CN207096443U - Suitable for the DLP receiving systems of laser radar - Google Patents
Suitable for the DLP receiving systems of laser radar Download PDFInfo
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- CN207096443U CN207096443U CN201720949099.9U CN201720949099U CN207096443U CN 207096443 U CN207096443 U CN 207096443U CN 201720949099 U CN201720949099 U CN 201720949099U CN 207096443 U CN207096443 U CN 207096443U
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Abstract
The utility model discloses a kind of DLP receiving systems suitable for laser radar, generating laser externally launches laser signal by laser scanning mirror, form laser scanning region, DLP signal receivers carry out signal acquisition to the scanning element in the laser scanning region, the DLP signal receivers include multiple DLP micro mirrors of array arrangement, and more than one corresponding DLP micro mirror is tracked and received in the DLP micro mirrors that the laser reflection signal of each scanning element is arranged by the array；The generating laser and the DLP signal receivers are integrally disposed, or, the generating laser is disposed adjacent with the DLP signal receivers；The DLP micro mirrors arranged by array synchronize tracking and receive the laser reflection signal in Laser Radar Scanning region, control the deflection of DLP micro mirror arrays synchronous with Laser Radar Scanning, the region project by target echo imaging is scanned of selectivity is to photoelectric sensor, so as to improve the signal to noise ratio for receiving Laser Radar Scanning region laser reflection signal, while realize more preferable noiseproof feature.
Description
Technical Field
The utility model relates to a laser radar technical field, especially a DLP signal receiving system suitable for laser radar.
Background
Laser radar LiDAR (Light Laser Detection and Ranging), which is a short for Laser Detection and Ranging system, is a radar using a Laser as a radiation source. Lidar is the product of a combination of laser technology and radar technology, including at least a transmitter and a receiver. The transmitter is various lasers, such as a carbon dioxide laser, a neodymium-doped yttrium aluminum garnet laser, a semiconductor laser, a wavelength tunable solid-state laser and the like; the receiver employs various forms of photodetectors such as photomultiplier tubes, semiconductor photodiodes, avalanche photodiodes, infrared and visible light multiplexed detection devices, and the like.
The solid-state laser radar has the scanning characteristics of large scanning coverage, high imaging rate, small image distortion and the like, particularly the scanning coverage of the solid-state laser radar is large, and the large-field-of-view imaging of the solid-state laser radar can be fully realized only by matching with a corresponding receiving technology. When the scanning coverage area of the laser radar is large, the traditional coaxial receiver is mainly suitable for a range finder, and the laser reflection signal of the scanning coverage area cannot be completely and effectively received due to the limitation of the traditional coaxial receiver.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned problem, a DLP signal reception system suitable for laser radar is provided, its DLP micro mirror that arranges through the array carries out synchronous pursuit and receives laser radar scanning area's laser reflection signal, control DLP micro mirror array's deflection and laser radar scanning synchronization, the selective area that will scan target reflection signal formation of image projects photoelectric sensor to can improve the SNR who receives laser radar scanning area laser reflection signal, realize better anti-interference characteristic simultaneously.
In order to achieve the above object, the utility model adopts the following technical scheme:
a DLP signal receiving system suitable for laser radar, the laser transmitter (10) emits the laser signal through the laser scanning mirror (11) to the outside, form the laser scanning area (30); the laser scanning system further comprises a DLP signal receiver (20) for collecting signals of scanning points of the laser scanning area (30), wherein the DLP signal receiver (20) comprises a plurality of DLP micro-mirrors (21) arranged in an array, and laser reflection signals of each scanning point are tracked and received by more than one corresponding DLP micro-mirror (21) in the DLP micro-mirrors (21) arranged in the array; the laser transmitter (10) is integrated with the DLP signal receiver (20), or the laser transmitter (10) is arranged adjacent to the DLP signal receiver (20); and controlling the DLP signal receiver (20) to turn on the corresponding DLP micro mirror (21) through a synchronous signal of the laser scanning mirror (11).
Preferably, the laser scanning mirror (11) adopts a MEMS micro-rotating mirror.
Preferably, the DLP signal receiver (20) further comprises a receiving lens (23), a collecting lens (24) and a photoelectric sensor (25), wherein the receiving lens (23) is arranged in front of the DLP micromirrors (21) arranged in an array, the laser reflection signal of the laser scanning area (20) passes through the receiving lens (23) to enter the corresponding DLP micromirrors (21), and the DLP micromirrors (21) reflect the laser reflection signal and pass through the collecting lens (24) to enter the photoelectric sensor (25).
Preferably, the DLP signal receiver (20) further comprises a switch controller, and when the laser scanning mirror (11) scans a scanning point at a corresponding position, the switch controller controls to turn on the corresponding DLP micro-mirror (21) to receive a laser reflection signal of the scanning point.
The utility model has the advantages that:
the utility model discloses a DLP signal receiver includes a plurality of DLP micro mirrors of array arrangement, and the laser reflection signal of each scanning point is tracked and received by corresponding more than one DLP micro mirror in the DLP micro mirror of array arrangement; laser emitter with DLP signal receiver is integrated to be set up, perhaps laser emitter with DLP signal receiver (20) adjacent setting carries out synchronous pursuit and receives the laser reflection signal that laser radar scanned the region through the DLP micro mirror that the array arranged, and control DLP micro mirror array's deflection is synchronous with laser radar scanning, and the selective area that will scan target reflection signal formation of image projects photoelectric sensor to can improve the SNR who receives laser radar scanning regional laser reflection signal, realize better anti-interference characteristic simultaneously.
Drawings
The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:
fig. 1 is a schematic structural diagram of a DLP signal receiving system suitable for a laser radar according to the present invention; fig. 2 is a schematic structural diagram of a DLP signal receiver of a DLP signal receiving system suitable for a laser radar according to the present invention;
10-a laser emitter; 11-a laser scanning mirror; 12-emitting laser;
20-a DLP signal receiver; 21-DLP micro mirror; 22-laser reflection signal; 23-a receiving lens; 24-a collection lens; 25-a photosensor;
30-laser scanning area.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention clearer and more obvious, the following description is made in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
As shown in fig. 1 and fig. 2, in a DLP signal receiving system suitable for a laser radar of the present invention, a laser transmitter 10 externally transmits a laser signal through a laser scanning mirror 11 to form a laser scanning area 30; the laser scanning system further comprises a DLP signal receiver 20 for collecting signals of the scanning points of the laser scanning area 30, wherein the DLP signal receiver 20 comprises a plurality of DLP micro-mirrors 21 arranged in an array, and a laser reflection signal of each scanning point is tracked and received by more than one corresponding DLP micro-mirror 21 in the DLP micro-mirrors 21 arranged in the array; and controlling the DLP signal receiver 20 to turn on the corresponding DLP micromirror 21 by the synchronization signal of the laser scanning mirror 11.
The laser transmitter 10 and the DLP signal receiver 20 are integrally disposed, preferably, the laser transmitter 10 and the DLP signal receiver 20 are coaxially disposed, or the laser transmitter 10 and the DLP signal receiver 20 can also be disposed off-axis, and the laser transmitter 10 and the DLP signal receiver 20 are disposed adjacent to each other, preferably, disposed next to each other, so that the axes of the two are closer to each other.
The laser scanning mirror 11 adopts a MEMS micro-rotating mirror. The DLP signal receiver 20 further comprises a receiving lens 23, a collecting lens 24, a photoelectric sensor 25 and a switch controller, wherein the receiving lens 23 is arranged in front of the DLP micromirrors 21 arranged in an array, the laser reflection signal of the laser scanning area 20 passes through the receiving lens 23 to enter the corresponding DLP micromirrors 21, and the DLP micromirrors 21 reflect the laser reflection signal and pass through the collecting lens 24 to enter the photoelectric sensor 25. When the laser scanning mirror 11 scans a scanning point at a corresponding position, the switch controller controls to turn on the corresponding DLP micromirror 21 to receive a laser reflection signal of the scanning point.
The utility model discloses a DLP signal reception system's working process profile is as follows:
a. the laser emitter 10 emits laser signals outwards according to a preset time rule to form a laser scanning area 30;
the DLP signal receiver 20 searches the optimal starting position and starting number of DLP micro-mirrors 21 for the scanning points of the laser scanning area 30;
and c, synchronously tracking the scanning points by the DLP signal receiver 20, and controlling the updating frequency of the DLP micro-mirrors 21 according to the optimal starting positions and starting numbers of the DLP micro-mirrors 21.
The laser is emitted in a certain direction at certain time intervals according to a certain rule. Between the scanning point of the laser transmitter 10 and the DLP micro-mirrors 21 of the array arrangement of the DLP signal receivers 20, there is a corresponding optimal receiving area, which includes the optimal on position and the optimal on number of the DLP micro-mirrors 21.
In the step b, the method for searching the optimal turn-on position and turn-on number of the DLP micromirror 21 is a mechanism combining the following search experiment and prediction experiment of b1 and b2, which can greatly improve the search efficiency, and the specific calibration step includes:
b1. performing an experiment for searching a current scanning point, taking the DLP micromirror 21 with the strongest received signal as a signal receiving center of the current scanning point, calculating a corresponding optimal receiving radius, and calculating the starting position and the starting number of the corresponding optimal DLP micromirror 21 of the current scanning point according to the signal receiving center and the optimal receiving radius; wherein, the signal receiving center determines the opening position of the DLP micro-mirror 21, and the receiving radius determines the opening number of the DLP micro-mirrors;
b2. and performing an experiment for predicting adjacent scanning points of the current scanning point, predicting a predicted receiving center of the adjacent scanning point by taking the calculated signal receiving center of the current scanning point as a reference point, searching an actual receiving center and calculating a corresponding optimal receiving radius according to the predicted receiving center, and calculating the starting position and the starting number of the corresponding optimal DLP micro-mirrors 21 of the adjacent scanning points according to the actual receiving center and the optimal receiving radius.
The calibration process is to perform parameter calibration of the optimal receiving area for each single-point laser, and find the optimal receiving center and optimal receiving radius of the DLP micromirror corresponding to the scanning point of each laser. b1, the laser emitter 10 emits a single spot for each scanning spot, i.e., only one spot per frame is illuminated. When each frame is transmitted, the corresponding DLP micro-mirror is correspondingly adjusted, one DLP micro-mirror with the strongest received signal is set as a receiving center, and then the DLP micro-mirror is finely adjusted to find the best receiving radius and realize the strongest received signal strength. After the DLP micromirror position of some scanning points is found by adopting the calibration method of b1, the corresponding DLP micromirror of other adjacent scanning points can be predicted and found by adopting the calibration method of b2, and the optimal DLP micromirror position corresponding to the predicted scanning point is quickly found by taking the DLP position of the predicted point which is directly expanded as the center and gradually reducing the area.
Specifically, in step b2, the calculated signal reception center of the current scanning point is used as a reference point to predict the reception center of the neighboring scanning point, where the reference point includes two or more reference points, and the calculation method is as follows:
dlp_pointn.x＝(laser_pointn.x-laser_point1.x)*(dlp_point2.x-dlp_point1.x)/(laser_point2.x-laser_point1.x)+dlp_point1.x；
dlp_pointn.y＝(laser_pointn.y-laser_point1.y)*(dlp_point2.y-dlp_point1.y)/(laser_point2.y-laser_point1.y)+dlp_point1.y；
wherein,
dlp _ pointn.x, dlp _ pointn.y refer to the x, y coordinates of the predicted receive center,
dlp _ point1.x, dlp _ point1.y refer to the x, y coordinates of the 1 st reference point,
dlp _ point2.x, dlp _ point2.y refer to the x, y coordinates of the 2 nd reference point,
laser _ pointn.x, laser _ pointn.y refer to the x, y coordinates of the corresponding scan point of the predicted receive center,
laser _ point1.x, laser _ point1.y refer to the x, y coordinates of the corresponding scan point of the 1 st reference point,
laser _ point2.x and laser _ point2.y refer to the x and y coordinates of the corresponding scan point of the 2 nd reference point.
The speed of the mirror adjustment of the DLP cannot reach the speed of laser emission. When the DLP mirror position is updated every time, in order to enable all laser emission points before the next update to be received in the best condition, the position of the current scanning point needs to be accurately acquired. In step c of this embodiment, the DLP micromirrors 21 corresponding to a plurality of subsequent predicted scanning points are turned on at one time by using the current scanning point as a starting point according to the emitting speed of the laser emitter 10. That is, the update frequency of the DLP micromirrors 21 refers to a set of DLP micromirrors 21 corresponding to a plurality of scanning points that are turned on every update, rather than turning on only one DLP micromirror 21 corresponding to one scanning point every update, so that the update speed of the DLP micromirrors 21 matches the emission speed of the laser emitter 10, and the optimal signal-to-noise ratio is achieved.
The background noise of the system may trigger the receiving circuit to generate system noise when the mirror with the optimal size is opened. By calibrating the noise level of the system at the timing during operation, the DLP control mechanism can open the relevant mirrors according to the number of DLP mirrors which is less than the noise standard. In addition, the invention further detects the background noise intensity and sets the starting number of the DLP micro-mirrors 21 in different gears according to the background noise intensity of different levels. For example, in a strong light and high temperature environment, the system can set the opened mirror surface according to the minimum lens opening number, so as to reduce noise interference and realize better detection sensitivity. In this embodiment, the background noise intensity is divided into 5 levels, and the number of the DLP micromirrors 21 in the 5 steps is sequentially set to 800, 400, 200, 100, and 50, and it is checked whether or not system noise is generated. Under normal environment, the number of the DLP micromirrors is set to 200, and under strong light and high temperature environment, the number of the dlP micromirrors is set to the minimum value of 50, so that noise interference is reduced; in a low light environment such as night, the number of DLP micromirrors can be increased as needed, for example, 400 or 800 can be used to improve the detection sensitivity.
While the above description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the invention as expressed in the above teachings or as determined by the knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.
Claims (4)
1. A DLP signal receiving system suitable for laser radar, the laser transmitter (10) emits the laser signal through the laser scanning mirror (11) to the outside, form the laser scanning area (30); the laser scanning system is characterized by further comprising a DLP signal receiver (20) for collecting signals of scanning points of the laser scanning area (30), wherein the DLP signal receiver (20) comprises a plurality of DLP micro mirrors (21) arranged in an array, and laser reflection signals of each scanning point are tracked and received by more than one corresponding DLP micro mirror (21) in the DLP micro mirrors (21) arranged in the array; the laser transmitter (10) is integrated with the DLP signal receiver (20), or the laser transmitter (10) is arranged adjacent to the DLP signal receiver (20); and controlling the DLP signal receiver (20) to turn on the corresponding DLP micro mirror (21) through a synchronous signal of the laser scanning mirror (11).
2. The DLP signal receiving system suitable for laser radar according to claim 1, wherein: the laser scanning mirror (11) adopts an MEMS micro-rotating mirror.
3. The DLP signal receiving system suitable for laser radar according to claim 1, wherein: the DLP signal receiver (20) further comprises a receiving lens (23), a collecting lens (24) and a photoelectric sensor (25), wherein the receiving lens (23) is arranged in front of the DLP micro-mirrors (21) arranged in an array, the laser reflection signals of the laser scanning area (30) pass through the receiving lens (23) to enter the corresponding DLP micro-mirrors (21), and the DLP micro-mirrors (21) reflect the laser reflection signals and pass through the collecting lens (24) to enter the photoelectric sensor (25).
4. The DLP signal receiving system suitable for laser radar according to any one of claims 1 to 3, wherein: the DLP signal receiver (20) further comprises a switch controller, and when the laser scanning mirror (11) scans a scanning point at a corresponding position, the switch controller controls to turn on the corresponding DLP micro mirror (21) to receive a laser reflection signal of the scanning point.
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| CN107402385A (en) * | 2017-07-31 | 2017-11-28 | 岭纬公司 | Suitable for the DLP receiving systems and its adaptive regulation method of laser radar |
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Effective date of registration: 20200817 Address after: No.558 FenHu Avenue, Lili Town, Wujiang District, Suzhou City, Jiangsu Province Patentee after: Suzhou Lingwei Intelligent Technology Co.,Ltd. Address before: 5026 Jinsong Road, Dublin, CA Patentee before: NEUVITION Inc. |