CN212723359U - Pulse phase hybrid ranging laser radar - Google Patents
Pulse phase hybrid ranging laser radar Download PDFInfo
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- CN212723359U CN212723359U CN201922171951.6U CN201922171951U CN212723359U CN 212723359 U CN212723359 U CN 212723359U CN 201922171951 U CN201922171951 U CN 201922171951U CN 212723359 U CN212723359 U CN 212723359U
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Abstract
The utility model belongs to the laser rangefinder field, concretely relates to pulse phase place mixes range finding laser radar. The pulse driving unit and the sine wave modulation unit respectively act on the light source 1 and the light source 2 to enable the light source 1 and the light source 2 to generate laser pulses and sine wave continuous laser, the returned laser pulses are processed by the signal conditioning unit 1 and the pulse timing unit to complete pulse timing, and the returned sine wave continuous laser is processed by the signal conditioning unit 3 and the phase detection unit to complete phase detection. The pulse ranging mode is used for long-distance measurement, the phase ranging mode is used for short-distance measurement, the two ranging modes are switched at long and short distances, and the advantages of large pulse ranging range, high speed and high phase ranging precision are combined, so that the ranging range and precision of the laser radar are improved; meanwhile, the returned sine wave continuous laser completes frequency detection through the signal conditioning unit 2 and the pulse timing unit, and the received signal is subjected to characteristic identification through the frequency characteristics of the continuous wave, so that the anti-interference capability is improved.
Description
Technical Field
The utility model relates to a laser rangefinder field specifically, relates to a mixed range finding laser radar of pulse phase place.
Background
Among the current various distance measuring means, laser distance measurement is most widely applied due to the remarkable advantages of the laser distance measurement in various aspects of measurement precision, measuring range and application environment. The laser ranging utilizes the monochromatic collimation characteristic of laser to measure the distance information of an object to be measured, and common methods include a pulse method, a phase method, an interference method and the like.
The pulse laser ranging is most applied, the distance is calculated according to the round trip time of laser pulses, the principle and the structure are simpler, the measuring range is large, but the pulse laser ranging depends on the timing precision of a timer, and the ranging precision is lower; the phase type laser ranging is mostly applied to short-range ranging, the principle of the phase type laser ranging is that a distance measurement value is indirectly obtained by identifying the phase difference between two paths of sine wave modulation laser signals which are transmitted and received, but in the practical application process, the phase type laser ranging needs measuring rulers with different resolutions to determine distance information, the time consumption of single ranging is long, the ranging of moving objects is easy to make mistakes, and the phase type laser ranging is not suitable for scanning laser radars; the laser ranging method by interference method belongs to precision ranging, utilizes the interference principle of light, calculates the distance according to the distance of interference fringes, and has the precision reaching micron level, but the measuring speed is very slow.
In summary, several common laser ranging methods have advantages in a single application field, but have obvious disadvantages in the laser radar application field, while ensuring ranging range, accuracy and measuring speed.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a main aim at provides a pulse phase hybrid ranging laser radar, switches two distance measuring modes of pulse distance measurement and phase distance measurement at far and near distances, combines the advantages of two distance measuring methods, realizes the application demand of wide range and high precision; meanwhile, the anti-interference capability of a plurality of laser radar application environments is improved by identifying and screening continuous laser frequency characteristics.
In order to achieve the above object, the utility model provides a pulse phase place hybrid range finding laser radar, include: the device comprises a clock control unit, a pulse laser generation module, a sine wave continuous laser generation module, a beam combination unit, a laser emission module, a laser receiving module, a timing module, a phase detection module and a calculation unit;
the clock control unit is respectively connected with the pulse laser generation module and the sine wave continuous laser generation module and is used for generating laser pulses and sine wave continuous laser;
the laser pulse and the sine wave continuous laser are used for being coupled into a single beam of laser through the beam combining unit and emitted out through the laser emitting module;
the laser receiving module is respectively connected with the timing module and the phase detection module and is used for receiving the reflected laser signals and converting the reflected laser signals into electric signals, the timing module is used for timing and frequency detection of the received signals, and the phase detection module is used for phase detection of the received signals;
the timing module and the phase detection module are respectively connected with the calculation unit and are used for transmitting a timing value and a phase difference value to the calculation unit and outputting a distance value.
Preferably, the pulse laser generating unit comprises a pulse driving unit and a light source 1, and the sine wave continuous laser generating module comprises a sine wave modulating unit and a light source 2.
Preferably, the beam combining unit is a prism structure or a Y-shaped optical fiber structure, and couples the laser pulse generated by the light source 1 and the sine wave continuous laser generated by the light source 2 into a single beam of mixed laser.
Preferably, the laser emitting module comprises an optical fiber, an emitting barrel, a reflecting mirror and a motor, and the laser receiving module comprises a receiving lens and an avalanche photodiode;
the emergent barrel is embedded in the center of the receiving lens, the reflector is connected with the motor, the motor is used for driving the reflector to rotate, and emergent laser is emitted outwards under the action of the reflector according to a preset scanning angle;
the receiving lens is used for receiving the reflected echo and focusing the echo to the avalanche photodiode to be converted into an electric signal.
Preferably, the timing module comprises a timing unit, a signal conditioning unit 1 and a signal conditioning unit 2, and the phase detection module comprises a phase detection unit and a signal conditioning unit 3;
the signal conditioning unit 1 is used for filtering sine wave signals with low-frequency characteristics in the mixed signals, the signal conditioning unit 2 is used for filtering pulse signals in the mixed signals, and the signal conditioning unit 3 is used for filtering pulse signals in the mixed signals.
Preferably, the phase detection unit includes a signal processing unit, two mixers and two low-pass filters, and is configured to process and detect the phase signal to be detected.
Preferably, the timing unit and the phase detection unit are configured to transmit timing information and phase information to the calculation unit, and the calculation unit calculates time information and phase information, outputs distance information, identifies frequency information, and outputs an interference indication.
As described above, the beneficial effects of the utility model reside in that, laser radar combined two kinds of range finding methods of pulse range finding and phase place range finding, adopt pulse range finding to guarantee range and scanning resolution ratio at long distance, switching the phase place range finding closely, guaranteeing the range finding precision, combined pulse range finding and phase place range finding's advantage effectively, improve the interference killing feature between the many applications of laser radar simultaneously, widened application scene for the scanning laser radar.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a phase detection unit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example one
As shown in fig. 1, the utility model relates to a mixed range finding laser radar of pulse phase place, its specific implementation process is as follows: the clock control unit respectively controls the pulse driving unit to generate a pulse driving signal and controls the sine wave modulation unit to generate a sine wave driving signal, wherein the pulse driving signal acts on the light source 1 to drive the light source 1 to generate laser pulses with specific frequency, the sine wave driving signal acts on the light source 2 to drive the light source 2 to generate sine wave continuous laser with specific frequency;
the laser pulse and the sine wave continuous laser are coupled into a single-beam mixed laser under the action of the beam combining unit, and the mixed laser comprises a pulse signal and a sine wave signal. The mixed light beam is transmitted to an emergent barrel through an optical fiber, the emergent barrel collimates the mixed laser and emits the laser by using a reflector; the mixed laser is reflected on the surface of an object to be measured and reflected to the surface of a receiving lens by a reflector, the receiving lens focuses the mixed laser on an avalanche photodiode, and the avalanche photodiode converts received optical signals into electric signals which are respectively transmitted to a signal conditioning unit 1, a signal conditioning unit 2 and a signal conditioning unit 3;
the signal conditioning unit 1 has a high-pass characteristic, and can filter out a sine wave signal with a low-frequency characteristic in the mixed signal, so that a pulse signal with a high-frequency characteristic enters the pulse timing unit to complete the timing of the flight time, and is transmitted to the calculating unit to complete the calculation of the distance of the object to be measured;
the signal conditioning unit 2 has a low-pass characteristic, and can filter pulse signals with a high-frequency characteristic in the mixed signal, so that sinusoidal signals with a low-frequency characteristic enter the timing unit, the timing unit finishes timing of a continuous wave period, and transmits the timing to the calculating unit, and frequency information of the continuous sinusoidal signals is output;
the signal conditioning unit 3 has a low-pass characteristic, and can filter out a pulse signal with a high-frequency characteristic in the mixed signal, so that a sinusoidal signal with the low-pass characteristic enters the phase detection unit to complete phase detection, and phase information is transmitted to the calculation unit to complete calculation of the distance of the object to be measured;
the calculating unit firstly screens the received signals according to the frequency information transmitted by the timing unit, screens out the received signals with the same frequency as the transmitted signals, then performs distance conversion on the pulse timing value and the continuous wave phase value of the matched received signals, and outputs an actual distance value;
the calculation unit compares the distance values obtained by the pulse ranging and the phase ranging at the time of the long distance ranging and the short distance ranging, respectively, outputs the distance value obtained by the pulse ranging at the time of the long distance ranging, and outputs the distance value obtained by the phase ranging at the time of the short distance ranging.
The implementation process for single-point laser ranging is characterized in that in the specific scanning ranging process, the motor drives the reflector to rotate, and the reflector reflects emergent laser at a preset scanning angle to realize scanning ranging. Meanwhile, the controller can switch and output the distance value obtained by two modes of pulse ranging and phase ranging according to the distance range.
The embodiment provides a scanning laser ranging scheme facing dual requirements of long-distance high resolution and short-distance high precision, the requirement of high scanning resolution is met by using the fast ranging characteristic of pulse ranging in a long distance mode, high-precision ranging is achieved by using phase ranging in a short distance mode, meanwhile, the characteristic identification is carried out on a received signal by using the continuous wave frequency characteristic, and the anti-interference capability of a laser radar is enhanced.
Example two
As shown in fig. 2, the utility model relates to a mixed range finding laser radar of pulse phase place, its another kind of implementation is as follows: when the distance measurement is carried out, the clock control unit controls the pulse driving unit to generate a pulse driving signal, the pulse driving signal acts on the light source 1 to enable the light source 1 to generate laser pulse, a beam combining unit and the transmitting optical module are used for emitting a collimated laser pulse signal, the laser pulse is reflected on the surface of an object to be measured, the laser pulse is captured by the receiving optical module and focused on the avalanche photodiode, the optical signal is converted into an electric signal by the avalanche photodiode, and the electric signal is transmitted to the signal conditioning unit 1;
the signal conditioning unit 1 amplifies and filters the received electric signals, transmits the electric signals to the timing unit to complete the calculation of the flight time, transmits the pulse flight time to the calculating unit, and the calculating unit completes the calculation of the distance between the object to be measured.
During short-distance ranging, the clock control unit controls the sine wave modulation unit to generate sine wave driving signals, the sine wave driving signals act on the light source 2 to enable the light source 2 to generate sine wave continuous laser, the continuous sine wave continuous laser is emitted through the beam combining unit and the emitting optical module, the continuous laser is received by the receiving optical module after being reflected on the surface of an object to be measured, is converged to the avalanche photodiode to be converted into electric signals, and is transmitted to the signal conditioning unit 2, and then the signal conditioning unit 2 transmits the processed continuous signals to the phase detection unit to finish phase detection;
the specific detection principle of the phase detection unit is shown in fig. 3, a signal to be detected enters the phase detection unit, is amplified and filtered by the signal processing unit, is divided into two paths to be respectively mixed with an in-phase unit signal and an orthogonal unit signal generated by the clock control unit, respectively passes through the low-pass filter and the AD converter to obtain two paths of in-phase components and orthogonal components containing phase difference information, and is transmitted to the calculation unit, the phase difference between a transmitting signal and a receiving signal is calculated by the calculation unit, and finally the distance between an object to be detected is calculated;
in the distance measuring process, the clock control unit switches the pulse driving signal and the sine wave driving signal according to the distance between the object to be measured and the distance, the time-sharing driving unit generates laser pulse and sine continuous laser, emergent light is laser of a single signal, the pulse timing unit processes pulse information, and the phase detection unit processes phase information to obtain a final distance value.
To sum up, the embodiment of the utility model provides a pair of mixed range finding laser radar of pulse phase place has combined phase place range finding and the respective advantage of pulse range finding to be applied to the laser radar field, can satisfy the dual scanning range finding requirement of remote high resolution and closely high accuracy simultaneously, overall structure is simple, and the system is with low costs, and the application development degree of difficulty is moderate, provides the solution of ideal for multi-scene laser range finding is used.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a pulse phase place hybrid range laser radar which characterized by includes: the device comprises a clock control unit, a pulse laser generation module, a sine wave continuous laser generation module, a beam combination unit, a laser emission module, a laser receiving module, a timing module, a phase detection module and a calculation unit;
the clock control unit is respectively connected with the pulse laser generation module and the sine wave continuous laser generation module and is used for generating laser pulses and sine wave continuous laser;
the laser pulse and the sine wave continuous laser are used for being coupled into a single beam of laser through the beam combining unit and emitted out through the laser emitting module;
the laser receiving module is respectively connected with the timing module and the phase detection module and is used for receiving the reflected laser signals and converting the reflected laser signals into electric signals, the timing module is used for timing and frequency detection of the received signals, and the phase detection module is used for phase detection of the received signals;
the timing module and the phase detection module are respectively connected with the calculation unit and are used for transmitting a timing value and a phase difference value to the calculation unit and outputting a distance value.
2. The pulse-phase hybrid ranging lidar according to claim 1,
the pulse laser generation module comprises a pulse driving unit and a first light source, and the sine wave continuous laser generation module comprises a sine wave modulation unit and a second light source.
3. The pulse-phase hybrid ranging lidar according to claim 2,
the beam combination unit is of a prism structure or a Y-shaped optical fiber structure, and laser pulses generated by the first light source and sine wave continuous laser generated by the second light source are coupled into single-beam mixed laser.
4. The pulse-phase hybrid ranging lidar according to claim 1,
the laser emitting module comprises an optical fiber, an emitting barrel, a reflecting mirror and a motor, and the laser receiving module comprises a receiving lens and an avalanche photodiode;
the emergent barrel is embedded in the center of the receiving lens, the reflector is connected with the motor, the motor is used for driving the reflector to rotate, and emergent laser is emitted outwards under the action of the reflector according to a preset scanning angle;
the receiving lens is used for receiving the reflected echo and focusing the echo to the avalanche photodiode to be converted into an electric signal.
5. The pulse-phase hybrid ranging lidar according to claim 1,
the timing module comprises a timing unit, a signal conditioning unit I and a signal conditioning unit II, and the phase detection module comprises a phase detection unit and a signal conditioning unit III;
the signal conditioning unit I is used for filtering sine wave signals with low-frequency characteristics in the mixed signals, the signal conditioning unit II is used for filtering pulse signals in the mixed signals, and the signal conditioning unit III is used for filtering pulse signals in the mixed signals.
6. The pulse-phase hybrid ranging lidar according to claim 1,
the phase detection unit comprises a signal processing unit, two mixers and two low-pass filters, and is used for processing and detecting the phase signal to be detected.
7. The laser radar of claim 5, wherein the timing unit and the phase detection unit are configured to transmit timing information and phase information to the computing unit, and the computing unit computes time information and phase information respectively, outputs distance information, identifies frequency information, and outputs interference indication.
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| CN201922171951.6U CN212723359U (en) | 2019-12-06 | 2019-12-06 | Pulse phase hybrid ranging laser radar |
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| CN201922171951.6U CN212723359U (en) | 2019-12-06 | 2019-12-06 | Pulse phase hybrid ranging laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046984A (en) * | 2022-01-12 | 2022-02-15 | 北京恒润安科技有限公司 | Gate fault troubleshooting device based on phase method laser ranging |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046984A (en) * | 2022-01-12 | 2022-02-15 | 北京恒润安科技有限公司 | Gate fault troubleshooting device based on phase method laser ranging |
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