CN100416298C - Data acquisition device for laser distance measurement, and its collecting flowchart - Google Patents
Data acquisition device for laser distance measurement, and its collecting flowchart Download PDFInfo
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- CN100416298C CN100416298C CNB2006100191095A CN200610019109A CN100416298C CN 100416298 C CN100416298 C CN 100416298C CN B2006100191095 A CNB2006100191095 A CN B2006100191095A CN 200610019109 A CN200610019109 A CN 200610019109A CN 100416298 C CN100416298 C CN 100416298C
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Abstract
The present invention discloses a data acquisition device for laser distance measurement and an acquisition process and relates to laser distance measurement technology. The present invention combines a laser distance measurement method and data acquisition technology, and the device comprises an input channel 1 of transmission waves, an input channel 2 of echo waves, a triggering input channel 3, an amplifying unit 4 of transmission waves, an amplifying unit 5 of echo waves, a triggering unit 6, an analog-to-digital converting unit 7 of transmission waves, an analog-to-digital converting unit 8 of echo waves, a control operation and synchronization unit 9, a memory 10, an interface unit 11, a system clock 12 and an upper machine 13. The process mainly comprises starting A, initialization B, self checking C, standby D, what order E, instruction acquisition F, signal triggering G, signal acquisition H of transmission waves, over thresholds I of echo waves, transit time calculation L, data compression and storage M and acquisition ending N. The present invention is suitable for the application systems of mobile and continuous laser distance measurement, laser radars and universal data acquisition.
Description
Technical field
The present invention relates to laser ranging technique, relate in particular to a kind of data collector and acquisition method thereof that is used for laser ranging.
Background technology
Weights and measures is a measurement standard important among the human lives, and accurately measurement is the target that scientific and technical personnel seek assiduously always at a distance.Along with progress of science and technology, people constantly invent new distance measurement method; The appearance of laser provides new thinking for accurately measuring at a distance.Because laser has high brightness and advantages such as good directivity, monochromaticity and coherence, has brought into play important effect in the telemeasurement technology.
Laser distance measurement method commonly used at present has two kinds: phase-shift laser rangefinder and pulsed laser ranging.
Phase-shift laser rangefinder is realized by light intensity is modulated.Suppose that the laser intensity modulating frequency that is used to find range is f, modulation waveform is sinusoidal wave, wavelength X=c/f then, and c is the light velocity.The phase shift that light wave is ordered to B from the A point
Can be expressed as:
If to pass to the used time of B point from the A point is t to light, then the distance L between 2 of A, the B can be expressed as:
As long as measure the light wave phase shift
Integer m and the remainder Δ m of middle cycles 2 π just can obtain tested distance L.In fact, directly measure of the phase shift of A point to B point light wave propagation
Therefore be difficult, in engineering practice, a reverberator (measurement target drone) be set, obtain distance between A, the B at 2 in the phase change of A, B point-to-point transmission round trip by the measurement light wave at B point.
Pulsed laser ranging is to utilize the laser pulse that the consecutive hours compole is short, energy is concentrated in time relatively, instantaneous power is very big to find range.Having under the situation of measurement target drone, pulsed laser ranging can be realized range extremely far away; Even without target, only utilize measured target paired pulses diffuse reflection of laser, also can find range, therefore obtained using widely.
When adopting pulsed laser ranging, send extremely short pulse laser of duration by pulsed laser, be referred to as transmitted wave, through directive measured target behind the testing distance L, the pulse laser of returning that is reflected is referred to as echo, is received by photodetector.According to distance L=ct/2 that the time interval t between transmitted wave signal and the echoed signal just can calculate target to be measured, c is the light velocity in the formula.Time interval t adopts the time clock of certain frequency to count usually, like this according to the frequency f and the counting number N of counting clock pulse, can calculate the distance L=cN/2f of target to be measured.
No matter any laser distance measurement method, from the existing realization means of its measuring principle of angle of electronic technology, what all adopt is the method for Analog Electronics Technique, and generally can only finish the single measurement to measuring distance of target.
Its shortcoming and defect is:
1. can only obtain range information, can't distinguish characters of ground object;
2. range error is bigger when not having cooperative target, and the range finding range is less, and will realize accurately and telemeasurement generally needs cooperative target such as prism just can carry out;
3. the echo signal to noise ratio (S/N ratio) is little, detects the mortality height;
4. generally can not realize continuous movable type measurement.
Summary of the invention
Purpose of the present invention just is to overcome the shortcoming and defect that prior art exists, and a kind of data collector and acquisition method thereof that is used for laser ranging is provided.
The object of the present invention is achieved like this:
The Usage data collection technology substitutes the scheme of traditional Analog Electronics Technique, collecting method in the modern detecting is applied in the laser ranging, the laser ranging technique that adopts this method to constitute, no longer be confined to the measurement of distance, have the function of laser radar simultaneously concurrently, by to the Laser emission ripple that collects and the comparative analysis of echo, can obtain the multiple information on testee surface in the laser facula range of exposures, have uniqueness and novelty, and can realize the continuous movable type measurement of target information.
For the multiple information of the accurate measurement that obtains continuous remote measured target distance and remote measured target body surface, basic mentality of designing is with laser pulse ranging method and data acquisition technology fusion, to finish above-mentioned purpose.
The basic fundamental route is as follows:
Adopt electrooptical device that Laser emission lightwave signal and echoed signal are converted to electric signal, (gain amplifier is subjected to PC control through behind the pre-amplifier unit, fix or automatic gain) the input data acquisition unit, utilize analog to digital converter (ADC) at a high speed that each transmitted waveform and echo waveform are collected, and deposit the Wave data that collects in buffer memory; High speed field programmable gate array (FPGA) chip after the employing programming transit time by between precise synchronization clock calculation emission light wave and the echo, obtains the measured value of distance and deposits buffer memory in as the control arithmetical unit; Transmitted waveform and echo waveform image data and single range measurements are measured the end back in this time and are outputed to the high capacity non-volatile solid state memory by buffer memory; After finishing, predetermined continuous measuring hours can by the PC control instruction the repeatedly measurement result in the solid-state memory be transferred to host computer with file mode by interface.Because transmitted wave and echo data have utilized analog to digital converter (ADC) at a high speed to obtain, by comparing the difference between the two, can obtain the multiple information on testee surface, thereby realize the function of laser radar.Simultaneously, because transmitted wave and echo all are that (the transmitted wave half-breadth is lower than 10nS to burst pulse, the echo half-breadth is lower than 1000nS), and the interval between transmitted wave and the echo is greater than 25mS (corresponding to the repetition frequency of 40Hz), this means the time of need gathering waveform compare with the net cycle time of range finding much smaller (＜1000nS/25mS), therefore need intelligentized collection and storage, promptly how in the time interval of 25mS, judge the 10nS and the 1000nS at transmitted wave and echo place respectively, then useful data are kept, useless data are rejected.In the present invention, intelligentized collection and storage realize by time window setting and mistake threshold decision.Even under the situation that has realized intelligent data acquisition and storage, if adopt analog to digital converter (ADC) sampling of 8bits@200M, 24 hours data of continuous working remain magnanimity, in order to guarantee the integrality of narrow pulse signal, the radio-frequency component of lossing signal not, the present invention has adopted LZW lossless compression algorithm (based on the LMZ lossless compression algorithm of dictionary).
In a word, the present invention is characterized in that: use high-speed ADC acquisition pulse laser emitting waveform and echo waveform; Use high speed FPGA realization system's control computing and precision clock synchronous, transmitted wave and echo are carried out real-time, synchronous, intelligentized collection and storage, realize that real-time data compression is to reduce the pressure of system data storage and transmission; Use high capacity non-volatile solid state memory storage magnanimity ranging information; Use the USB2.0 interface to communicate by letter, transmission steering order and collection result with host computer.
Specifically:
One, data collector
As Fig. 1, this device comprises transmitted wave input channel 1, echo input channel 2, triggering input channel 3, transmitted wave amplifying unit 4, echo amplifying unit 5, trigger element 6, transmitted wave AD conversion unit 7, echo AD conversion unit 8, control computing and lock unit 9, storer 10, interface unit 11, system clock 12, host computer 13;
Its annexation is:
Transmitted wave input channel 1, transmitted wave amplifying unit 4, transmitted wave AD conversion unit 7, control computing are connected successively with lock unit 9;
Echo input channel 2, echo amplifying unit 5, echo AD conversion unit 8, control computing are connected successively with lock unit 9;
Triggering input channel 3, trigger element 6, control computing are connected successively with lock unit 9;
The control computing is connected with storer 10 with lock unit 9;
The control computing is connected successively with lock unit 9, interface unit 11, host computer 13.
The principle of work of this device is:
1, the Laser emission ripple is introduced by transmitted wave input channel 1, and be transferred to transmitted wave amplifying unit 4, filtered and impedance matching in this unit, Laser emission ripple signal and ADC are isolated, reduce output impedance simultaneously, for transmitted wave AD conversion unit 7 provides low-impedance input signal source, the Laser emission ripple after filtering and the impedance matching is converted into digital signal and is sent in control computing and the lock unit 9 in transmitted wave AD conversion unit 7;
2, return laser beam is introduced by echo input channel 2, and be transferred to echo amplifying unit 5, in this unit by automatic gain, signal filtering and impedance matching, return laser beam and ADC are isolated, reduce output impedance simultaneously, for echo AD conversion unit 8 provides low-impedance input signal source, the return laser beam after automatic gain, filtering and the impedance matching is converted into digital signal and is sent in control computing and the lock unit 9 in echo AD conversion unit 8;
3, the emission light wave synchronous triggering signal that provides of pulsed laser is introduced by triggering input channel 3, and be transferred to trigger element 6, filtered and isolation in this unit, and be sent in control computing and the lock unit 9, the start time point of range finding counting flow process is provided for ranging process.
4, in control computing and lock unit 9, use Verilog hardware description language (VerilogHDL) finish data collector control computing flow process, precision clock synchronously, store data, the software of control procedure such as communicate by letter with host computer is to the realization of hardware; This unit links to each other with transmitted wave AD conversion unit 7, echo AD conversion unit 8, trigger element 6, storer 10 and USB2.0 interface unit 11, system clock 12 physically, receive Laser emission ripple, return laser beam and synchronous triggering signal, with the data that collect and preliminary operation result Real Time Compression thereof, store storer 10 into, and communicate by USB2.0 interface unit 11 and host computer, accept instruction and upload collection result, finish the clock synchronization and the real-time intelligent collection of data acquisition by inner precision clock synchronization module.
Two, collecting method
As Fig. 2, this method mainly comprises:
Be followed successively by beginning (A), initialization (B), self check (C), standby (D), what orders (E), the Instruction Selection execution in step of sending according to host computer 1., 2., 3.:
When 1. receiving acquisition instructions, execution in step is followed successively by: acquisition instructions (F), and trigger pip (G) is gathered transmitted wave signal (H), and echo is crossed threshold value (I), selects execution in step 1.1,1.2 again according to the size of echoed signal;
1.1 echo is during greater than setting threshold, execution in step is followed successively by to be calculated the transit time (L), and compression is storage data (M) also;
1.2 echo is during less than setting threshold, execution in step is followed successively by: gain suitable (J), select execution in step 1.2.1,1.2.2 again according to the gain size;
1.2.1 execution in step is followed successively by invalid collection (Q) during the gain size to fit, compression and storage data (M);
1.2.2 gain big or small when improper execution in step be followed successively by and adjust threshold value (K), invalid collection (Q), compression be storage data (M) also;
Be followed successively by after the above step: gather and finish (N), return standby (D);
2. receive when uploading data command, execution in step is followed successively by: upload data command (O), upload data (P), return standby (D);
When 3. receiving parameter setting instruction, execution in step is followed successively by: parameter setting instruction (R), setup parameter (S) returns standby (D).
Wherein:
Beginning A powers on or device is reset to sign with data collector;
Initialization B, each parameter that the data collector operate as normal is essential is made as default value;
Can self check C operate as normal check inner each module of data harvester, and provide and misrepresent deliberately the police;
Standby D waits for host computer or local keyboard instruction;
What orders E, transfers to carry out different steps according to host computer of receiving or local keyboard instruction;
Acquisition instructions F, if receive the beginning distance measuring instruction then then execution in step G otherwise returns step e;
Touch signal G,, otherwise return step F if detect the laser instrument synchronous triggering signal then execution in step H;
Gather transmitted wave signal H, gather the transmitted wave signal;
The I echo is crossed threshold value I, if echoed signal is crossed prior preset threshold then execution in step L, otherwise execution in step J;
The suitable J that gains, the execution in step Q if signal gain is suitable, otherwise execution in step K;
Adjust threshold k, the adjustment that gains when improper gains;
Calculate transit time L, transmitted wave and echoed signal collection finish the back calculating transit time;
Compression and storage data M, compression and stored transmit ripple, echo data and data such as ranging data and gain parameter are to the high capacity non-volatile solid state memory;
Gather and finish N,, otherwise return step G if finish predetermined continuous acquisition number of times then execution in step D;
Upload data command 0,, otherwise return step e if receive that uploading data command transfers execution in step P;
Upload data P, the acquisition parameter packing is uploaded to host computer with file mode;
Invalid collection Q does not confirm that this time gatherer process is invalid collection when collecting rational echo data gaining suitable, provides the invalid data mark;
Parameter setting instruction R if receive parameter setting instruction then execution in step S, otherwise returns step e;
Setup parameter S carries out the device correlation parameter according to the parameter of receiving and sets.
The PC control instruction is waited in this device start back, begin to carry out continuous remote pulsed laser ranging after receiving the collection initiation command by default acquisition time length, in gatherer process, can adjust gain amplifier automatically to adapt to the measured target of different distance, collection finishes the back and preserves transmitted wave, echo data and ranging data to the high capacity non-volatile solid state memory, receives after the host computer data upload is instructed data transmission to be carried out follow-up digital signal processing to host computer.
This shows that principle of work of the present invention is:
1) laser distance measuring system is controlled from the entire work process that is transmitted into reception;
2) transmitted wave and echo are carried out real-time, synchronous, intelligentized collection and storage;
3) realize that real-time data compression is to reduce the pressure of system data storage and transmission.
Because transmitted wave and echo all are that (the transmitted wave half-breadth is lower than 10nS to burst pulse, the echo half-breadth is lower than 1000nS), and the interval between transmitted wave and the echo is greater than 25mS (corresponding to the repetition frequency of 40Hz), this means the time that needs to gather waveform compare with the net cycle time of range measurement system much smaller (＜1000nS/25mS).How so-called intelligentized collection and storage are meant judges the 10nS and the 1000nS at transmitted wave and echo place respectively, data reservation that then will be useful, useless data rejecting in the time interval of 25mS.In the present invention, intelligentized collection and storage realize by time window setting and mistake threshold decision.The foundation of time window setting is the measuring distance and the size that rises and falls, and the size of threshold value is then recently determined according to noise level and noise.Even under the situation that has realized intelligent data acquisition and storage, if adopt the A/D sampling of 8bits@200M, 24 hours data of continuous firing remain magnanimity.In order to guarantee the integrality of narrow pulse signal, the radio-frequency component of lossing signal not, the present invention has adopted the LZW lossless compression algorithm.
The present invention has following advantage and good effect:
1, solved the noise problem in the Testing of Feeble Signals, backward energy utilization factor height, can be for a long time steady operation incessantly, have higher precision and robustness.
2, the data collector of developing can not only be finished continuous remote portable range finding according to the present invention, and can realize the radar detection function, obtain the body surface height profile in the hot spot scope, extract the body surface feature in the hot spot scope, judge the body surface type in the hot spot scope.
3, in the present invention, by time window being set and crossing threshold decision and realized intelligentized data acquisition and storage, in the laser pulse Transmission Time Interval of 25mS, judge the 10nS and the 1000nS at transmitted wave and echo place respectively, then useful data are kept, useless data are rejected; Adopt the LZW lossless compression algorithm to realize the Real Time Compression storage of mass data, can realize adopting A/D (analog to digital conversion) sampling of 8bits@200M, continuous firing 24 hours.
4, since this device to have adopted with FPGA be the design proposal of core, Logical Design has been simplified in the use of on-site programmable gate array FPGA greatly, has improved the making of integrated level, reliability, simplification pcb board, has reduced the area of pcb board.Because FPGA can change the design of its hardware logic by software programming, be that the upgrading optimization of system provides a great convenience so adopt this scheme.
5, simultaneously owing to system design scheme, the method that this device is easy to by revising the fpga logic design is specific data acquisition request service or the function that realizes general data collecting card.
Be applicable to portable continuous laser range finding, laser radar and universal data collection application system.
Description of drawings
Fig. 1 is this device composition frame chart;
Fig. 2 is a notebook data acquisition method block diagram.
Wherein:
1-Laser emission ripple signal input channel is called for short the transmitted wave input channel;
2-laser echo signal input channel is called for short the echo input channel;
3-light wave emission synchronous triggering signal input channel is called for short and triggers input channel;
4-transmitted wave signal pre-amplifier unit is called for short the transmitted wave amplifying unit;
5-echoed signal automatic gain pre-amplifier unit is called for short the echo amplifying unit;
The preposition isolated location of 6-synchronous triggering signal is called for short the synchronous triggering unit;
7-Laser emission wave height speed AD conversion unit is called for short the transmitted wave AD conversion unit;
8-return laser beam high speed analog-to-digital conversion unit is called for short the echo AD conversion unit;
9-is the control computing and the precision clock lock unit of carrier with high speed FPGA, is called for short control computing and lock unit;
10-high capacity non-volatile solid state memory is called for short storer;
The 11-interface unit;
The 12-system clock;
The 13-host computer.
A-begins, i.e. the flow process starting point;
Parameter initialization is promptly installed in the B-initialization, is made as default value;
Built in self testing is promptly installed in the C-self check;
Standby is promptly installed in the D-standby, waits for the host computer instruction;
What order of E-? promptly according to the instruction of the host computer of whether receiving then carry out different steps;
The F-acquisition instructions is promptly according to whether receiving that beginning distance measuring instruction transfers to carry out different steps;
The G-trigger pip? promptly whether detect the laser instrument synchronous triggering signal then the different step of execution according to device;
H-gathers the transmitted wave signal;
Is the I-echo crossed threshold value? promptly whether cross prior preset threshold then the different step of execution according to echoed signal;
Is the J-gain suitable? promptly whether suitable then carry out different steps according to signal gain;
K-adjusts threshold value, and the adjustment that gains when improper promptly gains;
L-calculates the transit time, i.e. transmitted wave and echoed signal collection finishes the back calculating transit time;
M-compression and storage data, promptly compression and stored transmit ripple, echo data and data such as ranging data and gain parameter are to high capacity non-volatile solid state memory 10;
N-gathers end, and promptly whether basis is finished predetermined continuous acquisition number of times then carried out different steps;
Does O-upload data command? promptly according to whether receiving that uploading data command transfers to carry out different steps;
P-uploads data, is about to the acquisition parameter packing and uploads to host computer 13 with file mode;
The invalid collection of Q-does not confirm that this time gatherer process is invalid collection when promptly collecting rational echo data gaining suitable, provides the invalid data mark;
The R-parameter setting instruction? promptly whether basis is received parameter setting instruction then is carried out different steps;
The S-setup parameter promptly carries out the device correlation parameter according to the parameter of receiving and sets.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
Selecting for use of each functional block of data collector
* the transmitted wave amplifying unit 4, and the transmitted wave signal is filtered and impedance matching in this unit, and input signal and ADC are isolated, and reduce output impedance simultaneously, for high-speed ADC provides low-impedance input signal source; The listing product is arranged, and selecting AD9631 for use is this unit core devices.
* be called for short echo amplifying unit 5, echoed signal by automatic gain, signal filtering and impedance matching, isolates input signal and ADC in this unit, reduces output impedance simultaneously, for high-speed ADC provides low-impedance input signal source; The listing product is arranged, and selecting AD9631 for use is this unit core devices.
* be called for short trigger element 6, synchronous triggering signal is filtered and isolate with FPGA in this unit, and the starting point of counting control flow is provided; The listing product is arranged, and selecting 74F74 for use is this unit core devices.
* the transmitted wave AD conversion unit 7, and the Laser emission ripple is converted into data-signal through the 200Msps high-speed AD converter; The listing product is arranged, and selecting AD9054 for use is this unit core devices.
* be called for short echo AD conversion unit 8, return laser beam is converted into data-signal through the 200Msps high-speed AD converter; The listing product is arranged, and selecting AD9054 for use is this unit core devices.
* control computing and lock unit 9, finish real-time, synchronous, intelligentized collection and data are carried out in all logic control functions and realization to transmitted wave and echo lossless compress; The listing product is arranged, and selecting the SpartanII Series FPGA chip of Xilinx company for use is this unit core devices.
* storer 10, are used to store the magnanimity ranging information; The listing product is arranged, perhaps select NAND type FLASH chip particle for use, perhaps select for use the CF card as the high capacity non-volatile solid state memory.
* interface unit 11, are used for communicating by letter with host computer; The listing product is arranged, and selecting USB2.0 interface chip CY7C68013 for use is this unit core devices.
* system clock 12, are used to provide 200MHz system fundamental clock; The listing product is arranged, and selecting SY89429 for use is this unit core devices.
* host computer 13, are used for course of work control and follow-up digital signal processing; The listing product is arranged, select notebook computer or the compatible of supporting the USB2.0 interface for use.
Claims (1)
1. acquisition method that is used for laser ranging is characterized in that:
Be followed successively by beginning (A), initialization (B), self check (C), standby (D), what orders (E), the Instruction Selection execution in step of sending according to host computer 1., 2., 3.:
When 1. receiving acquisition instructions, execution in step is followed successively by: acquisition instructions (F), and trigger pip (G) is gathered transmitted wave signal (H), and echo is crossed threshold value (I), selects execution in step 1.1,1.2 again according to the size of echoed signal;
1.1 echo is during greater than setting threshold, execution in step is followed successively by to be calculated the transit time (L), and compression is storage data (M) also;
1.2 echo is during less than setting threshold, execution in step is followed successively by: gain suitable (J), select execution in step 1.2.1,1.2.2 again according to the gain size;
1.2.1 execution in step is followed successively by invalid collection (Q) during the gain size to fit, compression and storage data (M);
1.2.2 gain big or small when improper execution in step be followed successively by and adjust threshold value (K), invalid collection (Q), compression be storage data (M) also;
Be followed successively by after the above step: gather and finish (N), return standby (D);
2. receive when uploading data command, execution in step is followed successively by: upload data command (O), upload data (P), return standby (D);
When 3. receiving parameter setting instruction, execution in step is followed successively by: parameter setting instruction (R), setup parameter (S) returns standby (D).
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| CN112666566A (en) * | 2021-01-14 | 2021-04-16 | 深圳市杉川机器人有限公司 | Laser radar ranging method and device, electronic equipment and storage medium |
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