CN103116163B - Laser sense-and-response distance measuring device and control method - Google Patents
Laser sense-and-response distance measuring device and control method Download PDFInfo
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- CN103116163B CN103116163B CN201310032679.8A CN201310032679A CN103116163B CN 103116163 B CN103116163 B CN 103116163B CN 201310032679 A CN201310032679 A CN 201310032679A CN 103116163 B CN103116163 B CN 103116163B
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Abstract
The invention relates to a laser sense-and-response distance measuring device and a control method. The laser sense-and-response distance measuring device comprises a low-frequency clock module, a laser emitter, a time-to-digital conversion module, a control host and a plurality of photoelectric sensors. The control host and the photoelectric sensors are respectively connected to the time-to-digital conversion module. The control host is connected with the laser emitter. The time-to-digital conversion module is of two-segment type, and comprises a low-segment time-to-digital conversion module and a higher-segment time-to-digital conversion module. The low-segment time-to-digital conversion module and the high-segment time-to-digital conversion module are respectively located inside and outside a pixel, and a complete high-frequency counting function is functionally realized. By the laser sense-and-response distance measuring device and the control method, high-accuracy counting can be realized.
Description
Technical field
The present invention relates to a kind of laser sensing response distance measuring equipment and control method.
Background technology
Due to some superperformances of infrared laser, be widely used at industry, agricultural, life & amusement, national defence and scientific research field, become the important component part in Modern High-Tech field.For now, the infrared laser ranging counting generally used also cannot meet the range observation requirement of some special dimensions, how to improve the measuring accuracy of infrared laser ranging, reduce infrared laser ranging to the particular/special requirement of measurement environment, to reduce equipment manufacturing cost be the problem that current various countries scientific research personnel is making great efforts solution always.
Laser ranging mode principle as shown in Figure 1, generating laser launches a laser pulse to target object, and measure laser pulse from being transmitted into arrival target object back reflection, get back to the two-way time of laser pulse receiver, according to this two-way time and the light velocity, calculate the distance between target object and laser pulse receiver, as set the light velocity in air as c, the two-way time of laser is t, distance R then between target object and laser pulse receiver is R=ct/2, and then according to obtaining distance R, realize the range finding to target object or imaging.
Traditional laser ranging system, target object back reflection is arrived from being transmitted at laser pulse, get back to the measuring accuracy aspect of the two-way time of laser pulse receiver, also not enough to some extent, high-precision requirement cannot be reached, like this, when small-sized or miniature target devices is found range or imaging time, data measured will be caused not accurate enough, and cause realizing accurately finding range to target object or the object of imaging.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of laser sensing response distance measuring equipment that can realize high accuracy count.
Corresponding therewith, technical matters to be solved by this invention is to provide a kind of laser sensing response distance measuring equipment based on the present invention's design, can realize the range finding control method of high accuracy count.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention devises a kind of laser sensing response distance measuring equipment, comprise low-frequency clock module, generating laser, time figure conversion module, and the main control system be connected with time figure conversion module respectively, several photoelectric sensor, main control system is connected with generating laser, wherein, time figure conversion module comprises the first either-or switch and several high section of time figure conversion module, the quantity of photoelectric sensor is consistent with the quantity of high section time figure conversion module, each photoelectric sensor is corresponding to be respectively connected with each high section time figure conversion module, high frequency clock signal is connected with the input end of the first either-or switch respectively with low-frequency clock module, the output terminal of the first either-or switch respectively section time figure conversion module high with each is connected, described time figure conversion module also comprises a low section of time figure conversion module being connected of section time figure conversion module high with each respectively, low section of time figure conversion module comprises the second either-or switch and several phase inverter, each inverter series forms delay cell, the input end of delay cell is connected with the output terminal of the second either-or switch, meanwhile, the output terminal of delay cell is connected with one of them input end of the second either-or switch, by controlling the second either-or switch, making low section of time figure conversion module while counting, producing high frequency clock signal, be delivered to respectively in each high section time figure conversion module through the first either-or switch by the output terminal of delay cell.
As a preferred technical solution of the present invention: described high section time figure conversion module comprises interconnective linear feedback shift register and data-carrier store, meanwhile, described low section of time figure conversion module is connected with each data-carrier store respectively.
As a preferred technical solution of the present invention: also comprise multi-channel high-accuracy delay controller, described main control system is connected with described time figure conversion module, generating laser respectively after multi-channel high-accuracy delay controller.
As a preferred technical solution of the present invention: also comprise several quenching restoring circuit module, the quantity of quenching restoring circuit module is consistent with the quantity of described photoelectric sensor, and each photoelectric sensor is connected with corresponding described high section time figure conversion module through quenching restoring circuit module respectively.
As a preferred technical solution of the present invention: described photoelectric sensor is G-APD detector array.
A kind of laser sensing response distance measuring equipment of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) laser sensing of the present invention's design responds in distance measuring equipment, adopts low section of time figure reforming unit to coordinate high section time figure reforming unit to count, can realize high accuracy count, thus complete the object of precision distance measurement;
(2) laser sensing of the present invention's design responds in distance measuring equipment, and the structure of low section of time figure reforming unit, ensure that can control low section of time figure reforming unit exactly carries out work, thus ensure that this device carries out high accuracy count;
(3) laser sensing of the present invention's design responds in distance measuring equipment, high section time figure conversion module adopts the structure of interconnective linear feedback shift register and data-carrier store, do not need when carrying out high-frequency count, extra increase register, effectively control the volume of device, the laser sensing response distance measuring equipment that the present invention is designed has little, the lightweight advantage of volume;
(4) laser sensing of the present invention's design responds in distance measuring equipment, adopts multi-channel high-accuracy delay controller as the buffering between main control system and controlled device and interface, ensure that the strict coupling of initial work between each controlled device;
(5) laser sensing of the present invention's design responds in distance measuring equipment, arranges quenching restoring circuit module between photoelectric sensor and the high section time figure conversion module of correspondence, effectively can realize control by quenching restoring circuit module to photoelectric sensor;
(6) laser sensing of the present invention's design responds in distance measuring equipment, photoelectric sensor is G-APD detector array, has single photon detection ability, can realize detection to faint laser echo signal, and the differentiation of high-precision starting point can be realized, thus determine laser time of flight exactly; And G-APD detector array is again a kind of all solid state photoelectric detector, not only volume is little, lightweight, reliability is high, but also available existing micro-optoelectronic technique carries out large-scale production.
Corresponding therewith, the present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention devises a kind of control method based on laser sensing response distance measuring equipment, comprises the steps:
It is luminous to testee that step 1. main control system controls generating laser;
Meanwhile, main control system controls the first either-or switch, and send high frequency clock signal to each high section time figure conversion module, each high section time figure conversion module starts high-frequency count;
Each photoelectric sensor of step 2. receives the laser through testee reflection respectively, be converted into electric signal, be sent to each self-corresponding high section time figure conversion module, the high section time figure conversion module receiving electric signal quits work, and latches now inner count status;
The first either-or switch in step 3. main control system control time digital conversion module, low-frequency clock module is made to send low-frequency clock signal respectively to each high section time figure conversion module, each high section time figure conversion module starts low-frequency transmission, is exported by the count status of latch;
Wherein, in described step 1, the second either-or switch in low section of time figure conversion module is controlled by main control system, control low section of time figure conversion module start counting and produce high frequency clock signal, and control the first either-or switch by main control system simultaneously, the high frequency clock signal produced by low section of time figure conversion module is sent in each high section time figure conversion module respectively, makes each high section time figure conversion module start high-frequency count;
In step 2, receive and send the high section time figure conversion module of electric signal while quitting work, inner count status is latched by corresponding photoelectric sensor, by the count information in now low section of time figure conversion module, be sent in this out-of-work high section time figure conversion module and latch, form complete count information by the count information in high section time figure conversion module and the count information in the time figure conversion module of location, low section of time figure conversion module continues counting simultaneously.
As a preferred technical solution of the present invention: the control signal that described main control system sends after described multi-channel high-accuracy delay controller, then controls described time figure conversion module and generating laser respectively.
As a preferred technical solution of the present invention: in described step 2, each photoelectric sensor receives the laser through testee reflection respectively, be converted into electric signal, first be sent in the described quenching restoring circuit module corresponding with each photoelectric sensor, again by the quenching restoring circuit module receiving electric signal, high section time figure conversion module to correspondence sends stop signal, makes it quit work.
As a preferred technical solution of the present invention: in described step 2, described in receive the quenching restoring circuit module of electric signal that corresponding photoelectric sensor sends, also the photoelectric sensor corresponding with it is resetted.
As a preferred technical solution of the present invention: in described step 3, also comprise the second either-or switch that main control system controls in low section of time figure conversion module, control low section of time figure conversion module and quit work.
A kind of control method based on laser sensing response distance measuring equipment of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) a kind of control method based on laser sensing response distance measuring equipment of the present invention's design, can facilitate, realize accurately the range finding of high accuracy count.
Accompanying drawing explanation
Fig. 1 is laser ranging mode schematic diagram;
Fig. 2 is the module by signal control chart of the laser sensing response distance measuring equipment that the present invention designs;
Fig. 3 is the module by signal figure of the laser sensing response distance measuring equipment that the present invention designs;
Fig. 4 is the application schematic diagram of the laser sensing response distance measuring equipment that the present invention designs;
Fig. 5 is the sequential relationship schematic diagram of control signal in the laser sensing response distance measuring equipment that designs of the present invention;
Fig. 6 is the sequential relationship schematic diagram of three kinds of synchronizing signals in the laser sensing response distance measuring equipment output procedure that designs of the present invention.
Embodiment
Below in conjunction with Figure of description, the specific embodiment of the present invention is described in further detail.
As shown in Figure 2, the present invention devises a kind of laser sensing response distance measuring equipment, comprise low-frequency clock module, generating laser, time figure conversion module, and the main control system be connected with time figure conversion module respectively, several photoelectric sensor, main control system is connected with generating laser, wherein, time figure conversion module comprises the first either-or switch and several high section of time figure conversion module, the quantity of photoelectric sensor is consistent with the quantity of high section time figure conversion module, each photoelectric sensor is corresponding to be respectively connected with each high section time figure conversion module, high frequency clock signal is connected with the input end of the first either-or switch respectively with low-frequency clock module, the output terminal of the first either-or switch respectively section time figure conversion module high with each is connected, described time figure conversion module also comprises a low section of time figure conversion module being connected of section time figure conversion module high with each respectively, low section of time figure conversion module comprises the second either-or switch and several phase inverter, each inverter series forms delay cell, the input end of delay cell is connected with the output terminal of the second either-or switch, meanwhile, the output terminal of delay cell is connected with one of them input end of the second either-or switch, by controlling the second either-or switch, making low section of time figure conversion module while counting, producing high frequency clock signal, be delivered to respectively in each high section time figure conversion module through the first either-or switch by the output terminal of delay cell.
In the laser sensing response distance measuring equipment of the present invention's design, adopt low section of time figure reforming unit to coordinate high section time figure reforming unit to count, can high accuracy count be realized, thus complete the object of precision distance measurement; And the structure of low section of time figure reforming unit, ensure that can control low section of time figure reforming unit exactly carries out work, thus ensure that this device carries out high accuracy count.
As a preferred technical solution of the present invention: described high section time figure conversion module comprises interconnective linear feedback shift register and data-carrier store, meanwhile, described low section of time figure conversion module is connected with each data-carrier store respectively.
In the laser sensing response distance measuring equipment of the present invention's design, high section time figure conversion module adopts the structure of interconnective linear feedback shift register and data-carrier store, make linear feedback shift register when carrying out high-frequency count, do not need additionally to increase register, effectively control the volume of device, the laser sensing response distance measuring equipment that the present invention is designed has little, the lightweight advantage of volume.
As a preferred technical solution of the present invention: also comprise multi-channel high-accuracy delay controller, described main control system is connected with described time figure conversion module, generating laser respectively after multi-channel high-accuracy delay controller.
In the laser sensing response distance measuring equipment of the present invention's design, adopt multi-channel high-accuracy delay controller as the buffering between main control system and controlled device and interface, ensure that the strict coupling of initial work between each controlled device, make time figure conversion module and generating laser can accept control command simultaneously, and start working, effectively achieve the object of high accuracy count. simultaneously
The present invention is in the middle of actual application, and multi-channel high-accuracy delay controller can adopt DG645 eight passage numeral delay pulse generator, and delay resolution is 5ps, and reference time delay is 0 ~ 2000 s, pulsed frequency 10MHz.
As a preferred technical solution of the present invention: also comprise several quenching restoring circuit module, the quantity of quenching restoring circuit module is consistent with the quantity of described photoelectric sensor, and each photoelectric sensor is connected with corresponding described high section time figure conversion module through quenching restoring circuit module respectively.
In the laser sensing response distance measuring equipment of the present invention's design, quenching restoring circuit module is set between photoelectric sensor and the high section time figure conversion module of correspondence, can effectively realize controlling to photoelectric sensor by quenching restoring circuit module, can be resetted to coupled photoelectric sensor by quenching restoring circuit module.
As a preferred technical solution of the present invention: described photoelectric sensor is G-APD detector array, i.e. array Geiger mode avalanche Diode receiver.
In the laser sensing response distance measuring equipment of the present invention's design, photoelectric sensor is G-APD detector array, G-APD detector array has single photon detection ability, detection can be realized to faint laser echo signal, and the differentiation of high-precision starting point can be realized, thus the flight time of laser can be determined exactly; And G-APD detector array is again a kind of all solid state photoelectric detector, not only volume is little, lightweight, reliability is high, but also available existing micro-optoelectronic technique carries out large-scale production.
Corresponding therewith, as shown in Figures 2 and 3, the present invention devises a kind of control method based on laser sensing response distance measuring equipment, comprises the steps:
It is luminous to testee that step 1. main control system controls generating laser;
Meanwhile, main control system controls the first either-or switch, and send high frequency clock signal to each high section time figure conversion module, each high section time figure conversion module starts high-frequency count;
Each photoelectric sensor of step 2. receives the laser through testee reflection respectively, be converted into electric signal, be sent to each self-corresponding high section time figure conversion module, the high section time figure conversion module receiving electric signal quits work, and latches now inner count status;
The first either-or switch in step 3. main control system control time digital conversion module, low-frequency clock module is made to send low-frequency clock signal respectively to each high section time figure conversion module, each high section time figure conversion module starts low-frequency transmission, is exported by the count status of latch;
Wherein, in described step 1, the second either-or switch in low section of time figure conversion module is controlled by main control system, control low section of time figure conversion module start counting and produce high frequency clock signal, and control the first either-or switch by main control system simultaneously, the high frequency clock signal produced by low section of time figure conversion module is sent in each high section time figure conversion module respectively, makes each high section time figure conversion module start high-frequency count;
In step 2, receive and send the high section time figure conversion module of electric signal while quitting work, inner count status is latched by corresponding photoelectric sensor, the electric signal that photoelectric sensor sends also controls the count information in now low section of time figure conversion module, be sent in this out-of-work high section time figure conversion module and latch, form complete count information by the count information in high section time figure conversion module and the count information in the time figure conversion module of location, low section of time figure conversion module continues counting simultaneously.
As a preferred technical solution of the present invention: the control signal that described main control system sends after described multi-channel high-accuracy delay controller, then controls described time figure conversion module and generating laser respectively.
As a preferred technical solution of the present invention: in described step 2, each photoelectric sensor receives the laser through testee reflection respectively, be converted into electric signal, first be sent in the described quenching restoring circuit module corresponding with each photoelectric sensor, again by the quenching restoring circuit module receiving electric signal, high section time figure conversion module to correspondence sends stop signal, makes it quit work.
As a preferred technical solution of the present invention: in described step 2, described in receive the quenching restoring circuit module of electric signal that corresponding photoelectric sensor sends, also the photoelectric sensor corresponding with it is resetted.
As a preferred technical solution of the present invention: in described step 3, also comprise the second either-or switch that main control system controls in low section of time figure conversion module, control low section of time figure conversion module and quit work.
A kind of control method based on laser sensing response distance measuring equipment of the present invention's design, can facilitate, realize accurately the range finding of high accuracy count.
The laser sensing response distance measuring equipment of the present invention's design and control method are in the middle of actual application, as applied in the application of this device sensing circuit pixel cell, each high section time figure conversion module described and the quenching restoring circuit module corresponding with it, photoelectric sensor distinguish array distribution in each circuit pixels unit, comprise the steps:
The control signal that step 1. main control system sends after described multi-channel high-accuracy delay controller, then controls described time figure conversion module and generating laser simultaneously respectively; Wherein, main control system controls generating laser to testee luminescence;
Simultaneously, main control system controls the second either-or switch in low section of time figure conversion module, control low section of time figure conversion module and switch to closed loop configuration, start counting and produce high frequency clock signal, and control the first either-or switch by main control system simultaneously, the high frequency clock signal produced by low section of time figure conversion module is sent in each high section time figure conversion module respectively, makes each high section time figure conversion module start high-frequency count;
Each photoelectric sensor of step 2. receives the laser through testee reflection respectively, be converted into electric signal, be sent in the described quenching restoring circuit module corresponding with each photoelectric sensor, by the quenching restoring circuit module receiving electric signal, high section time figure conversion module to correspondence sends stop signal, the high section time figure conversion module receiving stop signal quits work, now inner count status is latched, simultaneously, the electric signal that photoelectric sensor sends also controls the count information in now low section of time figure conversion module, be sent in this out-of-work high section time figure conversion module and latch, complete count information is formed by the count information in high section time figure conversion module and the count information in the time figure conversion module of location, low section of time figure conversion module continues counting simultaneously,
Therebetween, receive the quenching restoring circuit module of the electric signal that corresponding photoelectric sensor sends, also the photoelectric sensor corresponding with it is resetted;
Step 3. main control system controls the second either-or switch in low section of time figure conversion module, control low section of time figure conversion module to quit work, the count mode of whole device terminates, to the circuit pixels unit write particular data of no count, for representing this circuit pixels unit no count; The first either-or switch in main control system control time digital conversion module, low-frequency clock module is made to send low-frequency clock signal respectively to each high section time figure conversion module, each high section time figure conversion module starts low-frequency transmission, is exported by the count status of latch;
Wherein, the high frequency time digital conversion module of array distribution in each circuit pixels unit, in the work carrying out low-frequency transmission, count information is wherein delivered in the high frequency time digital conversion module in next adjacent circuit pixel cell by the high frequency time digital conversion module in a circuit pixels unit, like this, high frequency time digital conversion module in each adjacent circuit pixels unit, by the count information of its inside, is transmitted successively, and final Serial output.By above step, namely achieve the application of sensing circuit pixel cell.
As shown in Figure 3 and Figure 4, in above step 1 to 3, each bar instruction that main control system controls each controlled device, all pass through time-sequence control module, according to the control overflow of practical application, carry out transferring and sending, wherein, time-sequence control module carries out work based on low-frequency clock module.
In the laser sensing response distance measuring equipment of the present invention's design, increase a multi-channel high-accuracy delay controller as the buffering between main control system and controlled device and interface, achieve the strict coupling of origination action between each controlled device.Wherein, the steering order controlling this device is sent to multi-channel high-accuracy delay controller by main control system, instead of directly issues different controlled devices; Multi-channel high-accuracy delay controller after being postponed a period of time, is transmitted to the controlled device of specifying after receiving the steering order of main control system transmission by different passages.
Like this, by the accurate setting of each channel delay time to multi-channel high-accuracy delay controller, the effect of starting-up response while of each controlled device can be realized; This increase multi-channel high-accuracy delay controller carries out the control method cushioned, and after arriving time delay, start counting immediately, synchronization generating laser also starts luminescence.The benefit of this control method is the flexibility ratio considerably increasing system application.
As shown in Figure 4, during real work, main control system is transmitted control signal to controlled device by multi-channel high-accuracy delay controller, wherein, the initial state that time figure conversion module utilizes the one section of delay brought by multi-channel high-accuracy delay controller to complete needed for Counts is arranged, and make high section time figure conversion module enter high-frequency count pattern, generating laser is through same delay Emission Lasers, and namely high section of time figure conversion module initial time of starting to count is identical with the initial time point that generating laser starts Emission Lasers.
After the laser reflected through testee is received by photoelectric sensor induction, by the high section time figure conversion module transmission stop signal of quenching restoring circuit module corresponding with it to its correspondence, control high section time figure conversion module and stop counting, and now inner count status is latched, simultaneously, the electric signal that photoelectric sensor sends also controls the count information in now low section of time figure conversion module, be sent in this out-of-work high section time figure conversion module and latch, complete count information is formed by the count information in high section time figure conversion module and the count information in the time figure conversion module of location, low section of time figure conversion module continues counting simultaneously.
In the laser sensing response distance measuring equipment of the present invention's design, time figure conversion module adopts two-part structure, comprise high section time figure conversion module and low section of time figure conversion module, wherein, low section of time figure conversion module forms opening/closing ring and postpones line type structure, control to enter closed loop delay structure through main control system, when a Puled input, arrive some phase inverters to differentiate the count information of specifically low section according to this pulse; And the delay unit closed loop be made up of phase inverter produces high frequency clock signal, and this high frequency clock signal is delivered in each high section time figure conversion module of array distribution; Control to enter open loop structure through main control system, low section of time figure conversion module is quit work; In the laser sensing response distance measuring equipment of the present invention's design, the quantity of low section of time figure conversion module is one, is arranged on outside circuit pixels unit, carries out low section of counting as global clock, and coordinate each high section time figure conversion module, realize high accuracy count.
Time figure conversion module in the present invention is in the middle of actual application, and wherein low section of time figure modular converter realizes low section number conversion by phase-detection, specifically selects the best transition of 8 phase place 3 bits to configure; High section time figure conversion module adopts 10 bit linear feedback shift registers to realize, and both cooperations complete 13 complete bit high accuracy count.
In embody rule, as shown in Figure 4 and Figure 5, the second either-or switch in low section of time figure conversion module, high level enters as mode of operation for controlling low section of time figure conversion module; First either-or switch, high level is access low section of time figure conversion module output signal, and low level is the low-frequency clock signal of access low-frequency clock module.Main control system sends control signal to multi-channel high-accuracy delay controller, multi-channel high-accuracy delay controller is arranged through time delay and pulsewidth, corresponding delayed control signal is transferred to controlled device simultaneously respectively, and generating laser receive delay control signal sends laser, wherein, gate-control signal is the control signal of the first either-or switch and the second either-or switch, gate-control signal is between high period, and this is the count cycle, each quenching restoring circuit module is in the receiving mode of corresponding photoelectric sensor, photoelectric sensor wait-receiving mode photon, low section of time figure conversion module carries out low section of overall situation counting, and produces high frequency clock signal simultaneously, flows to each high section time figure conversion module, carries out high-frequency count respectively, when photoelectric sensor receives photon, stop signal is produced by the quenching restoring circuit module of correspondence, send to corresponding high section time figure conversion module, high section time figure conversion module quits work, and now inner count status is latched, simultaneously, the electric signal that photoelectric sensor sends also controls the count information in now low section of time figure conversion module, be sent in this out-of-work high section time figure conversion module and latch, complete count information is formed by the count information in high section time figure conversion module and the count information in the time figure conversion module of location, low section of time figure conversion module continues counting simultaneously.Due to for each different circuit pixels unit, different photon due in is different, and the latch time that correspond to count status is also just different.
As shown in Figure 6, the first either-or switch and the second either-or switch is controlled by main control system, the count mode of this device is terminated, enter low-frequency transmission pattern, to the count information for each circuit pixels unit, take to export count information line by line, wherein, the mode of data acquisition series read-out, what export along with data also has three synchronizing signals, be respectively frame synchronizing signal, word sync signal and bit synchronization signal, output digit signals bits per inch is according to remaining unchanged within a bit synchronization cycle, in the practical application of 13 bit high accuracy count, i.e. transmission 1 bit data in each bit synchronization cycle, transmit 13 bit data in a circuit pixels unit altogether, word sync signal is each circuit pixels unit 13 Bit data synchronous signal transmission.Frame synchronizing signal is the synchronizing signal of all circuit pixels unit transmission in whole system.By the time data end of transmission, controls to close low-frequency clock module, to reduce the quiescent dissipation of system.
Time figure conversion module in the present invention adopts two-part, comprises low section of time figure conversion module and high section time figure conversion module, lays respectively at outside pixel and in pixel, functionally realizes complete high-frequency count function.In this device, low side time figure conversion module is shared by system and is arranged on outside circuit pixels unit, carries out meticulous counting; High section time figure conversion module is arranged in each circuit pixels unit, is respectively each circuit pixels unit and slightly counts.In the outer low section of time figure conversion module of circuit pixels unit and each circuit pixels unit high section time figure conversion module synergy under, complete and the high precision of count mode quantized, in practical application, with the form Measuring Time of binary counting.Because the Counts frequency of time figure conversion module is very high, reach more than hundred megahertzes, therefore require frequency stabilization, time quantization is average.
High section time figure conversion module is that the overall situation is shared, and the clock synchronous of the system overall situation can be made high, reduce relative error; High each circuit pixels unit of section time figure conversion module exclusively enjoys, and makes the Dynamic data exchange of each circuit pixels unit without crosstalk, avoids the error code problem produced during the data write circuit pixel cell of high section time figure conversion module.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also makes a variety of changes under the prerequisite not departing from present inventive concept.
Claims (9)
1. a laser sensing response distance measuring equipment, comprise low-frequency clock module, generating laser, time figure conversion module, and the main control system be connected with time figure conversion module respectively, several photoelectric sensor, main control system is connected with generating laser, wherein, time figure conversion module comprises the first either-or switch and several high section of time figure conversion module, the quantity of photoelectric sensor is consistent with the quantity of high section time figure conversion module, each photoelectric sensor is corresponding to be respectively connected with each high section time figure conversion module, high frequency clock signal is connected with the input end of the first either-or switch respectively with low-frequency clock module, the output terminal of the first either-or switch respectively section time figure conversion module high with each is connected, it is characterized in that: described time figure conversion module also comprises a low section of time figure conversion module being connected of section time figure conversion module high with each respectively, low section of time figure conversion module comprises the second either-or switch and several phase inverter, each inverter series forms delay cell, the input end of delay cell is connected with the output terminal of the second either-or switch, meanwhile, the output terminal of delay cell is connected with one of them input end of the second either-or switch, by controlling the second either-or switch, making low section of time figure conversion module while counting, producing high frequency clock signal, be delivered to respectively in each high section time figure conversion module through the first either-or switch by the output terminal of delay cell.
2. a kind of laser sensing responds distance measuring equipment according to claim 1, it is characterized in that: described high section time figure conversion module comprises interconnective linear feedback shift register and data-carrier store, meanwhile, described low section of time figure conversion module is connected with each data-carrier store respectively.
3. a kind of laser sensing responds distance measuring equipment according to claim 1, it is characterized in that: also comprise multi-channel high-accuracy delay controller and several quenching restoring circuit module, described main control system is connected with described time figure conversion module, generating laser respectively after multi-channel high-accuracy delay controller; The quantity of quenching restoring circuit module is consistent with the quantity of described photoelectric sensor, and each photoelectric sensor is connected with corresponding described high section time figure conversion module through quenching restoring circuit module respectively.
4. a kind of laser sensing responds distance measuring equipment according to claim 1, it is characterized in that: described photoelectric sensor is G-APD detector array.
5., based on a kind of described in claim 3 control method of laser sensing response distance measuring equipment, comprise the steps:
It is luminous to testee that step 1. main control system controls generating laser;
Meanwhile, main control system controls the first either-or switch, and send high frequency clock signal to each high section time figure conversion module, each high section time figure conversion module starts high-frequency count;
Each photoelectric sensor of step 2. receives the laser through testee reflection respectively, be converted into electric signal, be sent to each self-corresponding high section time figure conversion module, the high section time figure conversion module receiving electric signal quits work, and latches now inner count status;
The first either-or switch in step 3. main control system control time digital conversion module, low-frequency clock module is made to send low-frequency clock signal respectively to each high section time figure conversion module, each high section time figure conversion module starts low-frequency transmission, is exported by the count status of latch;
It is characterized in that: in described step 1, the second either-or switch in low section of time figure conversion module is controlled by main control system, control low section of time figure conversion module start counting and produce high frequency clock signal, and control the first either-or switch by main control system simultaneously, the high frequency clock signal produced by low section of time figure conversion module is sent in each high section time figure conversion module respectively, makes each high section time figure conversion module start high-frequency count;
In step 2, receive and send the high section time figure conversion module of electric signal while quitting work, inner count status is latched by corresponding photoelectric sensor, by the count information in now low section of time figure conversion module, be sent in this out-of-work high section time figure conversion module and latch, form complete count information by the count information in high section time figure conversion module and the count information in low section of time figure conversion module, low section of time figure conversion module continues counting simultaneously.
6. a kind of laser sensing responds the control method of distance measuring equipment according to claim 5, it is characterized in that: the control signal that described main control system sends after described multi-channel high-accuracy delay controller, then controls described time figure conversion module and generating laser respectively.
7. a kind of laser sensing responds the control method of distance measuring equipment according to claim 5, it is characterized in that: in described step 2, each photoelectric sensor receives the laser through testee reflection respectively, be converted into electric signal, first be sent in the described quenching restoring circuit module corresponding with each photoelectric sensor, again by the quenching restoring circuit module receiving electric signal, the high section time figure conversion module to correspondence sends stop signal, makes it quit work.
8. a kind of laser sensing responds the control method of distance measuring equipment according to claim 7, it is characterized in that: in described step 2, the described quenching restoring circuit module receiving the electric signal that corresponding photoelectric sensor sends, also resets to the photoelectric sensor corresponding with it.
9. a kind of laser sensing responds the control method of distance measuring equipment according to claim 5, it is characterized in that: in described step 3, also comprise the second either-or switch that main control system controls in low section of time figure conversion module, control low section of time figure conversion module and quit work.
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| WO2019041269A1 (en) * | 2017-08-31 | 2019-03-07 | SZ DJI Technology Co., Ltd. | Delay time calibration of optical distance measurement devices, and associated systems and methods |
| DE102018213819B3 (en) * | 2018-08-16 | 2019-11-07 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device and method for TDC sharing with time-based distance measurement |
| CN109298428B (en) * | 2018-11-16 | 2020-07-14 | 杭州一隅千象科技有限公司 | Multi-TOF depth information acquisition synchronization method and system |
| CN111337147B (en) * | 2020-03-16 | 2020-12-08 | 东南大学 | Pixel-level laser pulse detection and measurement circuit |
| CN112202425A (en) * | 2020-09-25 | 2021-01-08 | 杭州加速科技有限公司 | Clock generation unit in FPGA chip |
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