CN105988118A - High-speed high-precision laser ranging system for scan imaging - Google Patents
High-speed high-precision laser ranging system for scan imaging Download PDFInfo
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- CN105988118A CN105988118A CN201510094153.1A CN201510094153A CN105988118A CN 105988118 A CN105988118 A CN 105988118A CN 201510094153 A CN201510094153 A CN 201510094153A CN 105988118 A CN105988118 A CN 105988118A
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Abstract
The invention discloses a high-speed high-precision laser ranging system for scan imaging. The high-speed high-precision laser ranging system mainly comprises a laser emitting circuit, an optical signal detecting circuit, a timing circuit, a main control circuit, and a data transmission and processing circuit. The laser emitting circuit is used for modulating a laser device under the control of a trigger signal, drives the semiconductor laser device by utilizing a high-speed pulse current source, and emitting laser pulses with high repetition frequency to measure a distance of a target object. The timing circuit is connected with the main control circuit. The main control circuit is used for processing time data of the timing circuit and converting the time data into distance data, and is responsible for coordinating operation of the whole system. The data transmission circuit serves as an interface circuit between the system and the peripheral, and is responsible for data transmission and downloading between the system and an upper computer.
Description
Technical field
The invention belongs to the concrete application of laser ranging technique, particularly relate to a kind of high-speed, high precision LDMS for scanning imagery.
Background technology
Laser scanning imaging technology is a kind of novel surface Detection Techniques, it can utilize the repetitive measurement of object to obtain the multiple information such as backward energy intensity, space length, movement velocity and the surface character of object, thus obtain the multiple real three-dimensional image information of object, such as intensity image, Range Profile, Doppler profile etc..Recently as laser technology, the fast development of laser receiving technology, and growing to detected with high accuracy application demand of each research field, the laser ranging technique of high-accuracy high-resolution is more and more paid close attention to by people, and laser scanning imaging technology is to utilize traditional remote sensing to combine with the laser ranging technique of advanced laser a kind of new technique formed.It can effectively provide three-dimensional position and the integrated information of ground image of object, becomes the developing direction of a forefront in association area.Laser scanning imaging technology is based on high-rate laser ranging technology, utilizes laser that object carries out point by point scanning and completes to measure.Time interval or phase place between being launched by Laser Measurement and received change the distance obtaining between ground and measuring table.
Requiring that yet with laser scanning measurement system the tranmitting frequency of laser is the highest, the most common laser ranging technique is difficult to meet the demand of Gao Zhongying work.For adapting to the new demand of development, research worker starts to be devoted to study to be capable of the range finder using laser that high repetition frequency range finding requires, its core is the research of high accuracy high repetition frequency semiconductor laser range finder.At present both at home and abroad existing many units and mechanism begin one's study small semiconductor LDMS, carried out in the world wavelength in the range of 800nm ~ 900nm, pulse width 20 ~ 50ns, repetition rate 1Hz ~ 10kHz, the research of closely range finder using laser without cooperative target.Laser ranging technique develops towards Gao Zhongying, miniaturization, low-power consumption, high-precision direction, becomes the important development direction of following laser scanning and ranging technology.Based on above-mentioned background, the invention provides and a kind of there is pinpoint accuracy, high reliability, with low cost and a kind of high-speed, high precision LDMS for scanning imagery of low-power consumption, finding range at 30m achieves the range measurement of repetition rate 36kHz, final range accuracy reaches+6cm, it is achieved that the high speed of laser ranging and high precision int.
Summary of the invention
Development trend for existing laser ranging high-speed, high precision, and the practical situation that the existing relatively low response speed of LDMS precision is slower, it is an object of the invention to, it is provided that a kind of high speed for scanning imagery, in high precision, good reliability, the with low cost and LDMS of low-power consumption.
In order to realize above-mentioned task, the present invention uses following technical solution:
A kind of high-speed, high precision LDMS for scanning imagery, it is characterised in that include laser transmission circuit, optical signal detecting circuit, timing circuit, governor circuit, data transmission circuit module；Concrete, laser instrument is modulated under the control triggering signal by described laser transmission circuit, utilize high-speed pulse driven with current sources semiconductor laser, launch the laser pulse signal of high repetition frequency, described optical signal detecting circuit is able to receive that the laser pulse signal after object reflects, reflected signal amplified simultaneously and change into voltage signal, and then output processes to described timing circuit, described timing circuit realizes the measurement to the time by the transmission delay of logic gates, described governor circuit is transmitted and the range information that can obtain object alternately by the data between timing circuit；Laser transmission circuit is connected with power supply, its output port is connected with the input port of timing circuit, optical signal detecting circuit output port is connected with the input port of timing circuit, being bi-directionally connected between timing circuit and governor circuit and carry out data exchange, governor circuit connects with power supply and data transmission circuit again.
In this high-speed, high precision LDMS, described laser transmission circuit includes laser drive circuit, voltage-multiplying circuit, power amplification circuit, MOSFET drive circuit；Described laser drive circuit is with laser diode as core parts, it is achieved the transmitting of laser pulse, and launching laser spectrum centre wavelength is 905nm, uses InGaAs/GaAs working media, and efficient lighting area is 235um × 10um, and luminous efficiency is 2.6W/A；Described voltage-multiplying circuit is connected with power module, is designed as DC-DC direct current multiplication of voltage mode, by the voltage that+12V photovoltaic conversion is+12 ~ 48V output of input, is used for adjusting the regulation being realized output current peak power by the change of regulation concussion voltage；The MAX1771 power supply chip using Maxim to produce is the voltage-multiplying circuit that core design drives, and described power amplification circuit is joined directly together with voltage-multiplying circuit output pin, produces different current values under the control driving signal；A ultrafast power MOSFET driving chip that IXYS company produces selected by described MOSFET drive circuit, internal employing complementary push-pull current amplification circuit structure, maximum operation frequency is up to 45MHz, the opening time of MOSFET is 300ps, direct-coupled mode is used to be connected between MOSFET driving chip with MOSFET drive circuit, described MOSFET drive circuit is used for driving power MOSFET to work, the triggering signal of input is amplified, the charging to MOSFET interelectrode capacity can be completed moment, ensure that it has opening speed faster, MOSFET drive circuit outfan is connected with power amplification circuit input, the outfan of power amplification circuit accesses the input of laser drive circuit.
In this high-speed, high precision LDMS, described optical signal detecting circuit includes signal receiving unit and signal amplification circuit two parts；Described signal receiving unit utilizes the APD(photodetector of high-speed response) provide bias high voltage to be at avalanche condition to obtain high current gain, described APD is connected with the input stage of emitter follower, under the irradiation of laser, APD produces photoelectric current output；Described signal amplification circuit is multistage amplifier circuit, which includes preamplifying circuit and rear class amplifying circuit, and system transposition uses the high speed transistor of two kinds of opposed polarities to complete building of amplifying circuit；
In this high-speed, high precision LDMS, described timing circuit is made up of TDC-GP21 time interval measurement chip and corresponding hardware circuit, described TDC-GP21 time interval measurement chip is for measuring the time interval between two pulses, can provide the reference time measurement of 500ns ~ 4ms and the typical certainty of measurement of single channel 90ps, highest measurement speed can reach each second 1,000,000 times；Described hardware circuit provides the vibration required for two external crystal crystal oscillators offers, and frequency of oscillation is respectively 4MHz and 32.768kHz, is used for carrying out data calibration；
In this high-speed, high precision LDMS, described governor circuit is with arm processor STM32F103ZET6 as main control chip, carried out data transmission with described timing circuit by SPI Serial output bus, STM32F103ZET6 main control chip uses Harvard structure, being internally integrated 512K flash memory and 20K byte SRAM, maximum operation frequency can reach 72MHz.There are 2 12 bit A/D converters, 17 passage DMA transducer, 7 intervalometers, 9 data channel and up to 80 I/O interfaces, have independent data/address bus and instruction bus, it would be preferable to support the Thumb-2 instruction set being highly successful, ultrahigh in efficiency；
The invention has the beneficial effects as follows:
The present invention is made up of laser transmission circuit, optical signal detecting circuit, timing circuit, governor circuit, a few part of data transmission circuit；Laser instrument is modulated under the control triggering signal by described laser transmission circuit, utilize high-speed pulse driven with current sources semiconductor laser, launch the laser pulse signal of high repetition frequency, described optical signal detecting circuit is able to receive that the laser pulse signal after object reflects, reflected signal amplified simultaneously and change into voltage signal, and then output processes to described timing circuit, described timing circuit realizes the measurement to the time by the transmission delay of logic gates, described governor circuit is transmitted and the range information that can obtain object alternately by the data between timing circuit.
By modularized design, the circuit such as the laser transmission circuit in system, optical signal detecting circuit, timing circuit, governor circuit, data transmission circuit are carried out realization one by one, it is achieved that each module specific function in systems.
The present invention finally achieves the range measurement of repetition rate 36kHz in the finding range of 30m, and final range accuracy reaches+6cm, it is achieved that the high speed of laser ranging and high precision int.The present invention designs reliably with it, and powerful and quick disposal ability and simple structure and cheap cost achieve a kind of high-speed, high precision LDMS for scanning imagery, effectively improve the ranging accuracy and speed of LDMS.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further explained.
Fig. 1 is high-speed, high precision scanning imagery LDMS block diagram；
Fig. 2 is laser transmission circuit block diagram；
Fig. 3 is laser drive circuit equivalent model figure；
Fig. 4 is voltage-multiplying circuit schematic diagram；
Fig. 5 is MOSFET driving circuit principle figure；
Fig. 6 is APD(photodetector) working circuit diagram；
Fig. 7 is amplifying circuit operating diagram；
Fig. 8 is TDC-GP21 time interval measurement chip operation schematic diagram；
Fig. 9 is figure TDC-GP21 hardware circuit configuration figure；
Figure 10 is TDC and control interface connection diagram.
Detailed description of the invention
Fig. 1 is high-speed, high precision scanning imagery LDMS block diagram, its work process is: laser instrument is modulated under the control triggering signal by described laser transmission circuit, utilize high-speed pulse driven with current sources semiconductor laser, launch the laser pulse signal of high repetition frequency, described optical signal detecting circuit is able to receive that the laser pulse signal after object reflects, reflected signal amplified simultaneously and change into voltage signal, and then output processes to described timing circuit, described timing circuit realizes the measurement to the time by the transmission delay of logic gates, described governor circuit is transmitted and the range information that can obtain object alternately by the data between timing circuit, the purpose completing object carries out laser ranging with this.
Fig. 2 is laser transmission circuit block diagram, and described laser transmission circuit includes: laser drive circuit, voltage-multiplying circuit, power amplification circuit, MOSFET drive circuit；Laser instrument is modulated under the control triggering signal by described laser transmission circuit, utilize high-speed pulse driven with current sources semiconductor laser, object distance is measured by the laser pulse launching high repetition frequency, and one is triggered pulse and will control laser instrument one laser pulse of transmitting.
Fig. 3 is laser drive circuit equivalent model figure, described laser drive circuit is with laser diode laser diode as core parts, realize the transmitting of laser pulse, launching laser spectrum centre wavelength is 905nm, use InGaAs/GaAs working media, efficient lighting area is 235um × 10um, and luminous efficiency is 2.6W/A.
nullFig. 4 is voltage-multiplying circuit schematic diagram，Described voltage-multiplying circuit is designed as DC-DC direct current multiplication of voltage mode，By the voltage that+12V photovoltaic conversion is+12 ~ 48V output of input，The MAX1771 power supply chip using Maxim to produce is the voltage-multiplying circuit that core design drives，Described voltage-multiplying circuit is divided into charging and afterflow two states when working，Q1 conducting during charging，L1、Q1 and R15 constitutes charge circuit，When Q1 closes, circuit enters freewheeling period，Now the electric current in inductance is by because the electric current retention performance of inductance self is slowly reduced to zero according to original flow direction，Inductance can only be discharged by novel circuit，I.e. inductance begins through diode to electric capacity charging，Electric capacity both end voltage is made to raise，Characteristic due to diode D6 unilateal conduction，Voltage on electric capacity can be higher than Vin，Thus realize pressure regulation.
Fig. 5 is MOSFET driving circuit principle figure, a ultrafast power MOSFET driving chip that IXYS company produces selected by described MOSFET drive circuit, internal employing complementary push-pull current amplification circuit structure, maximum operation frequency is up to 45MHz, the opening time of MOSFET is 300ps, uses direct-coupled mode to be connected between driving chip with MOSFET.
Fig. 6 is APD(photodetector) working circuit diagram, described APD is connected with the input stage of emitter follower, and under the irradiation of laser, APD produces photoelectric current output, and the base stage that the photoelectric current of output inputs to transistor is referred to as base current.Transistor Q can carry out secondary amplification to photoelectric current, and the electric current after amplification will form voltage signal output on the emitter resistance R3 of transistor.R2 is coupling resistance, and resistance is taken as tens Europe, is used for preventing photoelectric current from shaking；Collector resistance R1 and the maximum current of R3 together limit transistor.C1, C2 are power filtering capacitor, are used for reducing power supply noise.R4 is current-limiting resistance, it is possible to limits electric current during APD work, plays a protective role APD.
Fig. 7 is amplifying circuit operating diagram, described signal amplification circuit is multistage amplifier circuit, which includes preamplifying circuit and rear class amplifying circuit, system transposition uses the high speed transistor of two kinds of opposed polarities to complete building of amplifying circuit, preamplifying circuit is for amplifying for the first time signal produced by APD, when exporting electric current and being 10uA, after preamplifying circuit amplifies, the signal amplitude of output only has 50mV, still can not subsequent conditioning circuit process requirement, it is therefore desirable to rear class amplifying circuit carries out secondary amplification to output signal.
Fig. 8 is TDC-GP21 time interval measurement chip operation schematic diagram, realize timing through the number of transmission gate by signal calculated during TDC work, integrated smart circuit structure, secured circuit and the specific wire laying mode of chip internal ensure that chip can realize to signal transmission in beginning and ending time interval the number of signal gate of process accurately calculate.TDC timing is controlled by two paths of signals Start and Stop, starts inside TDC when initial pulse Start arrives to measure, and when Stop signal arrives, measurement terminates.
Fig. 9 is TDC-GP21 hardware circuit configuration figure, as it can be seen, need the vibration required for two external crystal crystal oscillators offers during TDC work, frequency of oscillation is respectively 4MHz and 32.768kHz.High-frequency clock is mainly used in carrying out data calibration, also serves as the part in time measuring unit simultaneously, and the operation of E2PROM is also required to carry out under the effect of high-frequency clock.Owing to 4MHz ceramic resonator precision is relatively low and warm drift Benefit Transfer is obvious, therefore TDC-GP21 also needs to 32.768kHz high speed crystal oscillator and calibrates, to compensate the temperature effects of pottery crystal oscillator.Chip draws calibration pulse by calibrating in crystal oscillator, and starts TDC and measure the time interval of pulse, measurement result storage with in result register.After receiving START_Cal_Resonator instruction, TDC i.e. starts to calibrate clock, and TDC enable, reset and data transmission etc. are all by PC control.
Figure 10 is TDC and control interface connection diagram, and the data transmission between TDC-G P21 and ARM is carried out by SPI Serial output bus；The working state control pin of TDC and reset etc. are directly controlled by the I/O port of AR.
General technical staff of the technical field of the invention also will readily appreciate that in addition to the foregoing, and at this, the specific embodiment of explanation and diagram can change combination further.Although the present invention gives diagram explanation with regard to its preferred embodiment, but person skilled in the art it is recognized that in the spirit and scope of the present invention limited in the attached claims, also can make multiple change and variation to the present invention.
Claims (7)
1. the high-speed, high precision LDMS for scanning imagery, it is characterised in that: described high-speed, high precision scanning imagery LDMS is made up of laser transmission circuit, optical signal detecting circuit, timing circuit, governor circuit, data transmission circuit module；Laser transmission circuit is connected with power supply, its output port is connected with the input port of timing circuit, optical signal detecting circuit output port is connected with the input port of timing circuit, being bi-directionally connected between timing circuit and governor circuit and carry out data exchange, governor circuit connects with power supply and data transmission circuit again.
2. high-speed, high precision LDMS as claimed in claim 1, it is characterized in that, laser instrument is modulated under the control triggering signal by described laser transmission circuit, utilizing high-speed pulse driven with current sources semiconductor laser, object distance is measured by the laser pulse launching high repetition frequency.
3. high-speed, high precision LDMS as claimed in claim 1, it is characterised in that described laser transmission circuit includes laser drive circuit, voltage-multiplying circuit, power amplification circuit, MOSFET drive circuit；Described laser drive circuit is with laser diode as core parts, it is achieved the transmitting of laser pulse；Described voltage-multiplying circuit is connected with power module, is designed as DC-DC direct current multiplication of voltage mode, by the voltage that+12V photovoltaic conversion is+12 ~ 48V output of input, is used for adjusting the regulation being realized output current peak power by the change of regulation concussion voltage；Described power amplification circuit is joined directly together with voltage-multiplying circuit output pin, produces different current values under the control driving signal；Described MOSFET drive circuit is used for driving power MOSFET to work, the triggering signal of input is amplified, the charging to MOSFET interelectrode capacity can be completed moment, ensure that it has opening speed faster, MOSFET drive circuit outfan is connected with power amplification circuit input, and the outfan of power amplification circuit accesses the input of laser drive circuit.
4. high-speed, high precision LDMS as claimed in claim 1, it is characterised in that described optical signal detecting circuit completes the process that photosignal converts, including signal receiving unit and signal amplification circuit two parts；Described signal receiving unit utilizes the APD of high-speed response to provide bias high voltage to be at avalanche condition to obtain high current gain, it is achieved to the faint reception returning optical signal and detection；Described signal amplification circuit is multistage amplifier circuit, which includes preamplifying circuit and rear class amplifying circuit.
5. high-speed, high precision LDMS as claimed in claim 1, it is characterized in that, described timing circuit is made up of TDC-GP21 time interval measurement chip and corresponding hardware circuit, described TDC-GP21 time interval measurement chip is for measuring the time interval between two pulses, described hardware circuit can complete the data calibration of timing circuit, described timing circuit possesses high-speed pulse and produces, stop signal enabling, the functions such as temperature survey and work clock control, TDC operationally can select different measurement scopes, Signal trigger mode, the measurement to the time is realized by the transmission delay of logic gates inside it.
6. high-speed, high precision LDMS as claimed in claim 1, it is characterized in that, described governor circuit uses arm processor STM32F103ZET6 to be main control chip, carried out data transmission with described timing circuit by SPI Serial output bus, work for controlling TDC-GP21 deadline interval measurement and realize data transmission therebetween with mutual.
7. high-speed, high precision LDMS as claimed in claim 1, it is characterised in that the data transmission between described data transmission circuit and host computer and download.
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| CN201510094153.1A CN105988118A (en) | 2015-03-03 | 2015-03-03 | High-speed high-precision laser ranging system for scan imaging |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107442A (en) * | 2016-11-24 | 2018-06-01 | 武汉万集信息技术有限公司 | A kind of 360 ° of scanning laser range-measurement systems and distance measuring method |
| CN108401444A (en) * | 2017-03-29 | 2018-08-14 | 深圳市大疆创新科技有限公司 | A kind of laser radar and the Method Of Time Measurement based on laser radar |
| CN110988901A (en) * | 2019-12-31 | 2020-04-10 | 重庆九洲星熠导航设备有限公司 | TDC (time-to-digital converter) combined phase laser ranging method and system |
-
2015
- 2015-03-03 CN CN201510094153.1A patent/CN105988118A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107442A (en) * | 2016-11-24 | 2018-06-01 | 武汉万集信息技术有限公司 | A kind of 360 ° of scanning laser range-measurement systems and distance measuring method |
| CN108401444A (en) * | 2017-03-29 | 2018-08-14 | 深圳市大疆创新科技有限公司 | A kind of laser radar and the Method Of Time Measurement based on laser radar |
| CN110988901A (en) * | 2019-12-31 | 2020-04-10 | 重庆九洲星熠导航设备有限公司 | TDC (time-to-digital converter) combined phase laser ranging method and system |
| CN110988901B (en) * | 2019-12-31 | 2023-04-14 | 重庆九洲星熠导航设备有限公司 | TDC (time-to-digital converter) combined phase laser ranging method and system |
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Application publication date: 20161005 |