CN106842223A - Laser ranging system and method - Google Patents
Laser ranging system and method Download PDFInfo
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- CN106842223A CN106842223A CN201611109832.2A CN201611109832A CN106842223A CN 106842223 A CN106842223 A CN 106842223A CN 201611109832 A CN201611109832 A CN 201611109832A CN 106842223 A CN106842223 A CN 106842223A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of laser ranging system and method, the device includes main control module, Energy identifying module, distance-measurement module and moment identification module, wherein：The Energy identifying module, is connected to the main control module, and including first laser transmitter unit and first laser receiving unit；The distance-measurement module, is connected to the main control module, and including second laser transmitter unit and second laser receiving unit；The moment identification module, is connected to the distance-measurement module and the main control module.Laser emitting power, photoelectric conversion factors in the present invention in distance-measurement module etc. can be to be adjusted according to the reflectivity of testee, thus no matter the size of testee reflectivity, can accurately be found range, so as to improve ranging accuracy.
Description
Technical field
The present invention relates to laser technology field, more particularly, to a kind of laser ranging system and method.
Background technology
Laser ranging system is because certainty of measurement is high, high directivity and be widely used in apart from detection field, laser
Range unit sends laser pulse through ovennodulation to testee using laser, and optical-electrical converter is received and reflected
Laser pulse, the time difference determining device of transmitting and reception according to laser pulse arrives the distance between testee.Specifically
For, the laser that the laser tube in pulse type laser device sends reflects to form echo optical signal on testee,
Electric signal is converted optical signals into by optical-electrical converter, then electric signal is amplified by amplifying circuit, the letter after amplification
Number entry time discriminator circuit obtains echo moment point, and measurement distance is calculated finally by the light velocity.
But, existing laser ranging system typically all ignores the reflectivity of testee, the laser of different testees
Albedo is different, causes the energy power of echo-signal to differ.When testee reflectivity is low, echo-signal is very weak,
When testee reflectivity is high, echo-signal is very strong, and the echo amplitude of different-energy is different, often leads to the not smart of measurement
Really, even measurement failure.
The content of the invention
For disadvantages described above, the present invention provides a kind of laser ranging system and method, can improve ranging accuracy.
In a first aspect, the laser ranging system that the present invention is provided includes main control module, Energy identifying module, range measurement mould
Block and moment identification module, wherein：
The Energy identifying module, is connected to the main control module, and including first laser transmitter unit and first laser
Receiving unit, the first laser transmitter unit is used to send laser to testee under the control of main control module, and described the
One laser pick-off unit is used to that the laser return pulse signal of the testee to be converted into electricity under the control of main control module
Signal, and the electric signal is sent to the main control module；
The distance-measurement module, is connected to the main control module, and including second laser transmitter unit and second laser
Receiving unit；
The main control module, the electric signal for being sent according to the first laser receiving unit determines that described second swashs
The photoelectric conversion factors of the transmission power of Optical Transmit Unit and/or the second laser receiving unit；
The second laser transmitter unit is used under the control of the main control module with determined by the main control module
Transmission power launches laser to the testee, and/or, the second laser receiving unit is used for according to the main control module
The laser return pulse signal of the testee is converted to electric signal by the photoelectric conversion factors of determination, and will be converted to
Electric signal is sent to the moment identification module；
The moment identification module, is connected to the distance-measurement module and the main control module, for receiving
Determine echo due in when stating the electric signal that distance-measurement module sends, and the echo due in is sent to described
Main control module；
The main control module was used for according to the moment and the echo for controlling the second laser transmitter unit transmitting laser
Due in determines the distance between the laser ranging system and described testee.
Optionally, the first laser transmitter unit includes first laser transmitter and for launching the first laser
The first collimating mirror that the laser of device transmitting is collimated；The first laser transmitter includes first laser pipe and with described first
The first laser drive circuit of laser tube connection, the first laser drive circuit is connected with the main control module.
Optionally, the first laser receiving unit includes that the first receive mirror, the first electrooptical device, the first reception are put
Big circuit and energy holding circuit；Wherein：
First receive mirror is for the laser return pulse signal gathering to the testee to first photoelectricity
On switching device, the laser return pulse signal that first electrooptical device is used to receive is converted to electric signal, institute
State the first reception amplifying circuit for send after being amplified to the electric signal that first electrooptical device is converted to
The energy holding circuit, the energy holding circuit is used to carrying out the electric signal that receives being sent to after energy holding described
Main control module.
Optionally, the second laser transmitter unit includes second laser transmitter and for launching the second laser
The second collimating mirror that the laser of device transmitting is collimated；The second laser transmitter includes second laser pipe, transmission power can
The laser drive circuit of tune, wherein：
The adjustable laser drive circuit of transmission power, is connected to the second laser pipe and the main control module, uses
In the transmission power for adjusting the second laser pipe, transmission power is transmission power determined by the main control module.
Optionally, the second laser receiving unit includes that the second receive mirror, the second electrooptical device and second are received
Amplifying circuit, wherein：
Second receive mirror is used to for the laser return pulse of the testee to converge to second opto-electronic conversion
On device, second electrooptical device be used for the laser return pulse signal that will receive be converted to send after electric signal to
Second receives amplifying circuit, and described second receives amplifying circuit for quick response automatic gain amplifying circuit, for receiving
Electric signal be amplified the fast automatic regulation of gain.
Optionally, the main control module is used for the electric signal quick regulation sent according to the first laser receiving unit
Described second gain amplifier for receiving amplifying circuit.
Optionally, described device also includes the voltage-regulation being all connected with the main control module and the distance-measurement module
Module；
The electric signal that the main control module is used to be sent according to the first laser receiving unit determines second light
Electric modular converter carry out opto-electronic conversion with the photoelectric conversion factors needed for operating voltage, and by the VRM Voltage Regulator Module
Second photoelectric conversion module is adjusted to the operating voltage.
Optionally, the VRM Voltage Regulator Module is additionally coupled to the Energy identifying module, and corresponding, the main control module is also
For adjusting the voltage needed for the first laser receiving unit carries out opto-electronic conversion by the VRM Voltage Regulator Module.
Optionally, the main control module includes main control chip, voltage acquisition unit, timing unit and power subsystem, wherein：
The voltage acquisition unit, is connected to the main control chip, for gathering the first laser receiving unit conversion
The electric signal for obtaining, and send to the main control chip；
The main control chip, the electric signal for being sent according to the voltage acquisition unit determines the second laser hair
The transmission power of unit and/or the photoelectric conversion factors of the second laser receiving unit are penetrated, and controls the second laser to send out
Penetrate unit and laser is launched to the testee with transmission power determined by the main control chip, and/or, control second laser
Receiving unit according to determined by the main control chip photoelectric conversion factors by the laser return pulse signal of the testee
Be converted to electric signal；
The timing unit, is connected to the main control chip, and the second laser is controlled for recording the main control chip
Transmitter unit launches the moment of laser；
The main control chip is additionally operable to control the second laser transmitter unit transmitting laser according to the main control chip
Moment and the echo due in determine the distance；
The power subsystem, is connected to the main control chip, for providing power supply for the main control chip.
Optionally, Energy identifying module differentiates the mode of the pulsed laser energy for returning to defeated in the first reception amplifying circuit
Go out the quantity of electric charge of storage in the electric capacity at end to be differentiated, the quantity of electric charge of discriminating is converted into voltage is transferred to main control chip.
Second aspect, the laser distance measurement method that the present invention is provided includes：Found range using above-mentioned laser ranging system, had
Body includes：
First laser transmitter unit sends laser under the control of main control module to testee；The angle of turntable rotation
Resolution ratio is θ degree, and the speed of rotation is v, and the frequency for launching laser is f1, wherein
Second laser transmitter unit launches laser under the control of main control module to testee；The angle of turntable rotation
Degree resolution ratio is θ degree, and the speed of rotation is v, and transmitting laser frequency is f2, wherein
Because first laser transmitter unit and the second transmitter unit have identical angular resolution θ and rotating speed v, therefore both
Glow frequency it is identical, i.e. f1=f2；First laser transmitter unit tranmitting frequency is the laser pulse of f1, and first laser receives single
Unit receives the laser pulse signal of testee return, and laser pulse signal is carried out into opto-electronic conversion and amplification, will amplify
Voltage afterwards is sent to described main control module；
Assuming that the measurement distance of laser ranging system to testee is D meters, described main control module is according to first laser
The voltage signal that receiving unit sends, second receives the gain amplifier of amplifying circuit in adjustable range measurement module；Second swashs
Light emitting units emitting frequency is the laser of f2, determines the initial time T1 of laser pulse emission；Both luminous time intervals
Δ t, Δ t=Δ t1=D/C, wherein D are measurement distance of the laser ranging system to testee, and C is the light velocity；In the Δ t1 times
Interior, the anglec of rotation is θ1；Wherein θ1=v*360 ° of * Δ t1 ＜ ＜ θ；Object is in θ1Think static under angle, therefore second laser is sent out
The test point of the test point and first laser transmitter unit transmitting laser of penetrating unit transmitting laser thinks equal, such first laser
The laser of transmitter unit transmitting is the second prediction laser of laser emission element, it is ensured that second laser of transmitting meets different
Reflectivity can be measured；Described moment identification module is receiving the laser pulse that the distance-measurement module sends
Voltage signal when determine laser end time T2；
Or, it is assumed that the measurement distance of laser ranging system to testee is D meters, and described main control module is according to first
The voltage signal that laser pick-off unit sends, second receives the gain amplifier of amplifying circuit in adjustable range measurement module；Together
When adjustable range measurement module in second laser transmitter unit transmission power；Second laser transmitter unit tranmitting frequency is f2
Laser, determine the initial time T1 of laser pulse emission；Both luminous time interval Δ t=Δ t1+ Δs t2；Wherein Δ t2
It is the Laser Driven regulating time of second laser transmitter unit, the angle of motor rotation is θ within the Δ t1+ Δ t2 times2=v*
360 ° of * (Δ t1+ Δ t2) ＜ ＜ θ；Object is in θ2Think static under this angle, therefore second laser transmitter unit transmitting laser
The test point of test point and first laser transmitter unit transmitting laser thinks equal, and what such first laser transmitter unit was launched swashs
Light is the second prediction laser of laser emission element, it is ensured that the laser of second transmitting also meets different reflectivity can
It is measured；Described moment identification module is when the voltage signal of the laser pulse that the distance-measurement module sends is received
Determine laser end time T2；
The main control module according to the second laser transmitter unit launch laser moment and the echo reach when
Carve and determine the distance between the laser ranging system and testee S, wherein
In the laser ranging system that the present invention is provided, master control module controls first laser transmitter unit is launched to testee
Laser, laser is returned after being reflected on testee, and returning after light wave is received by first laser receiving unit carries out opto-electronic conversion,
Electric signal is obtained, the big of the electric signal reflects the size for returning to light-wave energy, such that it is able to judge the reflection of testee
The size of ability.Based on this point, main control module can determine the transmission power and/or second laser of second laser transmitter unit
The photoelectric conversion factors of receiving unit, the return light wave of the laser that such second laser transmitter unit is launched to testee is by
The electric signal obtained after the conversion of dual-laser receiving unit can meet the size needed for moment identification module is differentiated, to complete
Return to the discriminating of light wave due in.That is, laser emitting power, photoelectric conversion factors in distance-measurement module etc. is
Can be adjusted according to the reflectivity of testee, thus no matter the size of testee reflectivity, it is accurate to carry out
Range finding, so as to improve ranging accuracy.
Brief description of the drawings
In order to illustrate more clearly of the embodiment of the present disclosure or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Disclosed some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these figures.
Fig. 1 shows the schematic diagram of laser ranging system and testee in the embodiment of the present invention；
Fig. 2 shows the structural representation of the adjustable laser drive circuit of transmission power in the embodiment of the present invention；
Fig. 3 shows the structural representation of automatic gain amplifying circuit in the embodiment of the present invention；
Fig. 4 shows the structured flowchart of laser ranging system in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present disclosure, the technical scheme in the embodiment of the present disclosure is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the disclosure, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of disclosure protection.
The present invention provides a kind of laser ranging system, as shown in figure 1, the device include main control module, Energy identifying module,
Distance-measurement module, wherein：
The Energy identifying module, is connected to the main control module, and including first laser transmitter unit and first laser
Receiving unit, the first laser transmitter unit is used to send laser to testee under the control of main control module, and described the
One laser pick-off unit is used to that the laser return pulse signal of the testee to be converted into electricity under the control of main control module
Signal, and the electric signal is sent to the main control module；
The distance-measurement module, is connected to the main control module, and including second laser transmitter unit and second laser
Receiving unit；
The main control module, the electric signal for being sent according to the first laser receiving unit determines that described second swashs
The photoelectric conversion factors of the transmission power of Optical Transmit Unit and/or the second laser receiving unit；
The second laser transmitter unit is used under the control of the main control module with determined by the main control module
Transmission power launches laser to the testee, and/or, the second laser receiving unit is used for according to the main control module
The laser return pulse signal of the testee is converted to electric signal by the photoelectric conversion factors of determination, and will be converted to
Electric signal is sent to the moment identification module；
The moment identification module, is connected to the distance-measurement module and the main control module, for receiving
Determine echo due in when stating the electric signal that distance-measurement module sends, and the echo due in is sent to described
Main control module；
The main control module was used for according to the moment and the echo for controlling the second laser transmitter unit transmitting laser
Due in determines the distance between the laser ranging system and described testee.
In the laser ranging system that the present invention is provided, master control module controls first laser transmitter unit is launched to testee
Laser, laser is returned after being reflected on testee, and laser return pulse signal is carried out after being received by first laser receiving unit
Opto-electronic conversion, obtains electric signal, and the size of the electric signal reflects the size of laser return pulse signal energy, such that it is able to sentence
The size of the albedo for testee of breaking.The first laser before second fluorescent lifetime arrives according to connects simultaneously
The laser pulse signal energy size of unit reception is received to adjust the transmission power and/or second laser of second laser transmitter unit
The photoelectric conversion factors of receiving unit, the laser return pulse of the laser that such second laser transmitter unit is launched to testee
The electric signal that signal is obtained after being changed by second laser receiving unit can meet big needed for moment identification module is differentiated
It is small, to complete the discriminating of laser return pulse signal due in.That is, the Laser emission work(in distance-measurement module
Rate, photoelectric conversion factors etc. can be to be adjusted according to the reflectivity of testee, thus no matter testee reflectivity
Size, can accurately be found range, so as to improve ranging accuracy.
In the specific implementation, first laser transmitter unit can be realized using multiple structural forms, and this present invention is not done
Limit, the optional structure of one of which is：The first laser transmitter unit includes first laser transmitter and for described
The first collimating mirror that the laser of first laser transmitter transmitting is collimated；The first laser transmitter includes first laser pipe
And the first laser drive circuit being connected with the first laser pipe, the first laser drive circuit connects with the main control module
Connect.First laser drive circuit in the first laser transmitter unit of the structure drives first laser pipe transmitting laser, transmitting
Laser is launched to testee by after the first collimating mirror collimation.The first laser transmitter unit simple structure of the structure, easily
Realize.
In the specific implementation, first laser receiving unit has multiple structural forms, and this present invention is not limited, wherein one
Planting optional structure is：The first laser receiving unit includes that the first receive mirror, the first electrooptical device, first receive and puts
Big circuit and energy holding circuit；Wherein：First receive mirror is used for the laser return pulse signal to the testee
Converge on first electrooptical device, first electrooptical device is used for the laser return pulse letter that will be received
Electric signal number is converted to, the first reception amplifying circuit is used for the electric signal being converted to first electrooptical device
Sent after being amplified to the energy holding circuit, the energy holding circuit is used to carry out energy to the electric signal for receiving
The main control module is sent to after holding.The first receive mirror in first laser receiving unit in the structure receives return and swashs
During light pulse signal, by laser return pulse signal gathering to the first electrooptical device, the first electrooptical device is by light
Signal is converted to electric signal, and the first reception amplifying circuit is sent to energy holding circuit after being amplified to electric signal, and energy is protected
Hold after circuit keeps to electric signal and be sent to main control module.The simple structure of the first laser receiving unit of the structure, easily realization.
In the specific implementation, there are second laser transmitter unit multiple structural forms to realize, this present invention is not limited,
The optional structure of one of which is：The second laser transmitter unit includes second laser transmitter and for swashing to described second
The second collimating mirror that the laser of optical transmitting set transmitting is collimated；The second laser transmitter includes second laser pipe, transmitting
The laser drive circuit of power adjustable, wherein：
The adjustable laser drive circuit of transmission power is by voltage comparator, capacitor charge and discharge module, constant-current source and anti-
Road composition is fed back to,
The second laser pipe and the main control module are connected to, it is described for being driven under the control of the main control module
Second laser pipe launches laser；
Because second laser transmitter unit includes power conditioning circuitry, therefore main control module can be adjusted by controlling power
The transmission power of voltage-regulation second laser transmitter is saved, so as to realize the laser emitting power to second laser transmitter unit.
For example, if the reflectivity of testee is smaller, can be by way of lifting second laser transmission power, increase is returned
The energy size of light echo ripple.
In the specific implementation, second laser receiving unit can be realized using multiple structural forms, and this present invention is not done
Limit, the optional structure of one of which is：The second laser receiving unit includes the second receive mirror, the second optical-electrical converter
Part and second receives amplifying circuit, wherein：Second receive mirror is used for the laser return pulse signal of the testee
Converge on second electrooptical device, second electrooptical device is used for the laser return pulse letter that will be received
Number to be converted to send to second after electric signal and receive amplifying circuit, the second reception amplifying circuit is used for the telecommunications to receiving
Sent to the moment identification module after number being amplified.The simple structure of the second laser receiving unit of the structure, easily realization.
In the specific implementation, if second laser receiving unit includes receiving amplifying circuit, can also be by controlling to receive
The mode of the gain amplifier of amplifying circuit is adjusted to the energy of laser return pulse signal.The second of above alternative construction swashs
Illustrated as a example by light receiving unit：Main control module can be also used for the telecommunications sent according to the first laser receiving unit
Number determine it is described second receive amplifying circuit gain amplifier；Corresponding, described second receives amplifying circuit specifically for basis
The gain amplifier is amplified to the electric signal for receiving.
It is there is further provided a kind of mode of the energy size adjustment for returning to light wave, such as smaller in testee reflectivity
In the case of, the energy of laser return pulse signal can be increased by way of increasing and receiving amplifying circuit, during so as to meet
Carve the requirement of identification module.
In the specific implementation, main control module can be using the second opto-electronic conversion in directly control second laser receiving unit
The mode of device adjusts its photoelectric conversion factors, it is also possible to set the mode of VRM Voltage Regulator Module by adjusting the second opto-electronic conversion
Operating voltage in device, so that change its photoelectric conversion factors, specially：Laser ranging system can also be with the master control mould
The VRM Voltage Regulator Module that block and the distance-measurement module are all connected with；Corresponding, the main control module is used for according to described first
The electric signal that laser pick-off unit sends determines that second photoelectric conversion module carries out photoelectricity with the photoelectric conversion factors
Operating voltage needed for conversion, and adjusted to the work second photoelectric conversion module by the VRM Voltage Regulator Module
Voltage.
Here, main control module determines the second photoelectric conversion module energy according to the electric signal that first laser receiving unit sends
Enough meet the photoelectric conversion factors of moment identification module requirement, the second electrooptical device is then adjusted by VRM Voltage Regulator Module
Operating voltage, can with meet moment identification module requirement photoelectric conversion factors work, i.e., in optimum Working work
Make.
In the specific implementation, in a device set VRM Voltage Regulator Module on the basis of, can also by VRM Voltage Regulator Module with
Energy identifying module is connected, and like this, main control module can adjust the first laser and receive single by VRM Voltage Regulator Module
Unit carries out the voltage of opto-electronic conversion, it is operated in normal operating conditions.
In the specific implementation, main control module can use multiple structural forms, this present invention not limited, one of which
Optionally structure is：The main control module includes main control chip, voltage acquisition unit, timing unit and power subsystem, wherein：
The voltage acquisition unit, is connected to the main control chip, for gathering the first laser receiving unit conversion
The electric signal for obtaining, and send to the main control chip；
The main control chip, the electric signal for being sent according to the voltage acquisition unit determines the second laser hair
The transmission power of unit and/or the photoelectric conversion factors of the second laser receiving unit are penetrated, and controls the second laser to send out
Penetrate unit and laser is launched to the testee with transmission power determined by the main control chip, and/or, control second laser
Receiving unit according to determined by the main control chip photoelectric conversion factors by the laser return pulse signal of the testee
Be converted to electric signal；
The timing unit, is connected to the main control chip, and the second laser is controlled for recording the main control chip
Transmitter unit launches the moment of laser；
The main control chip is additionally operable to control the second laser transmitter unit transmitting laser according to the main control chip
Moment and the echo due in determine the distance；
The power subsystem, is connected to the main control chip, for providing power supply for the main control chip.
That is, the main control chip in main control module is realized various control functions and is determined according to Energy identifying module
Transmission power, gain amplifier, photoelectric conversion factors these parameters, timing is carried out using timing unit, is powered using power subsystem,
The electric signal sent using voltage acquisition unit collecting energy identification module.The main control chip of this spline structure, simple structure, easily
Realize.
In the specific implementation, as shown in figure 1, the device that the present invention is provided can also include：The Energy identifying mould is set
The turntable of block and the distance-measurement module, the Energy identifying module and the distance-measurement module are in the turntable
On position be suitable to make the test position phase of the Energy identifying module and the distance-measurement module on the testee
Together.
In the specific implementation, the angle of turntable rotation is θ1=v*360 ° of * Δ t ＜ ＜ θ, due between fluorescent lifetime twice
Every small, therefore the test point of second laser transmitter unit transmitting laser is near with the test point that first laser transmitter unit launches laser
Patibhaga-nimitta etc..
In the specific implementation, each module with annexation can be connected by winding displacement.
In the specific implementation, VRM Voltage Regulator Module can have multiple structural forms, and this present invention is not limited.Wherein
A kind of optional structure is：VRM Voltage Regulator Module includes booster circuit and voltage regulation unit.
A kind of laser distance measurement method is the embodiment of the invention provides, the method is as follows：
First laser transmitter unit sends laser under the control of main control module to testee；The angle of turntable rotation
Resolution ratio is θ degree, and the speed of rotation is v, and the frequency for launching laser is f1, wherein
Second laser transmitter unit launches laser under the control of main control module to testee；The angle of turntable rotation
Resolution ratio is θ degree, and the speed of rotation is v, and transmitting laser frequency is f2, wherein
Because first laser transmitter unit and the second transmitter unit have identical angular resolution θ and rotating speed v, therefore both
Glow frequency it is identical, i.e. f1=f2；First laser transmitter unit tranmitting frequency is the laser pulse of f1, and first laser receives single
Unit receives the laser pulse signal of testee return, and laser pulse signal is carried out into opto-electronic conversion and amplification, will amplify
Voltage afterwards is sent to described main control module；
Assuming that the measurement distance of laser ranging system to testee is D meters, described main control module is according to first laser
The voltage signal that receiving unit sends, second receives the gain amplifier of amplifying circuit in adjustable range measurement module；Second swashs
Light emitting units emitting frequency is the laser of f2, determines the initial time T1 of laser pulse emission；Both luminous time intervals
Δ t, Δ t=Δ t1=D/C, wherein D are measurement distance of the laser ranging system to testee, and C is the light velocity；In Δ t1
Interior, the anglec of rotation is θ1；Wherein θ1=v*360 ° of * Δ t1 ＜ ＜ θ；Object is in θ1Think static under angle, therefore second laser
The test point of transmitter unit transmitting laser and the test point of first laser transmitter unit transmitting laser think equal, and such first swashs
The laser of light emitting units emitting is the second prediction laser of laser emission element, it is ensured that second laser of transmitting meets not
Same reflectivity can be measured；Described moment identification module is receiving the laser arteries and veins that the distance-measurement module sends
Laser end time T2 is determined during the voltage signal of punching；
Or, it is assumed that the measurement distance of laser ranging system to testee is D meters, and described main control module is according to first
The voltage signal that laser pick-off unit sends, second receives the gain amplifier of amplifying circuit in adjustable range measurement module；Together
When adjustable range measurement module in second laser transmitter unit transmission power；Second laser transmitter unit tranmitting frequency is f2
Laser, determine the initial time T1 of laser pulse emission；Both luminous time interval Δ t=Δ t1+ Δs t2；Wherein Δ t2
It is the Laser Driven regulating time of second laser transmitter unit, the angle of motor rotation is θ within the Δ t1+ Δ t2 times2=v*
360 ° of * (Δ t1+ Δ t2) ＜ ＜ θ；Object is in θ2Think static under this angle, therefore second laser transmitter unit transmitting laser
The test point of test point and first laser transmitter unit transmitting laser thinks equal, and what such first laser transmitter unit was launched swashs
Light is the second prediction laser of laser emission element, it is ensured that the laser of second transmitting also meets different reflectivity can be by
Measurement；Described moment identification module is true when the voltage signal of the laser pulse that the distance-measurement module sends is received
Determine laser end time T2；
The main control module according to the second laser transmitter unit launch laser moment and the echo reach when
Carve and determine the distance between the laser ranging system and testee S, wherein
Further, described first laser transmitter unit is specifically included：
The frequency f1 of first laser transmitter unit transmitting laser and the relation of angular resolution θ of turntable rotation areWherein v is the rotating speed of motor；
Further, the radiating circuit in described second laser transmitter unit is specifically included：
Radiating circuit in second laser transmitter unit is the adjustable laser drive circuit of transmission power, as shown in Figure 2；
The circuit is made up of voltage comparator, capacitor charge and discharge module, constant-current source and backfeed loop, and the forward end of voltage comparator sets
Positive voltage value Vset is put, negative end sets voltage and is assumed to be 0, then the low level of comparator output causes capacitor charge and discharge module pair
Electric capacity is charged, and with the slow rising of capacitance voltage, the driving current of constant-current source is constantly raised, and laser output intensity constantly rises
Height, PIN probe currents become big, so as to cause backfeed loop output voltage to raise, until after exceeding the positive terminal voltage Vset of comparator,
Comparator output is high level by low transition, and comparator output high level causes capacitor charge and discharge module to discharge electric capacity,
With the slow decline of capacitance voltage, the driving current of constant-current source is constantly now by laser output intensity constantly declines, and PIN is visited
Survey electric current to reduce, so as to cause the reduction of backfeed loop output voltage, until after the low positive terminal voltage Vset of comparator excessively, comparator is defeated
It is low level to go out by high level saltus step, is thus moved in circles, the transmission power of final stable laser.
Further；Described time interval luminous twice is specifically included：
The second laser transmitter unit has passed through the signal of first laser receiving unit in light period next time
To adjust the transmission power of the second transmitter unit, and time interval Δ t luminous twice<<1/f, the angle of turntable rotation
θ1=v*360 ° of * Δ t ＜ ＜ θ；Object can consider transfixion under this angle, therefore the laser of twice emitting is approximately considered
In same test point, the laser that such first laser transmitter unit is launched swashs for the prediction of second laser transmitter unit for test
Light, it is ensured that the laser of second transmitting meets different emissivity can be measured.
Further, described automatic gain amplifying circuit is specifically included：
Automatic gain amplifying circuit in second laser receiving unit is amplified by including the voltage controlled gain including FET
Device, current rectifying and wave filtering circuit, dc amplifier composition realizes the closed-loop control of gain.As shown in figure 3, signal enters from input
To in circuit, operation amplifier gas constitutes pressure with device, used as input stage.Sign-changing amplifier is constituted by another operational amplifier, its
Gain is determined by the resistance between the source electrode of FET and drain electrode.Output voltage forms pressure by rectification circuit and filter circuit
Control voltage, is added to the grid of FET, and when voltage-controlled voltage changes, the resistance between source electrode and drain electrode also becomes
Change, therefore the multiplication factor of amplifier also changes, therefore the automatic multiple for reducing amplifier when the signal is strong, when signal is weak
The multiple of amplifier is automatically increased, so as to realize the purpose of automatic growth control.
The distance-finding method that the present embodiment is provided is carried out in detail by two specific application examples with reference to described in Fig. 4
Explanation
The distance-finding method that the present embodiment is provided can be realized using the device shown in Fig. 1, the master in main control module first
Control chip FPGA controls the voltage regulation unit in high voltage adjusting module by instructing to adjust the high pressure of optical-electrical converter, makes
Its normal work, main control chip FPGA sends instructions to the first laser transmitter 905D1S3J09UA in Energy identifying module,
Because the rated speed of motor is 1200 circles/min, therefore the time that motor rotation is turned around is 0.05s, because the minimum of code-disc is carved
It is 0.09 ° to spend, and often turns over a scale laser tube and just lights once, therefore turns around and need luminous 360/0.09=4000 times,
The time of light is often sent out once for 0.05/4000=1/80k=12.5us, therefore the glow frequency f1 of laser is 80kHz；First swashs
Optical transmitting set 905D1S3J09UA sends laser, and laser is sent to testee by after the first collimating mirror collimation；First laser
Receiving unit receives the laser pulse signal of testee return, laser pulse signal by Energy identifying module in first connect
Receipts mirror converges to and opto-electronic conversion is carried out on the first electrooptical device, and the electric signal obtained after conversion receives amplifying circuit through first
Sent after amplification to energy holding circuit；Energy holding circuit is sent to magnitude of voltage after holding the voltage acquisition in main control module
Electric signal is sent to main control chip FPGA by unit, voltage acquisition unit；Assuming that first laser receiving unit is to testee
Distance is 200 meters, and the voltage signal that described main control module sends according to first laser receiving unit is fast in distance-measurement module
The automatic gain amplifying circuit of speed response adjusts the amplification coefficient of second laser receiving unit；Second laser transmitter unit transmitting frequency
Rate is 80kHz；Both luminous time interval Δ t=66ns, within the Δ t times angle of motor rotation due to θ=1200 circle/
Min*360 ° of * 66ns=0.0004752 °；Due to θ<<0.09 ° of object can consider transfixion, therefore second under this angle
The test point of laser emission element transmitting laser launches Laser Measuring pilot approximately equal, such first with first laser transmitter unit
The laser of laser emission element transmitting is the prediction laser of second laser transmitter unit, it is ensured that second laser of transmitting meets not
Same emissivity can be measured.The electric signal regulation that described main control chip FPGA sends according to first laser receiving unit
The transmission power of automatic gain amplifying circuit or second laser transmitter unit in distance-measurement module, second laser transmitting is single
Unit's transmitting laser, timing unit is recorded to x time；Determine the initial time T1 of Laser emission；The laser that testee is returned
Pulse converges to the second electrooptical device, the second opto-electronic conversion after being received by the second receive mirror in second laser receiving unit
Device carries out opto-electronic conversion to the laser pulse signal for receiving, and obtains electric signal, and the electric signal being converted to connects by second
Be amplified for electric signal and be sent to moment identification module by receipts amplifying circuit；Moment identification module determines when electric signal is received
The due in T2 of laser return pulse signal；Then it is up to send constantly to main control chip；Main control chip swashs according to second
The moment T1 of light emitting units emitting laser and the due in T2 of laser return pulse signal determine the laser propagation time, so that
The distance between laser ranging system and testee S is determined according to the light velocity.
Main control chip FPGA in another embodiment, first main control module is controlled in high voltage adjusting module by instructing
Voltage regulation unit adjust the high pressure of optical-electrical converter, make its normal work, main control chip FPGA sends instructions to energy
First laser transmitter 905D1S3J09UA in identification module, due to motor rated speed be 1200 circles/min, therefore electricity
The time that machine rotation is turned around is 0.05s, because the minimum scale of code-disc is 0.09 °, often turns over a scale laser tube and just lights
Once, therefore turn around and need luminous 360/0.09=4000 time, often send out once the time of light for 0.05/4000=1/80k=
12.5us, therefore the glow frequency f1 of laser is 80kHz；First laser transmitter 905D1S3J09UA sends laser, laser warp
Sent to testee after crossing the first collimating mirror collimation；First laser receiving unit receives the laser pulse of testee return
Signal, laser pulse signal is converged to by the first receive mirror in Energy identifying module and photoelectricity is carried out on the first electrooptical device
Conversion, the electric signal obtained after conversion is sent to energy holding circuit after amplifying through the first reception amplifying circuit；Energy keeps electricity
Road is sent to magnitude of voltage after holding the voltage acquisition unit in main control module, and electric signal is sent to master control by voltage acquisition unit
Chip FPGA；Assuming that the distance of first laser receiving unit to testee is 200 meters, the main control module is according to first laser
The voltage signal that receiving unit sends, the automatic gain amplifying circuit regulation second laser of quick response in distance-measurement module
The amplification coefficient of receiving unit；The transmission power of the second laser transmitter unit in distance-measurement module is debugged simultaneously；Second swashs
Light emitting units emitting frequency is 80kHz；Both luminous time interval Δ t=66ns+10ns=76ns, within the Δ t times
Circle/min*360 ° of the angle, θ=1200 * 76ns=0.0005472 ° of motor rotation；Due to θ<<0.09 ° of object is under this angle
It is also assumed that transfixion, therefore second laser transmitter unit launches the test point of laser and first laser transmitter unit is launched
Laser Measuring pilot approximately equal, the laser that such first laser transmitter unit is launched swashs for the prediction of second laser transmitter unit
Light, it is ensured that the laser of second transmitting meets different emissivity can be measured.Described main control chip FPGA is according to first
Automatic gain amplifying circuit or second laser transmitting in the electric signal adjustable range measurement module that laser pick-off unit sends
The transmission power of unit, second laser transmitter unit transmitting laser, timing unit is recorded to x time；Determine Laser emission
Initial time T1；The laser pulse that testee is returned is converged to after being received by the second receive mirror in second laser receiving unit
Second electrooptical device, the second electrooptical device carries out opto-electronic conversion to the laser pulse signal for receiving, and obtains telecommunications
Number, be amplified for electric signal by the second reception amplifying circuit be sent to moment identification module by the electric signal being converted to；When
Carve the due in T2 that identification module determines laser return pulse signal when electric signal is received；Then it is up to send constantly
To main control chip；Main control chip launches the moment T1 of laser and arriving for laser return pulse signal according to second laser transmitter unit
The laser propagation time is determined up to moment T2, so as to determine the distance between laser ranging system and testee S according to the light velocity.
In specification of the invention, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can be with
Put into practice in the case of without these details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention has been described in detail, it will be understood by those within the art that；It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent to which part technical characteristic；And these modification or
Replace, do not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of laser ranging system, it is characterised in that including main control module, Energy identifying module, distance-measurement module and when
Identification module is carved, wherein：
The Energy identifying module, is connected to the main control module, and receive including first laser transmitter unit and first laser
Unit, the first laser transmitter unit is used under the control of main control module send laser to testee, and described first swashs
Light receiving unit is used to that the laser return pulse signal of the testee to be converted into electric signal under the control of main control module,
And send to the main control module electric signal；
The distance-measurement module, is connected to the main control module, and receive including second laser transmitter unit and second laser
Unit；
The main control module, the electric signal for being sent according to the first laser receiving unit determines the second laser hair
Penetrate the transmission power of unit and/or the photoelectric conversion factors of the second laser receiving unit；
The second laser transmitter unit is used under the control of the main control module launch with determined by the main control module
Power launches laser to the testee, and/or, the second laser receiving unit is used to be determined according to the main control module
Photoelectric conversion factors the laser return pulse signal of the testee is converted into electric signal, and the telecommunications that will be converted to
Number send to the moment identification module；
The moment identification module, is connected to the distance-measurement module and the main control module, for receive it is described away from
Echo due in is determined during from the electric signal that measurement module sends, and the echo due in is sent to the master control
Module；
The main control module is used to be reached according to the moment and the echo that control the second laser transmitter unit transmitting laser
Moment determines the distance between the laser ranging system and described testee.
2. device according to claim 1, it is characterised in that the first laser transmitter unit includes first laser transmitting
Device and the first collimating mirror for being collimated to the laser that the first laser transmitter is launched；The first laser transmitter
The first laser drive circuit being connected including first laser pipe and with the first laser pipe, the first laser drive circuit with
The main control module connection.
The first laser receiving unit includes that the first receive mirror, the first electrooptical device, first receive amplifying circuit and energy
Amount holding circuit；Wherein：
First receive mirror is for the laser return pulse signal gathering to the testee to first opto-electronic conversion
On device, first electrooptical device is used for the laser return pulse signal that will receive and is converted to electric signal, and described the
One reception amplifying circuit is used to be sent to described after being amplified the electric signal that first electrooptical device is converted to
Energy holding circuit, the energy holding circuit is used to be sent to the master control after carrying out energy holding to the electric signal for receiving
Module.
3. device according to claim 1, it is characterised in that the second laser transmitter unit includes second laser transmitting
Device and the second collimating mirror for being collimated to the laser that the second laser transmitter is launched；The second laser transmitter
Including second laser pipe, the adjustable laser drive circuit of transmission power, wherein：
The adjustable laser drive circuit of transmission power, is connected to the second laser pipe and the main control module, for adjusting
The transmission power for saving the second laser pipe is transmission power determined by the main control module；
The second laser receiving unit includes that the second receive mirror, the second electrooptical device and second receive amplifying circuit, its
In：
Second receive mirror is used to for the laser return pulse pulse signal of the testee to converge to second photoelectricity
On switching device, the laser return pulse signal that second electrooptical device is used to receive is converted to hair after electric signal
The second reception amplifying circuit is delivered to, described second receives amplifying circuit for quick response automatic gain amplifying circuit, for docking
The electric signal for receiving is amplified the fast automatic regulation of gain.
4. device according to claim 3, it is characterised in that the main control module is used to be received according to the first laser
The electric signal regulation described second that unit sends receives the gain amplifier of amplifying circuit.
5. device according to claim 3, it is characterised in that also including with the main control module and the range measurement mould
The VRM Voltage Regulator Module that block is all connected with；It is corresponding,
The electric signal that the main control module is used to be sent according to the first laser receiving unit determines that second photoelectricity turns
Mold changing block carry out opto-electronic conversion with the photoelectric conversion factors needed for operating voltage, and by the VRM Voltage Regulator Module by institute
The second photoelectric conversion module is stated to adjust to the operating voltage.
6. device according to claim 5, it is characterised in that the VRM Voltage Regulator Module is additionally coupled to the Energy identifying
Module, corresponding, the main control module is additionally operable to enter by the VRM Voltage Regulator Module regulation first laser receiving unit
Voltage needed for row opto-electronic conversion.
7. device according to claim 1, it is characterised in that the main control module includes main control chip, voltage acquisition list
Unit, timing unit and power subsystem, wherein：
The voltage acquisition unit, is connected to the main control chip, is converted to for gathering the first laser receiving unit
Electric signal, and send to the main control chip；
The main control chip, the electric signal for being sent according to the voltage acquisition unit determines that the second laser transmitting is single
The transmission power of unit and/or the photoelectric conversion factors of the second laser receiving unit, and control the second laser transmitting single
Unit launches laser with transmission power determined by the main control chip to the testee, and/or, control second laser is received
Unit photoelectric conversion factors according to determined by the main control chip change the laser return pulse signal of the testee
It is electric signal；
The timing unit, is connected to the main control chip, and the second laser transmitting is controlled for recording the main control chip
Unit launches the moment of laser；
The main control chip is additionally operable to control the second laser transmitter unit to launch the moment of laser according to the main control chip
Determine the distance with the echo due in；
The power subsystem, is connected to the main control chip, for providing power supply for the main control chip.
8. device according to claim 4, it is characterised in that also including fixed the Energy identifying module and the distance
The turntable of measurement module, turntable ensures the Energy identifying module and the distance-measurement module in institute during rotating
The test position stated on testee is identical.
9. device according to claim 1, it is characterised in that Energy identifying module differentiates the pulsed laser energy that returns
Mode differentiates that the quantity of electric charge that will differentiate turns to the quantity of electric charge stored in the electric capacity of output end in the first reception amplifying circuit
It is changed to voltage and is transferred to main control chip.
10. a kind of laser distance measurement method, it is characterised in that including：Methods described is using the laser ranging dress described in claim 8
Put and found range, specifically include：
First laser transmitter unit sends laser under the control of main control module to testee；It is angle-resolved that turntable rotates
Rate is θ degree, and the speed of rotation is v, and the frequency for launching laser is f1, wherein
Second laser transmitter unit launches laser under the control of main control module to testee；It is angle-resolved that turntable rotates
Rate is θ degree, and the speed of rotation is v, and transmitting laser frequency is f2, wherein
Because first laser transmitter unit and the second transmitter unit have identical angular resolution θ and rotating speed v, therefore both hairs
Light frequency is identical, i.e. f1=f2；First laser transmitter unit tranmitting frequency is the laser pulse of f1, and first laser receiving unit connects
The laser pulse signal of testee return is received, and laser pulse signal is carried out into opto-electronic conversion and amplification, after amplification
Voltage be sent to described main control module；
Assuming that laser ranging system is D meters to the measurement distance of testee, described main control module is received according to first laser
The voltage signal that unit sends, second receives the gain amplifier of amplifying circuit in adjustable range measurement module；Second laser is sent out
The laser that unit tranmitting frequency is f2 is penetrated, the initial time T1 of laser pulse emission is determined；Both luminous time interval Δ t,
Δ t=Δ t1=D/C, wherein D are measurement distance of the laser ranging system to testee, and C is the light velocity；Within the Δ t1 times,
The anglec of rotation is θ1；Wherein θ1=v*360 ° of * Δ t1 ＜ ＜ θ；Object is in θ1Think static under angle, therefore second laser is launched
The test point of unit transmitting laser and the test point of first laser transmitter unit transmitting laser think equal, such first laser hair
The laser for penetrating unit transmitting is the second prediction laser of laser emission element, it is ensured that the laser of second transmitting meets different
Reflectivity can be measured；Described moment identification module is receiving the laser pulse that the distance-measurement module sends
Laser end time T2 is determined during voltage signal；
Or, it is assumed that the measurement distance of laser ranging system to testee is D meters, and described main control module is according to first laser
The voltage signal that receiving unit sends, second receives the gain amplifier of amplifying circuit in adjustable range measurement module；Adjust simultaneously
The transmission power of the second laser transmitter unit in section distance-measurement module；Second laser transmitter unit tranmitting frequency swashs for f2's
Light, determines the initial time T1 of laser pulse emission；Both luminous time interval Δ t=Δ t1+ Δs t2；Wherein Δ t2 is the
The Laser Driven regulating time of dual-laser transmitter unit, the angle of motor rotation is θ within the Δ t1+ Δ t2 times2=v*360°*
(Δ t1+ Δ t2) ＜ ＜ θ；Object is in θ2Think static under this angle, therefore second laser transmitter unit launches the test of laser
The test point of point and first laser transmitter unit transmitting laser thinks equal, and the laser of such first laser transmitter unit transmitting is
The second prediction laser of laser emission element, it is ensured that the laser of second transmitting also meets different reflectivity can be tested
Amount；Described moment identification module determines when the voltage signal of the laser pulse that the distance-measurement module sends is received
Laser end time T2；
The main control module is true according to the moment that the moment of second laser transmitter unit transmitting laser and the echo are reached
The distance between the fixed laser ranging system and testee S, wherein
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