CN102798865A - Pulse laser distance measurement method for parallel counting by multiple counters and handheld pulse laser distance measurer applying method - Google Patents
Pulse laser distance measurement method for parallel counting by multiple counters and handheld pulse laser distance measurer applying method Download PDFInfo
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- CN102798865A CN102798865A CN2011101407948A CN201110140794A CN102798865A CN 102798865 A CN102798865 A CN 102798865A CN 2011101407948 A CN2011101407948 A CN 2011101407948A CN 201110140794 A CN201110140794 A CN 201110140794A CN 102798865 A CN102798865 A CN 102798865A
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Abstract
The invention discloses a pulse laser distance measurement method for parallel counting by multiple counters. A target distance is constant, so that a counted value of reflection pulses is constant; however, interference pulses are random, so that a counted value corresponding to each interference pulse is completely different; and after frequent measurement is performed, an accurate value of a measured target can be obtained through mathematical statistic analysis. By the method, the interference pulses can be effectively eliminated, and threshold voltage of echo signals can be reduced, so that the requirement on the strength of the echo signals is reduced, the measured distance is increased, and the distance measurement accuracy is improved. The invention also discloses a handheld pulse laser distance measurer applying the method. The handheld pulse laser distance measurer is manufactured based on the distance measurement method; the measured target is subjected to frequent emission pulse distance measurement, and the accurate value of the measured target can be obtained through the mathematical statistic analysis. The distance measurer can reduce the threshold voltage of the echo signal, the measured distance can be increased, and the distance measurement accuracy is improved.
Description
Technical field
The present invention relates to hand-held pulsed laser ranging technology and use this technological hand-held pulse laser laser welder field, is parallel count pulse laser distance measurement method of a kind of multi-counter and the hand-held pulse laser laser welder of using this method specifically.
Background technology
Can find out that therefrom low if threshold voltage was selected, before echoed signal was returned, the noise signal that is higher than threshold voltage will form false echoed signal through voltage comparator, causes range finding result's mistake.And when the raising threshold voltage, thereby make noise signal be lower than threshold voltage compacting noise, but too high threshold voltage can make more weak echoed signal to pass through.(comprise environment, optical system, reception amplification system etc.) under the same conditions; The signal that receives along with the increase receiving system of distance also can decrease; Arrive after the certain distance, stadimeter just can't have been found range, this just greatly limitations the ranging of stadimeter.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of threshold voltage that reduces echoed signal is provided so that increase measuring distance, the parallel count pulse laser distance measurement method of multi-counter accurately and use the hand-held pulse laser laser welder of this method of finding range.
Goal of the invention of the present invention is achieved in that and the invention provides the parallel count pulse laser distance measurement method of a kind of multi-counter that it is characterized in that: this method may further comprise the steps:
(a), first range finding pulse of range finding controller emission, start several high-speed counters that connect control by the range finding controller simultaneously, high-speed counter begins to count and sends the range finding pulse to duration that the controller of finding range is received echoed signal in order to record;
(b), the threshold voltage that echoed signal that range finding is received and voltage comparator are set compares; If the pulse signal in the echoed signal is higher than the threshold voltage of voltage comparator, then each pulse signal that is higher than gate voltage orders about voltage comparator and exports a corresponding level signal;
(c), the level signal of ordering about voltage comparator output by the pulse signal in the echoed signal is input to echo counter, with the quantity of recording voltage comparer outputs level signals;
(d), export corresponding electric signal, echo counter is exported corresponding electric signal and is deciphered by code translator earlier, and then stops counting by any high-speed counter that code translator output signal successively orders about step (a) separately by echo counter;
(e), all ordered about until the pulse input that does not have echoed signal or until whole counters and to be stopped counting, the range finding controller then reads the count value of high-speed counter according to the count value of echo counter and is deposited in the buffer zone;
(f), several range finding pulses of range finding controller repeat its transmission, with several high-speed counter zero clearings, each range finding pulse all repeats above-mentioned steps (b), (c), (d) and (e) in the time of each range finding pulse emission;
(g), after the range finding controller is accomplished the emission and reception work of several range finding pulses; A series of count values according to the buffer zone acquisition; Propose the count value of measured target distance through the mathematical statistics method, and then calculate the distance value that draws measured target according to the velocity of propagation of range finding pulse.
The above-mentioned multi-counter count pulse laser distance measurement method that walks abreast; It is as the further improvement of technical scheme; The echoed signal that range finding receives in the said step (b) is carried out the signal amplification by signal amplifier earlier and is transported to voltage comparator again; Make that echoed signal is able to amplify, be convenient to down-stream the further analysis of this signal is used.
Simultaneously; The present invention also provides a kind of hand-held pulse laser laser welder of using the parallel count pulse laser distance measurement method of above-mentioned multi-counter; It comprises range finding controller, range finding pulse emitter and echoed signal receiving trap; The output terminal of echoed signal receiving trap is electrically connected with the input end of voltage comparator; The voltage ratio of voltage comparator end is electrically connected with the threshold voltage setting end that is arranged on the range finding controller; It is characterized in that: it also includes several high-speed counters, echo counter and code translator, and the startup end of several high-speed counters all is electrically connected with the range finding controller, and the output terminal of voltage comparator is electrically connected with the input end of echo counter; The output terminal of echo counter all is electrically connected with several high-speed counters, the data aggregation end of range finding controller and the data input pin of code translator simultaneously, and the data output end of code translator all is electrically connected with the stop signal input end of several high-speed counters.
The hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of above-mentioned application multi-counter; It is as the further improvement of technical scheme; Be provided with signal amplifier between the output terminal of said echoed signal receiving trap and the input end of voltage comparator; Make that echoed signal is able to amplify, be convenient to down-stream the further analysis of this signal is used.
The hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of above-mentioned application multi-counter; The clock signal input terminal of said several high-speed counters all is electrically connected with an oscillator; This does not have under the situation of self clocking capability for the employed high-speed counter of technique scheme; Their clock signal input terminal is connected with oscillator, makes them all go up clocking capability in addition.
In the concrete structure of the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of said application multi-counter, said range finding pulse emitter is the laser tube driving circuit.
Simultaneously, in the concrete structure of the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of said application multi-counter, said echoed signal receiving trap is a photoelectric receiving tube.
Pulsed laser ranging method according to the invention and of the prior art is compared, and it has the following advantages:
This distance-finding method is through being provided with several high-speed counters; Because of echoed signal promptly includes measuring distance of target reflected impulse and numerous disturbing pulses; These pulses are ordered about high-speed counter respectively and are stopped counting through over-voltage comparator; And this method then the analysis of the evaluation of high-speed counter gained process mathematical statistics, can calculate the distance of the target of surveying also through launching several range finding pulses repeatedly.The principle of this method is: because of the constant distance of measuring distance of target; So the count value of measuring distance of target reflected impulse is constant, but owing to disturbing pulse occurs at random, so the count value of the high-speed counter of each disturbing pulse correspondence is incomplete same; So; Through the mathematical statistics analysis, just can draw the exact count value of target echo pulse, can calculate range finding numerical value thus.This method can effectively be rejected disturbing pulse, reduces the threshold voltage of echoed signal, and then reduces the strength demand of echoed signal, can increase measuring distance, improves the accuracy of range finding.
Simultaneously, the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of the application multi-counter that the present invention proposes, its advantage is:
Make owing to this hand-held pulse laser laser welder is based on above-mentioned laser distance measurement method provided by the invention, it makes through after repeatedly launching the range finding pulse through several high-speed counters, echo counter and code translator are set; The analysis of the evaluation of high-speed counter gained process mathematical statistics, based on the constant distance of measuring distance of target, and disturbing pulse occurs at random then; So the count value of measuring distance of target reflected impulse is constant; The count value of the high-speed counter that disturbing pulse is corresponding is incomplete same, so, through the mathematical statistics analysis; Just can draw the exact count value of target echo pulse, can calculate range finding numerical value thus.This stadimeter can effectively be rejected disturbing pulse, reduces the threshold voltage of echoed signal, and then reduces the strength demand of echoed signal, can increase measuring distance, improves the accuracy of range finding.And along with present development of electronic technology, also finding range increase and the product promotion application for this patent provides great convenient part.
Description of drawings
Accompanying drawing 2 is the structure principle chart of the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of multi-counter according to the invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further description.
The invention provides the parallel count pulse laser distance measurement method of a kind of multi-counter, its schematic diagram can be with reference to shown in Figure 2, and this method may further comprise the steps:
(a), range finding controller (being commonly called as MCU) is launched first range finding pulse; Start several high-speed counters that connect control by the range finding controller simultaneously; High-speed counter begins to count and sends the range finding pulse to duration that the controller of finding range is received echoed signal in order to record; During this time, this range finding controller has been the generally use of existing hand-held pulse laser laser welder institute, and it can use traditional control MCU.
(b), the threshold voltage that echoed signal that range finding is received and voltage comparator are set compares; The setting of this threshold voltage can be set through the range finding controller; At this moment; If the pulse signal in the echoed signal is higher than the threshold voltage of voltage comparator, then each pulse signal that is higher than gate voltage orders about voltage comparator and exports a corresponding level signal, is generally high level; If the pulse signal in the echoed signal is lower than threshold voltage, then voltage comparator can not exported high level.
The level signal of (c), ordering about voltage comparator output by the pulse signal in the echoed signal is input to echo counter; Quantity with recording voltage comparer outputs level signals; During this time, in general be that the numerical value that a pulse signal that is higher than threshold voltage then drives echo counter carries out alternation one time;
(d), export corresponding electric signal, echo counter is exported corresponding electric signal and is deciphered by code translator earlier, and then stops counting by any high-speed counter that code translator output signal successively orders about step (a) separately by echo counter;
(e), all ordered about until the pulse input that does not have echoed signal or until whole counters and to be stopped counting, the range finding controller then reads the count value of high-speed counter according to the count value of echo counter and is deposited in the buffer zone;
(f), several range finding pulses of range finding controller repeat its transmission, with several high-speed counter zero clearings, each range finding pulse all repeats above-mentioned steps (b), (c), (d) and (e) in the time of each range finding pulse emission;
(g), after the range finding controller is accomplished the emission and reception work of several range finding pulses; A series of count values according to the buffer zone acquisition; Propose the count value of measured target distance through the mathematical statistics method, and then calculate the distance value that draws measured target according to the velocity of propagation of range finding pulse.
Another kind as said method is derived; For above-mentioned step (e); After its each range finding pulse was accomplished and received, the technical value of several high-speed counters of range finding controller gained can be according to several distance measurement values that calculates of the propagation speed of pulse and high-speed counter count value; Then in step (g) with the analysis of these distance measurement values that calculate through the mathematical statistics method, equally also can obtain the distance value of measured target.
The above-mentioned multi-counter count pulse laser distance measurement method that walks abreast; It is as the further improvement of technical scheme; The echoed signal that range finding receives in the said step (b) is carried out the signal amplification by signal amplifier earlier and is transported to voltage comparator again; Make that echoed signal is able to amplify, be convenient to down-stream the further analysis of this signal is used.
The principle of this method is: because of the constant distance of measuring distance of target; So the count value of measuring distance of target reflected impulse is constant, but owing to disturbing pulse occurs at random, so the count value of the high-speed counter of each disturbing pulse correspondence is incomplete same; So; Through the mathematical statistics analysis, just can draw the exact count value of target echo pulse, can calculate range finding numerical value thus.This method can effectively be rejected disturbing pulse, reduces the threshold voltage of echoed signal, and then reduces the strength demand of echoed signal, can increase measuring distance, improves the accuracy of range finding.
Simultaneously; See also Fig. 2; The present invention also provides a kind of hand-held pulse laser laser welder of using the parallel count pulse laser distance measurement method of above-mentioned multi-counter; It comprises range finding controller 1 (being commonly called as MCU), range finding pulse emitter 2 and echoed signal receiving trap 3; The output terminal of echoed signal receiving trap 3 is electrically connected with the input end of voltage comparator 4, and the voltage ratio of voltage comparator 4 end is electrically connected stadimeter of the present invention with the threshold voltage setting end 11 that is arranged on range finding controller 1; It also includes several high-speed counters 5, echo counter 6 and code translator 7; The startup end 51 of several high-speed counters 5 all is electrically connected with range finding controller 1, and the output terminal of voltage comparator 4 is electrically connected with the input end of echo counter 6, and the output terminal of this voltage comparator 4 specifically is to be electrically connected with the clock signal input terminal of echo counter 6; The output terminal of echo counter 6 all is electrically connected with several high-speed counters 5, the data aggregation end of range finding controller 1 and the data input pin of code translator 7 simultaneously; The data output end of code translator 7 all is electrically connected with the stop signal input end 52 of several high-speed counters 5; In accompanying drawing 1; The data output end that is labeled as Y0 of code translator 7 is connected to the stop signal input end 52 that is labeled as YO of first high-speed counter 5; So analogize, the data output end that is labeled as Yn of code translator 7 is connected to the stop signal input end 52 that is labeled as Yn of first high-speed counter 5.
In actual product; All high-speed counters 5, code translator 7 and echo counter 6 are accomplished by a slice fpga chip; And along with present development of electronic technology, the price of the FPGA of thousands of scales is also very cheap, this also for the realization of this patent and applying provides maybe.
The hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of above-mentioned application multi-counter; It is as the further improvement of technical scheme; Be provided with signal amplifier 8 between the input end of the output terminal of said echoed signal receiving trap 3 and voltage comparator 4; Make that echoed signal is able to amplify, be convenient to down-stream the further analysis of this signal is used.And the clock signal input terminal of said several high-speed counters 5 all is electrically connected with an oscillator 9; This does not have under the situation of self clocking capability for the employed high-speed counter 5 of technique scheme; Their clock signal input terminal is connected with oscillator 9, makes them all go up clocking capability in addition.
In the concrete structure of the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of said application multi-counter, said range finding pulse emitter 2 is the laser tube driving circuit, and said echoed signal receiving trap 3 is a photoelectric receiving tube.
This hand-held pulse laser laser welder is based on above-mentioned laser distance measurement method provided by the invention and makes, and it is when range finding, and first range finding pulse signal that range finding controller 1 sends starts all high-speed counters 5 simultaneously and begins counting.After echoed signal receiving trap 3 receives echoed signal; This echoed signal includes measuring distance of target reflected impulse and numerous disturbing pulses; These pulses are amplified into voltage comparator 4 through signal amplifier 8; The electricity of voltage comparator 4 outputs is sent into echo counter 6 earlier and is counted, and controls one of them high-speed counter 5 afterwards by code translator 7 decodings again and stops counting.When first pulse came, first high-speed counter 5 stopped counting, and second counter stopped counting when second pulse came, by that analogy.Range finding finishes back range finding controller 1 and reads corresponding high-speed counter 5 count values according to the count value of echo counter 6 and be kept in the buffer zone; The a plurality of range finding pulses of emission just can obtain a series of count value so continuously; It is during this time, each that to send the range finding pulse be precedingly all must and start all high-speed counters 5 with high-speed counter 5 zero clearing again.
The hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of application multi-counter of the present invention, it is based on the constant distance of measuring distance of target, and disturbing pulse occurs at random; So the count value of measuring distance of target reflected impulse is constant; The count value of the high-speed counter 5 that disturbing pulse is corresponding is incomplete same, so, through the mathematical statistics analysis; Just can draw the exact count value of target echo pulse, can calculate range finding numerical value thus.This stadimeter can effectively be rejected disturbing pulse, reduces the threshold voltage of echoed signal, and then reduces the strength demand of echoed signal, can increase measuring distance, improves the accuracy of range finding.And along with present development of electronic technology, also finding range increase and the product promotion application for this patent provides great convenient part.
Claims (7)
1. the parallel count pulse laser distance measurement method of a multi-counter, it is characterized in that: this method may further comprise the steps:
(a), first range finding pulse of range finding controller emission, start several high-speed counters that connect control by the range finding controller simultaneously, high-speed counter begins to count and sends the range finding pulse to duration that the controller of finding range is received echoed signal in order to record;
(b), the threshold voltage that echoed signal that range finding is received and voltage comparator are set compares; If the pulse signal in the echoed signal is higher than the threshold voltage of voltage comparator, then each pulse signal that is higher than threshold voltage can order about voltage comparator and export a corresponding level signal;
(c), the level signal of ordering about voltage comparator output by the pulse signal in the echoed signal is input to echo counter, with the quantity of recording voltage comparer outputs level signals;
(d), export corresponding electric signal, echo counter is exported corresponding electric signal and is deciphered by code translator earlier, and then stops counting by any high-speed counter that code translator output signal successively orders about step (a) separately by echo counter;
(e), all ordered about until the pulse input that does not have echoed signal or until whole counters and to be stopped counting, the range finding controller then reads the count value of high-speed counter according to the count value of echo counter and is deposited in the buffer zone;
(f), several range finding pulses of range finding controller repeat its transmission, with several high-speed counter zero clearings, each range finding pulse all repeats above-mentioned steps (b), (c), (d) and (e) in the time of each range finding pulse emission;
(g), after the range finding controller is accomplished the emission and reception work of several range finding pulses; A series of count values according to the buffer zone acquisition; Propose the count value of measured target distance through the mathematical statistics method, and then calculate the distance value that draws measured target according to the velocity of propagation of range finding pulse.
2. the multi-counter according to claim 1 count pulse laser distance measurement method that walks abreast is characterized in that: the echoed signal that range finding receives in the said step (b) is carried out signal by signal amplifier earlier and is amplified and be transported to voltage comparator again.
3. an application rights requires the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of 1 said multi-counter; It comprises range finding controller (1), range finding pulse emitter (2) and echoed signal receiving trap (3); The output terminal of echoed signal receiving trap (3) is electrically connected with the input end of voltage comparator (4); The voltage ratio of voltage comparator (4) end is electrically connected with the threshold voltage setting end (11) that is arranged on range finding controller (1); It is characterized in that: it also includes several high-speed counters (5), echo counter (6) and code translator (7); The startup end (51) of several high-speed counters (5) all is electrically connected with range finding controller (1); The output terminal of voltage comparator (4) is electrically connected with the input end of echo counter (6); The output terminal of echo counter (6) all is electrically connected with several high-speed counters (5), the data aggregation end of range finding controller (1) and the data input pin of code translator (7) simultaneously, and the data output end of code translator (7) all is electrically connected with the stop signal input end (52) of several high-speed counters (5).
4. according to the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of the said application multi-counter of claim 3, it is characterized in that: be provided with signal amplifier (8) between the input end of the output terminal of said echoed signal receiving trap (3) and voltage comparator (4).
5. according to the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of the said application multi-counter of claim 3, it is characterized in that: the clock signal input terminal of said several high-speed counters (5) all is electrically connected with an oscillator (9).
6. according to the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of the said application multi-counter of claim 3, it is characterized in that: said range finding pulse emitter (2) is the laser tube driving circuit.
7. according to the hand-held pulse laser laser welder of the parallel count pulse laser distance measurement method of the said application multi-counter of claim 3, it is characterized in that: said echoed signal receiving trap (3) is a photoelectric receiving tube.
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| CN112558097A (en) * | 2020-11-23 | 2021-03-26 | Oppo（重庆）智能科技有限公司 | Electronic device, control method of electronic device, and computer-readable storage medium |
| CN113093214A (en) * | 2021-04-14 | 2021-07-09 | 深圳煜炜光学科技有限公司 | Method and device for measuring distance by pulse laser |
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Application publication date: 20121128 |