CN213338033U - Laser radar signal processing circuit and laser radar - Google Patents
Laser radar signal processing circuit and laser radar Download PDFInfo
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- CN213338033U CN213338033U CN202022360235.5U CN202022360235U CN213338033U CN 213338033 U CN213338033 U CN 213338033U CN 202022360235 U CN202022360235 U CN 202022360235U CN 213338033 U CN213338033 U CN 213338033U
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Abstract
The utility model is suitable for a radar technical field provides a laser radar signal processing circuit and laser radar, laser radar signal processing circuit includes: the device comprises a signal transmitting module, a signal receiving module, a signal integration module and a post-processing module, wherein the signal transmitting module is used for generating and transmitting a laser pulse signal, the signal receiving module is used for receiving an echo pulse signal corresponding to the laser pulse signal, and the signal integration module is used for performing signal integration on the laser pulse signal and the echo pulse signal; the signal transmitting module and the signal receiving module are both connected with the signal integration module, and the signal integration module is connected with the post-stage processing module. The utility model discloses time interval's when can effectively improve when to launching laser pulse signal and receiving echo pulse signal measurement accuracy, and then improve pulsed laser radar's range finding precision.
Description
Technical Field
The utility model belongs to the technical field of the radar, especially, relate to a laser radar signal processing circuit and laser radar.
Background
The laser radar is a radar system for emitting laser beams to detect characteristic quantities such as the position, the speed and the like of a target, wherein the pulse type laser radar is widely applied to the fields of industry, traffic, robots and the like due to the advantages of simple technical principle, high response speed, simple optical structure and the like.
The pulse type laser radar mainly transmits laser pulse to a target and receives the laser pulse reflected from the target, and the distance measurement is carried out according to the time interval between the laser pulse and the target, so that the measurement precision of the time interval for receiving and transmitting the laser pulse directly influences the distance measurement precision of the pulse type laser radar. However, in the prior art, when the time interval between the transmitting and receiving of the laser pulse is measured, the transmitted laser pulse and the received laser pulse are generally processed by different processing circuits, and different processing circuits generate different delays, which causes the measurement accuracy of the time interval between the transmitting and receiving of the laser pulse to be reduced, thereby reducing the ranging accuracy of the pulse type laser radar.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides a laser radar signal processing circuit and laser radar to solve the unable accurate measurement pulsed laser radar receiving and dispatching laser pulse time interval of prior art, and then lead to pulsed laser radar's the problem that range finding precision is low.
The utility model provides a first aspect of the embodiment provides a laser radar signal processing circuit, include:
the device comprises a signal transmitting module, a signal receiving module, a signal integration module and a post-processing module, wherein the signal transmitting module is used for generating and transmitting a laser pulse signal, the signal receiving module is used for receiving an echo pulse signal corresponding to the laser pulse signal, and the signal integration module is used for performing signal integration on the laser pulse signal and the echo pulse signal;
the signal transmitting module and the signal receiving module are both connected with the signal integration module, and the signal integration module is connected with the post-stage processing module.
Optionally, the signal receiving module includes a signal receiving unit, a signal converting unit and a signal conditioning unit;
the output end of the signal receiving unit is sequentially connected with the signal conversion unit and the signal conditioning unit, and the output end of the signal conditioning unit is connected with the signal integration module.
Optionally, the signal integration module includes a first signal processing unit, a second signal processing unit, a third signal processing unit and an integration unit;
the input end of the first signal processing unit is connected with the signal transmitting module, and the output end of the first signal processing unit is connected with the input end of the integration unit through the second signal processing unit;
the input end of the third signal processing unit is connected with the signal receiving module, and the output end of the third signal processing unit is connected with the input end of the integration unit;
the output end of the integration unit is connected with the post-stage processing module.
Optionally, the first signal processing unit is a resistor or a capacitor for conditioning the laser pulse signal.
Optionally, the second signal processing unit and the third signal processing unit are both blocking capacitors.
Optionally, the post-processing module includes a post-signal processing unit and a timing unit;
the input end of the rear-stage signal processing unit is connected with the signal integration module, and the output end of the rear-stage signal processing unit is connected with the timing unit.
Optionally, the post-stage signal processing unit includes a signal amplifying unit and a signal post-stage processing unit;
the input end of the signal amplification unit is connected with the signal integration module, and the output end of the signal amplification unit is connected with the timing unit through the signal post-stage processing unit.
Optionally, the timing unit includes a plurality of signal input channels and a timing subunit, and the signal integrated by the signal integration module is input to the timing subunit through any one of the signal input channels.
Optionally, the timing subunit is a timing chip for calculating a rising edge time interval or a falling edge time interval of the integrated signal.
The utility model provides a laser radar is provided to the second aspect of embodiment, and this laser radar includes the utility model discloses the laser radar signal processing circuit that the first aspect of embodiment provided.
Compared with the prior art, the utility model the beneficial effect who exists is:
the utility model provides a laser radar signal processing circuit, through signal integration module with laser radar to the laser pulse signal of target transmission and the echo pulse signal that reflects back from the target integrate, obtain the integration signal, then input this integration signal into same back level processing module and handle, make laser pulse signal and echo pulse signal produce the same circuit delay, and simultaneously, the influence of temperature factor to different signal path delays has still been eliminated through the same circuit behind laser pulse signal and the integration of echo pulse signal, and then avoided the error because laser pulse signal and echo pulse signal's the different and production of time delay when measuring time interval. The utility model discloses time interval's when can effectively improve when to launching laser pulse signal and receiving echo pulse signal measurement accuracy, and then improve pulsed laser radar's range finding precision.
Drawings
Fig. 1 is a schematic diagram of an overall structure of a laser radar signal processing circuit provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a signal receiving module, a signal integrating module, and a post-processing module of a laser radar signal processing circuit according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical solution of the present invention, the following description is made by using specific examples.
The utility model discloses the first aspect of the embodiment provides a laser radar signal processing circuit, as shown in fig. 1, this laser radar signal processing circuit includes:
a signal transmitting module 11 for generating and transmitting a laser pulse signal, a signal receiving module 12 for receiving an echo pulse signal corresponding to the laser pulse signal, a signal integrating module 13 for performing signal integration on the laser pulse signal and the echo pulse signal, and a post-stage processing module 14;
the signal transmitting module 11 and the signal receiving module 12 are both connected with the signal integration module 13, and the signal integration module 13 is connected with the post-stage processing module 14.
The embodiment of the utility model provides an in, integrate the laser pulse signal of signal emission module 11 output and the echo pulse signal of signal reception module 12 output through signal integration module 13, obtain the integration signal, then input this integration signal to same back end processing module 13 and handle, make laser pulse signal and echo pulse signal produce the same time delay, and then avoided the error that produces because the time delay of laser pulse signal and echo pulse signal is different when measuring time interval, the measurement accuracy of time interval when with when receiving echo pulse signal when having improved to transmitting laser pulse signal.
It should be noted that, in practical application, a signal generating device may be provided, and at the same time of transmitting the laser pulse signal, a rectangular pulse signal representing the time of signal transmission is generated, and the rectangular pulse signal representing the time of signal transmission is integrated with the echo pulse signal to determine the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal, which is not limited in the present invention.
Optionally, referring to fig. 2, as a specific implementation manner of the laser radar signal processing circuit provided in the first aspect of the embodiment of the present invention, the signal receiving module 12 includes a signal receiving unit 121, a signal converting unit 122, and a signal conditioning unit 123; the output end of the signal receiving unit 121 is sequentially connected to the signal converting unit 122 and the signal conditioning unit 123, and the output end of the signal conditioning unit 123 is connected to the signal integrating module 13.
The embodiment of the present invention provides an in, signal receiving module 12 firstly receives the laser signal that is reflected back from the target through signal receiving unit 121, then converts this laser signal into the electrical signal through signal conversion unit 122, conditions the electrical signal through signal conditioning unit 123 at last, obtains the echo pulse signal that the level value accords with the input condition of signal integration module 13, and inputs it into signal integration module 13.
Optionally, referring to fig. 2, as a specific implementation manner of the laser radar signal processing circuit provided in the first aspect of the embodiment of the present invention, the signal integration module 13 includes a first signal processing unit 131, a second signal processing unit 132, a third signal processing unit 133, and an integration unit 134;
the input end of the first signal processing unit 131 is connected to the signal transmitting module 11, and the output end of the first signal processing unit 131 is connected to the input end of the integrating unit 134 through the second signal processing unit 132;
the input end of the third signal processing unit 132 is connected to the signal receiving module 12, and the output end of the third signal processing unit 133 is connected to the input end of the integrating unit 134;
the output of the integration unit 134 is connected to the post-processing module 14.
Optionally, as a specific implementation manner of the laser radar signal processing circuit provided in the first aspect of the embodiment of the present invention, the first signal processing unit 131 is a resistor or a capacitor for conditioning the laser pulse signal.
Optionally, as a specific implementation manner of the laser radar signal processing circuit provided in the first aspect of the embodiment of the present invention, the second signal processing unit 132 and the third signal processing unit 133 are both blocking capacitors.
In the embodiment of the present invention, since the laser pulse signal outputted from the signal emitting module 11 is a rectangular pulse signal, since the echo pulse signal outputted from the signal receiving module 12 is a gaussian signal, the signal integrating module 13 firstly converts the laser pulse signal into a gaussian signal through the first signal processing unit 131, and adjusts the level of the laser pulse signal to meet the input conditions of the post-processing unit 14, the second signal processing unit 132 then separates the dc component and the ac component of the laser pulse signal, and outputs the ac amount of the laser pulse signal, the third signal processing unit 133 separates the dc amount and the ac amount of the echo pulse signal, and outputs the ac amount of the echo pulse signal, after dc blocking, the laser pulse signal and the echo pulse signal can be integrated into one integrated signal by the integration unit 134.
It should be noted that the first signal processing unit 131 may be, but is not limited to, a resistor or a capacitor, and the second signal processing unit 132 and the third signal processing unit 133 may be dc blocking capacitors. In fact, the laser pulse signal processed by the second signal processing unit 132 and the echo pulse signal processed by the third signal processing unit 133 may be directly integrated into an integrated signal, that is, the integration unit 134 may be a signal channel for combining the laser pulse signal and the echo pulse signal.
Optionally, the post-processing module 14 includes a post-signal processing unit 141 and a timing unit 142;
the input end of the rear-stage signal processing unit 141 is connected to the signal integration module 13, and the output end of the rear-stage signal processing unit 141 is connected to the timing unit 142.
Optionally, the post-stage signal processing unit 141 includes a signal amplifying unit 1411 and a signal post-stage processing unit 1412;
the input end of the signal amplifying unit 1411 is connected to the signal integrating module 13, and the output end of the signal amplifying unit 1411 is connected to the timing unit 142 through the signal post-processing unit 1412.
In the embodiment of the present invention, after the integrated signal enters the post-processing module 14, it is first amplified by the signal amplifying unit 1411, because the integrated signal is a gaussian signal, it is inconvenient to judge the rising edge time and the falling edge time, therefore, the integrated signal needs to be converted into a rectangular pulse signal by the signal post-processing unit 1412, and the signal post-processing unit 1412 further adjusts the level value of the integrated signal, so that it conforms to the input condition of the timing unit 142, and finally, the timing unit 142 determines the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal according to the rising edge time interval or the falling edge time interval of the integrated signal.
Optionally, the timing unit 142 includes a plurality of signal input channels and a timing subunit, and the signal integrated by the signal integration module is input to the timing subunit through any one of the signal input channels.
Optionally, the timing subunit is a timing chip for calculating a rising edge time interval or a falling edge time interval of the integrated signal.
The embodiment of the utility model provides an in, timing unit 142 has a plurality of signal input channels and timing subunit, and the integration signal can be imported to the timing subunit through arbitrary one signal input channel, and the integration signal of consequently difference can be imported to the timing subunit through different signal input channels, improves the transmission efficiency of signal, and then improves pulsed laser radar's work efficiency. Meanwhile, compared with the conventional method in which the laser pulse signal and the echo pulse signal are respectively input to the timing unit 142 through different signal input channels, the present embodiment integrates the laser pulse signal and the corresponding echo pulse signal into one integrated signal, and can only transmit through one signal input channel, thereby reducing the calculation error caused by signal input to different channels.
The utility model provides a second aspect of the embodiment provides a laser radar, and this laser radar includes the utility model discloses the laser radar signal processing circuit that provides in above-mentioned arbitrary embodiment to have the beneficial effect that the laser radar signal processing circuit that provides in above-mentioned arbitrary embodiment brought.
According to the above content, the utility model provides a laser radar signal processing circuit integrates the laser pulse signal of laser radar to the target transmission and the echo pulse signal that reflects back from the target through signal integration module, obtains the integration signal, then inputs this integration signal to same back level processing module and handles, makes laser pulse signal and echo pulse signal produce the same time delay, and then has reduced the error that produces because the time delay difference of laser pulse signal and echo pulse signal when measuring time interval. The utility model discloses time interval's when can effectively improve when to launching laser pulse signal and receiving echo pulse signal measurement accuracy, and then improve pulsed laser radar's range finding precision.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A lidar signal processing circuit comprising:
the device comprises a signal transmitting module, a signal receiving module, a signal integration module and a post-processing module, wherein the signal transmitting module is used for generating and transmitting a laser pulse signal, the signal receiving module is used for receiving an echo pulse signal corresponding to the laser pulse signal, and the signal integration module is used for performing signal integration on the laser pulse signal and the echo pulse signal;
the signal transmitting module and the signal receiving module are both connected with the signal integration module, and the signal integration module is connected with the post-stage processing module.
2. The lidar signal processing circuit of claim 1, wherein the signal receiving module comprises a signal receiving unit, a signal conversion unit, and a signal conditioning unit;
the output end of the signal receiving unit is sequentially connected with the signal conversion unit and the signal conditioning unit, and the output end of the signal conditioning unit is connected with the signal integration module.
3. The lidar signal processing circuit of claim 1 or 2, wherein the signal integration module comprises a first signal processing unit, a second signal processing unit, a third signal processing unit, and an integration unit;
the input end of the first signal processing unit is connected with the signal transmitting module, and the output end of the first signal processing unit is connected with the input end of the integration unit through the second signal processing unit;
the input end of the third signal processing unit is connected with the signal receiving module, and the output end of the third signal processing unit is connected with the input end of the integration unit;
and the output end of the integration unit is connected with the post-stage processing module.
4. The lidar signal processing circuit of claim 3, wherein the first signal processing unit is a resistor or a capacitor configured to condition the laser pulse signal.
5. The lidar signal processing circuit of claim 3, wherein the second signal processing unit and the third signal processing unit are both dc blocking capacitors.
6. The lidar signal processing circuit of claim 1, wherein the post-processing module comprises a post-signal processing unit and a timing unit;
the input end of the rear-stage signal processing unit is connected with the signal integration module, and the output end of the rear-stage signal processing unit is connected with the timing unit.
7. The lidar signal processing circuit of claim 6, wherein the post-stage signal processing unit comprises a signal amplification unit and a signal post-stage processing unit;
the input end of the signal amplification unit is connected with the signal integration module, and the output end of the signal amplification unit is connected with the timing unit through the signal post-stage processing unit.
8. The lidar signal processing circuit of claim 6, wherein the timing unit comprises a plurality of signal input channels and a timing subunit, and the signal integrated by the signal integration module is input to the timing subunit through any one of the signal input channels.
9. The lidar signal processing circuit of claim 8, wherein the timing subunit is a timing chip for calculating a rising edge time interval or a falling edge time interval of the integrated signal.
10. Lidar signal processing circuit according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022360235.5U CN213338033U (en) | 2020-10-21 | 2020-10-21 | Laser radar signal processing circuit and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022360235.5U CN213338033U (en) | 2020-10-21 | 2020-10-21 | Laser radar signal processing circuit and laser radar |
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| Publication Number | Publication Date |
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| CN213338033U true CN213338033U (en) | 2021-06-01 |
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| CN202022360235.5U Active CN213338033U (en) | 2020-10-21 | 2020-10-21 | Laser radar signal processing circuit and laser radar |
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