CN210072076U - Azimuth detection device - Google Patents
Azimuth detection device Download PDFInfo
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- CN210072076U CN210072076U CN201920665604.6U CN201920665604U CN210072076U CN 210072076 U CN210072076 U CN 210072076U CN 201920665604 U CN201920665604 U CN 201920665604U CN 210072076 U CN210072076 U CN 210072076U
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Abstract
The embodiment of the application provides an azimuth detection device, and belongs to the technical field of photoelectric detection. The device comprises: the device comprises a signal processing module and at least one transceiving component; each receiving and transmitting assembly comprises a linear array detector, each linear array detector comprises at least one sensitive element, each sensitive element is used for receiving echo laser reflected by a target object in a corresponding first receiving view field angle, and each linear array detector is used for converting the echo laser into a voltage signal through the at least one sensitive element; and the signal processing module is connected with the linear array detector of each transceiver component and used for determining the position of the target object according to the number of the sensitive element which is carried by the voltage signal and receives the echo laser. The device determines the position of the target object based on the different positions of the sensitive elements for receiving the echo laser, and improves the accuracy and the efficiency of determining the position of a high-dynamic and high-speed target.
Description
Technical Field
The application relates to the technical field of photoelectric detection, in particular to an azimuth detection device.
Background
At present, most of laser detection devices mainly detect distances, such as handheld laser range finders and the like, the corresponding speed is low, and the azimuth detection function of the laser detection devices is calculated by combining MEMS (micro electro mechanical systems) gyroscopes with geometric intercept, so that the laser detection devices are not suitable for detecting high-speed dynamic targets. For the missile-borne laser detection device, the existence and the target distance of a detected target are mostly taken as detection results at present, the judgment on the direction is very rough, and part of the missile-borne laser detection devices also use the rotation of a missile body and single-point laser to realize the detection of the distance and the direction of the target.
Therefore, the laser detection commonly used in the prior art has the problems of low accuracy and long detection time for the azimuth detection of the high-dynamic and high-speed moving target.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the embodiments of the present application is to provide an azimuth detecting device to solve the problems of low accuracy and long detection time in the azimuth detection of a high-dynamic and high-speed moving target in the prior art.
An embodiment of the present application provides an orientation detection apparatus, the apparatus includes: the device comprises a signal processing module and at least one transceiving component; each receiving and transmitting assembly comprises a linear array detector, each linear array detector comprises at least one sensitive element, each sensitive element is used for receiving echo laser reflected by a target object in a corresponding first receiving view field angle, and each linear array detector is used for converting the echo laser into a voltage signal through the at least one sensitive element; and the signal processing module is connected with the linear array detector of each transceiver component and used for determining the position of the target object according to the number of the sensitive element which is carried by the voltage signal and receives the echo laser.
In the implementation process, at least one transceiver component is arranged on the direction detection device, the linear array detector in each transceiver component comprises at least one sensitive element, and echo laser reflected by a target object in a corresponding first receiving view field angle is received by different sensitive elements, so that a plurality of sensitive elements receive the echo laser reflected by the target object in high dynamic and high speed motion, the reliability and the accuracy of echo laser signals are improved, the direction of the target object can be rapidly and accurately determined based on the number of the sensitive elements for receiving the echo laser, and the accuracy and the efficiency of direction measurement of the target object are improved.
Further, the orientation detection apparatus further includes: and the pulse laser is connected with the microprocessor in the signal processing module and is used for outputting synchronous pulse laser signals to each transceiving component.
In the implementation process, a pulse laser is adopted to generate discontinuous pulse laser signals, so that the physical process with high dynamic and high movement speed is convenient to measure, and the accuracy of measuring the target object is improved.
Further, each transceiver component further comprises: an emission lens for converting the pulse laser generated by the pulse laser into a line laser and emitting the line laser; and the receiving lens is used for receiving echo laser generated by the reflection of the linear laser by the target object and transmitting the echo laser to the linear array detector.
In the implementation process, the pulse laser signals are converted into the line laser through the lens, each line of laser can irradiate a certain preset angle range, the displacement and the distance of all points on the measuring line of the preset angle range can be measured simultaneously, the multi-line laser is combined to detect the position of the omnibearing target object, and the position detection accuracy is improved.
Further, the signal processing module further includes: and each sensitive element is respectively connected with the microprocessor in the signal processing module through the peak holding circuit which is respectively connected with the sensitive element, and the peak holding circuits are used for delaying the voltage signal so as to enable the microprocessor to collect the voltage signal in response time.
In the implementation process, the voltage signal is delayed through the peak holding circuit, the voltage signal is prolonged from a nanosecond level to a millisecond level, the requirement on the signal acquisition response speed of the microprocessor is reduced, and therefore the hardware cost is reduced.
Further, the signal processing module further includes: the output end of each sensitive element is connected with the input end of the corresponding peak holding circuit through the integrated operational amplifier circuit which is connected with the output end of each sensitive element, and the integrated operational circuits are used for amplifying the voltage signal transmitted by each sensitive element.
In the implementation process, the voltage signal is amplified by adopting the integrated operation circuit, so that the stability and the usability of the voltage signal acquired by the peak holding circuit are ensured.
Further, the signal processing module further includes: and the output ends of the plurality of peak value holding circuits are respectively connected with the corresponding input ends of the synchronous sampling analog-to-digital converters, and the output ends of the synchronous sampling analog-to-digital converters are connected with the signal processing module.
In the implementation process, the voltage signal is converted into a digital signal which can be identified and processed by the microprocessor through the synchronous sampling analog-to-digital converter, so that the microprocessor can perform size comparison based on the digital signal.
Further, the signal processing module further includes: and the comparator is connected with the transceiving component and the microprocessor in the signal processing module, is used for receiving a synchronous pulse signal transmitted by any transceiving component when receiving the echo laser, and outputs a starting signal when the synchronous pulse signal is higher than a preset standard voltage, and is used for collecting the peak value of the voltage signal converted by any transceiving component by the microprocessor based on the starting signal.
In the implementation process, when the comparator determines that the voltage value of the synchronous pulse signal is greater than the preset standard voltage, the comparator outputs a starting signal to the microprocessor so that the microprocessor controls the synchronous sampling analog-to-digital converter and the peak holding circuit to carry out peak value acquisition, thereby eliminating partial interference signals and improving the accuracy of azimuth measurement.
Further, the signal processing module further includes: and the constant ratio timing circuit is connected between the linear array detector and the comparator, and is used for aligning the output time of the synchronous pulse signal with the time when the sensitive element outputs the voltage signal corresponding to the synchronous pulse signal.
In the implementation process, the constant ratio timing circuit is adopted to carry out comparison on the output voltage signal of the sensitive element and the output moment of the synchronous pulse signal corresponding to the voltage signal, so that the time for receiving the echo laser is accurately determined, and the accuracy of azimuth measurement is improved.
Furthermore, an integrated operational amplifier circuit is arranged between the constant ratio timing circuit and the linear array detector.
In the implementation process, the voltage signal output by the linear array detector is filtered and amplified through the integrated operational amplifier circuit, so that the timing accuracy of the constant ratio timing circuit is improved.
Further, the orientation detection apparatus further includes a pulse laser, and the microprocessor includes: the timer is used for starting timing when the microprocessor receives a TTL signal sent to the microprocessor by the pulse laser and timing to the moment when the microprocessor receives the starting signal; and when the pulse laser sends out a synchronous pulse laser signal, the TTL signal is sent to the microprocessor.
In the implementation process, the microprocessor is used for timing the time from the time when the pulse laser emits the pulse laser signal to the time when the linear array sensor receives the echo signal, so that the round trip time of the pulse laser signal for detecting the target object is obtained, and the distance between the target object and the azimuth detecting device can be measured and calculated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an orientation detection apparatus according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a transceiver module according to an embodiment of the present disclosure;
fig. 3 is a block diagram of a signal processing module according to an embodiment of the present disclosure;
fig. 4 is a circuit diagram of a peak hold circuit according to an embodiment of the present application;
fig. 5 is a circuit diagram of an integrated operational amplifier circuit according to an embodiment of the present disclosure;
fig. 6 is a connection diagram of a synchronous sampling adc according to an embodiment of the present application;
fig. 7 is a circuit diagram of a comparator according to an embodiment of the present application;
FIG. 8 is a circuit diagram of a constant ratio timing circuit according to an embodiment of the present application;
fig. 9 is a schematic flowchart of an orientation detection method according to an embodiment of the present application.
Icon: 10-an orientation detection device; 11-a transceiver component; 112-linear array detector; 114-an emission lens; 116-a receiving lens; 118-a drive conditioning module; 12-a signal processing module; 121-a microprocessor; 122-peak hold circuit; 123-synchronous sampling analog-to-digital converter; 124-a comparator; 13-pulsed laser.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The research of the applicant finds that the existing laser ranging equipment has low measurement accuracy on a target object which moves at high dynamic and high speed, and the measurement speed cannot meet the requirement. The present embodiment thus provides an orientation detection apparatus 10.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an azimuth detecting device according to an embodiment of the present disclosure.
The orientation detection device 10 includes a transceiver component 11 and a signal processing module 12, and the transceiver component 11 is connected with the signal processing module 12.
It should be understood that the number of transceiver modules 11 included in one orientation detection apparatus 10 may be one or more, and each transceiver module 11 is connected to the same signal processing module 12 in the orientation detection apparatus 10.
Referring to fig. 2, fig. 2 is a block diagram of a transceiver module according to an embodiment of the present disclosure.
The transceiver module 11 includes linear array detectors 112, each transceiver module 11 is provided with one linear array detector 112, each linear array detector 112 includes at least one sensitive element, the sensitive elements in each linear array detector 112 are linearly arranged, the angle of the echo laser that each sensitive element can receive is a first receiving field angle, and each sensitive element has independent signal input and output functions.
The linear array detector 112 belongs to an array detector, which converts the radiation into visible light with different intensities, converts the intensity of the visible light into an electrical signal, and determines the distance or image of the target object reflecting the radiation based on the electrical signal. Considering that the orientation detection apparatus 10 in this embodiment is used to determine the orientation of a target object in a certain dimension (generally, a horizontal plane), only the angle difference of the echo laser in one dimension needs to be distinguished, so the orientation detection apparatus 10 in this embodiment may employ the line detector 112 whose sensitive elements are horizontally linearly arranged.
Optionally, the line detector 112 in the present embodiment may be, but is not limited to, an array detector with models S11299-021, G7150-16, and H9530-20.
Optionally, each sensitive element in this embodiment may be configured to receive echo laser reflected by a target object within a first receiving view angle, and each transceiver component 11 may be configured to receive echo laser reflected by a target object within a second receiving view angle, where the second receiving view angles of each sensitive element in each transceiver component 11 are combined to obtain the first receiving view angle. In the embodiment of the present application, the first receiving view angle and the second receiving view angle may be adjusted as needed, and are not limited specifically.
In the above embodiment, at least one transceiver module 11 is disposed on the direction detecting device 10, the linear array detector 112 in each transceiver module 11 includes at least one sensitive element, and different sensitive elements receive the echo laser reflected by the target object within the corresponding first receiving view angle, so that multiple sensitive elements receive the echo laser reflected by the target object moving at high speed and high dynamic state, thereby improving reliability and accuracy of echo laser signals, and being capable of quickly and accurately determining the direction of the target object based on the number of the sensitive element receiving the echo laser, and improving accuracy and efficiency of direction measurement of the target object.
In order to more accurately scan the target object within the first receiving field of view angle range of each sensing element and better distinguish the angle from which the echo laser light is reflected, each transceiver module 11 in this embodiment may further include a transmitting lens 114 and a receiving lens 116.
The emitting lens 114 is used to convert the emitted laser light into line laser light, and further, the emitting lens 114 in this embodiment may shape the ordinary laser gaussian beam into line laser light with a divergence angle of 45 °. Optionally, in other embodiments, the divergence angle of the emission lens 114 may also be 30 °, 60 °, or other degrees. The emission lens 114 may employ a cylindrical lens.
The receiving lens 116 is configured to receive the echo laser reflected back from the target object after being irradiated by the line laser emitted from the transmitting lens 114, and to inject the echo laser onto a corresponding sensitive element in the line detector 112. The number of the receiving lenses 116 in each transceiver module 11 may be the same as the number of the sensitive elements in the line detector 112, each receiving lens 116 corresponds to one sensitive element, each sensitive element may be installed on an image plane corresponding to each receiving lens 116 in a one-to-one correspondence manner, or one receiving lens 116 in a square, strip or other shape corresponds to one transceiver module 11, and all the sensitive elements in the line detector 112 of the transceiver module 11 receive the echo laser through the one receiving lens 116 in the square, strip or other shape, so that the echo laser received by each receiving lens 116 is accurately incident to the corresponding sensitive element. In the present embodiment, the receiving lens 116 may be, but is not limited to, a fresnel lens or other lens capable of focusing the echo laser light.
In the above embodiment, the pulse laser signal is converted into the line laser by the transmitting lens 114 and the receiving lens 116, each line of laser can irradiate a certain preset angle range, the displacement and the distance of all points on the measuring line of the preset angle range can be measured simultaneously, the multi-line laser is combined to perform the omnidirectional azimuth detection of the target object, and the azimuth detection accuracy is improved.
As the line detector 112 and the signal processing module 12 usually have different power sources and different input and output signals, the transceiver module 11 in this embodiment may further include a driving and conditioning module 118 as an alternative implementation.
The driving and conditioning module 118 may include a filter circuit and an amplifying circuit, and the signal received by the linear array detector 112 is filtered and amplified by the filter circuit and the amplifying circuit of the driving and conditioning module 118, and then transmitted to the signal processing module 12. Specifically, each sensitive element in the linear array detector 112 is connected to the driving and conditioning module 118, so that when a certain sensitive element receives the echo laser, an electrical signal generated based on the echo laser is filtered and amplified by the filter circuit and the amplifier circuit of the driving and conditioning module 118, and then is transmitted to the signal processing module 12.
Further, the driving conditioning module 118 may further include a voltage adjusting module, which is configured to adjust the driving power provided by the signal processing module 12 to a voltage suitable for the line detector 112.
Referring to fig. 3, fig. 3 is a block diagram of a signal processing module according to an embodiment of the present disclosure.
The signal processing module 12 includes a microprocessor 121, and the microprocessor 121 is connected to each transceiver module 11, and is configured to receive the voltage signals transmitted by all the transceiver modules 11 and the numbers of the sensitive elements carried by the voltage signals, and calculate and obtain the orientation of the target object based on the numbers of the sensitive elements. The microprocessor 121 may include an SCK pin for data transmission, a MOSI pin, a MISO pin, a CS pin for stator, and a plurality of IO pins.
When the pulse signal width of the detection laser used for laser detection is narrow, the subsequent sampling circuit may not be able to read the peak voltage of the voltage signal generated based on the received echo laser, so the signal processing module 12 in this embodiment further includes a peak hold circuit 122, which obtains the peak voltage of the input voltage signal of the sensitive element and holds the peak voltage for a period of time.
As an alternative embodiment, the peak hold circuits 122 may correspond to the sensitive elements in the transceiver unit 11 one-to-one, each of which is connected to the microprocessor 121 via a separate one of the peak hold circuits 122. It should be understood that the peak hold circuit 122 in the present embodiment may be implemented by a discrete component circuit, a hybrid circuit of integrated and discrete components, a dedicated chip, or the like.
Specifically, referring to fig. 4, fig. 4 is a circuit diagram of a peak hold circuit according to an embodiment of the present disclosure. The peak hold circuit 122 may include a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, an integrated operational amplifier U1, an integrated operational amplifier U2, a diode D1, a diode D2, a diode D3, a capacitor C1, and a MOS transistor Q1. A first terminal of the resistor R1 is connected to the output terminal of the sensor, a second terminal of the resistor R1 is connected to the first terminal of the resistor R2, the first terminal of the resistor R3 and the inverting input terminal of the integrated operational amplifier U1, the integrated operational amplifier U1 is grounded via the resistor R4, a second terminal of the resistor R2 is connected to the anode of the diode D1, the cathode of the diode D1 is connected to the output terminal of the integrated operational amplifier U1 and the anode of the diode D2, the cathode of the diode D2 is connected to the drains of the resistors R5 and Q1 and is grounded via the capacitor C1, the source of the MOS Q1 is grounded, the gate of the MOS Q1 is connected to the first terminal of the resistor R5 and the anode of the diode D3, the second terminal of the resistor R5 is grounded, the cathode of the diode D3 is the output terminal of the peak hold circuit 122, the second terminal of the resistor R3 is connected to the inverting input terminal of the integrated operational amplifier U3, the output terminal of the integrated operational amplifier U2 is connected to the resistor R3 and the inverting input terminal of the integrated operational amplifier U2.
Further, an operational amplifier circuit is connected between each sensitive element and each peak hold circuit 122. Alternatively, the operational amplification circuit may be an integrated operational amplification circuit, and the operational amplification circuit between each sensitive element and each peak hold circuit 122 may be a multistage operational amplification circuit.
As an alternative implementation, please refer to fig. 5, and fig. 5 is a circuit diagram of an integrated operational amplifier circuit according to an embodiment of the present disclosure. The integrated operational amplifier circuit may include a resistor R7, a resistor R8, a resistor R9, an amplifier chip O1, a capacitor C2, a capacitor C3, and a capacitor C4. The first terminal of the resistor R7 is an input terminal of the integrated operational amplifier circuit, the input terminal is connected to the output terminal of each sensor, the second terminal of the resistor R7 is connected to the IN + pin of the amplifier chip O1, the IN-pin of the amplifier chip O1 is connected to the second terminal of the resistor R8, the first terminal of the resistor R9, and the first terminal of the capacitor C2, the first terminal of the resistor R8 is grounded, the second terminal of the resistor R9 is connected to the second terminal of the capacitor C2 and the OUT pin of the amplifier chip O1, the VDD pin of the amplifier chip O1 is externally connected to the +5V power supply and grounded through the capacitor C3, the VEE pin of the amplifier chip O1 is externally connected to the-5V power supply and grounded through the capacitor C4, the OUT pin of the amplifier chip O1 is an output terminal of the integrated operational amplifier circuit, and the output terminal is connected to the input terminal of.
In the above embodiment, the voltage signal is delayed by the peak hold circuit 122, and the voltage signal is extended from the nanosecond level to the millisecond level, so that the requirement on the signal acquisition response speed of the microprocessor 121 is reduced, and the hardware cost is reduced.
Further, the signal processing module 12 may further use the synchronous sampling analog-to-digital converter 123 to collect the peak voltage transmitted through the peak hold circuit 122, and transmit the collected peak voltage to the microprocessor 121.
An analog-to-digital converter (ADC) is an a/D converter, generally an electronic component for converting an analog signal into a digital signal, and converts an input voltage signal into an output digital signal. The synchronous sampling adc 123 can sample multiple channels at the same time, so as to ensure minimum sampling interval of the multi-channel signal, and is adapted to sample and hold sampling pins simultaneously in the sampling process (conversion may be performed after the sampling), and mainly performs simultaneous data acquisition for multiple channels, and is suitable for application occasions where multiple inputs, signal level rapid change, phase requirements are strict, and the like, where the multiple channels correspond to the multiple sensitive elements and the multiple peak hold circuits 122 in this example.
It should be understood that in this embodiment, each transceiver unit 11 includes 8 sensitive elements, the synchronous sampling analog-to-digital converter 123 is an 8-way synchronous sampling analog-to-digital converter, the number of sensitive elements included in each transceiver unit 11 may be 10, 16, 32 or other numbers, and the number of channels that the synchronous sampling analog-to-digital converter 123 may also correspond to the conversion.
As an alternative implementation, please refer to fig. 6, where fig. 6 is a connection diagram of a synchronous sampling analog-to-digital converter according to an embodiment of the present application. The synchronous sampling adc 123 is an 8-channel synchronous sampling adc with model number AD7289, and includes pins VIN0 to VIN7, a CS pin, an SCK pin, a DIN pin, and a DOUT pin, where the pins VIN0 to VIN7 of the AD7289 are respectively used for collecting voltage signals sent by each sensitive element of the transceiver unit 11, each of the pins VIN0 to VIN7 is respectively connected to an output terminal of each peak hold circuit 122 in the transceiver unit 11, the CS pin is connected to an IO pin of the microprocessor 121, the SCK pin is connected to the SCK pin of the microprocessor 121, the DIN pin is connected to the MOSI of the microprocessor 121, the DOUT pin is connected to the MISO of the microprocessor 121, and a power supply pin of the AD7289 is externally connected to a power supply.
In the above embodiment, the voltage signal is converted into a digital signal that can be recognized by the microprocessor 121 through the synchronous sampling analog-to-digital converter 123, so that the microprocessor 121 can perform a magnitude comparison based on the digital signal.
In addition to accurately collecting the peak voltage of the voltage signal by using the peak-hold circuit 122 and the synchronous sampling analog-to-digital converter 123, the signal processing module 12 may further include a comparator 124 in order to further improve the azimuth measurement accuracy and avoid interference signals.
The comparator 124 is a circuit that compares an analog voltage signal with a reference voltage, and compares two or more data items to determine whether they are equal or to determine the magnitude relationship and the arrangement order between them.
As an alternative implementation, please refer to fig. 7, and fig. 7 is a circuit diagram of a comparator according to an embodiment of the present application. The comparator 124 may include a resistor R10, a resistor R11, a resistor R12 and an integrated operational amplifier U3, a first end of the resistor R10 is configured to receive a predetermined standard voltage, a second end of the resistor R10 is connected to an inverting input terminal of the integrated operational amplifier U3, a first end of the resistor R11 is configured to input a synchronous pulse signal, a second end of the resistor R10 is connected to a forward input terminal of the integrated operational amplifier U3, an output terminal of the integrated operational amplifier U3 is connected to a forward power supply through a resistor R12, an output terminal of the integrated operational amplifier U3 is an output terminal of the comparator 124, and the output terminal is connected to an IO terminal of the microprocessor 121.
It should be understood that the model of the integrated operational amplifier in the present embodiment, such as the integrated operational amplifier U1, the integrated operational amplifier U2, the integrated operational amplifier U3, etc., may be, but is not limited to, OPA 657U.
Specifically, in this embodiment, each transceiver unit 11 is connected to a comparator 124, the comparator 124 is connected to the microprocessor 121, when a certain sensitive element of the line detector 112 receives an echo laser reflected by a target object, the line detector sends a synchronization pulse signal to the comparator 124 connected to the line detector 112, and the comparator 124 compares the synchronization pulse signal with a preset standard voltage. If the synchronous pulse signal is greater than the preset standard voltage, the comparator 124 outputs a start signal to the microprocessor 121, so that the microprocessor 121 controls the peak hold circuit 122 and the synchronous sampling analog-to-digital converter 123 to perform peak acquisition on the voltage signal transmitted from the sensitive element. If the synchronization pulse signal is smaller than the preset standard voltage, it is determined that the voltage signal is an interference signal, and the comparator 124 outputs an interference determination signal to the microprocessor 121, so that the microprocessor 121 does not perform peak value collection on the voltage signal.
Specifically, the preset standard voltage may be adjusted by software or hardware, and the preset standard voltage in this embodiment may be 0.05V.
As an alternative embodiment, a constant ratio timing circuit is further disposed between each transceiver unit 11 and its corresponding comparator 124, and the synchronization pulse signal is generated by the constant ratio timing circuit. The embodiment adopts the constant ratio timing circuit, can overcome the time drift caused by amplitude change, and can ensure the constancy of the trigger ratio.
Referring to fig. 8, fig. 8 is a circuit diagram of a constant ratio timing circuit according to an embodiment of the present disclosure. The constant ratio timing circuit may include a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20, a capacitor C5, a capacitor C6, a capacitor C7, a capacitor C8, a capacitor C9, an integrated operational amplifier U4, and an integrated operational amplifier U5. A first end of a resistor R13 is connected with a first end of a resistor R14, a first end of a resistor R15, a first end of a capacitor C5 and an output port of the linear array detector 112 respectively, a second end of the resistor R13 is grounded, a second end of a resistor R14 is connected with a first end of a capacitor C5 and a forward input end of an integrated operational amplifier U4 respectively, a second end of a capacitor C5 is grounded, a second end of the resistor R15 is connected with a reverse input end of the integrated operational amplifier U4 and a first end of a resistor R16 respectively, a second end of a resistor R16 is connected with an output end of the integrated operational amplifier U4, a forward input end of the integrated operational amplifier U5 and a first end of a resistor R17 respectively, a second end of the resistor R17 is grounded, a forward power supply of the integrated operational amplifier U4 is connected with a +5V power supply and grounded through a capacitor C6, a reverse power supply of the integrated operational amplifier U4 is connected with a-5V power supply and grounded through a capacitor C7, and a reverse input end of the integrated, The first end of a resistor R19 is connected, the first end of a resistor R18 is grounded, the second end of a resistor R19 is respectively connected with the first end of a resistor R20 and the output end of an integrated operational amplifier U5, a forward power supply of the integrated operational amplifier U5 is connected with a +5V power supply and grounded through a capacitor C8, a reverse power supply of the integrated operational amplifier U5 is connected with a-5V power supply and grounded through a capacitor C9, the second end of the resistor R20 is the output end of a constant ratio timing circuit, and the output end is connected with the first end of the resistor R11.
In the implementation process, when the comparator 124 determines that the voltage value of the synchronization pulse signal is greater than the preset standard voltage, a start signal is output to the microprocessor 121, so that the microprocessor 121 controls the synchronous sampling analog-to-digital converter 123 and the peak holding circuit 122 to perform peak value acquisition, thereby removing part of interference signals and improving the accuracy of azimuth measurement.
It should be understood that the present embodiment may also include a pulsed laser 13 in order to obtain emitted laser light. The pulse laser 13 is connected to the microprocessor 121 and sends a synchronous pulse laser signal to each transceiver module 11, and the synchronous pulse laser signal is emitted through the transmitting lens 114 in each transceiver module 11 and detects a target object.
In the above embodiment, the pulse laser 13 is used to generate discontinuous pulse laser signals, which is convenient for measuring the physical process with high dynamic and fast movement speed, thereby improving the accuracy of measuring the target object.
In addition to the direction detection, when the target object is detected by using the laser, the target object usually needs to be measured, so the microprocessor 121 of this embodiment may further be provided with a timer connected to the pulse laser 13, and the timer may be implemented by using the function of the microprocessor 121, or may be a specially-arranged electronic device with a timing function.
The pulse laser 13 is connected to an IO pin of the microprocessor 121, the pulse laser 13 generates a TTL signal while generating a synchronous pulse laser signal, and sends the TTL signal to the microprocessor 121 through the IO pin, the microprocessor 121 starts a timer to start timing when receiving the TTL signal, and the microprocessor 121 stops the timer from timing when receiving a start signal transmitted by the comparator 124, so as to obtain a round trip time of the synchronous pulse laser signal exiting and reflected by the target object. The microprocessor 121 can calculate and obtain the distance between the target object and the position detection device 10 based on the light speed and the round trip time.
In the above embodiment, the microprocessor 121 times the time from the time when the pulse laser 13 emits the pulse laser signal to the time when the linear array sensor 112 receives the echo signal, so as to obtain the round trip time of the pulse laser signal for detecting the target object, thereby being able to measure and calculate the distance between the target object and the azimuth detecting device.
As an alternative embodiment, the signal processing module 12 may further be connected with a communication interface, so that the position detecting device 10 transmits the obtained position and distance data to other devices through the communication interface. The communication interface may be a serial communication interface (485, 422, etc.), a controller area network communication interface, a USB communication interface, etc.
In order to cooperate with the orientation detection device of the embodiment of the application, the embodiment of the application also provides an orientation detection method. The orientation detection method provided by the present embodiment can be applied to the orientation detection apparatus 10.
Referring to fig. 9, fig. 9 is a schematic flowchart illustrating a method for detecting an orientation according to an embodiment of the present disclosure. The orientation detection method comprises the following specific steps:
step S21: when a first linear array detector in a first transceiving component returns a voltage signal, a synchronous pulse signal which is transmitted by the first linear array detector and corresponds to the voltage signal is received.
The first transceiver component in the above steps is any transceiver component in the position detection apparatus 10.
Step S22: and when the peak value of the voltage signal is larger than the synchronous pulse signal, acquiring the peak value of the voltage signal of each sensitive element in the first linear array detector.
It should be understood that, when the peak values of the voltage signals sent by the plurality of line detectors 112 to the microprocessor 121 are all greater than the synchronization pulse signal corresponding to each line detector 112, the peak values of the voltage signals of all line detectors 112 with the peak values greater than the synchronization pulse signal are collected.
Step S23: and selecting k peak values with the maximum peak value from the peak values of the voltage signals of each sensitive element.
The more echo laser light reflected by the target object is received by the sensing element, the larger the peak value of the voltage signal of the sensing element is, so in this embodiment, to improve the accuracy of the direction measurement, the larger k peak values of the collected voltage signals are selected, where k is 2 in this embodiment, and k may be 3, 4, 5, 6 or any other number in other embodiments.
Step S24: and determining the position of the target object according to the k peak values and the numbers of the sensitive elements corresponding to the k peak values.
Optionally, the position of the target object is determined by using a position calculation formula according to the two peak values and the numbers of the sensitive elements corresponding to the k peak values, where the position calculation formula includes:
wherein, Vj、VkRespectively represent the two peak values arranged from large to small, j and k respectively represent Vj、VkThe corresponding number of the sensitive elements, a represents the azimuth angle of the target object, min (j, k) represents the smaller value between j and k, N represents the number of the transceiver components 11, M represents the number of the sensitive elements included in each linear array detector 112, and N represents the number of the linear array detectors 112The number N is more than or equal to 1 and less than or equal to N, and the size of the first receiving view field angle corresponding to each sensitive element in the linear array detector 112 with the number N is
The range of the angle size of the second receiving view field corresponding to the linear array detector 112 with the number of n is
And an angle formed by the first receiving view field angles corresponding to each sensitive element in the linear array detector with the number of n is equal to the second receiving view field angle.
It should be noted that V is described above1、V2The two peaks should be continuous.
The line array detector 112 with N-M-8 and N-2 has the largest received signal peak value sensitive element V3＝2.1V、V4For example, 1.7V, based on the orientation calculation formula, we can obtain:
further, after determining the orientation of the target object, there is usually a need to determine the distance of the target object, so after step S24, the orientation detection method in this embodiment may further include:
step S25: and starting timing when a TTL signal sent by a pulse laser in any transceiving component is received, and timing to the moment of receiving a starting signal output by a comparator in the signal processing module to obtain the round-trip time.
Alternatively, the start signal in this embodiment may be 1 output by the comparator 124, and the comparator 124 outputs 0 when determining that the voltage signal is the interference model.
Step S26: and determining the distance of the target object according to the round trip time.
In this embodiment, the round trip time corresponding to the receiving unit 11 with the number n is denoted as Tn, and then the specific formula for determining the target object distance may be:
where c is the speed of light and L is the distance of the target object from the receiving unit 11.
The above steps determine the azimuth of the target object based on the k peak values with the maximum peak values obtained by the plurality of sensitive elements of the azimuth detection device 10 and the numbers of the sensitive elements corresponding to the k peak values, and the voltage signals sent by the plurality of sensitive elements receiving echo signals in a larger range are all used as data for determining the azimuth of the target object, so that the accuracy and the dynamic measurement range of azimuth measurement are improved, and the azimuth measurement can be performed on the high-dynamic and high-speed target object.
In summary, the present application provides an azimuth detecting device, which includes: the device comprises a signal processing module and at least one transceiving component; each receiving and transmitting assembly comprises a linear array detector, each linear array detector comprises at least one sensitive element, each sensitive element is used for receiving echo laser reflected by a target object in a corresponding first receiving view field angle, and each linear array detector is used for converting the echo laser into a voltage signal through the at least one sensitive element; and the signal processing module is connected with the linear array detector of each transceiver component and used for determining the position of the target object according to the number of the sensitive element which is carried by the voltage signal and receives the echo laser.
In the implementation process, through the matching of the device and the method, at least one transceiver component is arranged on the direction detection device, the linear array detector in each transceiver component comprises at least one sensitive element, and echo laser reflected by a target object in a corresponding first receiving view field angle is received through different sensitive elements, so that a plurality of sensitive elements receive the echo laser reflected by the target object in high dynamic and high speed motion, the reliability and the accuracy of echo laser signals are improved, the direction of the target object can be rapidly and accurately determined based on the number of the sensitive elements for receiving the echo laser, and the accuracy and the efficiency of direction measurement of the target object are improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An orientation detecting apparatus, characterized in that the orientation detecting apparatus comprises: the device comprises a signal processing module and at least one transceiving component;
each receiving and transmitting assembly comprises a linear array detector, each linear array detector comprises at least one sensitive element, each sensitive element is used for receiving echo laser reflected by a target object in a corresponding first receiving view field angle, and each linear array detector is used for converting the echo laser into a voltage signal through the at least one sensitive element;
and the signal processing module is connected with the linear array detector of each transceiver component and used for determining the position of the target object according to the number of the sensitive element which is carried by the voltage signal and receives the echo laser.
2. The orientation detection apparatus according to claim 1, characterized in that the orientation detection apparatus further comprises:
and the pulse laser is connected with the microprocessor in the signal processing module and is used for outputting synchronous pulse laser signals to each transceiving component.
3. The orientation detection device of claim 2 wherein each transceiver module further comprises:
an emission lens for converting the pulse laser generated by the pulse laser into a line laser and emitting the line laser;
and the receiving lens is used for receiving echo laser generated by the reflection of the linear laser by the target object and transmitting the echo laser to the linear array detector.
4. The orientation detection device of claim 1, wherein the signal processing module further comprises:
and each sensitive element is respectively connected with the microprocessor in the signal processing module through the peak holding circuit which is respectively connected with the sensitive element, and the peak holding circuits are used for delaying the voltage signal so as to enable the microprocessor to collect the voltage signal in response time.
5. The orientation detection device of claim 4, wherein the signal processing module further comprises:
the output end of each sensitive element is connected with the input end of the corresponding peak holding circuit through the integrated operational amplifier circuit which is connected with the output end of each sensitive element, and the integrated operational circuits are used for amplifying the voltage signal transmitted by each sensitive element.
6. The orientation detection device of claim 5, wherein the signal processing module further comprises:
and the output ends of the plurality of peak value holding circuits are respectively connected with the corresponding input ends of the synchronous sampling analog-to-digital converters, and the output ends of the synchronous sampling analog-to-digital converters are connected with the signal processing module.
7. The orientation detection device of claim 1, wherein the signal processing module further comprises:
and the comparator is connected with the transceiving component and the microprocessor in the signal processing module, is used for receiving a synchronous pulse signal transmitted by any transceiving component when receiving the echo laser, and outputs a starting signal when the synchronous pulse signal is higher than a preset standard voltage, and is used for collecting the peak value of the voltage signal converted by any transceiving component by the microprocessor based on the starting signal.
8. The orientation detection device of claim 7, wherein the signal processing module further comprises:
and the constant ratio timing circuit is connected between the linear array detector and the comparator, and is used for aligning the output time of the synchronous pulse signal with the time when the sensitive element outputs the voltage signal corresponding to the synchronous pulse signal.
9. The apparatus according to claim 8, wherein an integrated operational amplifier circuit is further disposed between the constant ratio timing circuit and the linear array detector.
10. The orientation detection device of claim 7 further comprising a pulsed laser, the microprocessor comprising:
the timer is used for starting timing when the microprocessor receives a TTL signal sent to the microprocessor by the pulse laser and timing to the moment when the microprocessor receives the starting signal;
and when the pulse laser sends out a synchronous pulse laser signal, the TTL signal is sent to the microprocessor.
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