CN105824029B - Multi-line laser radar - Google Patents
Multi-line laser radar Download PDFInfo
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- CN105824029B CN105824029B CN201610303450.7A CN201610303450A CN105824029B CN 105824029 B CN105824029 B CN 105824029B CN 201610303450 A CN201610303450 A CN 201610303450A CN 105824029 B CN105824029 B CN 105824029B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of multi-line laser radars, including：Laser emission array, for emitting multi-path laser；Laser pick-off array, for receiving the multi-path laser echo reflected by target object；Echo samples device, for being sampled to the multi-path laser echo using time division multiplexing mode and exporting sampled data stream；Control system is connect with the Laser emission array, the laser pick-off array and the echo samples device respectively；The control system determines measurement data for controlling the work of the Laser emission array and the laser pick-off array according to the sampled data stream；And output device, for exporting the measurement data.Above-mentioned multi-line laser radar, echo samples device are handled after being sampled by time division multiplexing mode by control system in real time, are conducive to the real-time for improving measurement process.
Description
Technical field
The present invention relates to technical field of laser detection, more particularly to a kind of multi-line laser radar.
Background technology
" radar " is a kind of electronic device of the position using electromagnetic wave detection target, be mainly used for detect target away from
From, kinematic parameters such as speed, Angle Position.Radar includes ultrasonic radar, microwave radar and laser radar.Laser radar is profit
Detection mission is completed with laser light wave.Traditional laser radar is applied to one-point measurement more.The measuring speed when multi-thread measurement
It does not reach requirement, cannot be satisfied requirement of real-time.
Invention content
Based on this, it is necessary to provide a kind of higher multi-line laser radar of real-time.
A kind of multi-line laser radar, including：Laser emission array, for emitting multi-path laser；Laser pick-off array, is used for
Receive the multi-path laser echo reflected by target object；Echo samples device, for using time division multiplexing mode to the multichannel
Return laser beam is sampled and exports sampled data stream；Control system, respectively with the Laser emission array, the laser pick-off
Array and echo samples device connection；The control system is used for the Laser emission array and the laser pick-off
The work of array is controlled, and determines measurement data according to the sampled data stream；And output device, it is described for exporting
Measurement data.
The echo samples device is analog-to-digital conversion echo samples device in one of the embodiments,；The control system
System includes waveform screening system and time division multiplexing Digital Signal Processing array；The waveform screening system is used for from the sampling
The echo for meeting predetermined waveform condition is filtered out in data flow and exports the selection result at the time division multiplexing digital signal
Manage array；Time interval information of the time division multiplexing Digital Signal Processing array for being handled according to the selection result is simultaneously
The range information of target object is determined according to the time interval information.
The sample frequency of the echo samples device is the sampling of gigabit per second time sample stage in one of the embodiments,
Frequency.
In one of the embodiments, the control system further include sequentially connected reception power assessments system, it is automatic
Power control system and Laser emission control system；The reception power assessments system is used for according to the waveform screening system
The selection result calculates the performance number of echo；The automatic power control system is used to that power to be calculated according to the performance number and mends
Repay value；The Laser emission control system be used for according to the power compensating value to the transmission power of the Laser emission array into
Row control.
Further include in one of the embodiments,：Emit collimating optical system, going out in the Laser emission array is set
Light side is penetrated, is collimated for the multi-path laser to the Laser emission array emitter；And laser pick-off focusing system, setting
In the incident light side of the laser pick-off array, for being focused to each road return laser beam reflected by target object.
The multi-line laser radar includes fixed part, rotating part and rotating mechanism in one of the embodiments,；It is described
It is connected by rotating mechanism between fixed part and the rotating part；The Laser emission array, the transmitting collimating optical system,
The laser pick-off focusing system, the laser pick-off array, the echo samples device are fixed at the rotating part；
The control system includes FPGA master control systems and FPGA data integrated system；The FPGA master control systems are arranged in the rotation
Portion；The FPGA data integrated system is arranged in the fixed part；The output device is arranged in the fixed part, and with it is described
FPGA data integrated system connects；The fixed part is additionally provided with rotation angle measuring system；The rotation angle measurement system with
The FPGA data integrated system connection, the rotation angle information for measuring rotating part；The FPGA master control systems are used for root
Measurement data is determined according to the sampled data stream and is exported to the FPGA data integrated system；The FPGA data integrated system
For receiving the rotation angle information and the measurement data, and exported to described defeated after generating the measurement data with angle
Go out device.
Wire/wireless communication system is set on the rotational structure in one of the embodiments, for realizing the FPGA
Communication connection between master control system and the FPGA data integrated system.
The rotating part further includes holder in one of the embodiments,；The Laser emission array and the laser connect
Array is received to be separately fixed at the both sides of the holder and by the holder separated.
Further include transmitting light path system and the receiving light path system being arranged in the rotating part in one of the embodiments,
System；The transmitting light path system is arranged between the Laser emission array and the transmitting collimating optical system；The transmitting
Light path system is used to control the multi-path laser and is projected along the direction for the emergent light for being parallel to the Laser emission array；It is described to connect
Light path system is received to be arranged between the laser pick-off array and the laser pick-off focusing system；The receiving light path system is used
It is exported to the laser pick-off array along the incident direction of the return laser beam in controlling the multi-path laser echo.
The transmitting collimating optical system includes collimation transmitting camera lens in one of the embodiments,；The laser pick-off
Focusing system includes focusing to receive camera lens；The collimation transmitting camera lens and the focusing receive camera lens and are each attached to arc-shaped curved surface
On.
Above-mentioned multi-line laser radar, Laser emission array can be simultaneously emitted by multi-path laser, and laser pick-off array is for connecing
It receives by the reflected multi-path laser echo of target object.Echo samples device is by time division multiplexing mode to laser pick-off array
The multi-path laser echo received is sampled, and is exported after sampled data stream determines measurement data for control system and passed through
Output device exports.Above-mentioned multi-line laser radar, echo samples device pass through control after being sampled by time division multiplexing mode
System is handled in real time, is conducive to the real-time for improving measurement process.
Description of the drawings
Fig. 1 is the structure diagram of the multi-line laser radar in an embodiment；
Fig. 2 is the structure diagram of the control system in Fig. 1；
Fig. 3 is the structure diagram of the multi-line laser radar in another embodiment；
Fig. 4 is the concrete structure schematic diagram of the multi-line laser radar in an embodiment；
Fig. 5 is the vertical view of Fig. 4；
Fig. 6 is the schematic diagram of the transmitting light path and receiving light path of the multi-line laser radar in Fig. 4；
Fig. 7 is the structural schematic diagram of the transmitting collimating optical system in Fig. 4；
Fig. 8 is the structural schematic diagram of the laser pick-off focusing system in Fig. 4.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structure diagram of the multi-line laser radar in an embodiment.The multi-line laser radar includes Laser emission battle array
Row 110, laser pick-off array 120, echo samples device 130, control system 140 and output device 150.
Laser emission array 110 is for emitting multi-path laser.Wherein, the laser that Laser emission array 110 emits is pulse
Laser.Laser emission array 110 includes the laser emitter of multiple array arrangements.
Laser pick-off array 120 then be used for receive by target object reflection Lai multipath pulse laser.Laser pick-off array
120 equally include the laser pickoff of multiple array arrangements.The quantity of laser pickoff is identical as the quantity of laser emitter.
In other embodiments, the arrangement mode of Laser emission array 110 and laser pick-off array 120 can carry out according to actual needs
Setting.
Echo samples device 130 is connect with laser pick-off array 120.Echo samples device 130 is used for using time division multiplexing
The return laser beam that mode receives laser pick-off array 120 samples, and is exported after generating sampled data stream.Pass through the time-division
Multiplex mode carries out the sampling of multi-path laser echo, can effectively improve sampling efficiency, and is conducive to improve the reality of measurement process
Shi Xing.The sample frequency of echo samples device 130 is GSPS (Gigabit Samples Per Second, i.e., gigabit per second time
Sampling) grade, so that obtained sampled data stream is GSPS level data stream (can also be referred to as high-speed sample data stream).
In the present embodiment, echo acquirement device 130 is ADC sampling apparatuses (analog-to-digital conversion sampling apparatus), and collected data flow is
600000 echo-signals high-speed data-flow per second.The data flow is the data flow after 8bit ADC quantizations.
Control system 140 connects with Laser emission array 110, laser pick-off array 120 and echo samples device 130 respectively
It connects.Control system 140 is for the work to Laser emission array 110, laser pick-off array 120 and echo samples device 130
State is controlled.Also, control system 140 is additionally operable to determine measurement data according to sampled data stream.Specifically, control system
140 can be realized by FPGA (Field-Programmable Gate Array, field programmable gate array).Control system
System 140 includes waveform screening system 142 and time division multiplexing Digital Signal Processing array (time division multiplexing DSP arrays) 144, such as Fig. 2
It is shown.Waveform screening system 142 from sampled data stream for filtering out the echo for meeting predetermined waveform condition.Predetermined waveform item
Part can be the Parameter Conditions such as the peak value of waveform, phase.Specifically, it is stored with predetermined waveform template in waveform screening system 142.
Therefore, waveform screening system 142 matches the waveform in sampled data stream with predetermined waveform template, is sentenced according to matching degree
Whether the waveform in disconnected sampled data stream meets predetermined waveform condition.Waveform screening system 142 will include to meet predetermined waveform item
It is transmitted after the sequence of data points extraction of the waveform of part and gives time division multiplexing DSP arrays 144.Be time-multiplexed DSP arrays 144 by
Fpga logic resource and multiplier are built-up, to carry out a series of multiplication and interative computation to the data filtered out, with
To the time interval information for representing range information.Time division multiplexing DSP arrays 144 can also be converted according to obtained time interval information
To be transmitted in conjunction with other auxiliary informations after range information.Time interval information is converted to the calculation formula of range information such as
Under：
D=T*Ca/2.
Wherein, D indicates that distance, Ca indicate that light propagation speed in air, T indicate time interval information, is echo and reference
The absolute value of difference at the time of signal and the template degree of correlation respectively reach maximum value.By by obtained range information and other
Auxiliary information such as point sequence number, fading channel value and checking information etc. are transmitted, and are conducive to improve data transmission mistake
The stability of journey and safety.In other examples, echo samples device 130 can also be integrated in control system 140
It is interior.
The measurement data output that output device 150 is exported for control system 140.In the present embodiment, output device 150
For output interface.In other examples, output device 150 can be display device, directly show measurement data and export.
Above-mentioned multi-line laser radar, Laser emission array 110 can be simultaneously emitted by multi-path laser, laser pick-off array 120
For receiving by the reflected multi-path laser echo of target object.Echo samples device 130 is by time division multiplexing mode to swashing
The multi-path laser echo that light-receiving array 120 receives is sampled and exports sampled data stream so that control system 140 determines
Go out measurement data and is exported by output device 150.Above-mentioned multi-line laser radar, echo samples device 130 pass through time division multiplexing
Mode is handled after being sampled by control system 140 in real time, is conducive to the real-time for improving measurement process.Meanwhile it controlling
System 140 processed carries out calculation processing using time division multiplexing DSP arrays to data, can further increase the real-time of measurement process
Property.
In one embodiment, control system 140 further includes sequentially connected reception power assessments system 145, automated power
Control system 147 and Laser emission control system 149, as shown in Figure 2.Receive power assessments system 145 and waveform screening system
142 connections, for carrying out echo power value calculating according to the selection result of waveform screening system 142.Automatic power control system
(AGC) 147 according to the performance number being calculated for calculating power compensating value.Laser emission control system 149 is then used for root
Attenuation is compensated according to power compensating value adjustment transmission power so that the backward energy that next time obtains is just in the power of expectation
In range, to obtain the echo-signal with preferable signal-to-noise ratio, to be conducive to improve the accuracy measured.
Fig. 3 is the structure diagram of the multi-line laser radar in another embodiment.The multi-line laser radar includes rotating part
200, fixed part 300 and rotating mechanism 400.Rotating part 200 is connect by rotating mechanism 400 with fixed part 300.Wherein, it rotates
Portion 200 includes the Range Measurement System 210 being connected with each other and FPGA master control systems 220.Fixed part 300 includes then being connected with each other
Angle measurement system 310, FPGA data integrated system 320 and output device 330.FPGA master control systems 220 and FPGA data collection
The control system of multi-line laser radar is formed at system 320.The wireless communication system with energy is provided in rotating mechanism 400
410.System is communicatively coupled FPGA master control systems 220 with FPGA data integrated system 320 by radio communication.
Above-mentioned multi-line laser radar, FPGA master control systems 220 connect with Range Measurement System 210 and are arranged in rotating part
200, FPGA data integrated system 320 and angle measurement system 310, the connection of output device 330 and setting are in fixed part 300.
FPGA master control systems 220 are led to by the wireless communication system 410 in rotating mechanism 400 with FPGA data integrated system 320
Letter connection, to form the control system of multi-line laser radar.By by the FPGA master control systems 220 and FPGA in control system
Data integrated system 320 is separately provided and is separately positioned on rotating part 200 and fixed part 300, is conducive to the stabilization of raising system
Property.
In the present embodiment, Range Measurement System 210 include Laser emission array 212, transmitting collimating optical system 214,
Laser pick-off focusing system 216 and laser pick-off array 218.Laser emission array 212 and laser pick-off array 218 respectively with
FPGA master control systems 220 connect.Laser emission array 212 is for emitting multipath pulse laser (4 tunnels, 8 tunnels, 16 tunnels, 32 tunnels, 64
Road).The way of multi-path laser can be arranged as required to, and such as be arranged to even number road.Emit the setting of collimating optical system 214 swashing
The emergent light side of light emitting array 212.Transmitting collimating optical system 214 is used to swash the multichannel that Laser emission array 212 emits
Light is collimated.Laser pick-off focusing system 216 is arranged in the incident light side of laser pick-off array 218.Laser pick-off focuses system
System 216 is for output after being focused to each road return laser beam reflected by target object to laser pick-off array 218.Laser connects
Array 218 is received for receiving the multi-path laser echo after the focusing of laser pick-off focusing system 216.By being carried out to incident light
It focuses, and emergent light is collimated, be conducive to improve the accuracy measured.FPGA master control systems 210 are used for Laser emission
Array 212 and laser pick-off array 218 are controlled.FPGA master control systems 210 are additionally operable to be returned according to the multi-path laser received
Wave determines measurement data (range information).The course of work of FPGA master control systems 210 in the aforementioned embodiment it is stated that, herein not
It repeats.
Angle measurement system 310 is integrated to FPGA data for measuring and exporting to the rotation angle of rotating part 200
System 320.High-precision rotary angle measurement system commonly used in the art may be used to realize in angle measurement system 310.FPGA
Data integrated system 320 for receiving angle measuring system 310 export angle information and FPGA master control systems 220 export away from
From information, to be exported by output device 330 after measurement data of the generation with angle.Output device 330 can swash for multichannel
Ligh-ranging data output interface, or the display device that can be intuitively shown.
Fig. 4 is the concrete structure schematic diagram of the multi-line laser radar in an embodiment, and Fig. 5 is the vertical view of Fig. 4.In this reality
It applies in example, rotating part 200 includes holder 230.Laser emission array 212 and laser pick-off array 218 are separately fixed at holder 230
Both sides and separated by holder 230.Also, multiple laser emitters in Laser emission array 212 and laser pick-off battle array
Multiple laser pickoffs in row 218 are vertically alternatively arranged along holder 230.In the present embodiment, multiple laser emitters and
Stent cover where multiple laser pickoffs is arc-shaped curved surface.The emergent light and laser pick-off array of Laser emission array 212
Angle between 218 incident light is in 90 degree.Range Measurement System 210 further includes transmitting light path system and receiving light path system.
Emit light path system setting between Laser emission array 212 and transmitting collimating optical system 214.Transmitting light path system is for controlling
Multi-path laser processed is projected along the outgoing light direction for being parallel to Laser emission array 212.Specifically, transmitting light path system includes first
Optical lens 242 and the second optical lens 244.First optical lens 242 and the second optical lens 244 are arranged in parallel, and with
The emergent light of Laser emission array 212 is in 45 degree of angles.Meanwhile first optical lens 242 and the second optical lens 244 reflection
Face the setting of Laser emission array 212.Receiving light path system is then arranged in laser pick-off focusing system 216 and laser pick-off array
Between 218.Receiving light path system is exported along the reflection direction of return laser beam to laser pick-off array for controlling multi-path laser
218.Specifically, receiving light path system includes third optical lens 252 and the 4th optical lens 254.252 He of third optical lens
4th optical lens 254 is arranged in parallel, and is in 45 degree of angles with the incident light of laser pick-off array 218.252 He of the third lens
The reflecting surface of 4th optical lens 254 is arranged towards laser pick-off array 218.Emit schematic diagram such as Fig. 6 of light path and receiving light path
Show.The laser of multiple laser transmitter projects in Laser emission array 212 passes through first mounted in 212 front of Laser emission array
Optical mirror slip 242 reflects the second optical mirror slip 244 being incident on after 90 ° mounted on 242 front of the first optical mirror slip.Through the second light
It learns and is incident on transmitting collimating optical system 214 after eyeglass 244 reflects 90 °, after transmitting collimating optical system 214 collimates directly
It is incident on target object (or detecting object).Laser pick-off focusing system 216 is incident on after detecting object reflects, by laser
Collectiong focusing system 216 is incident on third optical mirror slip 252 after focusing, and the is incident on after third optical mirror slip 252 reflects 90 °
Four optical mirror slips 254 are incident on laser pick-off array 218 after the 4th optical mirror slip 254 reflects 90 °.In the present embodiment,
One optical mirror slip 242, the second optical mirror slip 244, third optical mirror slip 252 and the 4th optical mirror slip 254 are common full light
Learn eyeglass.
In the present embodiment, transmitting collimating optical system 214 is big visual field colimated light system.Emit collimating optical system 214
Emit camera lens (not shown) including multiple collimations.Multiple collimation transmitting camera lenses are arranged on arc-shaped curved surface, and the half of arc-shaped curved surface
Diameter is 200mm.Laser pick-off focusing system 216 includes that multiple focusing receive camera lens (not shown).Multiple focusing receive camera lens
It is arranged on arcwall face, the radius of arc-shaped curved surface is 200mm.In the present embodiment, the collimation arc that is constituted of transmitting camera lens with
The center of circle for focusing the arc that reception camera lens is constituted is identical, and within the scope of 30 degree of central angle.Emit collimating optical system 214
Further include the third lens J5, the second lens J3 sequentially coaxially arranged along the outgoing light direction of Laser emission array 212 and
One lens J1, as shown in Figure 7.Referring to Fig. 7, Laser emission array 212 includes 16 road laser emitter F1~F16.16 road laser
Device F1~F16 is fixed on laser support W.Laser support W is arc stent.In the present embodiment, the first lens J1 is just
Meniscus lens, and the curved surface of the first lens J1 is protruded towards laser emitter.Second lens J3 is diverging meniscus lens, and the second lens
The curved surface of J3 is bent towards the injection direction of laser emitter.The third lens J5 is positive meniscus lens, and the curved surface of the third lens J5
It is bent towards the injection direction of laser emitter.M1, M2, M3, M4, M5, M6 are the minute surface of J1, J3, J5 lens respectively.In this implementation
In example, positive lens refers to that the center thickness of lens is more than the lens of degree thicker than the edges, and negative lens refers to that the center thickness of lens is small
In the lens of edge thickness.Negative sign indicates to be subject to along the direction of propagation of light the intersection point of spherical surface and primary optical axis, and the centre of sphere of spherical surface is at this
Point is with a left side, then radius of curvature be negative, conversely, the centre of sphere in the point with the right side, then radius of curvature is just.Design parameter may be designed as：Mirror
The radius of face M1 is 15.6mm, and minute surface M2 radius 58.33mm, minute surface M3 radiuses are 14.011mm, and minute surface M4 radiuses are
7.508mm, minute surface M5 radiuses are -156.575mm, and minute surface M6 radiuses are -19.31mm.The inner radius of arc stent W be-
200.058mm.Wherein, thickness of glass is 7.33mm between minute surface M1 to minute surface M2, and Refractive Index of Material 1.49, Abbe number are
55.3, aperture 31.7mm.The thickness of minute surface M2 to minute surface M3 is 2mm, and material is air.The glass thickness of minute surface M3 to minute surface M4 is
3.59mm, the refractive index 1.59 of material, Abbe number 30.9, aperture 23mm.The thickness of minute surface M4 to minute surface M5 is 13.57mm,
Material is air.The glass thickness of minute surface M5 to minute surface M6 is 21.3mm, the refractive index 1.50 of material, Abbe number 56.41, aperture
For 19mm.The inside arc identity distance of minute surface M6 to laser support W is from for 31.168mm.Above-mentioned parameter is only a specific example, at it
Each parameter can be adaptively adjusted as needed in his embodiment.
Laser pick-off focusing system 216 further includes the 4th lens J2, the 5th lens sequentially coaxially arranged along incident direction
J4 and the 6th lens J6, as shown in Figure 8.Referring to Fig. 8, laser pick-off array 218 includes No. 16 laser pickoff P1~P16.
No. 16 laser P1~P16 are fixed on laser support W.Laser support W is arc stent.Laser pick-off focusing system 216
Structure with transmitting the structure of colimated light system 214 it is identical, do not repeat herein.
The structure of above-mentioned multi-line laser radar is simple, stability is preferable, and disclosure satisfy that requirement of real-time.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of multi-line laser radar, which is characterized in that including：
Laser emission array, for emitting multi-path laser；
Laser pick-off array, for receiving the multi-path laser echo reflected by target object；
Echo samples device, for being sampled to the multi-path laser echo using time division multiplexing mode and exporting sampled data
Stream；The echo samples device is analog-to-digital conversion echo samples device；
Control system is connect with the Laser emission array, the laser pick-off array and the echo samples device respectively；
The control system is used to control the work of the Laser emission array and the laser pick-off array, and according to described
Sampled data stream determines measurement data；The control system includes waveform screening system and time division multiplexing Digital Signal Processing battle array
Row；The waveform screening system from the sampled data stream for filtering out the echo for meeting predetermined waveform condition and will screen
As a result it exports to the time division multiplexing Digital Signal Processing array；The time division multiplexing Digital Signal Processing array is used for according to institute
The selection result is stated to handle to obtain time interval information and determine that the distance of target object is believed according to the time interval information
Breath；And
Output device, for exporting the measurement data.
2. multi-line laser radar according to claim 1, which is characterized in that the sample frequency of the echo samples device is
The sample frequency of gigabit per second time sample stage.
3. multi-line laser radar according to claim 1, which is characterized in that the control system further includes sequentially connected
Receive power assessments system, automatic power control system and Laser emission control system；The reception power assessments system is used for
The performance number of echo is calculated according to the selection result of the waveform screening system；The automatic power control system is used for according to institute
It states performance number and power compensating value is calculated；The Laser emission control system is used to be swashed to described according to the power compensating value
The transmission power of light emitting array is controlled.
4. multi-line laser radar according to claim 1, which is characterized in that further include：
Emit collimating optical system, is arranged in the emergent light side of the Laser emission array, for the Laser emission array
The multi-path laser of transmitting is collimated；And
Laser pick-off focusing system, be arranged in the incident light side of the laser pick-off array, for being reflected by target object
Each road return laser beam is focused.
5. multi-line laser radar according to claim 4, which is characterized in that the multi-line laser radar include fixed part,
Rotating part and rotating mechanism；It is connected by rotating mechanism between the fixed part and the rotating part；
The Laser emission array, the transmitting collimating optical system, the laser pick-off focusing system, the laser pick-off battle array
Row, the echo samples device are fixed at the rotating part；The control system includes FPGA master control systems and FPGA
Data integrated system；The FPGA master control systems are arranged in the rotating part；The FPGA data integrated system is arranged described
Fixed part；
The output device setting is connect in the fixed part, and with the FPGA data integrated system；The fixed part is also set
It is equipped with rotation angle measuring system；The rotation angle measurement system is connect with the FPGA data integrated system, for measuring rotation
The rotation angle information of transfer part；The FPGA master control systems be used for according to the sampled data stream determine measurement data and export to
The FPGA data integrated system；The FPGA data integrated system is for receiving the rotation angle information and the measurement
Data, and exported to the output device after generating the measurement data with angle.
6. multi-line laser radar according to claim 5, which is characterized in that be provided with wireless communication on the rotational structure
System, for realizing the communication connection between the FPGA master control systems and the FPGA data integrated system.
7. multi-line laser radar according to claim 5, which is characterized in that the rotating part further includes holder；It is described to swash
Light emitting array and the laser pick-off array are separately fixed at the both sides of the holder and are separated by the holder.
8. multi-line laser radar according to claim 7, which is characterized in that further include the transmitting being arranged in the rotating part
Light path system and receiving light path system；
The transmitting light path system is arranged between the Laser emission array and the transmitting collimating optical system；The transmitting
Light path system is used to control the multi-path laser and is projected along the direction for the emergent light for being parallel to the Laser emission array；
The receiving light path system is arranged between the laser pick-off array and the laser pick-off focusing system；The reception
Light path system is exported along the incident direction of the return laser beam to the laser pick-off battle array for controlling the multi-path laser echo
Row.
9. multi-line laser radar according to claim 4, which is characterized in that the transmitting collimating optical system includes collimation
Emit camera lens；The laser pick-off focusing system includes focusing to receive camera lens；The collimation transmitting camera lens and the focusing receive
Camera lens is each attached on arc-shaped curved surface.
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