CN105005051A - Single-optical-path laser distance measuring system - Google Patents
Single-optical-path laser distance measuring system Download PDFInfo
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- CN105005051A CN105005051A CN201410152898.4A CN201410152898A CN105005051A CN 105005051 A CN105005051 A CN 105005051A CN 201410152898 A CN201410152898 A CN 201410152898A CN 105005051 A CN105005051 A CN 105005051A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a single-optical-path laser distance measuring system, for accurately determining the distance of a detected target object. The distance measuring system comprises a microprocessor, a signal generator, a laser generator, a photodiode and a frequency mixer, wherein the microprocessor controls the signal generator to output two groups of pulse signals; one group of pulse signals are respectively sent to the laser generator and the photodiode to form photoelectric frequency mixing signals for an external optical path; the other group of pulse signals are sent to the frequency mixer for generating reference signals for distance measurement through frequency mixing; and the microprocessor synchronously samples the photoelectric frequency mixing signals and the reference signals and calculates voltage values of the two so as to accurately obtain measured distance values. According to the invention, the single-optical-path laser distance measuring system decreases the cost of a laser range finder, reduces the dimension, facilitates application, and also greatly improves the distance measuring precision.
Description
Technical field
The present invention relates to laser ranging technique field, especially relate to the phase laser distance system that a kind of single-shot list is received.
Background technology
Laser range finder, as contactless surveying instrument, the fields such as remote control, precision measurement, engineering construction, safety monitoring and Based Intelligent Control are widely used in, phase laser distance measurement instrument is high with its precision, power little He feature easily, be applicable to civilian category, have larger market and application prospect.The phase shift of ranging phase method by producing after measuring modulated light wave air-borne transmission, thus the distance of trying to achieve that light wave passes by.
Traditional phase laser distance meter generally adopts single-emission and double-receiving or two bill to receive pattern, wherein, single-emission and double-receiving pattern needs 2 APD photodiodes and 1 laser diode (Laser diode, be abbreviated as LD), the laser beam that LD sends produces photoelectricity mixing with electrical modulation signal respectively after lens on the APD photodiode of interior light path and outer light path, the APD photodiode of LD and interior light path closely, so the mixed frequency signal produced on the APD photodiode of interior light path can as range finding reference signal S1, the light beam that LD sends is reflected on the APD photodiode of outer light path after arriving measurement target, produce photoelectricity mixing, mixing goes out signal S2, reference signal S1 is different with photoelectricity mixed frequency signal S2 frequency same phase, time representated by its phase differential, namely laser time of flight, measuring distance is calculated according to this time.
Two bill receives pattern needs 2 LD (laser diode D1, laser diode D2) and 1 APD photodiode exactly, laser diode D1 and APD photodiode closely form interior light path, the light beam that laser diode D1 sends produces photoelectricity mixing with electrical modulation signal on APD photodiode, produce signal S1 as phase reference, laser diode D2 and APD forms outer light path, light beam that laser diode D2 sends be reflected to after arriving measurement target on APD photodiode with modulation signal mixing, produce signal S2; Signal S1 and signal S2 is with frequency not homophase, and this two-way simulating signal of processor sampled signal S1, S2, obtains both phase differential by Fourier decomposition and can obtain laser time of flight, so just can calculate measuring distance.
Above two kinds of methods are two kinds of the most traditional measuring methods, but owing to all needing inside and outside two-way light path, so there is structure, circuit complexity, realize high in cost of production problem.Given this, a kind of measuring method and light-metering distance measuring equipment of laser range finder is disclosed in Chinese patent CN102393522A, there is disclosed a kind of single-shot list to receive, without the need to the measuring method of inside and outside light path switching device and device, as shown in Figure 1, laser ranging system in this patent, comprise microprocessor, phase-locked loop circuit, low-frequency sine RC circuit, quadrature modulator, laser driver, laser module, avalanche diode and signal amplify and filtering circuit, and specific works principle is: Microprocessor S3C44B0X phase-locked loop circuit exports high-frequency signal, form the main signal that shakes; Microprocessor S3C44B0X low-frequency sine RC circuit output low frequency signal, the high-frequency signal that low frequency signal and phase-locked loop circuit produce up-conversion or down coversion in frequency mixer form local oscillation signal, and local oscillation signal enters avalanche diode.
The main signal that shakes sends measurement laser beam by controlling laser module after laser driver modulation, the main signal that shakes forms return signal to same measured object back reflection to described avalanche diode through measuring laser beam projects, each return signal and corresponding local oscillation signal carry out mixing, form the low frequency signal with same distance information after mixing, to be amplified by signal with the low frequency signal of same distance information and after filtering circuit, enter described microprocessor.
In specific implementation process, we find, the light-metering distance measuring equipment that above-mentioned patent discloses exists following shortcoming:
1, this light-metering distance measuring equipment adopts the RC oscillator output low frequency signal of simulation, and the RC oscillator output signal of simulation is unstable, is difficult to produce stable difference frequency signal with main signal mixing of shaking.
2, need in ranging process to do twice mixing, first time mixing be RC oscillator export low frequency signal and phase-locked loop circuit export high frequency master shake signal mixing produce local oscillation signal, second time mixing is that master shakes signal madulation on laser diode, the light sent turns back to APD photodiode, APD photodiode carries out second time mixing with local oscillation signal, measuring process is complicated, thus easily affects the measuring accuracy of distance measuring equipment.
Summary of the invention
The object of the invention is to the defect overcoming prior art, a kind of monochromatic light road laser distance measuring system is provided, by obtaining the simulating signal of two-way range finding by the method for breadboardin, this two-way simulating signal of synchronized sampling simultaneously, not only reduce the cost of laser range finder, reduce size, easy to use, also substantially increase the precision of range finding in addition.
For achieving the above object, the present invention proposes following technical scheme: a kind of monochromatic light road laser distance measuring system, comprises microprocessor, signal generator, generating laser, photodiode and frequency mixer:
Signal generator described in described Microprocessor S3C44B0X exports two group pulse signals, is respectively the first group pulse signal and the second group pulse signal, often organizes in described pulse signal and all has the first different modulation signal of two-way frequency and the second modulation signal; First group pulse signal delivers to generating laser and photodiode respectively, and for the formation of the photoelectricity mixed frequency signal of outer light path, the second group pulse signal delivers to frequency mixer, for the formation of the reference signal of range finding.
Described generating laser gives off laser beam, and under the modulation of first modulation signal of described laser beam in described first group pulse signal, gives off laser beam to measured target thing;
Described photodiode receives the described laser beam reflected back through described measured target thing, with the second modulation signal photoelectricity mixing in described first group pulse signal, forms photoelectricity mixed frequency signal;
Described frequency mixer receives and the first modulation signal in the second group pulse signal described in mixing and the second modulation signal, form reference signal, be used as the phase reference signal of range finding, and calculated the phase differential of described photoelectricity mixed frequency signal and reference signal by microprocessor.
Preferably, signal generator synchronism output two group pulse signal described in described Microprocessor S3C44B0X.
Preferably, the frequency of the first modulation signal of pulse signal described in two groups is consistent with phase place, and the frequency of the second modulation signal of pulse signal described in two groups is also consistent with phase place, thus ensures that the photoelectricity mixed frequency signal exported is identical with the frequency of reference signal.
Preferably, described photoelectricity mixed frequency signal is identical with the frequency of reference signal, and phase place is different, and microprocessor calculates both phase differential, thus obtains the distance value of measurement.
Preferably, the frequency of described photoelectricity mixed frequency signal and reference signal is the difference of the frequency of the first modulation signal in every group pulse signal and the second modulation signal.
Preferably, synchronous sampling signal generator is set in described microprocessor, described synchronous sampling signal generator exports synchronous sampling signal, controls photoelectricity mixed frequency signal and reference signal described in described microprocessor synchronized sampling, improves the measuring accuracy of range measurement system.
Preferably, described microprocessor carries out Fast Fourier Transform (FFT) to the described photoelectricity mixed frequency signal sampled and reference signal, calculates the phase differential of described photoelectricity mixed frequency signal and reference signal.
Preferably, described signal generator adopts digital circuit to export the different modulation signal of two-way frequency, and stable output signal is reliable, and the signal frequency exported can set flexibly.
Preferably, described laser generator is laser diode, and described photodiode is avalanche diode.
Preferably, described frequency mixer is common frequency mixer or simulation orthogonal mixer, and simulation produces phase reference signal.
The mode of this practical new employing breadboardin produces two-way simulating signal, be respectively the reference signal of range finding and the photoelectricity mixed frequency signal of outer light path, this two-way simulating signal is synchronously adopted by microprocessor, calculate both phase differential, obtained the time of laser flying by phase differential, thus accurately can calculate the distance value of measurement.
Unlike the prior art, the invention has the beneficial effects as follows:
1, adopt digital signal generator to substitute existing simulative generator, improve stability and the reliability of output signal.
2, the mode of analog frequency mixing is adopted to substitute existing interior light path, produce a road phase reference signal, the single-shot list achieving range measurement system is received, effective reduction stadimeter cost, reduce volume, be convenient for carrying and use, compare two bill and to receive and single-emission and double-receiving has obvious cost advantage in short distance range finding.
3, produce two paths of signals by signal generator, every road signal only need do a mixing, compared with doing twice mixing, simplifies range finding flow process with an existing road signal demand, and the phase place of mixer output signal and frequency stabilization, can obtain high-precision measurement result.
4, control the synchronous of two-way analog signal output and sampling, substantially increase the precision of measurement result.
Accompanying drawing explanation
Fig. 1 is the structural representation of existing laser ranging system;
Fig. 2 is the structural representation of monochromatic light road of the present invention laser distance measuring system.
Embodiment
Below in conjunction with accompanying drawing of the present invention, clear, complete description is carried out to the technical scheme of the embodiment of the present invention.
Disclosed a kind of monochromatic light road laser distance measuring system, by the method for breadboardin, export the simulating signal of two-way range finding, by this two-way simulating signal of synchronized sampling, and the phase differential of two-way simulating signal is calculated by Fast Fourier Transform (FFT) (FFT) method, obtain laser time of flight, thus calculate the distance value of measurement.The present invention can effectively reduce stadimeter cost, reduce its volume, be convenient for carrying and use, also substantially increase the precision of range finding simultaneously.
As shown in Figure 2, disclosed a kind of monochromatic light road laser distance measuring system, comprise microprocessor, signal generator, generating laser, photodiode and frequency mixer, unlike the prior art, microprocessor control signals generator synchronism output two group pulse signal, in the present embodiment, signal generator 1 and signal generator 2 is adopted to produce two group pulse signals, set of pulses signal is for generation of photoelectricity mixed frequency signal, another group pulse signal is then for generation of the referential reference signal of range finding, certainly, the magnitude setting of signal generator can the group number of pulse signal according to actual needs set.
Preferably, signal generator adopts digital signal generator, produces the two paths of signals that frequency is different.It is reliable that digital signal generator has stable output signal, and the advantages such as output signal frequency controllable change.As compared to the existing two paths of signals adopting phase-locked loop circuit and RC oscillator two kinds of circuit to produce frequency respectively different that needs, this practical new employing digital signal generator is as signal generator, there is simplification range measurement system, cut down finished cost, stable output signal, improves the advantages such as distance accuracy.
All there is in every group pulse signal the first different modulation signal of two-way frequency and the second modulation signal.Particularly, as shown in Figure 2, the first modulation signal A1 and the second modulation signal B1 is set of pulses signal, and the first modulation signal A2 and the second modulation signal B2 is another group pulse signal.Frequency and the phase place of the first modulation signal A1 and the first modulation signal A2 are completely the same, frequency and the phase place of the second modulation signal B1 and the second modulation signal B2 are completely the same, thus ensure that the photoelectricity mixed frequency signal obtained respectively by two group pulse signals is identical with the frequency of reference signal.If the frequency of the first modulation signal A1 is f1, the frequency of the first modulation signal A2 is f2, then the frequency of the second modulation signal B1 and the second modulation signal B2 is also respectively f1 and f2.
First modulation signal A1 and the second modulation signal B1 is given laser generator and photodiode respectively, forms photoelectricity mixed frequency signal S1.Particularly, the first modulation signal A1 gives laser generator, and the laser beam that laser generator sends reflexes to photodiode through measured target thing after being modulated by the first modulation signal A1; Second modulation signal B1 also gives photodiode after being exaggerated, the laser beam of modulating through the first modulation signal A1 and the second modulation signal B1 produce photoelectricity mixing on the photodiode, mixing goes out photoelectricity mixed frequency signal S1, the frequency of photoelectricity mixed frequency signal S1 is the frequency-splitting f1-f2 of the first modulation signal A1 and the second modulation signal B1, and phase place is β.
First modulation signal A2 and the second modulation signal B2 gives frequency mixer and carries out mixing, exports reference signal S2.The frequency of reference signal S2 is identical with the frequency of photoelectricity mixed frequency signal S1, and phase place is different, and its medium frequency is frequency-splitting f1-f2, and phase place is α.Unlike the prior art, the present invention adopts the mode of analog frequency mixing to substitute existing interior light path, produce the phase reference signal S2 of a road signal as range finding, replace the interior light path mixed frequency signal of existing pair of bill receipts and single-emission and double-receiving, so not only can reduce the production cost of stadimeter, the size of stadimeter can also be reduced, easy to use.
Wherein, laser generator can adopt laser diode (LD), and photodiode can adopt avalanche diode, and frequency mixer can adopt common frequency mixer or simulation orthogonal mixer.
Because existing microprocessor can not be sampled photoelectricity mixed frequency signal S1 and reference signal S2 simultaneously, therefore in order to ensure that microprocessor can this two-way simulating signal of synchronized sampling photoelectricity mixed frequency signal S1 and reference signal S2, basis is practical newly adds a synchronous sampling signal generator in the microprocessor, for exporting the fixing synchronous sampling signal of a road frequency, synchronous sampling signal outputs to the external interrupt mouth (not shown) of microprocessor, namely in this, incision position produces synchronized sampling photoelectricity mixed frequency signal S1 and reference signal S2 when interrupting, like this under the control of this synchronous sampling signal, this two-way simulating signal of microprocessor synchronized sampling photoelectricity mixed frequency signal S1 and reference signal S2, greatly improve the precision of range measurement system result of calculation.
Carry out FFT conversion after microprocessor samples to data, calculate the phase differential (alpha-beta) of two paths of signals.Frequency due to two-way simulating signal is fixing equal, so microprocessor can calculate the real time of laser beam flight according to both phasometers, thus obtains the distance value of measurement.
Technology contents of the present invention and technical characteristic have disclosed as above; but those of ordinary skill in the art still may do all replacement and the modification that do not deviate from spirit of the present invention based on teaching of the present invention and announcement; therefore; scope should be not limited to the content that embodiment discloses; and various do not deviate from replacement of the present invention and modification should be comprised, and contained by present patent application claim.
Claims (10)
1. a monochromatic light road laser distance measuring system, is characterized in that, comprises microprocessor, signal generator, laser generator, photodiode and frequency mixer:
Signal generator described in described Microprocessor S3C44B0X exports two group pulse signals, is respectively the first group pulse signal and the second group pulse signal, often organizes in described pulse signal and all has the first different modulation signal of two-way frequency and the second modulation signal;
Described generating laser gives off laser beam, and under the modulation of first modulation signal of described laser beam in described first group pulse signal, is sent to measured target thing;
Described photodiode receives the described laser beam reflected back through described measured target thing, with the second modulation signal photoelectricity mixing in described first group pulse signal, forms photoelectricity mixed frequency signal;
Described frequency mixer receives and the first modulation signal in the second group pulse signal described in mixing and the second modulation signal, forms reference signal, and is calculated the phase differential of described photoelectricity mixed frequency signal and reference signal by microprocessor.
2. monochromatic light road according to claim 1 laser distance measuring system, is characterized in that, signal generator synchronism output two group pulse signal described in described Microprocessor S3C44B0X.
3. monochromatic light road according to claim 1 and 2 laser distance measuring system, is characterized in that, the frequency of the first modulation signal of pulse signal described in two groups is consistent with phase place.
4. monochromatic light road according to claim 3 laser distance measuring system, is characterized in that, the frequency of the second modulation signal of pulse signal described in two groups is consistent with phase place.
5. monochromatic light road according to claim 4 laser distance measuring system, is characterized in that, described photoelectricity mixed frequency signal is identical with the frequency of reference signal, and phase place is different.
6. monochromatic light road according to claim 5 laser distance measuring system, is characterized in that, the frequency of described photoelectricity mixed frequency signal and reference signal is the difference of the frequency of the first modulation signal in every group pulse signal and the second modulation signal.
7. monochromatic light road according to claim 6 laser distance measuring system, it is characterized in that, arrange synchronous sampling signal generator in described microprocessor, described synchronous sampling signal generator exports synchronous sampling signal, controls photoelectricity mixed frequency signal and reference signal described in described microprocessor synchronized sampling.
8. monochromatic light road according to claim 1 laser distance measuring system, it is characterized in that, described microprocessor carries out Fast Fourier Transform (FFT) to the described photoelectricity mixed frequency signal sampled and reference signal, calculates the phase differential of described photoelectricity mixed frequency signal and reference signal.
9. monochromatic light road according to claim 1 laser distance measuring system, is characterized in that, described laser generator is laser diode.
10. monochromatic light road according to claim 1 laser distance measuring system, is characterized in that, described photodiode is avalanche diode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410152898.4A CN105005051A (en) | 2014-04-16 | 2014-04-16 | Single-optical-path laser distance measuring system |
| PCT/CN2015/073617 WO2015158187A1 (en) | 2014-04-16 | 2015-03-04 | Single optical path laser ranging system |
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| CN201410152898.4A CN105005051A (en) | 2014-04-16 | 2014-04-16 | Single-optical-path laser distance measuring system |
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Cited By (9)
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| CN105490681A (en) * | 2015-11-20 | 2016-04-13 | 沈阳东软医疗系统有限公司 | Signal processing method and device |
| CN106199624A (en) * | 2016-07-08 | 2016-12-07 | 东南大学 | A kind of door window opening degree recording equipment based on laser ranging and application process thereof |
| CN107064949A (en) * | 2017-02-21 | 2017-08-18 | 莱赛激光科技股份有限公司 | A kind of green glow rangefinder |
| CN109116329A (en) * | 2018-10-18 | 2019-01-01 | 成都捷测科技有限公司 | A kind of structure and method improving laser ranging performance |
| CN109633672A (en) * | 2019-01-17 | 2019-04-16 | 杜鑫 | Pulse type laser range-measurement system and its distance measuring method |
| CN110716193A (en) * | 2019-12-12 | 2020-01-21 | 深圳市迈测科技股份有限公司 | Signal generation method and device |
| CN111398978A (en) * | 2019-11-26 | 2020-07-10 | 中国矿业大学 | Improved medium-long range phase type laser range finder and range finding method |
| CN111596303A (en) * | 2020-07-02 | 2020-08-28 | 国科光芯(海宁)科技股份有限公司 | Laser ranging method and system and laser radar |
| US11747474B2 (en) | 2019-11-18 | 2023-09-05 | Shenzhen Mileseey Technology Co., Ltd. | Systems and methods for laser distance measurement |
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| CN108828615A (en) * | 2018-06-11 | 2018-11-16 | 深圳市镭神智能系统有限公司 | Light emitting unit, optical signal detecting module, optical system and laser radar system |
| CN113630232B (en) * | 2021-08-17 | 2023-09-01 | 哈尔滨工业大学 | Synchronous separation and synchronous phase measurement system and method for multi-frequency hybrid heterodyne interference signals |
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| CN105490681A (en) * | 2015-11-20 | 2016-04-13 | 沈阳东软医疗系统有限公司 | Signal processing method and device |
| CN106199624A (en) * | 2016-07-08 | 2016-12-07 | 东南大学 | A kind of door window opening degree recording equipment based on laser ranging and application process thereof |
| CN106199624B (en) * | 2016-07-08 | 2018-07-17 | 东南大学 | A kind of door window opening degree recording device and its application process based on laser ranging |
| CN107064949A (en) * | 2017-02-21 | 2017-08-18 | 莱赛激光科技股份有限公司 | A kind of green glow rangefinder |
| CN109116329A (en) * | 2018-10-18 | 2019-01-01 | 成都捷测科技有限公司 | A kind of structure and method improving laser ranging performance |
| CN109633672B (en) * | 2019-01-17 | 2023-09-01 | 杜鑫 | Pulse laser ranging system and ranging method thereof |
| CN109633672A (en) * | 2019-01-17 | 2019-04-16 | 杜鑫 | Pulse type laser range-measurement system and its distance measuring method |
| US11747474B2 (en) | 2019-11-18 | 2023-09-05 | Shenzhen Mileseey Technology Co., Ltd. | Systems and methods for laser distance measurement |
| CN111398978B (en) * | 2019-11-26 | 2023-11-03 | 中国矿业大学 | Improved medium-and-long-range phase type laser range finder and range finding method |
| CN111398978A (en) * | 2019-11-26 | 2020-07-10 | 中国矿业大学 | Improved medium-long range phase type laser range finder and range finding method |
| CN110716193A (en) * | 2019-12-12 | 2020-01-21 | 深圳市迈测科技股份有限公司 | Signal generation method and device |
| 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 |
| CN111596303A (en) * | 2020-07-02 | 2020-08-28 | 国科光芯(海宁)科技股份有限公司 | Laser ranging method and system and laser radar |
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|---|---|
| WO2015158187A1 (en) | 2015-10-22 |
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Application publication date: 20151028 |