CN1831561A - Chaos laser range-meaurement device and method of LD pumping solid laser - Google Patents
Chaos laser range-meaurement device and method of LD pumping solid laser Download PDFInfo
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- CN1831561A CN1831561A CN 200610012625 CN200610012625A CN1831561A CN 1831561 A CN1831561 A CN 1831561A CN 200610012625 CN200610012625 CN 200610012625 CN 200610012625 A CN200610012625 A CN 200610012625A CN 1831561 A CN1831561 A CN 1831561A
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Abstract
A chaos laser distance measurement device of LD pumping solid laser is prepared as forming said laser by semiconductor laser pumping laser crystal to generate wideband chaos laser, utilizing laser collimation system and beam splitter to divide chaos laser to be detection light being use as distance measurement signal and being illuminated on object to be measured as well as to be reference light being illuminated on detector then being inputted to computer, carrying out cross correlative comparison on two said lights by computer for measuring out round - trip flight time of detection light so as to calculate out distance to be measured.
Description
Technical field
The invention belongs to laser ranging system and method field thereof, particularly a kind of solid state laser of diode pumped that utilizes produces the chaotic laser light signal, realize the device and method of laser ranging, can be applicable to fields such as industrial and agricultural production, military affairs, communication, remote sensing.
Background technology
Laser has become the first-selected instrument of range observation as the information carrier with high monochromaticity, collimation, coherence.Use the method for laser ranging can be divided into two kinds basically: laser geometric telemetry and laser flying time telemetry.
The laser geometric telemetry is utilized the facula position of PSD (the quick device in position) or CCD exploring laser light, calculates testing distance according to geometric relationship again.It has precision preferably in short distance measurement very, but increase along with measuring distance, precision sharply descends, referring to technology [1] (Kozo Ohtani formerly, Misuru Baba, A Rangefinding Approach by Detecting the Position and the Incident Angle of aLight-Stripe, IEEE Instru.and Mea.Techno.Conf.2002).
Laser flying time telemetry is present widely used a kind of laser distance measurement method, till its key is that Laser Measurement penetrates, shines on the optical sensor components that reflects back into stadimeter on the object, again from stadimeter, (Time-of-Flight) T of required flight time
d, then according to D=cT
d/ 2 calculate testing distance D, and wherein c is the light velocity.Formerly technology [2] is (referring to L.Fulbert, R.Accomo, E.Molva, et al.Microchip laser range finder, Lasers and Electro-Optics, CLEO ' 96.1996.) is the distance-finding method of a kind of direct measuring light pulse flight time, sending the very narrow laser pulse triggering timing device of a pulsewidth by pulsed laser picks up counting, returned by target reflection to be measured to this laser pulse, timer stops timing, and the time interval of timer record is the flight time T of light pulse
dThe measuring accuracy of this method is directly relevant with the width of laser pulse, for improving the timekeeping system that precision needs high performance laser instrument emission ultrashort pulse and can respond fast.Formerly technology [3] is (referring to B.Journet, G.Bazin, F.Bras, Conception of an adaptative laser range finder based on phase shiftmeasurement, IEEE.1996.) be a kind of distance-finding method that utilizes the continuous laser phase information to calculate the laser flying time, light source in the instrument sends continuous light, by becoming light modulated directive target after the modulators modulate, the light intensity of the light modulated cycle of intercropping at any time changes, measure modulation signal complete cycle issue T and not enough one-period phase value ' in the light wave two-way process, just can determine interval T two-way time of light wave
dThereby, calculate range finding from.When adopting this method to find range, require the period T of modulation signal as far as possible little for improving measuring accuracy, but work as the flight time T of the period T of modulation signal less than light
dThe time, phase shift =2 π n+ ', instrument can be measured ', but can not determine n, and can there be uncertainty in measurement result.Formerly technology [4] is (referring to D.Dupuy, M.Lescure, Improvement of the FMCW Laser Range-Finder by an APD Workingas an Optoelectronic Mixer, IEEE Instru.and Mea.Techno, 2002.) be a kind of distance-finding method that utilizes the continuous laser frequency information to extract the laser flying time, by launching the continuously adjustable laser of a frequency, receive light and launch light and have frequency drift owing to warbling, so in frequency mixer, will produce beat frequency, this beat frequency and laser flying time are directly proportional, and also promptly are directly proportional with testing distance.This method needs the modulation circuit of expensive high repetition frequency and regulates laser frequency.
Summary of the invention
The object of the present invention is to provide a kind of device and method of LD light-pumped solid state laser chaos laser range-measurement.The measuring distance that how much range findings exist in the prior art is short, directly the measuring accuracy that exists of pulse ranging relies on pulse width, utilizes the measuring uncertainty that exists in the phase information range finding and utilizes the problem of the modulation source that high repetition frequency will be arranged that the frequency information range finding exists to solve.
The device of LD light-pumped solid state laser chaos laser range-measurement provided by the invention comprises chaos solid state laser, laser collimation system, beam splitter, target to be measured, telescope, photodetector I, A/D converter I, photodetector II, A/D converter II, adjustable electric lag line and computing machine, it is characterized in that described chaos solid state laser is by diode pumped YAG, YVO
4Or YLF Lasers crystal formation, and the method for feeding back, injecting certainly or modulate by outer light produces the broadband chaotic laser light.
The method that is used for the device of LD light-pumped solid state laser chaos laser range-measurement of the present invention is to utilize the chaos solid state laser to produce the broadband chaotic laser light, through the laser collimation system collimation, with beam splitter chaotic laser light is divided into detection light I and reference light II, surveying light I shines on the target to be measured as distance measuring signal, the echoed signal of being returned by target reflection to be measured, convert electric signal to by the telescope collection and through photodetector I, convert digital signal input computing machine to by A/D converter I again; Reference light II shines directly into photodetector II, after A/D device II conversion, through an adjustable electric lag line input computing machine; Utilize computer software that reference light and detection light signal are carried out simple crosscorrelation relatively, measure and survey light I at the turnaround time of free space T
d, calculate testing distance.
The device and method of the small-sized LD light-pumped solid state laser chaos laser range-measurement that the present invention proposes and formerly technology relatively have following characteristics:
1. formerly technology [1] [2] [3] [4] has been utilized the geometrical property, pulse characteristic, phase information, frequency information of the laser information carrier as range finding respectively, and the present invention utilizes broadband chaotic laser light that the LD light-pumped solid state laser produces as distance measuring signal.
2. the present invention utilizes the their cross correlation of chaotic laser light to extract the laser flying time, and antijamming capability is strong, and the noise tolerance is big.
3. compare with technology formerly, measuring accuracy can not reduce along with the increase of measuring distance; Utilize continuous chaotic laser light to find range, do not need the High Speed Modulation source; Because chaotic signal has unduplicated characteristic, so also there is not measuring uncertainty.
4. the measuring distance scope is wide, and I is surveyed the distance less than 10cm, and higher and adding on the target to be measured under the mated condition of reverberator in energy of lasers, measuring distance can reach thousands of rice farthest.
5. measuring accuracy height is better than 3cm in the measuring accuracy of laser emitting chaotic laser light bandwidth during greater than 25GHz, if utilize light simple crosscorrelation instrument to carry out simple crosscorrelation in short distance is measured, then precision reaches as high as 1.5cm.
Description of drawings
Accompanying drawing is that architecture signals of the present invention is transmitted synoptic diagram
Among the figure: 1: laser diode current pulse driving power 2: semiconductor laser 3: laser crystal 4: laser collimation system 5: beam splitter 6: target 7 to be measured: telescope 8: photodetector I 9:A/D converter I 10: photodetector II 11:A/D converter II 12: adjustable electric lag line 13: computing machine
Embodiment
The device of LD light-pumped solid state laser chaos laser range-measurement of the present invention, comprise solid state laser, laser collimation system, beam splitter, target to be measured, telescope, photodetector I, A/D converter I, photodetector II, A/D converter II, adjustable electric lag line and computing machine, wherein said solid state laser is by semiconductor laser (2) pumping YAG, YVO
4Or YLF Lasers crystal (3) formation, and the method for feeding back, injecting certainly or modulate by outer light produces the broadband chaotic laser light.Below in conjunction with the Nd of accompanying drawing with modulation LD pumping
3+: YVO
4Solid state laser generation chaotic laser light is found range and is example, and the invention will be further described:
Chaotic laser light signal generation device of the present invention is by laser diode current pulse driving power 1, semiconductor laser 2, and the microchip laser crystal 3 is formed.Laser diode current pulse driving power 1 can provide direct current biasing and modulating current pulse for laser instrument, and semiconductor laser 2 adopts the quantum-well laser of 808nm, is used for pumping microchip laser crystal 3, and the microchip laser crystal 3 is 3 * 3 * 1mm
3Nd
3+: YVO
4Crystal, plated film constitutes two chamber mirrors of laser instrument on request on the logical light face of crystal.When regulating laser diode current pulse driving power 1 and provide the modulating current pulse that direct current biasing and repetition frequency be about the laser instrument relaxation oscillation frequency for laser instrument, the chaotic laser light signal that this micro-slice laser can the high efficiency 1064nm of outgoing.
The present invention exports chaotic laser light behind colimated light system 4, by beam splitter 5 laser is divided into I light and II light.I light shines on the target 6 to be measured as surveying light I, echoed signal through target 6 reflections to be measured is collected by telescope 7, be converted into electric signal by high sensitivity low noise photodetector 8 again, after A/D converter 9 becomes digital signal with analog signal conversion, data information transfer is arrived computing machine 13 by computer interface.II light is as reference light II, by shining directly into after beam splitter 5 beam splitting on the identical photodetector 10 of performance parameter and detector 8, light signal is converted into electric signal, be transferred on the adjustable electric lag line 12 through A/D converter 11 again, import computing machine 13 into by adjustable electric lag line 12 at last, computing machine carries out cross correlation process with two paths of signals.Because two paths of signals is separated from same chaotic laser light, and the photodetector 8,10 that is adopted in detection light I and the reference light II loop, the performance parameter of A/D converter 9,11 is the same, so the difference of two paths of signals is the difference of spatial transmission time and intensity, so when carrying out simple crosscorrelation, there is unique peak value in simple crosscorrelation curve at a time t.
The effect of adjustable electric lag line 12 of the present invention mainly is to demarcate and calibration instrument, shine a known standard distance on the object of L by surveying light I, conversion enters computing machine and carries out simple crosscorrelation through A/D respectively with the detection light I that returns and reference light II signal, makes the time delay of control lag line the peak value of simple crosscorrelation curve appear at t
1(generally get t
1=0) constantly, the distance D of target 6 then to be measured can be passed through D=L+ (t
2-t
1) c/2 calculates, t wherein
2Conversion enters computing machine and carries out simple crosscorrelation, the pairing moment of simple crosscorrelation peak of curve through A/D respectively for detection light I that is reflected by target 6 to be measured and reference light II signal; Regulating parameters makes the chaotic laser light spectrum of laser emitting smooth, bandwidth is during greater than 25GHz, measuring accuracy is better than 3cm, when measuring the short distance target, can in reference light II, add optical delay line, reference light II directly is coupled into a light simple crosscorrelation instrument with the detection light I that returns carries out simple crosscorrelation, realize full photo measure, saved complicated circuit arrangement, measuring accuracy can be brought up to 1.5cm, has accelerated measuring speed simultaneously.
Claims (2)
1.LD the device of light-pumped solid state laser chaos laser range-measurement, comprise solid state laser, laser collimation system, beam splitter, target to be measured, telescope, photodetector I, A/D converter I, photodetector II, A/D converter II, adjustable electric lag line and computing machine, it is characterized in that described solid state laser is by semiconductor laser (2) pumping YAG, YVO
4Or YLF Lasers crystal (3) formation, and the method for feeding back, injecting certainly or modulate by outer light produces the broadband chaotic laser light.
2. the method for device that is used for the LD light-pumped solid state laser chaos laser range-measurement of claim 1, it is characterized in that solid state laser produces the broadband chaotic laser light, through laser collimation system (4) collimation, with beam splitter (5) chaotic laser light is divided into detection light I and reference light II, surveying light I shines on the target to be measured (6) as distance measuring signal, the echoed signal that is reflected by target to be measured (6), convert electric signal to by telescope (7) collection and through photodetector I (8), convert digital signal input computing machine (13) to by A/D converter I (9) again; Reference light II shines directly into photodetector II (10), after A/D device II (11) A/D conversion, through an adjustable electric lag line (12) input computing machine (13); Utilize computer software that reference light II and detection light I signal are carried out simple crosscorrelation relatively, measure and survey light, calculate testing distance at the turnaround time of free space Td.
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| CNB2006100126255A CN100478704C (en) | 2006-04-21 | 2006-04-21 | Chaos laser range-meaurement device and method of LD pumping solid laser |
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|---|---|---|---|
| CNB2006100126255A CN100478704C (en) | 2006-04-21 | 2006-04-21 | Chaos laser range-meaurement device and method of LD pumping solid laser |
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| CN100478704C CN100478704C (en) | 2009-04-15 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009097736A1 (en) * | 2008-01-31 | 2009-08-13 | Taiyuan University Of Technology | Chaotic optical time domain reflectometer and measuring method thereof |
| CN102176020A (en) * | 2010-12-30 | 2011-09-07 | 太原理工大学 | Chaos Laser ranging device based on liquid crystal |
| CN102323591A (en) * | 2011-08-04 | 2012-01-18 | 长春理工大学 | Picosecond-pulse-based high-precision laser distance measuring device |
| CN102866403A (en) * | 2011-07-06 | 2013-01-09 | 长春中俄科技园股份有限公司 | Eye safety laser distance measuring equipment |
| WO2013016888A1 (en) * | 2011-08-01 | 2013-02-07 | 杭州欧忆光电科技有限公司 | Chaotic laser light related brillouin optical time-domain analyzer |
| CN102967856A (en) * | 2012-10-26 | 2013-03-13 | 南京德朔实业有限公司 | Optical system suitable for laser range finder |
| CN104749579A (en) * | 2015-04-02 | 2015-07-01 | 太原理工大学 | Channel depth measuring method based on chaotic laser device and correlative method thereof |
| CN107356937A (en) * | 2017-08-25 | 2017-11-17 | 长春德信光电技术有限公司 | A kind of walking robot collision warning device based on Laser Detection Technique |
| CN108181628A (en) * | 2018-01-23 | 2018-06-19 | 上海兰宝传感科技股份有限公司 | A kind of anti-interference distance measuring sensor based on TOF |
| CN109100734A (en) * | 2018-08-30 | 2018-12-28 | 无锡雷德环保设备有限公司 | A kind of laser ranging system |
| CN110168398A (en) * | 2018-07-18 | 2019-08-23 | 深圳市汇顶科技股份有限公司 | Range-measurement system and bearing calibration when flying |
| WO2021051733A1 (en) * | 2020-01-20 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Method and apparatus for laser ranging, storage medium, and lidar |
-
2006
- 2006-04-21 CN CNB2006100126255A patent/CN100478704C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009097736A1 (en) * | 2008-01-31 | 2009-08-13 | Taiyuan University Of Technology | Chaotic optical time domain reflectometer and measuring method thereof |
| US8502964B2 (en) | 2008-01-31 | 2013-08-06 | Taiyuan University Of Technology | Chaotic optical time domain reflectometer method and apparatus |
| CN102176020A (en) * | 2010-12-30 | 2011-09-07 | 太原理工大学 | Chaos Laser ranging device based on liquid crystal |
| CN102866403A (en) * | 2011-07-06 | 2013-01-09 | 长春中俄科技园股份有限公司 | Eye safety laser distance measuring equipment |
| WO2013016888A1 (en) * | 2011-08-01 | 2013-02-07 | 杭州欧忆光电科技有限公司 | Chaotic laser light related brillouin optical time-domain analyzer |
| CN102323591A (en) * | 2011-08-04 | 2012-01-18 | 长春理工大学 | Picosecond-pulse-based high-precision laser distance measuring device |
| CN102967856A (en) * | 2012-10-26 | 2013-03-13 | 南京德朔实业有限公司 | Optical system suitable for laser range finder |
| CN102967856B (en) * | 2012-10-26 | 2015-04-08 | 南京德朔实业有限公司 | Optical system suitable for laser range finder |
| CN104749579A (en) * | 2015-04-02 | 2015-07-01 | 太原理工大学 | Channel depth measuring method based on chaotic laser device and correlative method thereof |
| CN107356937A (en) * | 2017-08-25 | 2017-11-17 | 长春德信光电技术有限公司 | A kind of walking robot collision warning device based on Laser Detection Technique |
| CN108181628A (en) * | 2018-01-23 | 2018-06-19 | 上海兰宝传感科技股份有限公司 | A kind of anti-interference distance measuring sensor based on TOF |
| CN110168398A (en) * | 2018-07-18 | 2019-08-23 | 深圳市汇顶科技股份有限公司 | Range-measurement system and bearing calibration when flying |
| US11454712B2 (en) | 2018-07-18 | 2022-09-27 | Shenzhen GOODIX Technology Co., Ltd. | Time-of-flight distance measuring system and calibration method |
| CN109100734A (en) * | 2018-08-30 | 2018-12-28 | 无锡雷德环保设备有限公司 | A kind of laser ranging system |
| WO2021051733A1 (en) * | 2020-01-20 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Method and apparatus for laser ranging, storage medium, and lidar |
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| CN100478704C (en) | 2009-04-15 |
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Granted publication date: 20090415 Termination date: 20110421 |