CN108445506A - A kind of driving radiating circuit, laser radar and measurement method - Google Patents
A kind of driving radiating circuit, laser radar and measurement method Download PDFInfo
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- CN108445506A CN108445506A CN201810450406.8A CN201810450406A CN108445506A CN 108445506 A CN108445506 A CN 108445506A CN 201810450406 A CN201810450406 A CN 201810450406A CN 108445506 A CN108445506 A CN 108445506A
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- 238000012360 testing method Methods 0.000 claims abstract description 24
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 36
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The present invention relates to a kind of field of artificial intelligence more particularly to driving radiating circuit, laser radar and measurement methods.A kind of driving radiating circuit of laser radar, including：The first transmission power adjustment circuit, the second transmission power adjustment circuit and the light source radiating circuit being in parallel, the light source radiating circuit includes laser tube, and the light source radiating circuit exports the low power optical beam and high power-beam of setting under the first transmission power adjustment circuit and the effect of the second transmission power adjustment circuit respectively.The present invention also provides a kind of laser radars.The present invention also provides a kind of measurement methods.Pass through the first transmission power adjustment circuit and the second transmission power adjustment circuit so that transmitting light source sends out the low power optical beam and high power-beam of setting according to the operating mode of setting respectively.By the accurate location and orientation of the test result accurate judgement barrier of low power optical beam and high power-beam, laser radar larger problem in blind area in haze environment is reduced.
Description
Technical field
The present invention relates to a kind of field of artificial intelligence more particularly to driving radiating circuit, laser radar and measurement sides
Method.
Background technology
Optical scanner range unit be it is a kind of use collimated light beam, pass through the flight time（Time of Flight, referred to as
TOF）, the methods of the triangulation equipment that carries out non-contact scanning ranging.Currently, common optical scanner range unit packet
It includes：Optical transmitter module, optical lens, the photoelectric chip for receiving and processing signal.The transmitting light source of optical transmitter module sends out light beam,
Optical lens is located in the light path of transmitting light source, the beam emissions through overconvergence to blocking surfaces, after being reflected by barrier
Light beam is incident on photoelectric chip, and photoelectric chip is by measuring the time being emitted between receiving or phase difference according to known light
Speed, you can find out testee to device distance.
Since the little particle reflecting surface of haze is much smaller than the reflecting surface of entity, so light beam is irradiated to time caused on haze
Wave be all happened at closely, can penetrate haze using more echo techniques and detect testee, but need testee with
Haze reflection echo has a certain distance, several meters to 10 meters general according to the reflectance of haze.Otherwise the echo meeting of testee
It causes to be unable to measure with the coincidence of haze reflection echo.
Invention content
It is an object of the invention to propose a kind of driving radiating circuit, by driving radiating circuit to send out the low-power of setting
Light beam and high power-beam are accurately judged to barrier by the test result of low power optical beam and high power-beam alternately testing
Accurate location and orientation, reduce laser radar larger problem in blind area in haze environment, solve more echo techniques and exist
The measuring technique for handling laser radar under haze environment calculates complicated and not high accuracy problem.
Another object of the present invention, it is proposed that a kind of laser radar passes through with the driving radiating circuit
Drive radiating circuit setting so that laser radar in haze measuring environment according to the quantity of echo-signal, sequence and whether
Judge that barrier is located at nearby region or remote region in error range, solves blind existing for more Echo Processing modes
Area is larger and the excessive problem of calculation process load, improves measurement efficiency and accuracy of measurement.
Third object of the present invention, it is proposed that measurement method passes through high power transmission light beam and low power transmissions light beam
The measurement method of alternate emission is accurately judged to the region of measuring environment and barrier, quick and precisely, while reducing sharp
Blind area of the optical radar under haze environment.
For this purpose, the present invention uses following technical scheme：
A kind of driving radiating circuit of laser radar, including：The first transmission power adjustment circuit, the second transmission power being in parallel
Adjustment circuit and light source radiating circuit, the light source radiating circuit includes laser tube, and the light source radiating circuit is respectively first
The low power optical beam and high power-beam of transmission power adjustment circuit and the lower output setting of the second transmission power adjustment circuit effect.
As one of the preferred embodiments of the present invention, the range of the low power optical beam controls in nearby region,
The range covering nearby region of the high power-beam and remote region.
As one of the preferred embodiments of the present invention, the first transmission power adjustment circuit includes concatenated first work(
Rate field-effect tube and resistance R2, the second transmission power adjustment circuit include concatenated second power field effect pipe and resistance
R3, the resistance R2 and resistance R3 have the difference of magnification of setting, the resistance R2 and resistance R3 ground connection.
As one of the preferred embodiments of the present invention, the power field effect pipe is metal-oxide-semiconductor field effect transistor or GaN field-effects
Pipe.
As one of the preferred embodiments of the present invention, the resistance R3=K × R2, and 75≤K≤115.
As one of the preferred embodiments of the present invention, R3=105 × R2.
As one of the preferred embodiments of the present invention, further include the charging circuit being in series with radiating circuit, it is described to fill
The capacitance and charging resistor R1 that circuit includes charge power supply, is in series with laser tube, and be in parallel with laser tube two
Pole pipe, the charging resistor R1 connect the first transmission power adjustment circuit, the second transmission power adjustment circuit respectively, the laser
Pipe and diode are grounded.
As one of the preferred embodiments of the present invention, the resistance value of the charging resistor R1 is adjustable, by reducing charging electricity
The resistance value of R1 is hindered to improve capacitor charging rate.
A kind of laser radar, including transmitting module, receiving module and master control borad, the transmitting module include transmitting light source and
The driving radiating circuit, the receiving module include the photoelectric chip being connected with driving radiating circuit, the master control borad
It is connected with photoelectric chip and driving radiating circuit, the low power optical beam and high power that the master control borad is obtained according to photoelectric chip
The echo of light beam calculates the distance and location information of barrier.
As one of the preferred embodiments of the present invention, it is connected on the master control borad close for being adjusted according to haze concentration
The haze measurement of concetration module of the transmission power of range transmission light beam, the resistance R2 of the first transmission power adjustment circuit and/or
The resistance value of the resistance R3 of two transmission power adjustment circuits is adjustable.
A method of laser radar Penetrating Fog performance being improved, by using high power transmission light beam and in the short distance of setting
The measurement result that the alternating of low power transmissions light beam of the region without echo measures, it is fogless to judge that the measuring environment of laser radar has
Haze, disturbance in judgement level in and the corresponding nearby region of low power transmissions light beam it is still corresponding with high power transmission light beam remote
Distance areas determines back echo and calculates measurement result.
As one of the preferred embodiments of the present invention,
Low power transmissions light beam and high power transmission light beam is respectively adopted alternately to measure once；
When photoelectric chip corresponds to low power transmissions light velocity measurement and high power transmission light velocity measurement detects an echo respectively, and
The difference of two echoes judges that measuring environment does not have haze in setting error range, takes photoelectric chip to receive corresponding high
The echo of power emission light beam calculates test result；
When photoelectric chip only corresponds to high power transmission beam detection to an echo, judges that measuring environment does not have haze, take photoelectricity
The echo for the correspondence high power transmission light beam that chip receives calculates test result；
When photoelectric chip corresponds to high power transmission beam detection to two echoes, corresponding low power transmissions light beam is not detected back
Wave judges that measuring environment has haze, and second echo that photoelectric chip corresponds to high power transmission light beam is taken to calculate test result；
When photoelectric chip corresponds to low power transmissions light beam and high power transmission light beam detects an echo, and two respectively respectively
Error range of the difference of echo beyond setting, then judge that measuring environment has haze, take the low work(of the correspondence that photoelectric chip receives
The echo that rate emits light beam calculates test result.
As one of the preferred embodiments of the present invention, the value range apart from value range L of the nearby region
For：2m≤L≤10m.
As one of the preferred embodiments of the present invention, the value apart from value range L of the nearby region is 2m.
Advantageous effect：The setting of the first transmission power adjustment circuit and the second transmission power adjustment circuit so that hair
The low power optical beam and high power-beam of the different setting of power, institute can be sent out respectively according to the operating mode of setting by penetrating light source
It states the finding range that low power optical beam and high power-beam are different relative to laser radar and sets.By driving transmitting electricity
Road sends out the low power optical beam of setting and the test result of high power-beam alternately testing is accurately judged to the accurate position of barrier
It sets and orientation, reduces laser radar larger problem in blind area in haze environment, solve more echo techniques in processing haze
The measuring technique of laser radar calculates complicated and not high accuracy problem under environment.
Description of the drawings
Fig. 1 is the structural schematic diagram for the driving radiating circuit that the embodiment of the present invention 1 provides.
In figure：
1, the first metal-oxide-semiconductor；2, the second metal-oxide-semiconductor；3, laser tube；4, diode；5, capacitance；6, charge power supply.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination, becomes new technical solution.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
Embodiment 1
The present invention provides a kind of driving radiating circuits, as shown in Figure 1, including：The first transmission power adjustment circuit for being in parallel,
Second transmission power adjustment circuit and light source radiating circuit, light source radiating circuit described in diode includes laser tube 3, the light source
Radiating circuit exports the low-power of setting under the first transmission power adjustment circuit and the second transmission power adjustment electro ultrafiltration respectively
Light beam and high power-beam.The first transmission power adjustment circuit, the second transmission power adjustment circuit are respectively connected with pulse electricity
Source, for the first transmission power adjustment circuit and the second transmission power adjustment circuit to be connected, it is preferred that first transmission power
Adjustment circuit and the second transmission power adjustment circuit share a pulse power, and the pulse power works at times, according to survey
Amount needs that the first transmission power adjustment circuit or the second transmission power adjustment circuit is connected.
The setting of the first transmission power adjustment circuit and the second transmission power adjustment circuit so that transmitting light source（Swash
Light pipe 3）The low power optical beam and high power-beam of the different setting of power, institute can be sent out respectively according to the operating mode of setting
It states the finding range that low power optical beam and high power-beam are different relative to laser radar and sets, nearby region and remote
The setting of distance areas is opposite, and the remote region corresponds to and can be measured by more echo techniques under haze environment
Range, the nearby region is the concept relative to remote region, and corresponding is remote region and laser radar
Between the measurement range that more echo techniques are unsatisfactory in haze environment.The range control of the low power optical beam is closely
In region, the range covering nearby region of the high power-beam and remote region.It is set by driving radiating circuit to send out
Fixed low power optical beam and high power-beam, is accurately sentenced by low power optical beam and the test result of high power-beam alternately testing
Break and the accurate location and orientation of barrier.Laser radar larger problem in blind area in haze environment is reduced, is solved more
The measuring technique of echo technique laser radar in the case where handling haze environment calculates complicated and not high accuracy problem.
In order to ensure that the first transmission power adjustment circuit and the second transmission power adjustment circuit have the difference of magnification of setting, and
Accomplish quickly to adjust, the first transmission power adjustment circuit includes concatenated first power field effect pipe and resistance R2, described
Second transmission power adjustment circuit includes concatenated second power field effect pipe and resistance R3, and the resistance R2 and resistance R3 have
The difference of magnification of setting, the resistance R2 and resistance R3 ground connection.Selectable, power field effect pipe described in the power is MOS
Effect pipe（Abbreviation metal-oxide-semiconductor）Or GaN field-effect tube（Abbreviation GaN pipes）, that is, first power field effect pipe and the second work(
Rate field-effect tube is respectively the first metal-oxide-semiconductor and the second metal-oxide-semiconductor；Alternatively, first power field effect pipe and the second power field effect
Respectively the first GaN pipes and the 2nd GaN pipes should be managed.Preferably, first power field effect pipe and the second power field effect pipe
Respectively the first metal-oxide-semiconductor and the second metal-oxide-semiconductor.
In specific implementation, the range of the nearby region is typically less than equal to 10m, the range in the remote region
Generally higher than 10m, therefore, in order to ensure that the power of low power optical beam and high power-beam meets the setting for measuring and distinguishing, institute
Resistance R3=K × R2, and 75≤K≤115 are stated, the K is normal number.Preferably, R3=105 × R2.
In order to improve the tranmitting frequency and emission effciency of light source radiating circuit, the driving radiating circuit further includes charging electricity
Road, the charging circuit includes charge power supply 6, the capacitance 5 that is in series with laser tube 3 and charging resistor R1, and with laser tube 3
The diode 4 being in parallel；The conducting direction of the diode 4 and the laser tube 3 is on the contrary, so that when charging at laser tube 3
In off-state, diode 4 is in the conduction state, and laser tube 3 is in the conduction state when electric discharge, and diode 4 is off.
The charging resistor R1 is used to adjust the charging rate of capacitance 5, and the charging resistor R1 is smaller, the charge rate of the capacitance 5
It is faster.The diode 4 charges for capacitance 5.The charging resistor R1 connects the first transmission power adjustment circuit, second respectively
Transmission power adjustment circuit, the laser tube 3 and diode 4 are grounded.
When it is implemented, when the pulse power does not emit pulse, the first transmission power adjustment circuit and the second transmitting work(
Rate adjustment circuit does not turn on, and the capacitance 5 charges to capacitance 5 by charge power supply 6 and charging resistor R1, and the electricity that charges
The direction that the direction of stream is excited with laser tube 3 is on the contrary, therefore laser tube 3 is in the state that is not excited；After capacitance 5 is fully charged,
Charging circuit disconnects, and the first metal-oxide-semiconductor 1 for sending out pulse-triggered the first transmission power adjustment circuit by the pulse power first is led
It is logical, the first transmission power adjustment circuit is connected, at this time because laser tube 3 and resistance R2 are grounded, 5 repid discharge of capacitance is high
Current voltage flows into laser tube 3 so that laser tube 3 inspires low power optical beam, and later, the first metal-oxide-semiconductor 1 is because no longer receiving pulse
And disconnect, the first transmission power adjustment circuit and the second transmission power adjustment circuit are in the state that do not turn on, and the capacitance 5 is logical
Overcharge power supply 6 and charging resistor R1 charge to capacitance 5, and the direction phase that the direction of charging current is excited with laser tube 3
Instead, after capacitance 5 is fully charged, charging circuit disconnects, and pulse-triggered the second transmission power adjustment circuit is sent out by the pulse power
The conducting of the second metal-oxide-semiconductor 2, that is, the second transmission power adjustment circuit conducting, at this time because laser tube 3 and resistance R3 connect
Ground, 5 repid discharge of capacitance, high-tension current flow into laser tube 3 so that laser tube 3 inspires high power-beam.
Preferably, the requirement of different use environments and measurement frequency in order to balance, the resistance value of the charging resistor R1 is adjustable,
5 charge rate of capacitance is improved by reducing the resistance value of charging resistor R1, electricity is reduced by increasing the resistance value of charging resistor R1
Hold 5 charge rates.The adjustable setting of charging resistor R1 resistance values improves the performance stabilization and service life of driving radiating circuit, together
When meet a variety of measurement requests.
The present invention also provides a kind of laser radar, including transmitting module, receiving module and master control borad, the transmitting modules
Including transmitting light source and the driving radiating circuit, the receiving module includes the photoelectricity core being connected with driving radiating circuit
Piece, the master control borad are connected with photoelectric chip and driving radiating circuit, the low work(that the master control borad is obtained according to photoelectric chip
Rate light beam and the echo of high power-beam calculate the distance and location information of barrier.The transmitting light source is preferably laser tube.
By the setting for driving radiating circuit so that laser radar is in haze measuring environment according to the number of echo-signal
Amount, sequence and whether in error range judge that barrier is located at nearby region or remote region, solves at more echoes
Blind area existing for reason mode is larger and the excessive problem of calculation process load, improves measurement efficiency and accuracy of measurement.
In order to further increase under different haze concentration environments to short range, far range, low power optical beam and
The efficient proportioning of high power-beam is connected on the master control borad for adjusting the hair for closely emitting light beam according to haze concentration
The haze measurement of concetration module of power is penetrated, the resistance value of the resistance R2 of the first transmission power adjustment circuit is adjustable.By resistance R2 and/
Or the resistance value adjustment of resistance R3, thus it is possible to vary the power of low power optical beam, to adapt to different haze concentration so that low power optical beam
Can cover the requirement in short range and remote region, that is, low power optical beam remote region without
Method measures the requirement of effective echo.
The present invention also provides a kind of measurement methods, by using high power transmission light beam and in the nearby region of setting
The measurement result that the alternating of the low power transmissions light beam of no echo measures, judging the measuring environment of laser radar, whether there is or not hazes, sentence
Disconnected barrier be located at and the corresponding nearby region of low power transmissions light beam still it is corresponding with high power transmission light beam at a distance
Region determines back echo and calculates measurement result.
By the measurement method of high power transmission light beam and low power transmissions light beam alternate emission, it is accurately judged to measure ring
The region in border and barrier quick and precisely, while reducing blind area of the laser radar under haze environment.
When it is implemented, the measurement method further includes：
Low power transmissions light beam and high power transmission light beam is respectively adopted alternately to measure once；Laser radar is preferably swashed using pulse
Optical transmitting set, low power transmissions light beam and high power transmission light beam alternate emission are primary；
When photoelectric chip corresponds to low power transmissions light velocity measurement and high power transmission light velocity measurement detects an echo respectively, and
The difference of two echoes judges that measuring environment does not have haze in setting error range, takes photoelectric chip to receive corresponding high
The echo of power emission light beam calculates test result.
In such cases, barrier is present in the model close to nearby region in nearby region or remote local
Farmland, in the case of no haze, low power transmissions light beam and high power transmission light beam alternate emission, photoelectric chip can obtain
Echo after barrier transmitting, because of the power foot of high power-beam, the echo of corresponding high power-beam is relative to for low
The echo signal-to-noise ratio of power optical beam is good, therefore the echo for the correspondence high power transmission light beam that photoelectric chip receives is taken to calculate test
As a result.
In this situation, if the difference of two echoes abandons this measurement result beyond setting error range, repeat into
Row is respectively adopted low power transmissions light beam and high power transmission light beam and alternately measures once.
When the measurement that photoelectric chip only corresponds to high power transmission light beam detects an echo, judge that measuring environment does not have mist
Haze takes the echo for the correspondence high power transmission light beam that photoelectric chip receives to correspond to and calculates test result；In such cases, obstacle
Level is in remote region, and low power transmissions light beam fails to reach barrier or low power transmissions light beam, and because energy is insufficient, it is anti-
Irradiating light beam fails effectively to be received by photoelectric chip, and therefore, photoelectric chip is only capable of detecting one of corresponding high power transmission light beam
Therefore echo takes the echo for the correspondence high power transmission light beam that photoelectric chip receives to correspond to and calculates test result, you can is accurate
Export the distance and bearing of barrier.
Two echoes, corresponding low power transmissions light velocity measurement are detected when photoelectric chip corresponds to high power transmission light velocity measurement
Echo is not detected, judges that measuring environment has haze, takes photoelectric chip to correspond to second that high power transmission beam reception arrives and returns
Wave calculates test result；In such cases, the measuring environment residing for laser radar has haze, and nearby region does not have obstacle
Object, therefore photoelectric chip fails to detect that the echo of low power transmissions light beam, photoelectric chip sequentially receive high power transmission light beam
Two echoes, wherein photoelectric chip receive high power transmission light beam first echo be haze reflection echo, photoelectricity core
First echo that piece receives high power transmission light beam is the echo that the barrier in remote region reflects, therefore takes photoelectric chip
Second echo that corresponding high power transmission beam reception arrives calculates test result, you can obtains haze environment medium and long distance region
Barrier distance and bearing.
When photoelectric chip corresponds to low power transmissions light velocity measurement and high power transmission light velocity measurement detects that one is returned respectively
Wave, and error range of the difference of two echoes beyond setting, then judge that measuring environment has haze, takes photoelectric chip to receive
The echo of corresponding low power transmissions light beam calculates test result.In such cases, the measuring environment residing for laser radar has haze,
And barrier is located at nearby region, high power transmission light beam is anti-by the echo of haze reflection and by barrier in measurement process
It is received by photoelectric chip after the echo mixing penetrated, therefore the high power transmission light beam that receives of photoelectric chip is compared with the reality of barrier
Distance is close, and the error of measurement distance and actual range is more than the error of setting；Low power transmissions light beam because total energy compared with
It is small, in measurement process by haze reflect echo-signal it is excessively weak can not be detected by photoelectric chip, alternatively, even if by photoelectricity core
Piece receives, and is also ignored or filters out as noise；Therefore, low power transmissions light beam is reflected by barrier in measurement process
Echo received by photoelectric chip, and be less than setting error range, measurement distance and reality with the actual range error of barrier
The error of distance is more than the error of setting；Therefore, the echo for the correspondence low power transmissions light beam that photoelectric chip receives is taken to calculate
Test result, you can measure the distance and bearing that the barrier under haze environment is located at nearby region.
When it is implemented, nearby region apart from value range L according to the big of the range of laser radar and haze concentration
It is small to be adjusted, with the increasing of haze concentration, nearby region it is smaller apart from value range L；The nearby region
Value range apart from value range L is：2m≤L≤10m.Further, by the measurement data of haze measurement of concetration module,
The resistance value of corresponding adjustment resistance R2 and/or resistance R3, adjusts the setting of nearby region and remote region.Pass through short distance area
The setting and cooperation in domain and remote region, reduce the problem that blind area is larger when being measured using more echo techniques.It is preferred that
, the value apart from value range L of the nearby region is 2m.The taking apart from value range L of the nearby region
Value is the setting of 2m, meets the visibility of haze in daily life in the range of more than or equal to 10 meters, can meet laser
The requirement that radar normally measures.
In conclusion the setting of the first transmission power adjustment circuit and the second transmission power adjustment circuit so that hair
The different low power optical beams and high power-beam of power, the low work(can be sent out respectively according to the operating mode of setting by penetrating light source
The range of rate light beam controls in nearby region, the range covering nearby region and far region of the high power-beam
Domain.The accurate position for the barrier that laser radar is surveyed is accurately judged to by the test result of low power optical beam and high power-beam
It sets and orientation.Laser radar larger problem in blind area in haze environment is reduced, solves more echo techniques in processing haze
The measuring technique of laser radar calculates complicated and not high accuracy problem under environment.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and it cannot be construed to limiting the scope of the invention in any way.Based on the explanation herein, the technology of this field
Personnel would not require any inventive effort the other specific implementation modes that can associate the present invention, these modes are fallen within
Within protection scope of the present invention.
Claims (13)
1. a kind of driving radiating circuit, which is characterized in that including：The first transmission power adjustment circuit for being in parallel, the second transmitting
Power adjusting circuit and light source radiating circuit, the light source radiating circuit includes laser tube, and the light source radiating circuit exists respectively
The low power optical beam and high power of first transmission power adjustment circuit and the lower output setting of the second transmission power adjustment circuit effect
Light beam；
The range of the low power optical beam controls in nearby region, and the range of the high power-beam covers nearby region
With remote region.
2. driving radiating circuit according to claim 1, which is characterized in that the first transmission power adjustment circuit includes
Concatenated first power field effect pipe and resistance R2, the second transmission power adjustment circuit include concatenated second power field effect
The difference of magnification that there is setting with resistance R3, the resistance R2 and resistance R3, the resistance R2 and resistance R3 ground connection should be managed.
3. driving radiating circuit according to claim 2, which is characterized in that the power field effect pipe is MOS field-effects
Pipe or GaN field-effect tube.
4. the driving radiating circuit of laser radar according to claim 2, which is characterized in that the resistance R3=K × R2,
And 75≤K≤115, the K are normal number.
5. driving radiating circuit according to claim 4, which is characterized in that R3=105 × R2.
6. driving radiating circuit according to claim 1-5 any one of them, which is characterized in that further include charging circuit, it is described
The capacitance and charging resistor R1 that charging circuit includes charge power supply, is in series with laser tube, and be in parallel with laser tube two
Pole pipe, the charging resistor R1 connect the first transmission power adjustment circuit, the second transmission power adjustment circuit respectively, the laser
Pipe and diode are grounded.
7. driving radiating circuit according to claim 6, which is characterized in that the resistance value of the charging resistor R1 is adjustable, leads to
It crosses and reduces the resistance value of charging resistor R1 to improve capacitor charging rate.
8. a kind of laser radar, which is characterized in that including transmitting module, receiving module and master control borad, the transmitting module includes
Emit light source and includes and driving transmitting electricity as claim 1-7 any one of them drives radiating circuit, the receiving module
The photoelectric chip that road is connected, the master control borad are connected with photoelectric chip and driving radiating circuit, and the master control borad is according to light
The echo for the low power optical beam and high power-beam that electrical chip obtains calculates the distance and location information of barrier.
9. laser radar according to claim 8, which is characterized in that be connected on the master control borad for dense according to haze
Degree adjustment closely emits the haze measurement of concetration module of the transmission power of light beam, the resistance R2 of the first transmission power adjustment circuit
And/or second transmission power adjustment circuit resistance R3 resistance value it is adjustable.
10. a kind of measurement method, which is characterized in that by using high power transmission light beam and setting nearby region without return
The measurement result that the alternating of the low power transmissions light beam of wave measures, judges that the measuring environment of laser radar whether there is or not haze, judges to hinder
Hinder level in and the corresponding nearby region of low power transmissions light beam still remote region corresponding with high power transmission light beam,
It determines back echo and calculates measurement result.
11. measurement method according to claim 10, which is characterized in that low power transmissions light beam and high power is respectively adopted
Emit light beam alternately to measure once；
When photoelectric chip corresponds to low power transmissions light velocity measurement and high power transmission light velocity measurement detects an echo respectively, and
The difference of two echoes judges that measuring environment does not have haze in setting error range, takes photoelectric chip to receive corresponding high
The echo of power emission light beam calculates test result；
When photoelectric chip only corresponds to high power transmission beam detection to an echo, judges that measuring environment does not have haze, take photoelectricity
The echo for the correspondence high power transmission light beam that chip receives calculates test result；
When photoelectric chip corresponds to high power transmission beam detection to two echoes, corresponding low power transmissions light beam is not detected back
Wave judges that measuring environment has haze, and second echo that photoelectric chip corresponds to high power transmission light beam is taken to calculate test result；
When photoelectric chip corresponds to low power transmissions light beam and high power transmission light beam detects an echo, and two respectively respectively
Error range of the difference of echo beyond setting, then judge that measuring environment has haze, take the low work(of the correspondence that photoelectric chip receives
The echo that rate emits light beam calculates test result.
12. the measurement method according to claim 10 or 11, which is characterized in that the nearby region apart from value model
The value range for enclosing L is：2m≤L≤10m.
13. measurement method according to claim 12, which is characterized in that the nearby region apart from value range L
Value be 2m.
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