CN107703497A - Laser radar system and its lighting device and distance-finding method - Google Patents
Laser radar system and its lighting device and distance-finding method Download PDFInfo
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- CN107703497A CN107703497A CN201711084143.5A CN201711084143A CN107703497A CN 107703497 A CN107703497 A CN 107703497A CN 201711084143 A CN201711084143 A CN 201711084143A CN 107703497 A CN107703497 A CN 107703497A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005286 illumination Methods 0.000 claims abstract description 252
- 238000003079 width control Methods 0.000 claims description 11
- 210000001367 artery Anatomy 0.000 claims description 5
- 210000003462 vein Anatomy 0.000 claims description 5
- 238000004080 punching Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000000205 computational method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 1
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Classifications
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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
- 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
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
-
- 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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of laser radar system and its lighting device and distance-finding method.Wherein, a kind of laser radar lighting device, including near field lighting mechanism, far field lighting mechanism, and for producing the controller of past near-field control pulse and far field control pulse；Near field lighting mechanism exports near field illumination light according to past near-field control pulse, any reflected light that laser radar receives is the frame illumination light apart from the reflected light time of reception recently, according to the output time of the illumination light, it may be determined that the flight time of the illumination light belonging to the reflected light；The output end of far field lighting mechanism and the output end of near field lighting mechanism are arranged side by side.Realize and obtaining the technique effect for the range information for obtaining the object to be measured quickly moved near field range in far-field range on the premise of the range information of object to be measured in real time.
Description
Technical field
The present embodiments relate to laser radar technique, more particularly to a kind of laser radar system and its lighting device and survey
Away from method.
Background technology
The laser radar system of prior art is near generally according to the distance between target object to be measured and laser radar, selection
Field laser radar lighting device auxiliary obtains the position of the object to be measured near field range, or selection far-field laser radar shines
Bright device auxiliary obtains the position of the object to be measured near field range or the object to be measured in far-field range, but far field is swashed
The scan frequency of optical radar is generally relatively low, can not meet under the premise of target object location to be measured, to obtain in real time in acquisition far-field range
Take the demand of the target object location to be measured quickly moved near field range.
The content of the invention
The present invention provides a kind of laser radar system and its lighting device and distance-finding method, to realize the laser of prior art
Radar system can not meet on the premise of the range information of object to be measured, to obtain near field range in real time in acquisition far-field range
The demand of the range information of the object to be measured inside quickly moved.
In a first aspect, the embodiments of the invention provide a kind of laser radar lighting device, including near field lighting mechanism, far field
Lighting mechanism, and for producing the controller of past near-field control pulse and far field control pulse；
The near field lighting mechanism exports near field illumination light, the far field lighting mechanism root according to the past near-field control pulse
According to far field control pulse output far field illumination light, and the near field illumination light and the far field illumination light meet default illumination
Light is combined, and makes what controller obtained according to the reception device of laser radar, and the near field illumination light or the far field illumination light are met
The time of reception of reflected light after to object to be measured, determine the range information of object to be measured；
The output end of the far field lighting mechanism and the output end of the near field lighting mechanism are arranged side by side, and the near field
The distance between central shaft at visual angle of illumination light and the far field illumination light is in the range of pre-determined distance.
Further, the default illumination light combination includes：
The controller also produces scanning impulse, and according to the scanning impulse, controls the far field illumination light with described
The frequency of scanning impulse setting spatial domain on scan, make on setting spatial domain, the output time of the near field illumination light with it is previous
The difference of the output time of far field illumination light described in frame, more than the maximum flight time of the far field illumination light, the far field illumination
The difference of the output time of near field illumination light described in the output time and former frame of light, more than the maximum flight of the near field illumination light
Time.
Further, the default illumination light combination includes：
The controller controls the past near-field control pulse and far field control pulse, makes the near field light lighting mechanism
The near field illumination light and the far field illumination light are exported respectively simultaneously with the far field lighting mechanism.
Further, the default illumination light combination includes：
The near field illumination light is different with the wave band of the far field illumination light.
Further, the near field lighting mechanism includes near field light source and beam expanding lens；
The controller exports near field emergent light, the near field outgoing by near field light source described in past near-field control Pulse Width Control
Light forms near field illumination light through the beam expanding lens.
Further, the near field light source is LED dot matrix or laser tube.
Further, the far field lighting mechanism includes far field light source, scanning mirror and structure light prism module；
The controller controls the scanning mirror in predetermined angle scope internal rotation by scanning impulse；
The far field emergent light of the far field light source output is reflexed to the structure light by the scanning mirror in rotary course
The diverse location of prism module, the location track are located along the same line；
The far field emergent light of reception is converted into far field illumination light output by the structure light prism module.
Further, the far field lighting mechanism also includes collimating mirror；
The collimating mirror is located between the far field light source and the scanning mirror, for collimating the far field light source output
Far field emergent light.
Further, the scanning mirror is one kind in MEMS mirror, scanning galvanometer or mirror assembly；
Wherein, mirror assembly includes speculum and sweep mechanism, and the sweep mechanism is used to control the speculum to exist
Predetermined angle scope internal rotation.
Further, the frequency of the scanning impulse is less than the frequency of the past near-field control pulse, the frequency of the scanning impulse
It is per second that rate is more than 30 frames；
The horizontal view angle scope of the near field illumination light and the far field illumination light is more than or equal to 45 degree, vertical angle of view model
Enclose more than or equal to 20 degree.
Second aspect, the embodiment of the present invention additionally provide a kind of laser radar system, including reception device and such as first
Laser radar lighting device described in aspect；
The laser radar lighting device is used to export the near field illumination light for meeting default illumination light combination and far field illumination
Light；
The reception device is used to receive the reflected light of the near field illumination light or the reflected light of the far field illumination light；
The controller according to the time of reception of the regular and described reflected light of the default light determine object to be measured away from
From information.
The third aspect, the embodiment of the present invention additionally provide a kind of laser radar range method, including：
Near field illumination light is exported by past near-field control Pulse Width Control laser radar lighting device, pulse control is controlled by far field
Make laser radar lighting device output far field illumination light, and the near field illumination light and the far field illumination light meet it is default
Illumination light combines；
Obtained according to the default illumination light combination and laser radar reception device, the near field illumination light or described remote
Illumination light runs into the time of reception of the reflected light after object to be measured, determines the range information of object to be measured.
The technical scheme of laser radar lighting device provided by the invention, by near field lighting mechanism according to past near-field control arteries and veins
Punching output near field illumination light, far field lighting mechanism control pulse output far field illumination light according to far field, and near field illumination light and remote
Field illumination light meets default illumination light combination, controller is obtained according to the combination of default illumination light and laser radar reception device
, near field illumination light or far field illumination light run into the time of reception of the reflected light after object to be measured, determine object to be measured
Range information, the combination of near field lighting mechanism and far field lighting mechanism is realized, and obtaining target to be measured in far-field range
On the premise of the range information of thing, the technology effect of the range information of the object to be measured quickly moved near field range is obtained in real time
Fruit, overcome the laser radar lighting device of prior art, it is necessary to by several hectowatts even Shang kilowatt high power laser
Illumination needed for realizing in scope, the cost, volume and power consumption of laser are reduced, the need of consumer level products can be met
Ask.
Brief description of the drawings
Fig. 1 is the structural representation for the laser radar lighting device that the embodiment of the present invention one provides；
Fig. 2 is the structural representation for the near field light source that the embodiment of the present invention one provides；
Fig. 3 is the structural representation for the near field lighting mechanism that the embodiment of the present invention one provides；
Fig. 4 is the structural representation for the far field lighting mechanism that the embodiment of the present invention one provides；
Fig. 5 is the structural representation for the far field lighting mechanism including collimating mirror that the embodiment of the present invention one provides；
Fig. 6 is the structural representation for the laser radar system that the embodiment of the present invention two provides；
Fig. 7 is the flow chart for the laser radar range method that the embodiment of the present invention three provides.
Icon：
1- laser radar lighting devices；11- near fields lighting mechanism；110- near fields illumination light；1101- near fields emergent light；
111- near field light sources；1111-LED dot matrix；112- beam expanding lens；12- far fields lighting mechanism；120- far fields illumination light；1201- far fields
Emergent light；Far field emergent light after 12011- collimations；The reflected light of 1202- far fields emergent light；121- far fields light source；122- is scanned
Mirror；123- structure light prism modules；124- collimating mirrors；13- controllers；2- reception devices.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is the structural representation for the laser radar lighting device that the embodiment of the present invention one provides, and the present embodiment is applied to
While needing to obtain the range information of object to be measured in far-field range, quickly moved in acquisition near field range in real time to be measured
The range information of object.As shown in figure 1, laser radar lighting device includes near field lighting mechanism 11, far field lighting mechanism 12,
And for producing the controller 13 of past near-field control pulse and far field control pulse；Near field lighting mechanism 11 is according to past near-field control arteries and veins
Punching output near field illumination light 110, far field lighting mechanism 12 control pulse output far field illumination light 120 according to far field；And near field is shone
Mingguang City 110 and far field illumination light 120 meet default illumination light combination, make controller 13 according to the combination of default illumination light and laser thunder
Obtained up to reception device, when near field illumination light 110 or far field illumination light 120 run into the reception of the reflected light after object to be measured
Carve, determine the range information of object to be measured；The output end of far field lighting mechanism 12 and the output end of near field lighting mechanism 11 are simultaneously
Row is set, and the distance between central shaft at visual angle of near field illumination light 110 and far field illumination light 120 is in pre-determined distance scope
It is interior.
The output end of near field lighting mechanism 11 and far field lighting mechanism 12 is arranged side by side, and makes near field illumination light 110 and far field
The central shaft at the visual angle of illumination light 120 is parallel, and distance therebetween is in the range of pre-determined distance, so that near field illumination light
110 presented with far field illumination light 120 in the angular field of view of whole illumination light it is coaxial.
As shown in Fig. 2 near field light source 111 is the light source that LED dot matrix 1111 or laser tube etc. can realize the illumination of high frequency face,
So as to meet to detect the demand of the object to be measured closely quickly moved.
As shown in figure 3, near field lighting mechanism includes near field light source 111 and beam expanding lens 112, near field light source 111 is pulsed light
Source, controller produces past near-field control pulse, and exports near field emergent light by past near-field control Pulse Width Control near field light source 111
1101, near field emergent light 1101 forms near field illumination light 110 through beam expanding lens 112, and beam expanding lens 112 is used near field emergent light 1101
Expanded, increase the angular field of view of near field illumination light 110, near field illumination light 110 is met default angular field of view.
Past near-field control pulse is used to control near field light source to produce pulsed light, the optional side of past near-field control pulse in the present embodiment
Wave impulse, sine wave or triangular wave, certainly other impulse forms that near field light source can be driven to produce pulsed light can also.
As shown in figure 4, far field lighting mechanism includes far field light source 121, scanning mirror 122 and structure light prism module 123；Control
Device processed produces scanning impulse, and controls scanning mirror 122 in predetermined angle scope internal rotation by scanning impulse；Scanning mirror 122 exists
The far field emergent light 1201 that far field light source 121 exports is reflexed to the diverse location of structure light prism module 123 in rotary course,
Location track is located along the same line；The far field emergent light that structure light prism module 123 reflects the scanning mirror 122 of reception, i.e.,
The reflected light 1202 of far field emergent light is converted into far field illumination light 120 and exported.
Alternatively, with the rotation of scanning mirror 122, far field emergent light 1201 that scanning mirror 122 reflects is along structure light prism
The vertical direction movement of module 123, and the far field emergent light that scanning mirror 122 reflects forms fillet through structure light prism module 123
The length direction of shaped light beam or linear light beam, fillet shaped light beam or linear light beam constitutes hanging down for far field illumination light 120 in accompanying drawing 4
Look at angular region straight, and the far field emergent light 1201 that scanning mirror 122 reflects is in the range of movement of the vertical direction of structure light module 123
The range of movement of the horizontal direction of fillet shaped light beam or linear light beam in far field space is determined, i.e. far field lighting mechanism exports
Far field illumination light 120 be horizontal sweep light, and then the angular field of view of far field illumination light 120 in the horizontal direction is determined.
Alternatively, as shown in figure 5, far field lighting mechanism is also included located at the standard between far field light source 121 and scanning mirror 122
Straight mirror 124, the far field light source 121 in the present embodiment can be the high power light sources such as laser diode, therefore far field light source 121 is defeated
The far field emergent light 1201 gone out generally has certain angle of divergence, by collimating mirror 124 to the directive scanning mirror of far field light source 121
122 far field emergent light 1201 is collimated, and it is in spot light to make to fall on the far field emergent light 12011 after the collimation of scanning mirror 122,
The quality of the far field emergent light 1201 of directive structure light prism module 123 is improved, and then improves structure light prism module 123
The quality of the far field illumination light 120 of output.
Alternatively, the scanning mirror in the present embodiment can be one kind in MEMS mirror, scanning galvanometer or speculum group, its
In, mirror assembly includes speculum and sweep mechanism, and sweep mechanism is used to controlling speculum in predetermined angle scope internal rotation,
When specifically used, scanning mirror can be selected according to the usage scenario of laser radar, required precision and equipment cost etc.
Type.
Alternatively, control pulse in far field is used to controlling far field light source to produce pulsed light, the far field control arteries and veins in the present embodiment
Optional square-wave pulse, sine wave or triangular wave are rushed, certainly other impulse forms that far field light source can be driven to produce pulsed light
Can be with.
Alternatively, the frequency of the scanning impulse in the present embodiment is per second more than 30 frames, and the frequency of scanning impulse is less than near field
The frequency of pulse is controlled, i.e. the scan frequency of far field illumination light is less than the frequency of near field illumination light, light intensity can be concentrated to illuminate certain
One region, the illumination of larger distance can be reached by scanning, meets the needs of detecting at a distance.To treating near field range
The scan frequency for surveying object is the frequency sum of near field illumination light and far field illumination light, therefore can be realized near field range
Object to be measured real time scan, while the range information of the object to be measured in far field can be obtained by far-field scanning, it is full
The demand of sufficient far field ranging, measurement accuracy requirement of the user near field object to be measured met under normal circumstances are treated higher than far field
Survey the requirement of object.Certainly, can also root if measurement of the user to far field object to be measured has higher requirement of real-time
According to the scan frequency for needing increase far field illumination light.
Alternatively, the horizontal view angle scope of the near field illumination light in the present embodiment and far field illumination light is more than or equal to 45
Degree, vertical angle of view scope are more than or equal to 20 degree.It should be noted that the angular field of view of near field illumination light and far field illumination light can
With it is identical can also be different, when specifically used, near field can be determined according to the appearance scope of actually detected object to be measured
The angular field of view of illumination light and far field illumination light, it is of course also possible to which the maximum chosen near field illumination light and far field illumination light regards
Angular region is used as the angular field of view of the two, and the two is arranged into identical angular field of view.
Alternatively, the irradiation distance of the far field illumination light of the far field lighting mechanism output in the present embodiment is more than 100m.
In order to accurately determine the range information of object to be measured, it is necessary to accurately obtain near field illumination light or far field photograph
The flight time of Mingguang City, i.e., any reflected light received for laser radar is, it is necessary to accurately determine belonging to the reflected light
The output time of illumination light, it is impossible to which the reflected light for receiving laser radar has two kinds of possible output times, i.e., can not go out
It can not now determine that the reflected light is the reflected light of the far field illumination light of previous frame, or the reflected light of the near field illumination light of previous frame
Situation.
Therefore, the present embodiment is on setting spatial domain, output time and the former frame far field illumination light of near field illumination light
The difference of output time, more than the maximum flight time of far field illumination light, output time and the former frame near field of far field illumination light are shone
The difference of the output time of Mingguang City, more than the maximum flight time of near field illumination light, therefore, any reflection that laser radar receives
Light is the frame illumination light apart from the reflected light time of reception recently, you can to pass through the output of a nearest frame illumination light
Moment determines the flight time of the illumination light belonging to the reflected light.
Certainly, the present embodiment can also determine the flight time of illumination light by other methods, such as, controller often exports
One frame illumination light, either near field illumination light or far field illumination light, output it and be used as current output time constantly, when sharp
When optical radar monitors reflected light, as long as the time of reception for launching light is subtracted each other with the current output time can obtain the reflection
The flight time of illumination light belonging to light.It is understood that the method for above-mentioned determination illumination light flight time is only exemplary
Illustrate, other can determine that the method for the flight time of illumination light can also.
It should be noted that setting spatial domain can be relative to certain a part of spatial domain in the range of overall viewing angle, such as, root
Spatial domain is determined according to the scanning sequency of far field illumination light, feasible set-up mode is：Not in the Current Scan region of far field illumination light
And its neighborhood output near field illumination light；Or spatial domain is set as whole spatial domain, only controlled by the past near-field control pulse of time domain, far field
Pulse processed, scanning impulse, the maximum flight time of the maximum flight time of near field illumination light and far field illumination light, to ensure to swash
The reflected light that optical radar detects can determine unique illumination light.
The present embodiment can determine near field illumination light according to the irradiation distance of near field illumination light and the active strength of reflected light
The maximum flight time, the maximum of far field illumination light is determined according to the active strength of the irradiation distance of far field illumination light and reflected light
Flight time, it is of course also possible to based on experience value or other method obtains the maximum of near field illumination light and far field illumination light and flown
The row time.
Further, in order to improve the output time for the reflected light for determining reception device reception, the present embodiment passes through controller
Past near-field control pulse and far field control pulse are controlled, makes near field light lighting mechanism and far field lighting mechanism while exports near field respectively
Illumination light and far field illumination light.Because near field illumination light and far field illumination light have identical output time, therefore, reflected light
Output time is, the output time of near field illumination light or far field illumination light, by this nearest apart from the reflected light time of reception
The time of reception of reflected light and output time can draw the flight time of the illumination light corresponding to the reflected light, and then according to flying
The row time asks for the range information of object to be measured.
Further, in order to improve the output time for the reflected light for determining that reception device receives, the near field in the present embodiment is shone
Mingguang City and far field illumination light belong to different wave bands.Now, reception device can distinguish the anti-of reception by the wave band of reflected light
The reflected light of just near field illumination light, or the reflected light of far field illumination light are penetrated, after to be determined, controller is according to the photograph after determination
The output time of Mingguang City is asked for the flight time of the illumination light, and then the distance letter of object to be measured is asked for according to the flight time
Breath.
The technical scheme of laser radar lighting device provided by the invention, by near field lighting mechanism according to past near-field control arteries and veins
Punching output near field illumination light, far field lighting mechanism control pulse output far field illumination light according to far field, and near field illumination light and remote
Field illumination light meets default illumination light combination, controller is obtained according to the combination of default illumination light and laser radar reception device
, near field illumination light or far field illumination light run into the time of reception of the reflected light after object to be measured, determine object to be measured
Range information, realize and obtaining in far-field range on the premise of target object location to be measured, obtain in real time quick near field range
The technique effect of mobile target object location to be measured, overcome the laser radar lighting device of prior art, it is necessary to pass through hundreds of
Watt even Shang kilowatt high power laser could realize the illumination in required scope, reduce the cost of laser, volume and
Power consumption, can meet the needs of consumer level products.
Embodiment two
As shown in fig. 6, present embodiments provide a kind of laser radar system, including reception device 2 and implement as described above
Laser radar lighting device 1 described in example；Laser radar lighting device 1 is used to export near field illumination by near field lighting mechanism 11
Light and by far field lighting mechanism 12 export far field illumination light, near field illumination light and far field illumination light meet default illumination light group
Close；Reception device 2 is used to receive the reflected light of near field illumination light or the reflected light of far field illumination light, and controller 13 is according to default photograph
Mingguang City combines and the time of reception of reflected light determines the output time of the illumination light belonging to the reflected light, and then determines the illumination light
Flight time, and determine according to the flight time of illumination light the range information of object to be measured.
The technical scheme for the laser radar system that the present embodiment provides, met by the output of laser radar lighting device default
The near field illumination light and far field illumination light of illumination light combination, the reflected light of near field illumination light is received by reception device or far field is shone
The reflected light of Mingguang City, by controller according to the time of reception of default illumination light combination and reflected light determine object to be measured away from
From information, while the laser radar is detected the range information of object to be measured in far-field range, additionally it is possible to obtain in real time
The range information of the object to be measured near field range is taken, the laser radar system for overcoming prior art must be by several hectowatts
Even Shang kilowatt high power laser could realize the illumination in required scope, reduce the cost, volume and work(of laser
Consumption, can meet the needs of consumer level products.
Embodiment three
Fig. 7 is the flow chart for the laser radar range method that the present embodiment three provides, and this method is applied to obtaining far field
In the range of object to be measured range information while, the object to be measured that is quickly moved near field range can be obtained in real time
The scene of range information, this method can be realized by software/hardware, and configure in the controller of laser radar system.Such as
Shown in Fig. 7, the laser radar range method includes：
S101, by past near-field control Pulse Width Control laser radar lighting device export near field illumination light, controlled by far field
Pulse Width Control laser radar lighting device exports far field illumination light, and near field illumination light and far field illumination light meet default illumination light
Combination.
Laser radar lighting device includes near field lighting mechanism and far field lighting mechanism, and controller passes through past near-field control pulse
Near field lighting mechanism output near field illumination light is controlled, controls Pulse Width Control far field lighting mechanism to export far field by far field and illuminates
Light, in order to improve the accuracy rate for determining the illumination light flight time, the combination of different default illumination lights illuminates with different near fields
The fit system of light and far field illumination light, and the computational methods of flight time.
What the default illumination light combination of S102, basis and laser radar reception device obtained, near field illumination light or far field illumination
Light runs into the time of reception of the reflected light after object to be measured, determines the range information of object to be measured.
According to default illumination light combine determine illumination light flight time computational methods, then according to the reception of reflected light when
The output time for determining illumination light corresponding to the reflected light is carved, and then the flight time of the illumination light can be determined, and it is to be measured
The range information of object.
It is following that the combination of default illumination light and its corresponding flight time in the present embodiment determine that method includes but is not limited to
Mode：
1), controller produces scanning impulse, and is existed according to scanning impulse, control far field illumination light with the frequency of scanning impulse
Setting scans on spatial domain, sets on spatial domain, the output time of near field illumination light and the output time of former frame far field illumination light
Difference, more than the maximum flight time of far field illumination light, the output time of far field illumination light is defeated with former frame near field illumination light
Go out the difference at moment, more than the maximum flight time of near field illumination light.
Any reflected light that reception device receives is apart from a reflected light time of reception nearest frame illumination light, root
According to the output time of a nearest frame illumination light, it may be determined that the flight time of the illumination light belonging to the reflected light.
2), near field illumination light and far field illumination light have identical output time.
Because near field illumination light and far field illumination light have identical output time, therefore, the output time of reflected light is
It is nearest apart from the reflected light time of reception, the output time of near field illumination light or far field illumination light, pass through connecing for the reflected light
Time receiving carves and output time can draw the flight time of the illumination light corresponding to the reflected light, and then is asked for according to the flight time
The range information of object to be measured.
3), near field illumination light and far field illumination light belong to different wave bands.
The reflected light that the reflected light is near field illumination light, or the reflection of far field illumination light are distinguished by the wave band of reflected light
Light, after to be determined, it can be asked for according to the output time of the illumination light after determination the flight time of the illumination light, and then according to winged
The row time asks for the range information of object to be measured.
It should be noted that the specific implementation of each step can be found in previous embodiment in the present embodiment, herein not
Give and repeating.
The technical scheme for the laser radar range method that the present embodiment provides, passes through past near-field control Pulse Width Control laser radar
Lighting device exports near field illumination light, controls Pulse Width Control laser radar lighting device to export far field illumination light by far field, and
Near field illumination light and far field illumination light meet default illumination light combination, are combined according to default illumination light and determine flight time calculating side
Method, obtained according to laser radar reception device, near field illumination light or far field illumination light run into the reflected light after object to be measured
The time of reception, determine flight time of the illumination light belonging to the reflected light, and then determine the range information of object to be measured, gram
Taken the laser radar system of prior art must could be realized by several hectowatts even Shang kilowatt high power laser it is required
In the range of illumination, reduce the cost, volume and power consumption of laser, can meet the needs of consumer level products.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of laser radar lighting device, it is characterised in that including near field lighting mechanism, far field lighting mechanism, and be used for
Produce the controller of past near-field control pulse and far field control pulse；
The near field lighting mechanism exports near field illumination light according to the past near-field control pulse, and the far field lighting mechanism is according to institute
Far field control pulse output far field illumination light is stated, and the near field illumination light and the far field illumination light meet default illumination light group
Close, make what controller obtained according to the reception device of the default illumination light combination and laser radar, the near field illumination light or
The far field illumination light runs into the time of reception of the reflected light after object to be measured, determines the range information of object to be measured；
The output end of the far field lighting mechanism and the output end of the near field lighting mechanism are arranged side by side, and the near field illuminates
The distance between light and the central shaft at visual angle of the far field illumination light are in the range of pre-determined distance.
2. device according to claim 1, it is characterised in that the controller also produces scanning impulse, and according to described
Scanning impulse, control the far field illumination light to be scanned with the frequency of the scanning impulse on setting spatial domain, make on setting spatial domain
, the default illumination light combination includes：
The difference of the output time of far field illumination light described in the output time and former frame of the near field illumination light, more than the far field
The maximum flight time of illumination light, the output time of near field illumination light described in the output time and former frame of the far field illumination light
Difference, more than the maximum flight time of the near field illumination light.
3. device according to claim 1, it is characterised in that the default illumination light combination includes：
The controller controls the past near-field control pulse and far field control pulse, makes the near field light lighting mechanism and institute
State far field lighting mechanism while export the near field illumination light and the far field illumination light respectively.
4. device according to claim 1, it is characterised in that the default illumination light combination includes：
The near field illumination light and the far field illumination light belong to different wave bands.
5. device according to claim 1, it is characterised in that the near field lighting mechanism includes near field light source and expanded
Mirror；
The controller exports near field emergent light, the near field emergent light warp by near field light source described in past near-field control Pulse Width Control
The beam expanding lens forms near field illumination light.
6. device according to claim 2, it is characterised in that the far field lighting mechanism includes far field light source, scanning mirror
With structure light prism module；
The controller controls the scanning mirror in predetermined angle scope internal rotation by scanning impulse；
The far field emergent light of the far field light source output is reflexed to the structure light prism by the scanning mirror in rotary course
The diverse location of module, and location track is located along the same line；
The far field emergent light of reception is converted into far field illumination light output by the structure light prism module.
7. device according to claim 6, it is characterised in that the far field lighting mechanism also includes collimating mirror；
The collimating mirror is located between the far field light source and the scanning mirror, for collimating the far field of the far field light source output
Emergent light.
8. device according to claim 7, it is characterised in that the frequency of the scanning impulse is less than the past near-field control arteries and veins
The frequency of punching, the frequency of the scanning impulse are per second more than 30 frames；
The horizontal view angle scope of the near field illumination light and the far field illumination light is more than or equal to 45 degree, and vertical angle of view scope is big
In or equal to 20 degree.
A kind of 9. laser radar system, it is characterised in that the laser including reception device and as described in claim 1-8 is any
Radar illumination device；
The laser radar lighting device, the near field illumination light and far field illumination light of default illumination light combination are met for exporting；
The reception device is used to receive the reflected light of the near field illumination light or the reflected light of the far field illumination light；
The controller is used to determine object to be measured according to the time of reception of the default illumination light combination and the reflected light
Range information.
A kind of 10. laser radar range method, it is characterised in that including：
Near field illumination light is exported by past near-field control Pulse Width Control laser radar lighting device, Pulse Width Control institute is controlled by far field
Laser radar lighting device output far field illumination light is stated, and the near field illumination light and the far field illumination light meet default illumination
Light combines；
Obtained according to the combination of default illumination light and laser radar reception device, the near field illumination light or the far field illumination light
The time of reception of the reflected light after object to be measured is run into, determines the range information of object to be measured.
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| CN201711084143.5A CN107703497A (en) | 2017-11-07 | 2017-11-07 | Laser radar system and its lighting device and distance-finding method |
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| CN201711084143.5A CN107703497A (en) | 2017-11-07 | 2017-11-07 | Laser radar system and its lighting device and distance-finding method |
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| CN112444792A (en) * | 2019-08-29 | 2021-03-05 | 深圳市速腾聚创科技有限公司 | Composite laser radar and control method thereof |
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