Research On The Laser Radar Transmitting And Receiving Module

LiDAR(Light Laser Detection and Ranging)is a radar system that uses laser as the information carrier to detect object features.The lidar fires laser while it is working,the laser is reflected by target to form an echo.The detector receives the echo signal and processes it to obtain the detection information,to Detect,track and identify the target.System of LiDAR consists of three parts,they are laser transmitter,optical receiver and information processing system.The development of laser radar is very rapid,not only in military and environmental,but also widely used in the civilian market.Now it has become a research focus in the fields of intelligent robots and driverless cars.At present,there are a variety of LiDAR on the market,and their price,performance and main measurement objects have certain differences.According to the different measurement methods of the LiDAR,its transmitter module and receiver module also have different technical requirements.In this thesis,A model system of LiDAR is built with a transmitter module and a receiver module including a semiconductor Laser and a CMOS camera.Some measurements and the error are discussed.The main works of this paper are as follows.1 Design and debug the driver circuit of 650nm semiconductor laser,write the code to process CMOS camera image.Design the program of triangulation ranging and build a model system of LiDAR.2 Calibrate the self-made LiDAR system,analyze the ranging range and spatial resolution of the system,and the effect of the spot shape and actual distance on the measurement results.3 Use the self-made LiDAR system to measure the distance from the objects,and discuss the errors due to some factors including environment parameters,light intensity,spot diameter,target surface roughness,color,surface curvature and surface slant angle.