CN110058255A - Orientation detection device and method - Google Patents

Abstract

Embodiments of the present application provide an azimuth detection device and method, which relate to the technical field of photoelectric detection. The device includes: a signal processing module and at least one transceiver component; each transceiver component includes a line array detector, the line array detector includes at least one sensitive element, and each sensitive element is used to receive a corresponding first receiving field of view The echo laser reflected back by the target object within the angle, the linear array detector is used to convert the echo laser into a voltage signal through the at least one sensitive element; the signal processing module, together with all the transceiver components; The linear array detector is connected to determine the orientation of the target object according to the serial number of the sensitive element carried by the voltage signal that has received the echo laser. The device determines the azimuth of the target object based on the azimuth difference of the sensitive element receiving the echo laser, and improves the accuracy and efficiency of azimuth determination of the highly dynamic and high-speed target.

Description

Orientation detection device and method

technical field

The present application relates to the technical field of photoelectric detection, and in particular, to an azimuth detection device and method.

Background technique

At present, most laser detection devices are mainly based on detection distance, such as hand-held laser rangefinders, etc., whose corresponding speed is relatively slow, and their azimuth detection function is mostly calculated by MEMS (micro-electromechanical system) gyroscope combined with geometric intercept, which is not suitable for Detection of high-speed dynamic targets. As for the missile-borne laser detection device, the detection results are mostly based on the presence or absence of the target and the target distance, and the judgment of the orientation is very rough. The detection of distance and azimuth, but this kind of detection device is not suitable for the detection of high dynamic targets due to its great dependence on the output frequency of the pulsed laser.

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 highly dynamic and high-speed moving targets.

SUMMARY OF THE INVENTION

In view of this, the purpose of the embodiments of the present application is to provide an azimuth detection device and method to improve the problems of low accuracy and long detection time in azimuth detection of highly dynamic and high-speed moving targets in the prior art.

An embodiment of the present application provides an azimuth detection device, the device includes: a signal processing module and at least one transceiver component; each transceiver component includes a line array detector, the line array detector includes at least one sensitive element, each The sensitive element is used to receive the echo laser reflected back by the target object within the corresponding first receiving field of view angle, and the line array detector is used to convert the echo laser into a voltage signal through the at least one sensitive element; The signal processing module is connected to the linear array detector of each transceiver component, and is used for determining the orientation of the target object according to the number of the sensitive element carried by the voltage signal that receives the echo laser.

In the above implementation process, at least one transceiver component is set on the azimuth detection device, the linear array detector in each transceiver component includes at least one sensitive element, and the target within the corresponding first receiving field angle is received through different sensitive elements The echo laser reflected back by the object enables multiple sensitive elements to receive the echo laser reflected from the highly dynamic, high-speed moving target object, which improves the reliability and accuracy of the echo laser signal, and can be based on the received echo laser. The number of the sensitive element can quickly and accurately determine the orientation of the target object, which improves the accuracy and efficiency of orientation measurement of the target object.

Further, the azimuth detection device further includes: a pulsed laser, which is connected to the microprocessor in the signal processing module, and is used for outputting a synchronous pulsed laser signal to each transceiver component.

In the above implementation process, a pulsed laser is used to generate discontinuous pulsed laser signals, which facilitates the measurement of a highly dynamic and fast-moving physical process, thereby improving the accuracy of the measurement of the target object.

Further, each transceiver assembly further includes: a transmitting lens, used for converting the pulsed laser light generated by the pulsed laser into line laser light and emitting the line laser light; a receiving lens, used for receiving the target object to the line laser light The generated echo laser light is reflected and the echo laser light is incident on the line array detector.

In the above implementation process, the pulsed laser signal is converted into a line laser through a lens, each line laser can irradiate a certain preset angle range, and the displacement and distance of all points on the measurement line within the preset angle range can be measured at the same time, The combination of multi-beam line lasers can perform azimuth detection of the target object in all directions, which improves the accuracy of azimuth detection.

Further, the signal processing module further includes: a plurality of peak hold circuits, each sensitive element is respectively connected to the microprocessor in the signal processing module through the respective peak hold circuits connected, and the plurality of peak hold circuits are used for delaying the voltage signal, so that the microprocessor collects the voltage signal within a response time.

In the above implementation process, the voltage signal is delayed by the peak hold circuit, and the voltage signal is extended from the nanosecond level to the millisecond level, which reduces the requirement for the signal acquisition response speed of the microprocessor, thereby reducing the hardware cost.

Further, the signal processing module further includes: a synchronous sampling analog-to-digital converter, and the plurality of peak hold circuits are connected to the microprocessor through the synchronous sampling analog-to-digital converter.

In the above implementation process, the voltage signal is converted into a digital signal that the microprocessor can recognize and process through the synchronous sampling analog-to-digital converter, so that the microprocessor can compare the size based on the digital signal.

Further, the signal processing module further includes: a comparator, which is connected to the transceiver component and the microprocessor in the signal processing module, and is used for receiving the echo laser transmitted by any transceiver component when receiving the echo laser. When the synchronization pulse signal is higher than the preset standard voltage, a start signal is output for the microprocessor to collect the peak value of the voltage signal converted by any one of the transceiver components based on the start signal .

In the above implementation process, when the comparator determines that the voltage value of the synchronous pulse signal is greater than the preset standard voltage, a start signal is output to the microprocessor, so that the microprocessor controls the synchronous sampling analog-to-digital converter and the peak hold circuit to perform peak value acquisition, Therefore, some interference signals are excluded, and the accuracy of azimuth measurement is improved.

Further, the azimuth detection device further includes a pulsed laser, and the microprocessor includes: a timer, configured to start timing when the microprocessor receives the TTL signal sent by the pulsed laser to the microprocessor , and time to the moment when the microprocessor receives the start signal; wherein, the pulse laser sends the TTL signal to the microprocessor when the pulse laser emits a synchronous pulse laser signal.

In the above implementation process, the microprocessor counts the time when the pulsed laser emits the pulsed laser signal to the time when the line array sensor receives the echo signal, and obtains the round-trip time for the pulsed laser signal to detect the target object, so that it can be calculated. The distance between the target object and the bearing detection device.

The embodiment of the present application further provides an orientation detection method, which is applied to the orientation detection device. The orientation detection method includes: when the first linear array detector in the first transceiver assembly returns a voltage signal, Receive a synchronization pulse signal corresponding to the voltage signal transmitted by the first linear array detector, and the first transceiver component is any transceiver component in the azimuth detection device; when the peak value of the voltage signal is greater than During the synchronization pulse signal, the peak value of the voltage signal of each sensitive element in the first linear array detector is collected; the k peaks with the largest peak value are selected from the peak value of the voltage signal of each sensitive element; The number of the peaks and the sensitive elements corresponding to the k peaks determine the orientation of the target object.

In the above implementation process, the orientation of the target object is determined based on the k peaks with the largest peaks obtained through multiple sensitive elements of the azimuth detection device and the numbers of the corresponding sensitive elements, and the multiple sensitive elements that receive echo signals in a large range are determined. The voltage signals sent by the element are used as data to determine the orientation of the target object, which improves the accuracy and dynamic measurement range of orientation measurement, so that orientation measurement of high-dynamic and high-speed target objects can be performed.

Further, the k peaks with the largest peaks are the two peaks with the largest peaks; the determining the orientation of the target object according to the k peaks and the numbers of the sensitive elements corresponding to the k peaks includes: according to the The numbers of the sensitive elements corresponding to the two peaks and the two largest peaks are used to determine the orientation of the target object using an orientation calculation formula; the orientation calculation formula includes: Among them, V _j and V _k represent the two peaks arranged in descending order, respectively, j and k represent the sensitive element numbers corresponding to V _j and V _k respectively, 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 transceiver components, M represents the number of sensitive elements included in each linear array detector, n represents the number of the linear array detector, 1≤n≤N, number The angle of the first receiving field of view corresponding to each sensitive element in the linear array detector of n is: The range of the second receiving field of view angle corresponding to the linear array detector numbered n is The angle formed by the first receiving field of view angle corresponding to each sensitive element in the linear array detector numbered n is equal to the second receiving field of view angle.

In the above implementation process, each sensitive element in each linear array detector corresponds to The angle of size, based on the number of the sensitive element corresponding to the four peaks and the largest peak, uses the azimuth calculation formula to calculate the orientation of the target object. The calculation principle is based on the corresponding relationship between each sensitive element and its detection angle, and the calculation is simple and fast. The efficiency of azimuth measurement is improved.

Further, the azimuth detection method further includes: starting timing when receiving a TTL signal sent by a pulsed laser in any transceiver component, timing to the moment when receiving a start signal output by a comparator in the signal processing module, To obtain the round-trip time; determine the distance of the target object according to the round-trip time.

In the above implementation process, the azimuth detection method also realizes the ranging of the target object through the timer, thereby improving the integrity of the measurement information of the azimuth detection.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of an azimuth detection device provided by an embodiment of the present application;

FIG. 2 is a structural block diagram of a transceiver component provided by an embodiment of the present application;

3 is a structural block diagram of a signal processing module provided by an embodiment of the present application;

4 is a circuit diagram of a peak hold circuit provided by an embodiment of the present application;

5 is a circuit diagram of an integrated operational amplifier circuit provided by an embodiment of the present application;

6 is a schematic diagram of the connection of a synchronous sampling analog-to-digital converter provided by an embodiment of the present application;

7 is a circuit diagram of a comparator provided by an embodiment of the present application;

8 is a circuit diagram of a constant-ratio timing circuit provided by an embodiment of the present application;

FIG. 9 is a schematic flowchart of an orientation detection method provided by an embodiment of the present application.

Icon: 10-azimuth detection device; 11-transceiver component; 112-line array detector; 114-transmitting lens; 116-receiving lens; 118-drive conditioning module; 12-signal processing module; 121-microprocessor; 122- Peak hold circuit; 123 - synchronous sampling analog-to-digital converter; 124 - comparator; 13 - pulse laser.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

The applicant's research found that the existing laser ranging equipment has low measurement accuracy for highly dynamic and high-speed moving target objects, and the measurement speed cannot meet the requirements. Therefore, the embodiment of the present application provides an orientation detection device 10 .

Please refer to FIG. 1 , which is a schematic structural diagram of an azimuth detection apparatus provided by an embodiment of the present application.

The orientation detection device 10 includes a transceiver component 11 and a signal processing module 12 , and the transceiver component 11 is connected to the signal processing module 12 .

It should be understood that the number of transceiver components 11 included in an orientation detection device 10 may be one or more, and each transceiver component 11 is connected to the same signal processing module 12 in the orientation detection device 10 .

Please refer to FIG. 2 , which is a structural block diagram of a transceiver component provided by an embodiment of the present application.

The transceiver assembly 11 includes a linear array detector 112 , each transceiver assembly 11 is provided with a linear array detector 112 , and each linear array detector 112 includes at least one sensitive element, and the sensitive element in each linear array detector 112 In a linear arrangement, the angle of the echo laser that each sensitive element can receive is the first receiving field of view angle, and each sensitive element has independent signal input and output functions.

The linear array detector 112 belongs to an array detector. The array detector is a detector that converts rays into visible light of different intensities, and then converts the intensity of the visible light into electrical signals, and determines the distance or image of the target object that reflects back rays based on the electrical signals. . Considering that the azimuth detection device 10 in this embodiment is used to determine the azimuth of the target object in a certain dimension (usually the horizontal plane), it is only necessary to distinguish the angle difference of the echo laser in one dimension, so the azimuth detection in this embodiment is The device 10 can use a linear array detector 112 in which the sensitive elements are arranged in a horizontal line.

Optionally, the linear array detector 112 in this 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 can be used to receive the echo laser reflected from the target object within the first receiving field of view angle, and each transceiver component 11 can be used to receive the echo laser light within the second receiving field of view angle. The echo laser reflected back by the target object, wherein the second receiving field angle of each sensitive element in each transceiver assembly 11 is combined to obtain the first receiving field angle. In this embodiment of the present application, the first receiving field of view angle and the second receiving field of view angle may be adjusted as required, and are not specifically limited.

In the above embodiment, at least one transceiver assembly 11 is provided on the azimuth detection device 10, and the linear array detector 112 in each transceiver assembly 11 includes at least one sensitive element, and receives the corresponding first receiving field of view through different sensitive elements The echo laser reflected back by the target object within the angle enables multiple sensitive elements to receive the echo laser reflected from the highly dynamic, high-speed moving target object, which improves the reliability and accuracy of the echo laser signal, and can be based on the received echo laser. The number of the sensitive elements of the echo laser can quickly and accurately determine the orientation of the target object, which improves the accuracy and efficiency of the orientation measurement of the target object.

In order to more accurately scan the target object within the angle range of the first receiving field of view of each sensitive element, and to be able to better distinguish the angle at which the echo laser is reflected, each transceiver assembly 11 in this embodiment can also A transmit lens 114 and a receive lens 116 are included.

The emitting lens 114 is used to convert the emitting laser light into a line laser light. Further, the emitting lens 114 in this embodiment can perform Gaussian beam shaping of the ordinary laser light into a 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 used for receiving the echo laser reflected back after the target object is irradiated by the line laser emitted in the transmitting lens 114 , and incident the echo laser on the corresponding sensitive element in the linear array detector 112 . The number of receiving lenses 116 in each transceiver assembly 11 may be the same as the number of sensitive elements in the linear array detector 112, each receiving lens 116 corresponds to one sensitive element, and each sensitive element may be installed in a one-to-one correspondence On the image plane corresponding to each receiving lens 116, there may also be a square, strip or other shaped receiving lens 116 corresponding to a transceiver assembly 11, and all sensitive elements in the linear array detector 112 of the transceiver assembly 11 are The echo laser light is received by the receiving lens 116 in a square, strip or other shape, so that the echo laser light received by each receiving lens 116 is precisely incident on the corresponding sensitive element. In this embodiment, the receiving lens 116 may be, but is not limited to, a Fresnel lens or other lens capable of focusing the echo laser. In the above embodiment, the pulsed laser signal is converted into a line laser through the transmitting lens 114 and the receiving lens 116, and each line laser can irradiate a certain preset angle range, and can simultaneously measure all the lines on the measurement line within the preset angle range. The displacement and distance of the point, the combination of multi-beam line lasers can carry out the azimuth detection of the target object in all directions, which improves the accuracy of azimuth detection.

Since the linear array detector 112 and the signal processing module 12 usually have different power supplies and input and output signals, as an optional implementation manner, the transceiver assembly 11 in this embodiment may further include a drive conditioning module 118 .

The drive conditioning module 118 may include a filter circuit and an amplifier circuit. The signal received by the linear array detector 112 is filtered and amplified by the filter circuit and amplifier circuit of the drive conditioning module 118 and transmitted to the signal processing module 12 . Specifically, each sensitive element in the linear array detector 112 is connected to the drive conditioning module 118 , so that when a certain sensitive element receives the echo laser, the electrical signal generated based on the echo laser is passed through the drive conditioning module 118 . The filtering circuit and the amplifying circuit perform filtering and amplifying, and then transmit to the signal processing module 12 .

Further, the driving conditioning module 118 may further include a voltage regulating module, which is used for regulating the driving power provided by the signal processing module 12 to a voltage suitable for the line array detector 112 .

Please refer to FIG. 3 , which is a structural block diagram of a signal processing module provided by an embodiment of the present application.

The signal processing module 12 includes a microprocessor 121, and the microprocessor 121 is connected to each transceiver component 11 for receiving the voltage signals transmitted by all the transceiver components 11 and the number of the sensitive element carried by the voltage signal, and based on the number of the sensitive element. Number calculation to obtain the orientation of the target object. The microprocessor 121 may include an SCK pin, a MOSI pin, and a MISO pin for data transmission, a CS pin for sizing, 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. Therefore, the signal processing module 12 in this embodiment also A peak hold circuit 122 is included, which acquires the peak voltage of the input voltage signal of the sensor, and maintains the peak voltage for a period of time.

As an optional implementation manner, the peak hold circuit 122 may correspond to the sensitive elements in the transceiver unit 11 one-to-one, and each sensitive element is connected to the microprocessor 121 through a separate peak hold circuit 122 . It should be understood that, the peak hold circuit 122 in this embodiment may be implemented by a discrete component circuit, a hybrid circuit of integrated and discrete components, a dedicated chip, or the like.

Specifically, please refer to FIG. 4 , which is a circuit diagram of a peak hold circuit provided by an embodiment of the present application. 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. The first end of the resistor R1 is connected to the output end of the sensing element, and the second end of the resistor R1 is respectively connected to the first end of the resistor R2, the first end of the resistor R3 and the reverse input end of the integrated operational amplifier U1, and the integrated operational amplifier U1 is grounded through resistor R4, the second end of resistor R2 is connected to the anode of diode D1, the cathode of diode D1 is connected to the output end of integrated operational amplifier U1 and the anode of diode D2, and the cathode of diode D2 is connected to resistor R5 and MOS tube Q1 respectively. The drain of the MOSFET is connected to the ground through the capacitor C1, the source of the MOS transistor Q1 is grounded, the gate of the MOS transistor Q1 is connected to the first end of the resistor R5 and the anode of the diode D3 respectively, the second end of the resistor R5 is grounded, and the diode D3 is connected to the ground. The negative pole is the output terminal of the peak hold circuit 122, the second terminal of the resistor R3 is connected to the reverse input terminal of the integrated operational amplifier U2, the second terminal of the resistor R5 is connected to the forward input terminal of the integrated operational amplifier U2, and the integrated operational amplifier U2 The output end of the resistor R3 and the inverting input end of the integrated operational amplifier U2 are connected.

Further, an operational amplifier circuit is also connected between each sensitive element and each peak hold circuit 122 . Optionally, the operational amplifier circuit may be an integrated operational amplifier circuit, and the operational amplifier circuit between each sensing element and each peak hold circuit 122 may be a multi-stage operational amplifier circuit.

As an optional implementation manner, please refer to FIG. 5 , which is a circuit diagram of an integrated operational amplifier circuit provided by an embodiment of the present application. 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 end of the resistor R7 is the input end of the integrated operational amplifier circuit, which is connected to the output end of each sensing element, the second end of the resistor R7 is connected to the IN+ pin of the amplifier chip O1, and the IN- pin of the amplifier chip O1 The pins are respectively connected with the second end of the resistor R8, the first end of the resistor R9, and the first end of the capacitor C2, the first end of the resistor R8 is grounded, and the second end of the resistor R9 is respectively connected with the second end of the capacitor C2 and the first end of the capacitor C2. The OUT pin of the amplifier chip O1 is connected to the OUT pin of the amplifier chip O1, the VDD pin of the amplifier chip O1 is connected to the +5V power supply and grounded through the capacitor C3, the VEE pin of the amplifier chip O1 is connected to the -5V power supply and grounded through the capacitor C4, and the OUT pin of the amplifier chip O1 is connected to the ground through the capacitor C4. It is the output terminal of the integrated operational amplifier circuit, and the output terminal is connected to the input terminal of the peak hold circuit 122 .

In the above embodiment, the voltage signal is delayed by the peak hold circuit 122 to extend the voltage signal from the nanosecond level to the millisecond level, which reduces the requirement for the response speed of the signal acquisition of the microprocessor 121, thereby reducing the hardware cost .

Further, the signal processing module 12 can also 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 .

The analog-to-digital converter is an A/D converter, or ADC for short (English full name: analog to digitalconverter), which usually refers to an electronic component that converts an analog signal into a digital signal. The usual analog-to-digital converter converts an input voltage signal. Converted to an output digital signal. The synchronous sampling analog-to-digital converter 123 can sample multiple channels at the same time to ensure that the sampling interval of the multi-channel signals is the smallest, which corresponds to sampling and holding the sampling pins at the same time during the sampling process (the conversion can be first and last), It is mainly for multi-channel data acquisition at the same time, and is suitable for applications such as multi-input, rapid signal level change, and strict phase requirements. The above-mentioned multi-channel corresponds to multiple sensitive elements and multiple peak hold circuits 122 in this example.

It should be understood that, in this embodiment, the number of sensitive elements included in each transceiver unit 11 is 8, the synchronous sampling analog-to-digital converter 123 is an 8-channel synchronous sampling analog-to-digital converter, and the number of sensitive elements included in each transceiver unit 11 can be Whether it is 10, 16, 32 or other numbers, the number of channels of the synchronous sampling analog-to-digital converter 123 can also be converted correspondingly.

As an optional implementation manner, please refer to FIG. 6 , which is a schematic diagram of connection of a synchronous sampling analog-to-digital converter according to an embodiment of the present application. The synchronous sampling analog-to-digital converter 123 is an 8-channel synchronous sampling analog-to-digital converter whose model is AD7289, which includes VIN0-VIN7 pins, CS pins, SCK pins, DIN pins, and DOUT pins, then the VIN0 of the AD7289 The ~VIN7 pins are respectively used to collect the voltage signal sent by each sensitive element of the transceiver unit 11, and each of the VIN0~VIN7 pins is respectively connected to the output end 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 , and the DOUT pin is connected to the SCK pin of the microprocessor 121 . MISO is connected, and a power supply is externally connected to the power supply pin of the AD7289.

In the above embodiment, the synchronous sampling analog-to-digital converter 123 converts the voltage signal into a digital signal that the microprocessor 121 can recognize and process, so that the microprocessor 121 can perform magnitude comparison based on the digital signal.

In addition to using the peak hold circuit 122 and the synchronous sampling analog-to-digital converter 123 to accurately collect the peak voltage of the voltage signal, in order to further improve the azimuth measurement accuracy and avoid interfering signals, the signal processing module 12 may further include a comparator 124 .

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 arrangement order between them.

As an optional implementation manner, please refer to FIG. 7 , which is a circuit diagram of a comparator provided by 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, the first end of the resistor R10 is used to receive a preset standard voltage, and the second end of the resistor R10 is connected to the inverting input end of the integrated operational amplifier U3, The first end of the resistor R11 is used to input the synchronization pulse signal, the second end of the resistor R10 is connected to the forward input end of the integrated operational amplifier U3, the output end of the integrated operational amplifier U3 is connected to the forward power supply through the resistor R12, and the integrated operational amplifier The output end of U3 is the output end of the comparator 124 , and the output end is connected to an IO end of the microprocessor 121 .

It should be understood that the models of the integrated operational amplifiers such as the integrated operational amplifier U1, the integrated operational amplifier U2, and the integrated operational amplifier U3 in this embodiment may be, but not limited to, OPA657U.

Specifically, in this embodiment, each transceiver unit 11 is connected to a comparator 124, the comparator 124 is connected to the microprocessor 121, and the line array detector 112 receives the echo laser reflected by the target object at a certain sensitive element of its own. At the time, a synchronization pulse signal is sent to the comparator 124 connected to the linear array detector 112, and the comparator 124 compares the synchronization pulse signal with a preset standard voltage. If the synchronization pulse signal is greater than the preset standard voltage, the comparator 124 outputs a start signal to the microprocessor 121 to enable the microprocessor 121 to control the peak hold circuit 122 and synchronously sample the voltage transmitted from the sensor by the analog-to-digital converter 123 The signal is collected for peak value. If the synchronization pulse signal is less 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 collect the peak value of the voltage signal.

Specifically, the above-mentioned preset standard voltage may be adjusted by software or hardware, and the preset standard voltage in this embodiment may be 0.05V.

As an optional implementation manner, a constant-ratio timing circuit is further provided between each transceiver unit 11 and its corresponding comparator 124, and a synchronization pulse signal is generated by the constant-ratio timing circuit. In this embodiment, the constant ratio timing circuit can overcome the time wander caused by the amplitude change, and can ensure the constant trigger ratio.

Please refer to FIG. 8 , which is a circuit diagram of a constant-ratio timing circuit provided by an embodiment of the present application. The constant ratio timing circuit may include resistor R13, resistor R14, resistor R15, resistor R16, resistor R17, resistor R18, resistor R19, resistor R20, capacitor C5, capacitor C6, capacitor C7, capacitor C8, capacitor C9, integrated operational amplifier U4 and Integrated operational amplifier U5. The first end of the resistor R13 is respectively connected to the first end of the resistor R14, the first end of the resistor R15, the first end of the capacitor C5, and the output port of the line array detector 112, the second end of the resistor R13 is grounded, and the third end of the resistor R14 is connected to the ground. The two terminals are respectively connected to the first terminal of the capacitor C5 and the forward input terminal of the integrated operational amplifier U4, the second terminal of the capacitor C5 is grounded, and the second terminal of the resistor R15 is respectively integrated with the reverse input terminal of the operational amplifier U4 and the reverse input terminal of the resistor R16. The first end is connected, the second end of the resistor R16 is connected to the output end of the integrated operational amplifier U4, the forward input end of the integrated operational amplifier U5, and the first end of the resistor R17, the second end of the resistor R17 is grounded, and the integrated operational amplifier The forward power supply of U4 is connected to the +5V power supply and grounded through the capacitor C6. The reverse power supply of the integrated operational amplifier U4 is connected to the -5V power supply and grounded through the capacitor C7. The two terminals are connected to the first terminal of the resistor R19, the first terminal of the resistor R18 is grounded, and the second terminal of the resistor R19 is connected to the first terminal of the resistor R20 and the output terminal of the integrated operational amplifier U5 respectively. The power supply is connected to the +5V power supply and grounded through the capacitor C8. The reverse power supply of the integrated operational amplifier U5 is connected to the -5V power supply and grounded through the capacitor C9. The second terminal of the resistor R20 is the output terminal of the constant ratio timing circuit. The first end of the resistor R11 is connected.

In the above implementation process, when the comparator 124 determines that the voltage value of the synchronous 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 hold circuit 122 for peak collection, which eliminates some interference signals and improves the accuracy of azimuth measurement.

It should be understood that, in order to obtain the emitted laser light, this embodiment may further include a pulsed laser 13 . The pulsed laser 13 is connected to the microprocessor 121 and sends a synchronous pulsed laser signal to each transceiver assembly 11 , the synchronous pulsed laser signal is emitted through the transmitting lens 114 in each transceiver assembly 11 and detects the target object.

In the above-mentioned embodiment, the pulsed laser 13 is used to generate discontinuous pulsed laser signals, which facilitates the measurement of a highly dynamic and fast-moving physical process, thereby improving the measurement accuracy of the target object.

In addition to azimuth detection, when a target object is detected by laser, it is usually necessary to measure the distance of the target object. Therefore, the microprocessor 121 of this embodiment may also be provided with a timer connected to the pulsed laser 13, and the timer may be It can be realized by the function of the microprocessor 121, or it can be other specially set electronic devices with timing function.

The pulsed laser 13 is connected to an IO pin of the microprocessor 121. The pulsed laser 13 generates a TTL signal while generating a synchronous pulsed laser signal, and sends the TTL signal to the microprocessor 121 through the IO pin, and the microprocessor 121 When the TTL signal is received, the timer is started to start timing, and the microprocessor 121 stops the timing of the timer when receiving the start signal transmitted from the comparator 124 to obtain the round-trip of the synchronous pulse laser signal emitted and reflected by the target object. time. The microprocessor 121 can calculate and obtain the distance between the target object and the orientation detection device 10 based on the speed of light and the round-trip time.

In the above-mentioned embodiment, the microprocessor 121 counts the time when the pulsed laser 13 emits the pulsed laser signal to the time when the line array sensor 112 receives the echo signal, so as to obtain the round-trip time for the pulsed laser signal to detect the target object, Thus, the distance between the target object and the azimuth detection device can be measured.

As an optional implementation manner, the signal processing module 12 may also be connected with a communication interface, so that the azimuth detection apparatus 10 transmits the obtained azimuth 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, and the like.

In order to cooperate with the azimuth detection device of the embodiment of the present application, the embodiment of the present application further provides an azimuth detection method. The orientation detection method provided in this embodiment can be applied to the orientation detection apparatus 10 .

Please refer to FIG. 9 , which is a schematic flowchart of an orientation detection method provided by an embodiment of the present application. The specific steps of the orientation detection method may be as follows:

Step S21 : when the first linear array detector in the first transceiver assembly returns a voltage signal, receive a synchronization pulse signal corresponding to the voltage signal transmitted by the first linear array detector.

The first transceiver component in the above steps is any transceiver component in the orientation detection device 10 .

Step S22: when the peak value of the voltage signal is greater than the synchronization pulse signal, collect 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 array detectors 112 to the microprocessor 121 are all greater than the synchronization pulse signal corresponding to each line array detector 112, then all lines whose peak value is greater than the synchronization pulse signal The peak values of the voltage signal of the array detector 112 are collected.

Step S23: Select k peaks with the largest peaks from the peaks of the voltage signal of each sensitive element.

The more echo lasers reflected by the target object received by the sensitive element, the greater the peak value of the voltage signal of the sensitive element. Therefore, in this embodiment, in order to improve the accuracy of azimuth measurement, the k larger peak values of the collected voltage signals are selected. The peak value, where k=2 is used as an example in this embodiment, and k may be 3, 4, 5, 6 or any other number in other embodiments.

Step S24: Determine the orientation of the target object according to the k peaks and the numbers of the sensitive elements corresponding to the k peaks.

Optionally, according to the numbers of the two peaks and the sensitive elements corresponding to the k peaks, use an orientation calculation formula to determine the orientation of the target object, and the orientation calculation formula includes:

Among them, V _j and V _k represent the two peaks arranged in descending order, respectively, j and k represent the sensitive element numbers corresponding to V _j and V _k respectively, 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 transceiver components 11, M represents the number of sensitive elements included in each linear array detector 112, n represents the number of the linear array detector 112, 1≤n≤ N, the angle of the first receiving field of view corresponding to each sensitive element in the linear array detector 112 numbered n is: The range of the angle of the second receiving field of view corresponding to the linear array detector 112 numbered n is: The angle formed by the first receiving field of view angle corresponding to each sensitive element in the linear array detector numbered n is equal to the second receiving field of view angle.

It should be noted that the above two peaks of V ₁ and V ₂ should be continuous.

Taking N=M=8 and the linear array detector 112 numbered n=2, the sensitive element receiving the largest signal peak value is V ₃ =2.1V and V ₄ =1.7V as an example, then based on the azimuth calculation formula, it can be obtained:

Further, after the azimuth of the target object is determined, there is usually a need to determine the distance of the target object. Therefore, after step S24, the azimuth detection method in this embodiment may further include:

Step S25: Start timing when the TTL signal sent by the pulsed laser in any transceiver component is received, and time until the start signal output by the comparator in the signal processing module is received to obtain the round-trip time.

Optionally, the start signal in this embodiment may be 1 output by the comparator 124, and the comparator 124 outputs 0 when it is determined that the voltage signal is an interference type.

Step S26: Determine 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 numbered n is denoted as Tn, and the specific formula for determining the distance of the target object may be: Where c is the speed of light, and L is the distance between the target object and the receiving unit 11 .

The above steps determine the orientation of the target object based on the k peaks with the largest peaks and the numbers of the corresponding sensitive elements obtained through the multiple sensitive elements of the azimuth detection device 10, and the multiple sensitive elements that have received echo signals in a relatively large range send out. The voltage signal is used as the data for determining the orientation of the target object, which improves the accuracy and dynamic measurement range of the orientation measurement, so that the orientation measurement of the high-dynamic and high-speed target object can be performed.

To sum up, the embodiments of the present application provide an azimuth detection device and method, the device includes: a signal processing module and at least one transceiver component; each transceiver component includes a linear array detector, and the linear array detector includes At least one sensitive element, each sensitive element is used to receive the echo laser reflected back by the target object within the corresponding first receiving field angle, and the line array detector is used to pass the at least one sensitive element to the echo laser. The laser is converted into a voltage signal; the signal processing module is connected to the linear array detector of each transceiver component, and is used for determining the The orientation of the target object.

In the above implementation process, through the cooperation of the device and the method, at least one transceiver component is set on the azimuth detection device, the linear array detector in each transceiver component includes at least one sensitive element, and the corresponding first sensor is received through different sensitive elements. Receive the echo laser reflected back by the target object within the field of view, so that multiple sensitive elements receive the echo laser reflected from the target object with high dynamic and high speed movement, improve the reliability and accuracy of the echo laser signal, and The azimuth of the target object can be quickly and accurately determined based on the number of the sensitive element receiving the echo laser, which improves the accuracy and efficiency of azimuth measurement on the target object.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may also be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architectures, functions and possible implementations of apparatuses, methods and computer program products according to various embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. 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 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 is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

The above descriptions are merely examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Claims (10)

1. a kind of orientation detection device, which is characterized in that the orientation detection device includes: signal processing module and at least one Transmitting-receiving subassembly；

Each transmitting-receiving subassembly includes linear array detector, and the linear array detector includes at least one sensitive member, and each sensitive member is used In the echo laser that the target object received in corresponding first field of view of receiver angle is reflected back, the linear array detector is for leading to It crosses at least one described sensitive member and the echo laser is converted into voltage signal；

The signal processing module is connect with the linear array detector of each transmitting-receiving subassembly, for according to the voltage signal The number of the sensitivity member for receiving the echo laser carried determines the orientation of the target object.

2. orientation detection device according to claim 1, which is characterized in that the orientation detection device further include:

Pulse laser is connect with the microprocessor in the signal processing module, is synchronized for exporting to each transmitting-receiving subassembly Pulsed laser signal.

3. orientation detection device according to claim 2, which is characterized in that each transmitting-receiving subassembly further include:

Diversing lens, the pulse laser for generating the pulse laser are converted to line laser and emit the line laser；

Receiving lens, for receiving the target object to the echo laser of line laser reflection generation and swashing the echo Light is incident to the linear array detector.

4. orientation detection device according to claim 1, which is characterized in that the signal processing module further include:

Multiple peak holding circuits, each sensitive member pass through the peak holding circuit and the signal processing mould respectively connected respectively Microprocessor connection in block, the multiple peak holding circuit is used to carry out time delay to the voltage signal, so that described micro- Processor acquires the voltage signal within the response time.

5. orientation detection device according to claim 4, which is characterized in that the signal processing module further include:

Synchronized sampling analog-digital converter, the multiple peak holding circuit by the synchronized sampling analog-digital converter with it is described micro- Processor connection.

6. orientation detection device according to claim 1, which is characterized in that the signal processing module further include:

Comparator is connect, for receiving any receipts with the microprocessor in the transmitting-receiving subassembly and the signal processing module Hair component transmits the synchronization pulse come when receiving the echo laser, and is higher than in the synchronization pulse and presets Enabling signal is exported when normal voltage, is based on the enabling signal for the microprocessor and any transmitting-receiving subassembly is converted The peak value of voltage signal be acquired.

7. orientation detection device according to claim 6, which is characterized in that the orientation detection device further includes that pulse swashs Light device, the microprocessor include:

Timer, for receiving the TTL signal that the pulse laser is sent to the microprocessor in the microprocessor When start timing, at the time of timing to the microprocessor receives the enabling signal；

Wherein, the TTL signal is sent to the microprocessor when pulse laser issues lock-out pulse laser signal.

8. a kind of orientation detection method, which is characterized in that it is applied to the described in any item orientation detection devices of claim 1-7, The orientation detection method includes:

When the first linear array detector in the first transmitting-receiving subassembly passes voltage signal back, the first linear array detector transmission is received The synchronization pulse corresponding with the voltage signal come, first transmitting-receiving subassembly are appointing in the orientation detection device One transmitting-receiving subassembly；

When the peak value of the voltage signal is greater than the synchronization pulse, acquire each quick in first linear array detector Feel the peak value of the voltage signal of member；

The maximum k peak value of peak value is chosen from the peak value of the voltage signal of each sensitive member；

The orientation of target object is determined according to the number of the corresponding sensitive member of the k peak value and the k peak value.

9. orientation detection method according to claim 8, which is characterized in that the maximum k peak value of peak value is peak value Maximum two peak values；

The number according to the corresponding sensitive member of the k peak value and the k peak value determines the orientation of target object, packet It includes:

According to the number of the corresponding sensitive member of described two peak values and described two peak-peaks, determined using orientation calculation formula The orientation of the target object；

The orientation calculation formula includes:

Wherein, V_j、V_kThe described two peak values being arranged successively from big to small are respectively indicated, j, k respectively indicate V_j、V_kCorresponding sensitivity Member number, A indicate the orientation angles of target object, and min (j, k) indicates that the smaller value between j, k, N indicate the number of transmitting-receiving subassembly Amount, M indicate the first quantity of sensitivity that each linear array detector includes, and n indicates the number of linear array detector, 1≤n≤N, number n Linear array detector in the corresponding first field of view of receiver angular dimension of each sensitive member beThe linear array detection that number is n The range of the corresponding second field of view of receiver angular dimension of device isThe linear array detector that number is n In angle composed by the corresponding first field of view of receiver angle of each sensitive member be equal to the second field of view of receiver angle.

10. orientation detection method according to claim 9, which is characterized in that the orientation detection method further include:

Start timing when receiving the TTL signal that the pulse laser in any transmitting-receiving subassembly is sent, timing is to receiving At the time of stating the enabling signal of the comparator output in signal processing module, to obtain two-way time；

The distance of the target object is determined according to the two-way time.