens 230 is located at the laser emitting end of the laser 220.

[0086] It should be noted that there is a one-to-one correspondence between the laser 220 and the receiving device 130. That is, if there is only one laser 220, there is only one receiving device 130. If there are multiple lasers 230, there are multiple receiving devices 130.

[0087] In one feasible implementation, the laser modulation module 210 is used to transmit the modulation signal to the laser 220; the laser 220 is used to generate a laser detection signal according to the modulation signal and emit the laser detection signal; the collimating lens 230 is used to collimate the laser detection signal when the laser emits the laser detection signal.

[0088] By collimating the laser detection signal, a parallel laser detection signal can be emitted.

[0089] It should be noted that the laser detection signal generated by the modulation signal is a laser detection signal with specific wavelength, specific quantity, and other information. It can be understood that the laser detection signal generated by the modulation signal is modulated by the operator according to actual needs.

[0090] In this embodiment, by generating a laser detection signal based on a modulation signal, different laser detection signals can be modulated according to actual needs based on different target objects 150, thus making the laser radar system of this application more widely applicable. Furthermore, by collimating the laser detection signal, parallel laser detection signals can be emitted, thereby enabling the detection of distant target objects 150.

[0091] In one feasible implementation, the scanning device 120 includes a horizontal scanning module and a vertical scanning module; the vertical scanning module rotates around the X-axis at a preset speed, and when the vertical scanning module rotates, the angle range between the vertical scanning module and the direction of the laser detection signal or laser echo signal is a preset angle range; the horizontal scanning module rotates around the Y-axis at a preset speed; the vertical scanning module is used to deflect the laser detection signal to the horizontal scanning module, and the horizontal scanning module is used to deflect the laser detection signal to the target detection object 150; the horizontal scanning module is also used to deflect the laser echo signal to the vertical scanning module, and the vertical scanning module is also used to deflect the laser echo signal to the receiving device 130.

[0092] The preset speed and preset angle range can be set by the operator according to actual needs.

[0093] In some embodiments, please refer to Figure 3 The figure shows another structural schematic diagram of a lidar system in an embodiment of this application. The longitudinal scanning module (not shown) includes a galvanometer 310, and the transverse scanning module (not shown) includes a polygon mirror 320. The galvanometer 310 rotates about the X-axis at a preset speed, and the angle between the galvanometer 310 and the direction of the laser detection signal or laser echo signal is within a preset angle range when the galvanometer 310 rotates. The polygon mirror 320 rotates about the Y-axis at a preset speed. The galvanometer 310 is used to deflect the laser detection signal to the polygon mirror 320, and the polygon mirror 320 is used to deflect the laser detection signal to the target detection object 150. The polygon mirror 320 is also used to deflect the laser echo signal to the galvanometer 310, and the galvanometer 310 is also used to deflect the laser echo signal to the receiving device 130.

[0094] It should be noted that when the galvanometer 310 rotates, the direction of the galvanometer 310 and the laser detection signal or laser echo signal will form an angle. At this time, the angle range of this angle can be a preset angle range set by the operator.

[0095] It should be further noted that since multiple faces of the polygon mirror 320 can deflect the laser echo signal (while the galvanometer 310 has only one face), there is no limit to the rotation angle of the polygon mirror 320, that is, it can rotate 360 ​​degrees.

[0096] It should be noted that the galvanometer 310 and the polygon mirror 320 are interchangeable, that is, two galvanometers 310 or two polygon mirrors 320 can be used, or it can be a combination of galvanometers 310 and polygon mirrors 320 in the embodiments of this application.

[0097] In other embodiments, the longitudinal scanning module and the transverse scanning module may be replaced by other scanning methods, such as piezoelectric controllers, microelectromechanical system scanning mirrors, etc., which will not be described in detail here.

[0098] In this embodiment, the galvanometer 310 performs a longitudinal scan around the X-axis, and the multi-faceted mirror 320 performs a transverse scan around the Y-axis. This allows the laser detection signal to be deflected to different points in the detection field of view, thereby facilitating the detection of the target object 150. It also allows the laser echo signals from different points in the detection field of view to be collected by the receiving device 130, thereby facilitating the receiving device 130 to receive the laser echo signals from the target object 150.

[0099] Please see Figure 4 The following is another structural schematic diagram of a lidar system in an embodiment of this application. The receiving device 130 includes a first focusing lens group 410, a first photodetector 420, a second photodetector 430, a first adaptive adjustable module 440, and a first detector peripheral circuit 450.

[0100] It should be noted that the first condenser lens group 410 includes a reflector 411 and a focusing lens 412; the reflector 411 and the focusing lens 412 can also be replaced with a parabolic mirror.

[0101] The first photodetector 420 and the second photodetector 430 are both connected to the first adaptive adjustable module 440. The first adaptive adjustable module 440 is connected to the processing device 140 and the peripheral circuit of the first detector 450, respectively. The peripheral circuit of the first detector 450 is connected to the processing device 140.

[0102] In one feasible implementation, the first focusing lens group 410 is used to guide the laser echo signal and the first interference signal to the first photodetector 420, and to guide the second interference signal to the second photodetector 430; the first photodetector 420 is used to output a first current signal to the first adaptive adjustable module 440 according to the laser echo signal and the first interference signal; the second photodetector 430 is used to output a second current signal to the first adaptive adjustable module 440 according to the second interference signal; the processing device 140 is used to transmit the first target feedback signal to the first adaptive adjustable module 440; the first adaptive adjustable module 440 is used to adjust the first current signal and the second current signal according to the first target feedback signal to obtain a current difference signal, and transmit the current difference signal to the peripheral circuit 450 of the first detector; the peripheral circuit 450 of the first detector is used to convert the current difference signal into a voltage signal, and amplify the voltage signal before transmitting it to the processing device 140.

[0103] The first photodetector 420 and the second photodetector 430 can be photodiodes or avalanche diodes.

[0104] It should be noted that the purpose of the first focusing lens group 410 is to guide the laser echo signal to one of the two photodetectors, namely the first photodetector 420. However, since there are signals in the environment that can be received by the receiving device 130, the first focusing lens group 410 will also guide the first interference signal to the first photodetector 420 and the second interference signal to the second photodetector 430.

[0105] In this embodiment, a first target feedback signal is determined based on a first interference signal and a second interference signal. The first current signal and the second current signal are then adjusted using the first target feedback signal, so that the current difference signal only contains the laser echo signal. This eliminates the influence of the external environment, thereby accurately identifying the target object information. Furthermore, by converting the current difference signal into a voltage signal and amplifying the voltage signal, the target object information can be accurately identified even when detecting a target object 150 at a relatively long distance, and the identification efficiency of the target object information is high.

[0106] Please see Figure 5 This is another structural schematic diagram of a lidar system according to an embodiment of this application. In a feasible implementation, the first focusing lens group 410 is further used to guide the first interference signal to the first photodetector 420 and to guide the second interference signal to the second photodetector 430; the first photodetector 420 is further used to output a first original current signal to the first adaptive adjustable module 440 according to the first interference signal; the second photodetector 430 is further used to output a second original current signal to the first adaptive adjustable module 440 according to the second interference signal; the processing device 140 is further used to transmit a first preset feedback signal to the first adaptive adjustable module 440; the first adaptive adjustable module 440... The 0 is also used to adjust and process the first original current signal and the second original current signal according to the first preset feedback signal to obtain the original current difference signal, and transmit the original current difference signal to the peripheral circuit 450 of the first detector; the peripheral circuit 450 of the first detector is also used to convert the original current difference signal into an original voltage signal, and transmit the original voltage signal to the processing device 140 after amplification; the processing device 140 is also used to sample the amplified original voltage signal to obtain an original sampling signal, and determine the first target feedback signal according to the original sampling signal; wherein, the first target feedback signal is used to adjust the first original current signal and the second original current signal to be equal.

[0107] The first preset feedback signal is set by the operator according to actual needs.

[0108] It should be noted that this embodiment is a preset step, that is, when no laser detection signal is emitted, or when a laser detection signal has been emitted but no laser echo signal has been received, a first target feedback signal is obtained based on the first interference signal and the second interference signal. The first target feedback signal can adjust the first original current signal and the second current signal to be equal, thereby making the original current difference signal 0, that is, eliminating the first interference signal and the second interference signal.

[0109] In this embodiment, by obtaining the first target feedback signal based on the first interference signal and the second interference signal when no laser detection signal is emitted, or when a laser detection signal has been emitted but no laser echo signal has been received, the influence of the first interference signal and the second interference signal is eliminated, thereby enabling accurate identification of target detection object information and high efficiency in identifying target detection object information.

[0110] Please see Figure 6 The diagram below shows another structural schematic of a lidar system in an embodiment of this application. The first photodetector 420 includes a first photodiode 421, the second photodetector 430 includes a second photodiode 431, the first adaptive adjustable module 440 includes a first controllable current amplifier 441 and a second controllable current amplifier 442, and the peripheral circuit of the first detector 450 includes a first conversion module 451 and a first operational amplifier module 452.

[0111] In this configuration, the first photodiode 421 is connected to the first controllable current amplifier 441, the second photodiode 431 is connected to the second controllable current amplifier 442, both the first controllable current amplifier 441 and the second controllable current amplifier 442 are connected to the first conversion module 451, the first conversion module 451 is connected to the first operational amplifier module 452, the first operational amplifier module 452 is connected to the processing device 140, and the processing device 140 is connected to both the first controllable current amplifier 441 and the second controllable current amplifier 442.

[0112] It should be noted that both the first photodiode 421 and the second photodiode 431 can be replaced with avalanche diodes.

[0113] In one feasible implementation, a first photodiode 421 is used to determine a first current signal based on a laser echo signal and a first interference signal; a second photodiode 431 is used to determine a second current signal based on a second interference signal; a first controllable current amplifier 441 is used to adjust the first current signal based on a first target feedback signal, and a second controllable current amplifier 442 is used to adjust the second current signal based on the first target feedback signal, so that the difference current signal between the first current signal and the second current signal consists only of the laser echo signal; a first conversion module 451 is used to convert the difference current signal between the adjusted first current signal and the adjusted second current signal into a voltage signal; and a first operational amplifier module 452 is used to amplify the voltage signal.

[0114] In another feasible implementation, a first photodiode 421 is used to determine a first original current signal based on a first interference signal; a second photodiode 431 is used to determine a second original current signal based on a second interference signal; a first controllable current amplifier 441 is used to adjust the first original current signal based on a first preset feedback signal, and a second controllable current amplifier 442 is used to adjust the second original current signal based on the first preset feedback signal to obtain a first target feedback signal, thereby making the first original current signal equal to the second original current signal; a first conversion module 451 is used to convert the original difference current signal between the adjusted first original current signal and the adjusted second original current signal into an original voltage signal; and a first operational amplifier module 452 is used to amplify the original voltage signal.

[0115] In this embodiment, the first controllable current amplifier 441 and the second controllable current amplifier 442 eliminate the influence of the first interference signal and the second interference signal, enabling accurate identification of target object information and high identification efficiency. Furthermore, the first conversion module 451 and the first operational amplifier module 452 perform conversion and amplification processing, enabling accurate identification of target object information and high identification efficiency even when detecting target object 150 at a relatively long distance.

[0116] Please continue reading. Figure 1 The processing device 140 is further configured to determine a second target feedback signal based on the first interference signal and the second interference signal, and transmit the second target feedback signal to the receiving device 130; the receiving device 130 is further configured to adjust and process the laser echo signal and the first interference signal based on the second target feedback signal to obtain a third current signal, and adjust and process the second interference signal to obtain a fourth current signal; the receiving device 130 is further configured to convert the current difference signal between the third current signal and the fourth current signal into a voltage signal, and amplify the voltage signal before transmitting it to the processing device 140.

[0117] It should be noted that the second target feedback signal is determined based on the first and second interference signals. Essentially, the second target feedback signal can adjust the first and second interference signals to be equal, thereby making the current signals of the adjusted first and second interference signals equal, so that the current difference signal determined by the current signals of the first and second interference signals is 0. At this point, after adjusting the laser echo signal and the first interference signal according to the second target feedback signal, a third current signal is obtained, and after adjusting the second interference signal, a fourth current signal is obtained. The current difference signal obtained by the third and fourth current signals is the current signal of the laser echo signal. It is understood that the current difference signal obtained by the third and fourth current signals is equal and consistent with the current difference signal obtained after adjusting the first and second current signals in the above embodiment; both only contain the laser echo signal.

[0118] In this embodiment, a first target feedback signal is determined based on a first interference signal and a second interference signal. A third current signal is obtained by adjusting the laser echo signal and the first interference signal using the second target feedback signal. A fourth current signal is obtained by adjusting the second interference signal. The current difference signal obtained from the third current signal and the fourth current signal consists only of the laser echo signal. This eliminates the influence of the external environment, thereby accurately identifying the target object information. Furthermore, by converting the current difference signal into a voltage signal and amplifying the voltage signal, the target object information can be accurately identified even when detecting a target object 150 at a relatively long distance, and the identification efficiency of the target object information is high.

[0119] Please see Figure 7 The following is another structural schematic diagram of a lidar system in an embodiment of this application. The receiving device 130 includes a second focusing lens group 710, a third photodetector 720, a fourth photodetector 730, a second adaptive adjustable module 740, and a second detector peripheral circuit 750.

[0120] It should be noted that the second condenser lens group 710 includes a reflector 711 and a focusing lens 712; the reflector 711 and the focusing lens 712 can also be replaced with a parabolic mirror.

[0121] The third photodetector 720 and the fourth photodetector 730 are both connected to the second adaptive adjustable module 740, which is connected to the processing device 140. The peripheral circuit 750 of the second detector is connected to the third photodetector 720, the fourth photodetector 730, and the processing device 140, respectively.

[0122] In one feasible implementation, the second focusing lens group 710 is used to guide the laser echo signal, the first interference signal, and the second interference signal to the second adaptive adjustable module 740; the processing device 140 is used to transmit the second target feedback signal to the second adaptive adjustable module 740; the second adaptive adjustable module 740 is used to adjust and process the laser echo signal and the first interference signal according to the second target feedback signal and then transmit them to the third photodetector 720, and to adjust and process the second interference signal and then transmit it to the fourth photodetector 730; the third photodetector 720 is used to output a third current signal to the peripheral circuit 750 of the second detector according to the adjusted laser echo signal and the adjusted first interference signal; the fourth photodetector 730 is used to output a fourth current signal to the peripheral circuit 750 of the second detector according to the adjusted second interference signal; the peripheral circuit 750 of the second detector is used to convert the current difference signal between the third current signal and the fourth current signal into a voltage signal, and to amplify the voltage signal and then transmit it to the processing device 140.

[0123] The third photodetector 720 and the fourth photodetector 730 can be photodiodes or avalanche diodes.

[0124] It should be noted that the purpose of the second focusing lens group 710 is to guide the laser echo signal to one of the two photodetectors, namely the third photodetector 720. However, since there are signals in the environment that can be received by the receiving device 130, the second focusing lens group 710 will also guide the first interference signal to the third photodetector 720 and the second interference signal to the fourth photodetector 730.

[0125] In this embodiment, a first target feedback signal is determined based on a first interference signal and a second interference signal. A third current signal is obtained by adjusting the laser echo signal and the first interference signal using the second target feedback signal. A fourth current signal is obtained by adjusting the second interference signal. The current difference signal obtained from the third current signal and the fourth current signal consists only of the laser echo signal. This eliminates the influence of the external environment, thereby accurately identifying the target object information. Furthermore, by converting the current difference signal into a voltage signal and amplifying the voltage signal, the target object information can be accurately identified even when detecting a target object 150 at a relatively long distance, and the identification efficiency of the target object information is high.

[0126] Please see Figure 8This is another structural schematic diagram of a lidar system according to an embodiment of this application. In one feasible implementation, the second focusing lens group 710 is used to guide the first interference signal and the second interference signal to the second adaptive adjustable module 740; the processing device 140 is also used to transmit the first preset feedback signal to the second adaptive adjustable module 740; the second adaptive adjustable module 740 is also used to adjust the first interference signal according to the first preset feedback signal and then transmit it to the third photodetector 720, and to adjust the second interference signal and then transmit it to the fourth photodetector 730; the third photodetector 720 is also used to output a third original current signal according to the adjusted first interference signal. The signal is transmitted to the peripheral circuit 750 of the second detector; the fourth photodetector 730 is also used to output a fourth original current signal based on the adjusted second interference signal and transmit it to the peripheral circuit 750 of the second detector; the peripheral circuit 750 of the second detector is also used to convert the original current difference signal between the third original current and the fourth original current signal into an original voltage signal, and to amplify the original voltage signal before transmitting it to the processing device 140; the processing device 140 is also used to sample the amplified original voltage signal to obtain an original sampling signal, and to determine a second target feedback signal based on the original sampling signal; wherein, the second target feedback signal is used to adjust the first interference signal and the second interference signal to be equal.

[0127] The second preset feedback signal is set by the operator according to actual needs.

[0128] It should be noted that this embodiment is a preset step, that is, when no laser detection signal is emitted, or when a laser detection signal has been emitted but no laser echo signal has been received, a second target feedback signal is obtained based on the first interference signal and the second interference signal. The first target feedback signal can adjust the first interference signal and the second interference signal to be equal, so that the third original current signal and the fourth original current signal are equal, thereby making the original current difference signal 0, that is, eliminating the first interference signal and the second interference signal.

[0129] In this embodiment, by obtaining the second target feedback signal based on the first interference signal and the second interference signal when no laser detection signal is emitted, or when a laser detection signal has been emitted but no laser echo signal has been received, the influence of the first interference signal and the second interference signal is eliminated, thereby enabling accurate identification of target detection object information and high efficiency in identifying target detection object information.

[0130] Please see Figure 9The diagram below shows another structural schematic of a lidar system in an embodiment of this application. The third photodetector 720 includes a third photodiode 721, the fourth photodetector 730 includes a fourth photodiode 731, the second adaptive adjustable module 740 includes a first adjustable light attenuator 741 and a second adjustable light attenuator 742, and the peripheral circuit of the second detector 750 includes a second conversion module 751 and a second operational amplifier module 752.

[0131] The first adjustable light attenuator 741 is connected to the third photodiode 721, the second adjustable light attenuator 742 is connected to the fourth photodiode 731, the third photodiode 721 and the fourth photodiode 731 are both connected to the second conversion module 751, the second conversion module 751 is connected to the second operational amplifier module 752, the second operational amplifier module 752 is connected to the processing device 140, and the processing device 140 is connected to the first adjustable light attenuator 741 and the second adjustable light attenuator 742 respectively.

[0132] It should be noted that the third photodiode 721 and the fourth photodiode 731 can both be replaced with avalanche diodes.

[0133] In one feasible implementation, a first adjustable optical attenuator 741 is used to adjust the laser echo signal and the first interference signal according to the second target feedback signal; a second adjustable optical attenuator 742 is used to adjust the second interference signal according to the second target feedback signal, so that the first interference signal is equal to the second interference signal, thereby making the difference current signal between the third current signal and the fourth current signal only the laser echo signal; a third photodiode 721 is used to determine the third current signal according to the adjusted laser echo signal and the adjusted first interference signal; a fourth photodiode 731 is used to determine the fourth current signal according to the adjusted second interference signal; a second conversion module 751 is used to convert the difference current signal between the third current signal and the fourth current signal into a voltage signal; and a second operational amplifier module 752 is used to amplify the voltage signal.

[0134] In another feasible implementation, a first adjustable optical attenuator 741 is used to adjust the first interference signal according to a second preset feedback signal, and a second adjustable optical attenuator 742 is used to adjust the second interference signal according to the second preset feedback signal to obtain a second target feedback signal, so that the first interference signal is equal to the second interference signal, thereby making the third original current signal equal to the fourth original current signal; a third photodiode 721 is used to determine the third original current signal according to the adjusted first interference signal; a fourth photodiode 731 is used to determine the fourth original current signal according to the adjusted second interference signal; a second conversion module 751 is used to convert the original difference current signal between the third original current signal and the fourth original current signal into an original voltage signal; and a second operational amplifier module 752 is used to amplify the original voltage signal.

[0135] In this embodiment, the first adjustable light attenuator 741 and the second adjustable light attenuator 742 eliminate the influence of the first interference signal and the second interference signal, enabling accurate identification of target object information and high identification efficiency. Furthermore, the second conversion module 751 and the second operational amplification module 752 perform conversion and amplification processing, enabling accurate identification of target object information and high identification efficiency even when detecting target object 150 at a relatively long distance.

[0136] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A lidar system, comprising: The system includes: Transmitting device, scanning device, one or more receiving devices, processing device; The receiving device is connected to the processing device; The transmitting device is used to transmit laser detection signals; The scanning device is used to control the laser detection signal to the target object; The scanning device is also used to control the laser echo signal to the receiving device when the laser detection signal generates a laser echo signal after it touches the target detection object; The receiving device is used to determine a first current signal based on the laser echo signal and a first interference signal, and to determine a second current signal based on a second interference signal; The processing device is used to determine a first target feedback signal based on the first interference signal and the second interference signal, and to transmit the first target feedback signal to the receiving device; The receiving device is further configured to adjust and process the first current signal and the second current signal according to the first target feedback signal to obtain a current difference signal, and convert the current difference signal into a voltage signal, and amplify the voltage signal before transmitting it to the processing device. The processing device is used to sample and process the amplified voltage signal to obtain a sampled signal, and to analyze the sampled signal to obtain the target detection object information of the target detection object; in, The receiving device includes a first condenser lens group, a first photodetector, a second photodetector, a first adaptive adjustable module, and peripheral circuitry for the first detector. Both the first photodetector and the second photodetector are connected to the first adaptive adjustable module. The first adaptive adjustable module is connected to the processing device and the peripheral circuit of the first detector, respectively. The peripheral circuit of the first detector is connected to the processing device. The first focusing lens group is used to guide the laser echo signal and the first interference signal to the first photodetector, and to guide the second interference signal to the second photodetector; The first photodetector is used to output the first current signal to the first adaptive adjustment module based on the laser echo signal and the first interference signal; The second photodetector is used to output the second current signal to the first adaptive adjustment module based on the second interference signal; The processing device is used to transmit the first target feedback signal to the first adaptive adjustable module; The first adaptive adjustable module is used to adjust the first current signal and the second current signal according to the first target feedback signal to obtain the current difference signal, and transmit the current difference signal to the peripheral circuit of the first detector. The peripheral circuit of the first detector is used to convert the current difference signal into the voltage signal, and amplify the voltage signal before transmitting it to the processing device; The first focusing lens group is also used to guide the first interference signal to the first photodetector and to guide the second interference signal to the second photodetector; The first photodetector is also used to output a first raw current signal to the first adaptive adjustable module based on the first interference signal; The second photodetector is also used to output a second raw current signal to the first adaptive adjustable module based on the second interference signal; The processing device is also used to transmit the first preset feedback signal to the first adaptive adjustable module; The first adaptive adjustable module is further configured to adjust the first original current signal and the second original current signal according to the first preset feedback signal to obtain an original current difference signal, and transmit the original current difference signal to the peripheral circuit of the first detector. The peripheral circuit of the first detector is also used to convert the original current difference signal into an original voltage signal, and to amplify the original voltage signal before transmitting it to the processing device; The processing device is further configured to sample the amplified original voltage signal to obtain an original sampled signal, and determine the first target feedback signal based on the original sampled signal; The first target feedback signal is used to adjust the first original current signal and the second original current signal to be equal.

2. The system of claim 1, wherein, The transmitting device includes a laser modulation module, one or more lasers, and one or more collimating lenses; The laser modulation module is connected to the laser, and the laser and the collimating lens correspond one-to-one. The collimating lens is located at the laser emitting end of the laser. The laser modulation module is used to transmit the modulation signal to the laser; The laser is used to generate the laser detection signal according to the modulation signal and to emit the laser detection signal; The collimating lens is used to collimate the laser detection signal when the laser emits the laser detection signal.

3. The system of claim 1, wherein, The scanning device includes a horizontal scanning module and a vertical scanning module; The longitudinal scanning module rotates around the X-axis at a preset speed, and the angle between the longitudinal scanning module and the direction of the laser detection signal or the laser echo signal is within a preset angle range when the longitudinal scanning module rotates; the transverse scanning module rotates around the Y-axis at the preset speed. The longitudinal scanning module is used to deflect the laser detection signal to the lateral scanning module, and the lateral scanning module is used to deflect the laser detection signal to the target object. The lateral scanning module is further configured to deflect the laser echo signal to the longitudinal scanning module, and the longitudinal scanning module is further configured to deflect the laser echo signal to the receiving device.

4. The system of claim 1, wherein, The first photodetector includes a first photodiode, the second photodetector includes a second photodiode, the first adaptive adjustable module includes a first controllable current amplifier and a second controllable current amplifier, and the peripheral circuit of the first detector includes a first conversion module and a first operational amplifier module. The first photodiode is connected to the first controllable current amplifier, the second photodiode is connected to the second controllable current amplifier, both the first and second controllable current amplifiers are connected to the first conversion module, the first conversion module is connected to the first operational amplifier module, the first operational amplifier module is connected to the processing device, and the processing device is connected to both the first and second controllable current amplifiers.

5. The system of claim 1, wherein, The processing device is further configured to determine a second target feedback signal based on the first interference signal and the second interference signal, and transmit the second target feedback signal to the receiving device; The receiving device is further configured to adjust and process the laser echo signal and the first interference signal according to the second target feedback signal to obtain a third current signal, and to adjust and process the second interference signal to obtain a fourth current signal. The receiving device is further configured to convert the current difference signal between the third current signal and the fourth current signal into the voltage signal, and to amplify the voltage signal before transmitting it to the processing device. in, The receiving device includes a second focusing lens group, a third photodetector, a fourth photodetector, a second adaptive adjustable module, and peripheral circuitry for the second detector. The third photodetector and the fourth photodetector are both connected to the second adaptive adjustable module, the second adaptive adjustable module is connected to the processing device, and the peripheral circuit of the second detector is connected to the third photodetector, the fourth photodetector, and the processing device respectively. The second focusing lens group is used to guide the laser echo signal, the first interference signal and the second interference signal to the second adaptive adjustable module; The processing device is used to transmit the second target feedback signal to the second adaptive adjustable module; The second adaptive adjustable module is used to adjust and process the laser echo signal and the first interference signal according to the second target feedback signal and then transmit them to the third photodetector, and to adjust and process the second interference signal and then transmit it to the fourth photodetector. The third photodetector is used to output the third current signal to the peripheral circuit of the second detector based on the adjusted laser echo signal and the adjusted first interference signal; The fourth photodetector is used to output the fourth current signal to the peripheral circuit of the second detector according to the adjusted second interference signal; The peripheral circuit of the second detector is used to convert the current difference signal between the third current signal and the fourth current signal into the voltage signal, and to amplify the voltage signal before transmitting it to the processing device; The second focusing lens group is used to guide the first interference signal and the second interference signal to the second adaptive adjustable module; The processing device is also used to transmit the first preset feedback signal to the second adaptive adjustable module; The second adaptive adjustable module is further configured to adjust the first interference signal according to the first preset feedback signal and then transmit it to the third photodetector, and to adjust the second interference signal and then transmit it to the fourth photodetector. The third photodetector is also used to output a third original current signal to the peripheral circuit of the second detector based on the adjusted first interference signal. The fourth photodetector is also used to output a fourth original current signal based on the adjusted second interference signal and transmit it to the peripheral circuit of the second detector. The second detector peripheral circuit is also used to convert the original current difference signal between the third original current and the fourth original current signal into an original voltage signal, and to amplify the original voltage signal before transmitting it to the processing device. The processing device is further configured to sample the amplified original voltage signal to obtain an original sampled signal, and determine the second target feedback signal based on the original sampled signal; The second target feedback signal is used to adjust the first interference signal and the second interference signal to be equal.

6. The system of claim 5, wherein, The third photodetector includes a third photodiode, the fourth photodetector includes a fourth photodiode, the second adaptive adjustable module includes a first adjustable light attenuator and a second adjustable light attenuator, and the peripheral circuit of the second detector includes a second conversion module and a second operational amplifier module. The first tunable light attenuator is connected to the third photodiode, the second tunable light attenuator is connected to the fourth photodiode, the third photodiode and the fourth photodiode are both connected to the second conversion module, the second conversion module is connected to the second operational amplifier module, the second operational amplifier module is connected to the processing device, and the processing device is connected to the first tunable light attenuator and the second tunable light attenuator respectively.

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