CN206270493U - A kind of multi-path laser flight time parallel acquisition system - Google Patents
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Abstract
The utility model provides a kind of multi-path laser flight time parallel acquisition system.The system includes：Laser emission array device, for scanning transmitting multi-path laser signal；Echo signal reception array device, sends to echo signal processing device for multi-path echo optical signal to be converted into multi-channel electric signal；Echo signal processing device, for amplifying shaping to multi-channel electric signal, the multi-channel electric signal amplified after shaping is sent to field programmable gate array chip；Field programmable gate array chip includes multi-channel time-delay device and 1 timer, multi-channel time-delay device is used to carry out delay process to amplifying the multi-channel electric signal after shaping, electric signal after multi-channel time-delay is processed is merged into output signal all the way and is sent to timer, wherein the non-overlapping copies in time per the electric signal after the delay process of road；Timer is used to obtain the multi-path laser flight time according to the output signal for receiving.The utility model does not need extra TDC chips, and occupancy FPGA internal resources are low, and certainty of measurement is high.
Description
Technical field
The utility model is related to laser technology field, and in particular to a kind of multi-path laser flight time parallel acquisition system.
Background technology
Laser sensor：The sensor measured using laser technology.It is by laser, laser detector and measurement electricity
Road constitutes.Laser sensor is new type measuring instrument table, and its advantage is to realize contactless telemeasurement, and speed is fast, precision
Height, range is big, and anti-light, electrical interference ability is strong etc..
The measurement effect of laser time of flight determines the range accuracy of laser sensor, current single channel laser sensor
It is more ripe, recording laser is come using special time measurement chip (Time to Digital Converter, TDC) more
Flight time, such as TDC-GP21 etc., this method are required for equipped with a special timing chip per road echo-signal, cost compared with
Height, design is complicated, is not suitable for multichannel scanning type laser sensor.
For multi-channel laser flight time measurement, in the prior art based on field programmable gate array (Field
Programmable Gate Array, FPGA) chip, in order to realize accurate timing, all at least it is equipped with all the way per road echo-signal
Timing module, four timers are included per road timing module, largely take FPGA resource, if measurement way is excessive, are caused
Timing is unstable.
Utility model content
The utility model embodiment provides a kind of multi-path laser flight time parallel acquisition system, existing many for solving
Road laser time of flight parallel acquisition system FPGA resource consumption is big, the problem that timing is unstable.
The utility model embodiment provides a kind of multi-path laser flight time parallel acquisition system, including：
Laser emission array device, echo signal reception array device, echo signal processing device and the scene being sequentially connected can compile
Journey gate array chip；
The Laser emission array device, for scanning transmitting multi-path laser signal；
The echo signal reception array device, the multi-path echo optical signal for receiving the multi-path laser signal, by institute
State multi-path echo optical signal and be converted into multi-channel electric signal and send to the echo signal processing device；
The echo signal processing device, for amplifying shaping to the multi-channel electric signal, will amplify the Multi-path electricity after shaping
Signal is sent to the field programmable gate array chip；
The field programmable gate array chip includes multi-channel time-delay device and 1 timer, and the multi-channel time-delay device is used for
Delay process is carried out to the multi-channel electric signal after the amplification shaping, the electric signal after multi-channel time-delay treatment is merged into one
Road output signal is sent to the timer, wherein the non-overlapping copies in time per the electric signal after the delay process of road；
The timer is used to obtain the multi-path laser flight time according to the output signal for receiving.
Alternatively, the delayer includes counter and carry chain, the counter and the carry chain be used to obtaining with
The corresponding delay time for amplifying the electric signal after shaping of the delayer.
Alternatively, the field programmable gate array chip is also connected with the Laser emission array device；
The field programmable gate array chip is additionally operable to while the timer starts timing, be sent out to the laser
Penetrate array device and send Laser emission instruction.
Alternatively, the echo signal reception array device includes multichannel high-voltage driving circuit, multiple single-point avalanche optoelectronics two
Pole pipe or multiple linear array avalanche photodides.
Alternatively, the echo signal processing device includes that multi-path echo signal amplification circuit and plurality of voltages threshold value are more electric
Road；
The multi-path echo signal amplification circuit is used to be amplified treatment to the multi-channel electric signal；
The plurality of voltages threshold value comparison circuit is used to carry out Shape correction to the multi-channel electric signal after enhanced processing.
The multi-path laser flight time parallel acquisition system that the utility model embodiment is provided, Laser emission array device is used
In scanning transmitting multi-path laser signal；Echo signal reception array device, for multi-path echo optical signal to be converted into multiple telecommunication
Number send to echo signal processing device；Echo signal processing device, for amplifying shaping to multi-channel electric signal, after shaping is amplified
Multi-channel electric signal is sent to field programmable gate array chip；Field programmable gate array chip includes multi-channel time-delay device and 1
Timer, multi-channel time-delay device is used to carry out delay process to amplifying the multi-channel electric signal after shaping, after multi-channel time-delay is processed
Electric signal is merged into output signal all the way and is sent to timer, wherein not weighed mutually in time per the electric signal after the delay process of road
It is folded；Timer is used to obtain the multi-path laser flight time according to the output signal for receiving.The utility model is realized using FPGA
The parallel timing of multi-path laser echo, it is not necessary to extra TDC chips, occupancy FPGA internal resources are low, and certainty of measurement is high.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are these
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the multi-path laser flight time parallel acquisition system of the utility model one embodiment；
Fig. 2 is the schematic flow sheet of the multi-path laser flight time parallel acquisition method of the utility model one embodiment；
Fig. 3 is the time delay timing diagram of the one-way delay device of the utility model one embodiment；
Fig. 4 shows the four road laser time of flight parallel acquisition timing diagrams of the utility model one embodiment.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, carries out clear, complete description, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
Fig. 1 is the structural representation of the multi-path laser flight time parallel acquisition system of the utility model one embodiment.
As shown in figure 1, the multi-path laser flight time parallel acquisition system of the utility model embodiment includes：
The Laser emission array device 11 that is sequentially connected, echo signal reception array device 12, echo signal processing device 13 and existing
Field programmable gate array chip 14；
Laser emission array device 11, for scanning transmitting multi-path laser signal；
It should be noted that Laser emission array device 11 can realize continuous angle scanning transmitting multi-path laser signal.
Echo signal reception array device 12, the multi-path echo optical signal for receiving the multi-path laser signal will be described
Multi-path echo optical signal is converted into multi-channel electric signal and sends to echo signal processing device 13；
Echo signal processing device 13, for amplifying shaping to the multi-channel electric signal, will amplify the multiple telecommunication after shaping
Number send to field programmable gate array chip 14；
Field programmable gate array chip 14 includes multi-channel time-delay device 141 and 1 timer 142, the multi-channel time-delay device
For carrying out delay process to the multi-channel electric signal after the amplification shaping, the electric signal after multi-channel time-delay treatment is merged
For output signal is sent to timer 142 all the way, wherein the non-overlapping copies in time per the electric signal after the delay process of road；
In actual applications, field programmable gate array chip 14 is also connected with Laser emission array device 11；
Field programmable gate array chip 14 is additionally operable to while timer 142 starts timing, to Laser emission array
Device 11 sends Laser emission instruction.
It will be appreciated that the Laser emission array device 11 of the utility model embodiment is by FPGA controls, carries out N roads laser and connect
Continuous angle parallel scan, laser emission frequency is F.
Timer 142 is used to obtain the multi-path laser flight time according to the output signal for receiving.
The work of the multi-path laser flight time parallel acquisition system of the utility model embodiment is illustrated below in conjunction with Fig. 1
Make principle.
FPGA14 sends START signal, the scanning transmitting N of Laser emission array device 11 (N>1) road laser pulse signal；Echo
Signal receiving array device 12 receives the N roads echo optical signal of same scan angle, and N roads echo optical signal is converted into N roads telecommunications
Number it is transferred to echo signal processing device 13；Echo signal processing device 13 is amplified shaping to N roads electric signal, and N is exported to FPGA
Road STOPn_in signals；FPGA14, including 141,1 timer 142 of N roads delayer, by N roads delayer 141 to N roads
STOPn_in signals carry out delay process, and the N roads STOPn_out signals after time delay are merged into STOP signals feeding meter all the way
When device 142, per road delay process after STOPn_out non-overlapping copies in time.
The multi-path laser flight time parallel acquisition system that the utility model is provided, multi-path laser echo is realized using FPGA
Parallel timing, it is not necessary to which extra TDC chips, occupancy FPGA internal resources are low, and certainty of measurement is high.
Specifically, delayer 141 includes counter and carry chain, and the counter and the carry chain are used to obtain and prolong
When device 141 it is corresponding amplify shaping after electric signal delay time.
Further, echo signal reception array device 12 includes multichannel high-voltage driving circuit, multiple single-point avalanche optoelectronics two
Pole pipe or multiple linear array avalanche photodides.
Further, echo signal processing device 13 includes that multi-path echo signal amplification circuit and plurality of voltages threshold value are more electric
Road；
The multi-path echo signal amplification circuit is used to be amplified treatment to the multi-channel electric signal；
The plurality of voltages threshold value comparison circuit is used to carry out Shape correction to the multi-channel electric signal after enhanced processing.
In actual applications, the signal amplification factor of echo-signal amplifying circuit is surveyed according to the limit that laser sends array device
Determined away from ability S.Voltage threshold comparison circuit plays filter action, and noise jamming can be effectively filtered off by adjusting threshold voltage.
Fig. 2 is the schematic flow sheet of the multi-path laser flight time parallel acquisition method of the utility model one embodiment.
As shown in Fig. 2 the multi-path laser flight time parallel acquisition method of the utility model embodiment includes：
S21：While timer starts timing, field programmable gate array chip sends laser to Laser emission array device
Firing order；
S22：The Laser emission array device sends multichannel and swashs after the Laser emission instruction is received to sweep object
Optical signal；
S23：Echo signal reception array device receives the multi-path echo optical signal of the multi-path laser signal, by the multichannel
Echo optical signal is converted into multi-channel electric signal and sends to the echo signal processing device；
S24：Echo signal processing device amplifies shaping to the multi-channel electric signal, will amplify the multi-channel electric signal hair after shaping
Deliver to the field programmable gate array chip；
S25：Multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, by the multi-channel time-delay
Electric signal after treatment is merged into output signal all the way and is sent to the timer, wherein existing per the electric signal after the delay process of road
Non-overlapping copies on time；
S26：The timer obtains the multi-path laser flight time according to the output signal for receiving.
The multi-path laser flight time parallel acquisition method that the utility model embodiment is provided, realizes that multichannel swashs using FPGA
The parallel timing of optical echo, it is not necessary to extra TDC chips, occupancy FPGA internal resources are low, and certainty of measurement is high.
Specifically, the multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, including：
The multi-channel time-delay Qi Jiangge roads are amplified the different time of the electric signal time delay after shaping, the counter on each road and are entered
Position chain obtains the delay time for amplifying the electric signal after shaping corresponding with each road delayer.
Further, the delay time that the electric signal after shaping is amplified on each road be the carry chain timing time and
The timing time sum of the counter；
Carry chain timing since the rising edge of the high level of the electric signal after receiving corresponding amplification shaping, when
Terminate timing after the rising edge for running into adjacent next clock cycle；
The timing time of the counter is apart from fixed value set in advance according to the range finding of the limit of system.
The operation principle of the utility model one-way delay device is illustrated below in conjunction with Fig. 3.
As shown in figure 3, CLK is system clock, the cycle is T, and STOPn_in signals may at any time enter FPGA, when
When STOPn_in signals high level arrives, carry chain " thin timing " is triggered, when running into adjacent next clock cycle rising edge
" the thin timing " of carry chain afterwards terminates, and obtains timing time for Δ tn1, by Δ tn1Afterwards, STOPn_in Signals ＆ Systems clock
Complete synchronous, counter " thick timing " starts in rising edge clock, by the Δ t for setting in advancen2Afterwards, STOPn_out is produced
Signal input draws corresponding laser time of flight to timer by timer.Wherein, 0≤Δ tn1≤ T,
Specifically, when the utility model embodiment obtains the time delay of the electric signal after each road amplification shaping according to formula (1)
Between：
Wherein, tnAmplify the delay time of the electric signal after shaping for the n-th tunnel；Δtk1For the electricity after shaping is amplified on kth road
The timing time of the carry chain of signal；Δtk2Amplify the timing time of the counter of the electric signal after shaping for kth road；Δt12
=0.
Below by taking four road laser time of flight parallel acquisition processes as an example, the flight of the utility model multi-path laser is illustrated
The principle of time parallel acquisition method.
As shown in figure 4, the laser emission frequency F=72kHz of Laser emission array device, limit range capability S=50m,
FPGA crystal oscillators are 50MHz, i.e. FPGA clock cycle T=20ns, and T is divided into 16 parts, i.e. m=16, often completed once by carry chain
Carry takes Δt12=0, Δ t22=Δ t32=Δ t42=400ns.
FPGA sends START signal to Laser emission array device and timer simultaneously, and Laser emission array device is received
After START signal, 4 road laser are scanned and lighted simultaneously, and timer starts timing.4 road laser pulses produce 4 after running into testee
Road echo optical signal.4 road echo optical signals produce 4 road electric signals by echo signal reception array device, and 4 road electric signals are by putting
After the treatment such as big filtering almost simultaneous transmission to FPGA, No. 4 delayers enter line delay to 4 road electric signals respectively, and are merged into
STOP signals all the way.
Time delay sequential is as shown in figure 4, wherein：
T1=Δs t11；
T2=Δs t11+Δt12+Δt21+Δt22=Δ t11+Δt12+Δt21+400ns；
T3=Δs t11+Δt12+Δt21+Δt22+Δt31+Δt32=Δ t11+Δt12+Δt21+Δt31+800ns；
T4=Δs t11+Δt12+Δt21+Δt22+Δt31+Δt32+Δt41+Δt42=Δ t11+Δt12+Δt21+Δt31+
Δt41+1200ns。
After STOP signals are clocked into device, timer records four multichannel laser flight time successively, and whole process is less than
One laser emission period, i.e. 13us.
It should be noted that the timer is according to required for the output signal for receiving obtains the multi-path laser flight time
Time less than the Laser emission array device laser emission period.
The multi-path laser flight time parallel acquisition system and method that the utility model embodiment is provided, Laser emission array
Device, for scanning transmitting multi-path laser signal；Echo signal reception array device, for multi-path echo optical signal to be converted into multichannel
Electric signal is sent to echo signal processing device；Echo signal processing device, for amplifying shaping to multi-channel electric signal, will amplify shaping
Multi-channel electric signal afterwards is sent to field programmable gate array chip；Field programmable gate array chip include multi-channel time-delay device and
1 timer, multi-channel time-delay device is used to carry out delay process to amplifying the multi-channel electric signal after shaping, after multi-channel time-delay is processed
Electric signal merge into output signal all the way and send to timer, wherein per the electric signal after the delay process of road in time mutually not
Overlap；Timer is used to obtain the multi-path laser flight time according to the output signal for receiving.The utility model utilizes FPGA realities
The existing multi-path laser parallel timing of echo, it is not necessary to which extra TDC chips, occupancy FPGA internal resources are low, and certainty of measurement is high.
It should be understood by those skilled in the art that, embodiment of the present utility model can be provided as method, system or computer
Program product.Therefore, the utility model can use complete hardware embodiment, complete software embodiment or combine software and hardware
The form of the embodiment of aspect.And, the utility model can be used and wherein include computer available programs at one or more
Implement in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of computer program product.
The utility model is produced with reference to the method according to the utility model embodiment, equipment (system) and computer program
The flow chart and/or block diagram of product is described.It should be understood that during flow chart and/or block diagram can be realized by computer program instructions
Each flow and/or square frame and flow chart and/or block diagram in flow and/or square frame combination.These meters can be provided
Calculation machine programmed instruction is to the place of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices
Manage device to produce a machine so that produced by the instruction of computer or the computing device of other programmable data processing devices
The raw function for realizing being specified in one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames
Device.
It should be noted that term " including ", "comprising" or its any other variant be intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of key elements are not only including those key elements, but also including
Other key elements being not expressly set out, or it is this process, method, article or the intrinsic key element of equipment also to include.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, article or equipment in also there is other identical element.
In specification of the present utility model, numerous specific details are set forth.Although it is understood that, it is of the present utility model
Embodiment can be put into practice in the case of without these details.In some instances, be not been shown in detail known method,
Structure and technology, so as not to obscure the understanding of this description.Similarly, it will be appreciated that disclosed to simplify the utility model
And one or more for helping to understand in each utility model aspect, exemplary embodiment of the present utility model is retouched above
In stating, each feature of the present utility model is grouped together into single embodiment, figure or descriptions thereof sometimes.However,
The method of the disclosure should not be explained and be intended in reflection is following：The utility model requirement i.e. required for protection is than in each power
The more features of feature that profit is expressly recited in requiring.More precisely, as the following claims reflect, it is practical new
Type aspect is all features less than single embodiment disclosed above.Therefore, it then follows the claim of specific embodiment
Thus book is expressly incorporated in the specific embodiment, and wherein each claim is in itself as independent implementation of the present utility model
Example.
Above example is merely to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to foregoing reality
Example is applied to be described in detail the utility model, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and model of essence disengaging each embodiment technical scheme of the utility model of appropriate technical solution
Enclose.
Claims (5)
1. a kind of multi-path laser flight time parallel acquisition system, it is characterised in that including：
Laser emission array device, echo signal reception array device, echo signal processing device and the field programmable gate being sequentially connected
Array chip；
The Laser emission array device, for scanning transmitting multi-path laser signal；
The echo signal reception array device, the multi-path echo optical signal for receiving the multi-path laser signal, will be described more
Road echo optical signal is converted into multi-channel electric signal and sends to the echo signal processing device；
The echo signal processing device, for amplifying shaping to the multi-channel electric signal, will amplify the multi-channel electric signal after shaping
Send to the field programmable gate array chip；
The field programmable gate array chip includes multi-channel time-delay device and 1 timer, and the multi-channel time-delay device is used for institute
Stating the multi-channel electric signal after amplifying shaping carries out delay process, the electric signal after multi-channel time-delay treatment is merged into defeated all the way
Go out signal to send to the timer, wherein the non-overlapping copies in time per the electric signal after the delay process of road；
The timer is used to obtain the multi-path laser flight time according to the output signal for receiving.
2. system according to claim 1, it is characterised in that the delayer includes counter and carry chain, the meter
Number device and the carry chain are used to obtain the delay time for amplifying the electric signal after shaping corresponding with the delayer.
3. system according to claim 1, it is characterised in that the field programmable gate array chip also with the laser
Emission array device is connected；
The field programmable gate array chip is additionally operable to while the timer starts timing, to Laser emission battle array
Row device sends Laser emission instruction.
4. system according to claim 1, it is characterised in that the echo signal reception array device includes that multichannel high pressure is driven
Dynamic circuit, multiple single-point avalanche photodides or multiple linear array avalanche photodides.
5. system according to claim 1, it is characterised in that the echo signal processing device is put including multi-path echo signal
Big circuit and plurality of voltages threshold value comparison circuit；
The multi-path echo signal amplification circuit is used to be amplified treatment to the multi-channel electric signal；
The plurality of voltages threshold value comparison circuit is used to carry out Shape correction to the multi-channel electric signal after enhanced processing.
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| CN201621346453.0U CN206270493U (en) | 2016-12-08 | 2016-12-08 | A kind of multi-path laser flight time parallel acquisition system |
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| CN201621346453.0U CN206270493U (en) | 2016-12-08 | 2016-12-08 | A kind of multi-path laser flight time parallel acquisition system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196265A (en) * | 2016-12-08 | 2018-06-22 | 北京万集科技股份有限公司 | A kind of multi-path laser flight time parallel acquisition system and method |
| CN108387906A (en) * | 2018-01-10 | 2018-08-10 | 北京理工大学 | A kind of three-dimensional laser imaging system based on FPGA-TDC |
| CN110208775A (en) * | 2018-08-01 | 2019-09-06 | 王飞 | A kind of laser radar receives chip, laser radar chip and laser radar system |
| CN111033312A (en) * | 2017-08-31 | 2020-04-17 | 深圳市大疆创新科技有限公司 | Delay time calibration for optical distance measurement devices and associated systems and methods |
| CN111381221A (en) * | 2018-12-27 | 2020-07-07 | 北京万集科技股份有限公司 | Laser pulse timing method and device and readable storage medium |
-
2016
- 2016-12-08 CN CN201621346453.0U patent/CN206270493U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196265A (en) * | 2016-12-08 | 2018-06-22 | 北京万集科技股份有限公司 | A kind of multi-path laser flight time parallel acquisition system and method |
| CN108196265B (en) * | 2016-12-08 | 2024-05-10 | 武汉万集光电技术有限公司 | Multi-path laser flight time parallel acquisition system and method |
| CN111033312A (en) * | 2017-08-31 | 2020-04-17 | 深圳市大疆创新科技有限公司 | Delay time calibration for optical distance measurement devices and associated systems and methods |
| CN108387906A (en) * | 2018-01-10 | 2018-08-10 | 北京理工大学 | A kind of three-dimensional laser imaging system based on FPGA-TDC |
| CN110208775A (en) * | 2018-08-01 | 2019-09-06 | 王飞 | A kind of laser radar receives chip, laser radar chip and laser radar system |
| CN110208775B (en) * | 2018-08-01 | 2021-12-14 | 王飞 | Laser radar receiving chip, laser radar chip and laser radar system |
| CN111381221A (en) * | 2018-12-27 | 2020-07-07 | 北京万集科技股份有限公司 | Laser pulse timing method and device and readable storage medium |
| CN111381221B (en) * | 2018-12-27 | 2022-07-05 | 北京万集科技股份有限公司 | Laser pulse timing method and device and readable storage medium |
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