CN207601308U - A kind of laser ranging system - Google Patents
A kind of laser ranging system Download PDFInfo
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- CN207601308U CN207601308U CN201620845194.XU CN201620845194U CN207601308U CN 207601308 U CN207601308 U CN 207601308U CN 201620845194 U CN201620845194 U CN 201620845194U CN 207601308 U CN207601308 U CN 207601308U
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Abstract
The utility model provides a kind of laser ranging system.The device includes：Photoelectric switching circuit, for laser signal to be converted to the first electric signal；Amplifying circuit, for the first electric signal to be amplified processing and exports the second electric signal；Comparison circuit compared with the voltage value during the forward position of the second electric signal and the voltage value during rear edge are carried out in real time respectively with a predetermined threshold value voltage, is obtained after a forward position trigger signal and one along trigger signal；Timing circuit, for obtaining corresponding first moment and the second moment；And the processor of built-in algorithm, for obtaining the pulse width values of the second electric signal according to the time difference between two moment.The utility model obtains the coarse value of measurement distance by forward position moment authentication technique, the pulse width of echo-signal is obtained simultaneously, processor calls algorithm to compensate, obtains the reflectivity that target object is also obtained while precision distance measurement value by the relationship between distance and pulse width.
Description
Technical field
The utility model is related to a kind of laser ranging technique more particularly to a kind of laser based on forward position moment authentication technique
Range unit.
Background technology
In the prior art, laser range finder mainly obtains distance letter by measuring the flight time of laser pulse
Breath.For example, pulse type laser rangefinder uses laser, using laser as carrier wave, according to time-of-flight, to lead to as light source
The time difference crossed between detection laser firing pulses and laser echo pulse carrys out measurement distance.Specifically, laser range finder includes
Laser emitter and laser pickoff, from laser emitter to one pulse laser of spatial emission, which beats in mesh
After marking body surface, echo-signal is captured by laser pickoff.At the time of sending out laser signal by laser emitter and
Time difference between at the time of laser pickoff captures echo can calculate target object to the distance of laser range finder, public
Formula is expressed as：L=C*T/2, L are distance of the target object to laser range finder, and C is the light velocity, and T is the time at above-mentioned two moment
Difference.From the equations above it is found that the measuring speed of impulse method is exceedingly fast, it is equal to the light velocity, therefore extremely sensitive to the error of time.
In order to eliminate Time walk caused by the rise time of laser echo signal (rising edge) and range value (intensity) difference and make an uproar
Time jitter caused by sound, tellurometer are needed using moment authentication technique.
At present, at the time of common pulsed laser ranging there are three types of authentication techniques：Lithography when one kind is forward position, another kind are
Constant fraction discriminator method, lithography when another is high pass.By taking forward position moment method as an example, analogue echoes signal is converted to one has
The digital logic signal of temporal information when the amplitude of signal is less than a certain given threshold value, does not export trigger signal；When signal
When amplitude reaches given threshold value, the trigger signal of fixed amplitude is just exported.When constant fraction discriminator method and high pass compared with lithography, the moment
After discriminator circuit is simple in structure, cheap, strong anti-interference performance, but the laser pulse emitted interacts with target object,
Due to the difference (such as roughness, gradient) of target surface characteristic, broadening or the deformation of echo impulse are often caused.Together
When, laser echo pulse, easily by the attenuation and interference of the objects such as dust in air, smog, steam, returns in transmission process
Wave waveform can be widened and be distorted to some extent, and the surface reflectivity of target object is but also during the arrival of forward position threshold value
Between change so that time of output generates difference, eventually influences the measurement accuracy of laser range finder.
In view of this, a kind of laser ranging system based on forward position moment authentication technique how is designed, is not being dramatically increased
On the basis of system complexity and cost improve laser ranging when measurement accuracy, so as to overcome the drawbacks described above of the prior art or
Deficiency is the subject that related technical personnel are urgently to be resolved hurrily in the industry.
Utility model content
For the laser ranging system of the prior art drawbacks described above existing in measurement distance, the utility model provides
It is a kind of to improve range accuracy, laser ranging system based on forward position moment authentication technique.
According to the one side of the utility model, a kind of laser ranging system based on forward position moment authentication technique is provided,
Including：
Photoelectric switching circuit, for the laser signal received to be converted to the first electric signal；
Amplifying circuit is electrically coupled to the photoelectric switching circuit, for first electric signal to be amplified processing,
And the second electric signal is exported, second electric signal has during a forward position and after one successively during edge；
Comparison circuit is electrically coupled to the amplifying circuit, for by the voltage during the forward position of second electric signal
Compared with voltage magnitude during amplitude and rear edge carries out in real time respectively with a predetermined threshold value voltage, a forward position trigger signal is obtained
With one after along trigger signal；
Timing circuit is electrically coupled to the comparison circuit, for obtaining and the forward position trigger signal corresponding the
One moment and with it is described after along trigger signal corresponding second moment；And
Processor, for receiving and processing first moment and second moment, and according to second moment with
Time difference between first moment obtains the pulse width values of second electric signal, so as to utilize the pulse width
The difference of value compensates laser ranging value.
An embodiment wherein, the processor obtain laser ranging value, and root on the basis of first moment
The laser ranging value is compensated according to the difference of the time difference.
An embodiment wherein, the processor is according to multigroup second electric signal corresponding first moment and second
Moment obtains different laser ranging values respectively, and practical distance value is mended using the difference of these laser ranging values
It repays.
An embodiment wherein, the photoelectric switching circuit are light-detecting device, and the light-detecting device is photoelectricity two
Pole pipe (PIN), avalanche mode photodiodes (APD) or photomultiplier (PMT).
An embodiment wherein, amplifying circuit are trans-impedance amplifier or difference amplifier.
An embodiment wherein, the amplifying circuit are one-stage amplifier or multiple cascade amplifiers.
An embodiment wherein, certain voltage magnitude put during the forward position of second electric signal rise to described pre-
If during threshold voltage, the comparison circuit exports the forward position trigger signal；When second electric signal after edge during certain
When the voltage magnitude of point is down to the predetermined threshold value voltage, along trigger signal after the comparison circuit output is described.
An embodiment wherein, the laser ranging system further include d type flip flop, are set to the comparison circuit and institute
It states between processor.
An embodiment wherein, the processor is also according to the time between second moment and first moment
Difference obtains the intensity of the laser signal.
An embodiment wherein, the processor is digital signal processor, micro-control unit, field-programmable gate array
Row or Complex Programmable Logic Devices, and the processor is built-in laser ranging value is compensated and to calculate target object anti-
Penetrate the firmware of rate.
Using the laser ranging system of the utility model, the laser signal received is converted to first by photoelectric switching circuit
First electric signal is amplified and exports the second electric signal by electric signal, amplifying circuit, and comparison circuit will be before the second electric signal
Compared with the voltage magnitude during voltage magnitude and rear edge during edge carries out in real time respectively with predetermined threshold value voltage, forward position is obtained
Trigger signal with after along trigger signal, when timing circuit is obtained with above-mentioned trigger signal corresponding first moment and second
It carves, processor obtains the pulse width values of the second electric signal according to the time difference between the second moment and the first moment, so as to utilize
The difference of pulse width values compensates laser ranging value.Compared with the prior art, the utility model is reflected by the forward position moment
Other technology obtains the coarse value of measurement distance, and obtains the pulse width of laser echo signal, wide by the pulse of different distance
Relationship between degree calculates accurate distance value.In addition, the utility model also can obtain the surface reflectivity of target object, circuit
It is simple in structure, adaptable, it can be widely applied to laser radar or rangefinder.
Description of the drawings
Reader is after specific embodiment of the present utility model has been read with reference to attached drawing, it will more clearly understands this reality
With novel various aspects.Wherein,
Fig. 1 is shown according to the embodiment of the application, the knot of the laser ranging system based on forward position moment authentication technique
Structure block diagram；
Fig. 2 shows the circuit connection diagrams of an illustrative examples of the laser ranging system of Fig. 1；
Fig. 3 shows that existing laser ranging system differentiates that the moment carries out the waveform diagram of laser ranging using forward position；
Fig. 4 shows that the laser ranging system of the application differentiates that the moment carries out the waveform diagram of laser ranging using forward position；
And
Fig. 5 is shown according to another embodiment herein, the laser distance measurement method based on forward position moment authentication technique
Flow diagram.
Specific embodiment
In order to make techniques disclosed in this application content more detailed with it is complete, can refer to attached drawing and the utility model
Following various specific embodiments, identical label represents the same or similar component in attached drawing.However, the ordinary skill of this field
Personnel should be appreciated that embodiment provided hereinafter is not used for limiting the range that the utility model is covered.In addition, attached drawing
It is used only for schematically being illustrated, and is drawn not according to its full size.
With reference to the accompanying drawings, the specific embodiment of the utility model various aspects is described in further detail.
Fig. 1 is shown according to the embodiment of the application, the knot of the laser ranging system based on forward position moment authentication technique
Structure block diagram.
As described in the background section, existing moment discrimination circuit is although simple in structure, cheap, interference free performance
By force, but after the laser pulse of transmitting and target object interaction, due to difference (such as roughness, the inclination of target surface characteristic
Degree etc.), often cause broadening or the deformation of echo impulse.Also, laser echo pulse is in transmission process easily by sky
The attenuation and interference of the objects such as dust, smog, steam in gas, echo waveform can be widened and be distorted to some extent, meanwhile, mesh
Mark object surface reflectivity but also the arrival time of forward position threshold value change, but also output time generate difference,
Influence range accuracy.
In view of the above-mentioned problems, the utility model provides a kind of compensation laser of the pulsewidth based on forward position moment authentication technique
Ranging transposition.With reference to Fig. 1, in this embodiment, the laser ranging system of the utility model includes photoelectric switching circuit 10, puts
Big circuit 12, comparison circuit 14, timing circuit 16 and processor 18.
Specifically, photoelectric switching circuit 10 is used as electrooptical device, for the laser signal received to be converted to
First electric signal.For example, photoelectric switching circuit 10 can be light-detecting device, such as photodiode (PIN), avalanche type photoelectricity two
Pole pipe (APD) or photomultiplier (PMT).Amplifying circuit 12 is coupled to the output terminal of photoelectric switching circuit 10.Amplifying circuit 12
For the first electric signal to be amplified processing and exports the second electric signal.Second electric signal successively have a forward position during and one
Afterwards during edge.
Comparison circuit 14 is coupled to the output terminal of amplifying circuit 12, for by the voltage amplitude during the forward position of the second electric signal
Compared with voltage magnitude during value and rear edge carries out in real time respectively with a predetermined threshold value voltage, obtain a forward position trigger signal with
Along trigger signal after one.Preferably, voltage magnitude of certain point during the rising of the second electric signal between front porch interval rise to it is default
During threshold voltage, comparison circuit 14 exports forward position trigger signal；When the second electric signal after edge during certain point voltage magnitude
When being down to predetermined threshold value voltage, along trigger signal after the output of comparison circuit 14.
Timing circuit 16 is electrically coupled to comparison circuit 14, for obtaining and forward position trigger signal corresponding first moment
(or being " forward position moment ") and with rear along trigger signal corresponding second moment (or being " after along moment ").Processor
18 are used to receive and process the first moment and the second moment, and obtain according to the time difference between the second moment and the first moment
The pulse width values (pulse width) of second electric signal, so as to be carried out using the different of pulse width values to laser ranging value
Compensation.For example, processor 18 can be digital signal processor (Digital Signal Processor, DSP), micro-control unit
(Micro Controller Unit, MCU), field programmable gate array (Field Programmable Gate Array,
) or Complex Programmable Logic Devices (Complex Programmable Logic Device, CPLD), and processor 18 FPGA
It is built-in with the firmware for laser ranging value being compensated and being calculated target object reflectivity.
In a specific embodiment, processor 18 obtains laser ranging value, and according to the time difference on the basis of the first moment
The difference of value compensates laser ranging value.Alternatively, processor 18 it is corresponding according to multigroup second electric signal first when
It carves and the second moment obtained different laser ranging values respectively, and utilize the difference of these laser ranging values to practical distance value
It compensates.
In a specific embodiment, amplifying circuit 12 is trans-impedance amplifier or difference amplifier.Further, amplifying circuit 12 is
One-stage amplifier or multiple cascade amplifiers.
In addition, processor 18 obtains the strong of laser signal also according to the time difference between the second moment and the first moment
Degree.To avoid the occurrence of the bad phenomenon of signal false triggering, the laser ranging system of the utility model can also set d type flip flop, if
It is placed between comparison circuit 14 and processor 18.
Fig. 2 shows the circuit connection diagrams of an illustrative examples of the laser ranging system of Fig. 1.
With reference to Fig. 2, in this embodiment, the function of photoelectric switching circuit is achieved by photodiode.Amplifying circuit
12 include two cascade amplifiers, that is, pre-amplifier and main amplifier cascade, the input terminal of main amplifier are electrically connected to
The output terminal of pre-amplifier.Comparison circuit 14 is made of single operational amplifier, and the output terminal of main amplifier is electrically connected
To the normal phase input end of operational amplifier, predetermined threshold value voltage is realized by divider resistance and is electrically coupled to operational amplifier
Inverting input.Timing circuit 16 is connected with comparison circuit 14, for according to forward position trigger signal and after along trigger signal come
Record corresponding two moment points.Processor 18 calculates the pulse width of signal further according to the time interval between moment point.
Preferably, timing circuit 16 can be integrated in the inside of processor 18, thus, the letter between timing circuit 16 and processor 18
Number transmission can be carried out in device or chip interior, so as to the transmission speed and treatment effeciency of promotion signal.
Fig. 3 shows that existing laser ranging system differentiates that the moment carries out the waveform diagram of laser ranging using forward position.Fig. 4 shows
The laser ranging system for going out the utility model differentiates that the moment carries out the waveform diagram of laser ranging using forward position.
Research shows that when laser ranging system and target object at a distance of it is same apart from when, the surface reflectivity of target object
Bigger, return laser beam is stronger, and pulse width is also wider.As shown in figure 3, in the prior art, laser ranging uses fixed threshold
Voltage, by the time difference between the forward position moment of echo-signal and initial time come between computing device and target object away from
From.However, the forward position that can be seen that different echo strengths from Fig. 3 (a)~Fig. 3 (d) differentiates the moment there are large error, and this
Kind error is on greatly influencing range accuracy.In contrast, as shown in figure 4, the laser ranging circuit of the utility model is using solid
Determine threshold value respectively obtain the forward position moment t1 of same echo-signal and after along moment t2, by forward position moment t1 with after along the moment
Time difference between t2 obtains the pulse width of echo-signal, and is calculated by the relationship between the pulse width of different distance
The actual distance value between device and target object is obtained, so as to improve range accuracy.
Fig. 5 is shown according to another embodiment herein, the laser distance measurement method based on forward position moment authentication technique
Flow diagram.With reference to Fig. 5 and with reference to Fig. 1, in this embodiment, the laser distance measurement method of the application passes through step S1~step
S9 is achieved.
Specifically, in step sl, photoelectric switching circuit 10 receives a laser signal and is converted into the first telecommunications
Number.In step s3, amplifying circuit 12 is amplified the first electric signal from photoelectric switching circuit 10 processing to export the
Two electric signals.Second electric signal has during a forward position and after one successively during edge.Then, in step s 5, comparison circuit
14 by the voltage magnitude during the forward position of the second electric signal and the voltage magnitude during rear edge respectively with a predetermined threshold value voltage
Compared in real time, obtained after a forward position trigger signal and one along trigger signal.Then, in the step s 7, timing circuit 16 obtains
Take the first moment corresponding with forward position trigger signal and with rear along trigger signal corresponding second moment.Finally, in step
In rapid S9, processor 18 receives and processes the first moment and the second moment, and according between the second moment and the first moment when
Between difference obtain the pulse width values of the second electric signal, so as to using pulse width values difference laser ranging value is mended
It repays.In addition, this method can also calculate the surface of the target object of reflected laser signals according to laser ranging value and pulse width values
Reflectivity.For example, when the distance between device and target object determine, if the pulse width values obtained are larger, illustrate back
Wave signal is stronger, also illustrates that the surface reflectivity of target object is higher；Conversely, if the pulse width values obtained are smaller, illustrate
Echo-signal is weaker, and the surface reflectivity of target object at this time is relatively low.
Using the laser ranging system of the utility model, the laser signal received is converted to first by photoelectric switching circuit
First electric signal is amplified and exports the second electric signal by electric signal, amplifying circuit, and comparison circuit will be before the second electric signal
Compared with the voltage magnitude during voltage magnitude and rear edge during edge carries out in real time respectively with a predetermined threshold value voltage, one is obtained
Along trigger signal after forward position trigger signal and one, timing circuit obtains and above-mentioned trigger signal corresponding first moment and the
Two moment, processor obtain the pulse width values of the second electric signal according to the time difference between the second moment and the first moment, so as to
Laser ranging value is compensated using the difference of pulse width values.Compared with the prior art, when the utility model passes through forward position
It carves authentication technique and obtains the coarse value of measurement distance, and obtain the pulse width of laser echo signal, by the arteries and veins of different distance
The relationship rushed between width calculates accurate distance value.In addition, the utility model also can obtain the surface reflectivity of target object, circuit
It is simple in structure, adaptable, it can be widely applied to laser radar or rangefinder.
Above, specific embodiment of the present utility model is described with reference to the accompanying drawings.But the ordinary skill in this field
Personnel, can also be to the specific of the utility model it is understood that in the case of the spirit and scope without departing from the utility model
Embodiment makees various changes and replacement.These changes and replacement are all fallen in the utility model claims book limited range
It is interior.
Claims (6)
1. a kind of laser ranging system based on forward position moment authentication technique, which is characterized in that the laser ranging system includes：
Photoelectric switching circuit, wherein, the photoelectric switching circuit includes photodiode (PIN)；
Amplifying circuit, the input terminal of the amplifying circuit are electrically coupled to the output terminal of the photoelectric switching circuit, wherein, it is described
Amplifying circuit includes two cascade amplifiers：Pre-amplifier and main amplifier, the output terminal electricity of the photoelectric switching circuit
Property is connected to the input terminal of the pre-amplifier, and the output terminal of the pre-amplifier is electrically connected to the main amplifier
Input terminal；
Comparison circuit, the input terminal of the comparison circuit are electrically coupled to the output terminal of the amplifying circuit, wherein, the comparison
Circuit is made of single operational amplifier, and the output terminal of the main amplifier is electrically connected to the reverse phase of the operational amplifier
Input terminal；
Its timing circuit, the input terminal of the timing circuit be electrically coupled to the comparison circuit output terminal and
Processor is electrically connected with the output terminal of the timing circuit.
2. laser ranging system according to claim 1, which is characterized in that the photoelectric switching circuit is optical detector
Part, the light-detecting device are also avalanche mode photodiodes (APD) or photomultiplier (PMT).
3. laser ranging system according to claim 1, which is characterized in that the amplifying circuit is trans-impedance amplifier or difference
Divide amplifier.
4. the laser ranging system according to claim 1 or 3, which is characterized in that the amplifying circuit also amplifies for single-stage
Device or multiple cascade amplifiers.
5. laser ranging system according to claim 1, which is characterized in that the laser ranging system further includes D triggerings
Device is set between the comparison circuit and the processor.
6. laser ranging system according to claim 1, which is characterized in that the processor for digital signal processor,
Micro-control unit, field programmable gate array or Complex Programmable Logic Devices, and the processor is built-in to laser ranging value
Compensate and calculate the firmware of target object reflectivity.
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|---|---|---|---|
| CN201620845194.XU CN207601308U (en) | 2016-08-05 | 2016-08-05 | A kind of laser ranging system |
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| CN201620845194.XU CN207601308U (en) | 2016-08-05 | 2016-08-05 | A kind of laser ranging system |
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| CN207601308U true CN207601308U (en) | 2018-07-10 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063599A (en) * | 2018-07-13 | 2018-12-21 | 北京大学 | A method of carrying out distance metric between pulse array signals |
| CN111208781A (en) * | 2020-01-16 | 2020-05-29 | 深圳市高川自动化技术有限公司 | Circuit for measuring diameter of tool in motion |
| CN111398970A (en) * | 2018-12-28 | 2020-07-10 | 北京小米移动软件有限公司 | Event detection method, distance sensor and terminal |
| CN111670371A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| WO2020220275A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Detection circuit, detection method, distance measuring apparatus, and mobile platform |
| WO2020258933A1 (en) * | 2019-06-28 | 2020-12-30 | Suteng Innovation Technology Co., Ltd. | Lidarreceiving apparatus, lidar system and laser ranging method |
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2016
- 2016-08-05 CN CN201620845194.XU patent/CN207601308U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063599A (en) * | 2018-07-13 | 2018-12-21 | 北京大学 | A method of carrying out distance metric between pulse array signals |
| CN109063599B (en) * | 2018-07-13 | 2020-11-03 | 北京大学 | Method for measuring distance between pulse array signals |
| CN111398970A (en) * | 2018-12-28 | 2020-07-10 | 北京小米移动软件有限公司 | Event detection method, distance sensor and terminal |
| CN111398970B (en) * | 2018-12-28 | 2022-04-22 | 北京小米移动软件有限公司 | Event detection method, distance sensor and terminal |
| CN111670371A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| WO2020220275A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Detection circuit, detection method, distance measuring apparatus, and mobile platform |
| WO2020258933A1 (en) * | 2019-06-28 | 2020-12-30 | Suteng Innovation Technology Co., Ltd. | Lidarreceiving apparatus, lidar system and laser ranging method |
| US11768278B2 (en) | 2019-06-28 | 2023-09-26 | Suteng Innovation Technology Co., Ltd. | Lidar receiving apparatus, lidar system and laser ranging method |
| CN111208781A (en) * | 2020-01-16 | 2020-05-29 | 深圳市高川自动化技术有限公司 | Circuit for measuring diameter of tool in motion |
| CN111208781B (en) * | 2020-01-16 | 2022-06-17 | 深圳市高川自动化技术有限公司 | Circuit for measuring diameter of tool in motion |
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