CN100523724C - Apparatus for measuring distance with high accuracy - Google Patents
Apparatus for measuring distance with high accuracy Download PDFInfo
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- CN100523724C CN100523724C CNB2003101023125A CN200310102312A CN100523724C CN 100523724 C CN100523724 C CN 100523724C CN B2003101023125 A CNB2003101023125 A CN B2003101023125A CN 200310102312 A CN200310102312 A CN 200310102312A CN 100523724 C CN100523724 C CN 100523724C
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- 238000005259 measurement Methods 0.000 claims description 49
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- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 9
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Abstract
The present invention is one high precision range finder comprising light source, light receiver, multifrequency signal generator module, the first measuring module, the second measuring module and CPU. The multifrequency signal generator module generates several frequencies for the light source, the light receiver, the first measuring module and the second measuring module separately; the light receiver with frequency mixing function mixes the frequency of pulse light beam the target reflects and that from the multifrequency signal generator module; the two measuring modules provide the flying time and phase difference of the pulse light beam between the range finder and the target; and the CPU calculates the range from the range finder to the target based on the time and the phase difference.
Description
Technical field
The present invention is a laser Laser rangefinder, refers to that especially a kind of framework is simple and has the laser distance-measuring device that accurate distance measures advantage.
Background technology
In No. the 5th, 075,878, United States Patent (USP) case, disclose a kind of distance measuring equipment.Wherein, this device utilizes the real-time measure phase difference of null check phase method excessively.Shown in Fig. 5 A, suppose to treat that measurement signal is S
R=Asin (ω t+ ψ) and reference signal is S
0=Bsin ω t treats measurement signal S with this
RBecome square wave through after the zero balancing.Shown in Fig. 5 B, this square wave carries out step-by-step counting with a high-frequency signal again, to obtain phase information φ.
Owing to treat measurement signal S
RContain DC quantity, can cause device when carrying out zero passage detection, to cause actual zero migration, and then influence measures the accuracy of phase place; Moreover reference signal has certain amplitude fluctuation, makes the null position of judging reference signal can produce plural pulse because of positive negative value fluctuation, and same influence measures numerical value.
From the above, the circuit framework of known Laser rangefinder is too complicated, cause and treat the phase place change of measurement signal in transmitting, moreover, when the zero passage phase-detection mode of its use is calculated the phase information for the treatment of measurement signal, but because for the treatment of that measurement signal includes DC quantity, influencing zero crossing can't accurately judge, and causes Laser rangefinder error to occur when calculating phase information.
Summary of the invention
For this reason, the present invention provides a kind of use that reduces electronic circuit, after order treats that measurement signal is received by light receiving element, can carry out immediately comparing with the phase differential of reference signal, and then improve the Laser rangefinder of range finding accuracy rate.
Desiring to reach the employed major technique means of above-mentioned purpose is to make this high precision Laser rangefinder comprise
One multiple-frequency signal generation module, produce one first basis signal, one second basis signal and one the 3rd basis signal respectively, wherein, this second basis signal is to be that the basis generates with first basis signal, and the 3rd basis signal serves as that the basis produces with second basis signal again;
One laser diode is launched a pulsed light beam according to above-mentioned the 3rd basis signal towards this object;
One optical receiver receives the pulsed light beam of this object reflection, and with the above-mentioned first basis signal mixing, measurement signal is treated in output one;
One first measures module, measures to such an extent that above-mentioned the 3rd basis signal produces the mistiming for the treatment of between the measurement signal generation to above-mentioned;
One second measures module, measure the above-mentioned phase differential for the treatment of between the measurement signal and second basis signal; And
One CPU (central processing unit), according to above-mentioned mistiming and phase difference calculating must this distance measuring equipment and this object between distance.
By as can be known aforementioned, optical receiver of the present invention is because of having the function of mixing, therefore, CPU (central processing unit) can be economized the de-electromation frequency mixer and use, and can calculate distance between distance measuring equipment and the object, so can avoid causing signal to noise ratio (snr) to worsen, and can improve the precision that measures through the electronics mixing.
The present invention's time purpose provides a kind of new phase place method for measurement, can improve the coarse shortcoming of zero passage phase-detection method, and effectively promote the accuracy person that the present invention measures distance.
Aforementioned phase place method for measurement is to make reference signal produce the signal of a tool 90 degree phase differential in addition, again respectively with treat that measurement signal multiplies each other and obtain the long-pending of two DC quantity, again with two long-pending be divided by triangle tan (φ) function, obtain the numerical value of phase, so, can improve zero passage phase-detection method, influence the accuracy of phase-detection because of DC quantity.
Description of drawings
Fig. 1: the circuit block diagram that is the distance measuring equipment of the present invention's first preferred embodiment.
Fig. 2: be the process of summary description signal via the first measurement resume module.
Fig. 3: be the circuit block diagram that the phase comparator of IQ quadrature phase demodulation method is carried out in summary description.
Fig. 4: the circuit block diagram that is the distance measuring equipment of the present invention's second preferred embodiment.
Fig. 5 A, B: be commonly use Laser rangefinder zero point the phase-detection method the waveform synoptic diagram.
In the accompanying drawing:
10--laser diode 11--optical receiver
The wide producing component of the wide measuring sensor 21--of 20--ripple ripple
30--phase comparator 31--first frequency mixer
32--phase-locked loop 33--first low-pass filter
The 34--second frequency mixer 35--second low-pass filter
36--division element 40--signal correction unit
41--bandpass filter 42--shaping circuit
43--frequency mixer 50--multiple-frequency signal generation module
51--oscillator 52--frequency divider
53--frequency synthesizer 60--CPU (central processing unit)
Embodiment
The present invention is a kind of high-precision distance measuring equipment, at first see also shown in Figure 1, be to be a preferred embodiment of the present invention, it includes one group of laser light transceiver, a multiple-frequency signal generation module 50, one first measures module, one second and measures a module and a CPU (central processing unit) 60.
As shown in Figure 1, this laser light transceiver is made up of a laser diode 10 and an optical receiver 11.First measures module comprises wide measuring sensor 20 of a ripple and the wide producing component 21 of a ripple.Second measures module comprises a phase comparator 30, a frequency mixer 43 and a signal correction unit 40.Multiple-frequency signal generation module 50 comprises an oscillator 51, a frequency divider 52 and a frequency synthesizer 53.One CPU (central processing unit) 60 is to be connected with first, second output that measures module, to obtain flight time and phase differential, advances to calculate the distance between distance measuring equipment and the object.
The oscillator 51 of above-mentioned multiple-frequency signal generation module 50 is to produce the first basis signal S1, exports the wide measuring sensor 20 of frequency divider 52, frequency mixer 43, optical receiver 11 and ripple respectively to.In the cited embodiment of the present invention, the frequency of the first basis signal S1 is 25MHz.
Again, this first basis signal S1 is after handling via frequency divider 52, and output frequency is that the second basis signal S2 of 6.25KHz is to frequency synthesizer 53.And frequency synthesizer 53 is to export the 3rd basis signal S3 that a frequency is 25.00625MHz again, and the 3rd basis signal S3 provides respectively to give the wide producing component 21 of laser diode 10, frequency mixer 43 and ripple.
This laser diode 10 according to the 3rd basis signal S3 towards an object transponder pulse light beam, and this object reflects this pulsed light beam to this optical receiver 11, this optical receiver 11 then gives mixing with the pulsed light beam and the first basis signal S1, and output frequency is that one of 6.25KHz treats measurement signal S
RMeasuring module and second to first measures in the module.
Please cooperating again and consult shown in Figure 2ly, is the summary description signal via first process that measures resume module:
When laser diode 10 during according to the 3rd basis signal S3 transponder pulse light beam, the wide producing component 21 of ripple is also exported a noble potential V simultaneously according to the 3rd basis signal
HWhen measurement signal S is treated in optical receiver 11 outputs
RDuring to the wide producing component 21 of this ripple, the wide producing component 21 of this ripple can stop to export this noble potential V immediately
HTherefore, the square-wave signal during the wide producing component 21 meeting outputs of the ripple one reaction pulsed light beam flight is to the wide measuring sensor 20 of this ripple.The wide measuring sensor 20 of this ripple utilizes the first basis signal S1 to measure the rising edge of square-wave signal to falling edge, wide with the ripple of obtaining this square-wave signal, and export the wide value of ripple to CPU (central processing unit) 60, for CPU (central processing unit) 60 so that summary calculates the flight time T of pulsed light beam
R
Measure in the module in second, this frequency mixer 43 can be with after giving mixing from the first basis signal S1 of oscillator 51 and frequency synthesizer 53 and the 3rd basis signal S3 respectively, and output frequency is the composite signal S of 6.25KHz
mTo phase comparator 30.
In addition, this phase comparator 30 can receive and treat measurement signal S from optical receiver 11
RThis treats measurement signal S
RBefore inputing to phase comparator 30, be to handle through the bandpass filter 41 and the shaping circuit 42 of signal correction unit 40, treat measurement signal S with what reduce distortion a little
R, and will treat measurement signal S
RBe passed to phase comparator 30.And this phase comparator 30 can analyze and treat measurement signal S according to IQ quadrature phase demodulation method
RCompared to composite signal S
mPhase differential.
Seeing also shown in Figure 3ly, is the circuit box for above-mentioned phase comparator 30, is made up of one first frequency mixer 31, a phase-locked loop 32, one first low-pass filter 33, one second frequency mixer 34 and one second low-pass filter 35.Below further specify the circuit operation of phase comparator 30: at first hypothesis is treated measurement signal S
RBe Asin (ω t+ φ), composite signal S
mBe Bsin (ω t).
Treat measurement signal S
RCan be passed to the first mixing element 31 and the second mixing element 34 respectively, at this moment, this composite signal S
mAlso be passed to the first mixing element 31 and phase-lock loop 32 respectively.The first mixing element 31 will be treated measurement signal S
RWith composite signal S
mAfter the mixing, handle and export one first DC quantity (ABcos φ)/2 via one first low passband ripple element 33 again.As composite signal S
mBehind phase-lock loop 32, its phase place that postpones pi/2 becomes an inhibit signal S
m' Bcos (ω t).This inhibit signal S
m' and treat measurement signal S
RAfter 34 mixing of second frequency mixer, handle output one second DC quantity (ABsin φ)/2 via one second low passband ripple element 35 again.Therefore, this phase comparator is promptly exported first DC quantity and second DC quantity.
From the above, this second first DC quantity and second DC quantity that measures module output can input to CPU (central processing unit) 60, to calculate phase differential, and can be earlier via a division element 36 processing or after analog to digital conversion before input, input to again by CPU (central processing unit) 60 and handle, calculate the value of phase.With division element 36, be first DC quantity and second DC quantity to be divided by obtain numerical value tan φ, further to calculate the value of phase.
Again, seeing also shown in Figure 4ly, is to be another embodiment of the present invention, and it can omit the use of frequency mixer 43, and the composite signal that gives phase comparator S is provided
R, then can directly obtain from frequency divider 52, make overall architecture that more shape is simple.
In sum, the present invention is the pulsed light beam while that receives reflection by optical receiver, promptly export the measurement signal for the treatment of of a pulsed light beam same phase deferred message that contains and reflect, so, can immediately this be treated that measurement signal inputs to the first/the second and measures in the module, carry out the calculating of phase differential, owing to treat that measurement signal does not need to take out low frequency signal via the electronics frequency mixer, so can avoid treating that measurement signal before inputing to the measurement unit, causes shake (jetter) error of phase delay.Moreover the present invention measures the unit and uses IQ quadrature phase demodulation method at each, in the time of can making central processing unit judge phase differential, is not treated that the DC quantity of measurement signal and reference signal influences, and can positively judge phase differential definite between two signals.
For this reason, the present invention has really possessed patent requirements such as usability on the industry, novelty and progressive, files an application in whence mere formality in accordance with the law.
Claims (14)
1. laser distance-measuring device in order to measure the distance between an object and this distance measuring equipment, is characterized in that it comprises:
One multiple-frequency signal generation module, produce one first basis signal, one second basis signal and one the 3rd basis signal respectively, wherein, this second basis signal is to be that the basis generates with first basis signal, and the 3rd basis signal serves as that the basis produces with second basis signal again;
One laser diode is launched a pulsed light beam according to above-mentioned the 3rd basis signal towards this object;
One optical receiver receives the pulsed light beam of this object reflection, and with the above-mentioned first basis signal mixing, measurement signal is treated in output one;
One first measures module, measures to such an extent that above-mentioned the 3rd basis signal produces the mistiming for the treatment of between the measurement signal generation to above-mentioned;
One second measures module, measure the above-mentioned phase differential for the treatment of between the measurement signal and second basis signal; And
One CPU (central processing unit), according to above-mentioned mistiming and phase difference calculating must this distance measuring equipment and this object between distance.
2. as laser distance-measuring device as described in 1 of the claim the, it is characterized in that above-mentioned multiple-frequency signal generation module comprises:
One oscillator produces above-mentioned first basis signal;
One frequency divider receives above-mentioned first basis signal, and exports one second basis signal; And
One frequency synthesizer receives above-mentioned second basis signal, and exports one the 3rd basis signal.
3. as laser distance-measuring device as described in 2 of the claims the, it is characterized in that above-mentioned first measures module comprises:
The wide producing component of one ripple, the 3rd basis signal when launching this pulsed light beam according to above-mentioned laser diode, and produce according to above-mentioned optical receiver this treat measurement signal, produce a square wave; And
The wide measuring sensor of one ripple utilizes above-mentioned first basis signal as clock signal, and the ripple that measures above-mentioned square wave is wide and obtain the above-mentioned mistiming.
4. as laser distance-measuring device as described in claim the 1 or 2, it is characterized in that above-mentioned second measures module comprises:
One signal correction unit, in order to the reduction distortion this treat measurement signal; And
One phase comparator, more above-mentioned second basis signal with treat measurement signal from this of above-mentioned signal correction unit so that obtain above-mentioned phase differential.
5. as laser distance-measuring device as described in 3 of the claims the, it is characterized in that above-mentioned second measures module comprises:
One signal correction unit, in order to the reduction distortion this treat measurement signal; And
One phase comparator, more above-mentioned second basis signal with treat measurement signal from this of above-mentioned signal correction unit so that obtain above-mentioned phase differential.
6. as laser distance-measuring device as described in 2 of the claims the, it is characterized in that above-mentioned second measures module comprises:
One signal correction unit, in order to the reduction distortion this treat measurement signal;
One frequency mixer, will the 3rd basis signal mixing from first basis signal of this oscillator and this frequency synthesizer after, export a composite signal; And
One phase comparator, more above-mentioned composite signal with treat measurement signal from this of above-mentioned signal correction unit so that obtain above-mentioned phase differential.
7. as laser distance-measuring device as described in 3 of the claims the, it is characterized in that wherein above-mentioned second measures module comprises:
One signal correction unit, in order to the reduction distortion this treat measurement signal;
One frequency mixer, will the 3rd basis signal mixing from first basis signal of this oscillator and this frequency synthesizer after, export a composite signal; And
One phase comparator, more above-mentioned composite signal with treat measurement signal from this of above-mentioned signal correction unit so that obtain above-mentioned phase differential.
8. as laser distance-measuring device as described in 4 of the claims the, it is characterized in that wherein this phase comparator comprises:
One first mixing element is treated the measurement signal and the second basis signal mixing with above-mentioned;
One first low-pass filtering element is handled the signal of above-mentioned first mixing element output again, and is exported one first D. C. value;
One phase-lock loop is with the phase delay pi/2 of above-mentioned second basis signal;
One second mixing element, with above-mentioned treat measurement signal with from the second basis signal mixing of this phase-lock loop;
One second low-pass filtering element is handled the signal of above-mentioned second mixing element output again, and is exported one second D. C. value; And
One logical operand part via behind the division operation mutually, just can obtain above-mentioned phase differential with above-mentioned first D. C. value and above-mentioned second D. C. value.
9. as laser distance-measuring device as described in claim the 5 or 7, it is characterized in that wherein this phase comparator comprises:
One first mixing element is treated the measurement signal and the second basis signal mixing with above-mentioned;
One first low-pass filtering element is handled the signal of above-mentioned first mixing element output again, and is exported one first D. C. value;
One phase-lock loop is with the phase delay pi/2 of above-mentioned second basis signal;
One second mixing element, with above-mentioned treat measurement signal with from the second basis signal mixing of this phase-lock loop;
One second low-pass filtering element is handled the signal of above-mentioned second mixing element output again, and is exported one second D. C. value; And
One logical operand part via behind the division operation mutually, just can obtain above-mentioned phase differential with above-mentioned first D. C. value and above-mentioned second D. C. value.
10. as laser distance-measuring device as described in 6 of the claims the, it is characterized in that wherein this phase comparator comprises:
One first mixing element is treated the measurement signal and the second basis signal mixing with above-mentioned;
One first low-pass filtering element is handled the signal of above-mentioned first mixing element output again, and is exported one first D. C. value;
One phase-lock loop is with the phase delay pi/2 of above-mentioned second basis signal;
One second mixing element, with above-mentioned treat measurement signal with from the second basis signal mixing of this phase-lock loop;
One second low-pass filtering element is handled the signal of above-mentioned second mixing element output again, and is exported one second D. C. value; And
One logical operand part via behind the division operation mutually, just can obtain above-mentioned phase differential with above-mentioned first D. C. value and above-mentioned second D. C. value.
11., it is characterized in that wherein this signal correction unit comprises a bandpass filter and a shaping circuit as laser distance-measuring device as described in 4 of the claims the.
12., it is characterized in that wherein this signal correction unit comprises a bandpass filter and a shaping circuit as laser distance-measuring device as described in 5,7,8 or 10 of the claims the.
13., it is characterized in that wherein this signal correction unit comprises a bandpass filter and a shaping circuit as laser distance-measuring device as described in 6 of the claims the.
14., it is characterized in that wherein this signal correction unit comprises a bandpass filter and a shaping circuit as laser distance-measuring device as described in 9 of the claims the.
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| CNB2003101023125A CN100523724C (en) | 2003-10-24 | 2003-10-24 | Apparatus for measuring distance with high accuracy |
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| CNB2003101023125A CN100523724C (en) | 2003-10-24 | 2003-10-24 | Apparatus for measuring distance with high accuracy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI557393B (en) * | 2015-10-08 | 2016-11-11 | 微星科技股份有限公司 | Calibration method of laser ranging and device utilizing the method |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4878127B2 (en) * | 2005-06-10 | 2012-02-15 | 株式会社トプコン | Time difference measuring device, distance measuring device, and distance measuring method |
| JP4694304B2 (en) * | 2005-08-15 | 2011-06-08 | 株式会社トプコン | Surveying equipment |
| CN108828499B (en) * | 2018-06-25 | 2023-06-02 | 中国海洋大学 | Pulse phase combined ocean searching system and searching method |
| US11747474B2 (en) | 2019-11-18 | 2023-09-05 | Shenzhen Mileseey Technology Co., Ltd. | Systems and methods for laser distance measurement |
| CN110716193B (en) * | 2019-12-12 | 2020-05-08 | 深圳市迈测科技股份有限公司 | Signal generation method and device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5075878A (en) * | 1988-06-29 | 1991-12-24 | Kabushiki Kaisha Topcon | High resolution measuring device for time difference |
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2003
- 2003-10-24 CN CNB2003101023125A patent/CN100523724C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5075878A (en) * | 1988-06-29 | 1991-12-24 | Kabushiki Kaisha Topcon | High resolution measuring device for time difference |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI557393B (en) * | 2015-10-08 | 2016-11-11 | 微星科技股份有限公司 | Calibration method of laser ranging and device utilizing the method |
| US9689971B2 (en) | 2015-10-08 | 2017-06-27 | Msi Computer (Shenzhen) Co., Ltd. | Laser ranging calibration method and apparatus using the same |
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| CN1609553A (en) | 2005-04-27 |
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