CN107272011A - Time point discrimination method, time point discriminator circuit system and LDMS - Google Patents
Time point discrimination method, time point discriminator circuit system and LDMS Download PDFInfo
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- CN107272011A CN107272011A CN201710403347.4A CN201710403347A CN107272011A CN 107272011 A CN107272011 A CN 107272011A CN 201710403347 A CN201710403347 A CN 201710403347A CN 107272011 A CN107272011 A CN 107272011A
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- time point
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- echo impulse
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- 238000012850 discrimination method Methods 0.000 title claims abstract description 15
- 238000004989 laser desorption mass spectroscopy Methods 0.000 title claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000000052 comparative effect Effects 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000005693 optoelectronics Effects 0.000 claims description 6
- 210000001367 artery Anatomy 0.000 claims description 5
- 210000003462 vein Anatomy 0.000 claims description 5
- 238000004080 punching Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000002366 time-of-flight method Methods 0.000 description 5
- 238000002310 reflectometry Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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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
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of time point discrimination method, time point identification system and LDMS, it is characterised in that the echo impulse that detection is obtained when measuring is divided into two-way；Peak holding processing is carried out all the way, and peak holding is handled for echo impulse to be converted into a DC level, and DC level magnitude of voltage is the crest voltage of echo impulse, and the decay of setting ratio is carried out to DC level；Another road carries out delay disposal, and delay disposal is used to carry out nanosecond delay, retardation to echo impulse it is ensured that more than peak holding and time delay caused by decay；DC level after decay and the echo impulse after delay are subjected to magnitude of voltage comparison, and arrived the moment as echo impulse at the time of magnitude of voltage comparative result is changed, when the amplitude of echo impulse changes, time point differentiates that the magnitude of voltage of level also changes therewith, realizes and differentiates independent of with the time point of echo strength.The present invention is widely used in pulse type laser range-measurement system, or the ranging of the two dimension based on different light beam scan modes or three-dimensional laser radar system.
Description
Technical field
The present invention be related to it is a kind of be used for pulse type laser range-measurement system, or the two dimension based on different light beam scan modes or
Time point discrimination method, time point discriminator circuit system and the LDMS of three-dimensional laser radar system, belong to laser distance survey
Measure technical field.
Background technology
Pulsed three-dimensional laser radar based on time-of-flight method, as light source, has as a result of pulsed laser
Far measuring distance, frequency be high, it is low in energy consumption the features such as, be widely used in the fields such as three-dimensional modeling, environment sensing.Time-of-flight method
The time difference Δ T at pulsed three-dimensional laser radar recording laser impulse ejection moment and the diffusing reflection echo impulse time of reception, multiplies
With light velocity C, the round distance of laser radar and testee can be calculated.Swept by pitch orientation with horizontal direction light beam
Retouch, just can obtain the three-dimensional appearance information of testee.
A key factor of influence range measurement accuracy is laser pulse emission moment and echo reception in the prior art
The time difference Δ T at moment measurement accuracy.According to time-of-flight method ranging formula：
In formula, L is tested distance, and C is the light velocity.It can be calculated from above formula, 1ns timing error can introduce 15cm ranging
Error.Because transmitting laser pulse is after different reflectivity object diffusing reflection, echo impulse amplitude changes very greatly.For laser arteries and veins
Width is rushed for 5 to 10 nanosecond pulse formula laser radars, judges that the echo impulse arrival moment can cause nanosecond by constant level
Level time measurement error, that is, tens centimetres of range measurement error, have had a strong impact on the application of three-dimensional laser radar
And measurement accuracy.
The content of the invention
In view of the above-mentioned problems, the time point of laser radar range measurement accuracy can be improved it is an object of the invention to provide a kind of
Discrimination method, time point discriminator circuit system and LDMS.
To achieve the above object, the present invention takes following technical scheme：A kind of time point discrimination method, it is characterised in that bag
Include herein below：The echo impulse that detection is obtained when measuring is divided into two-way；Carry out all the way at peak holding processing, peak holding
Manage for echo impulse to be converted into a DC level, DC level magnitude of voltage is the crest voltage of echo impulse, and to straight
Flow the decay that level carries out setting ratio；Another road carries out delay disposal, and delay disposal is used to carry out nanosecond to echo impulse
Delay, retardation are it is ensured that more than peak holding and time delay caused by decay；After the DC level after decay and delay
Echo impulse carry out magnitude of voltage comparison, and when being arrived at the time of magnitude of voltage comparative result is changed as echo impulse
Carve, when the amplitude of echo impulse changes, time point differentiate level magnitude of voltage also change therewith, realize independent of with echo
The time point of intensity differentiates.
To achieve the above object, the present invention takes following technical scheme：A kind of time point discriminator circuit system, its feature exists
In the circuit system includes peak-holding circuit, attenuator, delayer and comparator；The peak-holding circuit is used for echo arteries and veins
The peak holding of punching is a DC level and is sent to the attenuator, and the attenuator is used to set DC level
The decay of ratio, the delayer is used for the delay that the echo impulse is carried out to nanosecond, the attenuator and delayer
Output signal is sent to the comparator and is compared the processing acquisition echo impulse arrival moment.
To achieve the above object, the present invention takes following technical scheme：A kind of LDMS, it is characterised in that should
Range-measurement system compares including master controller, pulsed laser, the first~the second detector, the first~the second amplifier, first
Device, timing circuit and described time point discriminator circuit system；Pulsed laser described in the main controller controls sends spy
Pulse is surveyed, the laser pulse that the pulsed laser is sent is divided into two-way light；Wherein light is transmitted into first detection all the way
Device, first detector will optical signal carry out opto-electronic conversion after be sent to first amplifier, first amplifier and
Constant level signal connects two inputs of the first comparator respectively, and the output end of the first comparator connects the meter
When circuit be used as timing commencing signal；Another road light is transmitted into testee as direct impulse, irreflexive through testee
Signal is transmitted into second detector, and second detector will be transmitted into described second after optical signal progress opto-electronic conversion and put
Big device, the signal exported through second amplifier is separately sent to the peak-holding circuit and delayer, and the comparator is defeated
The signal gone out is sent to the timing circuit as timing end signal as trigger signal, is opened during the timing circuit recording gauge
Time difference between beginning signal and timing end signal is simultaneously sent to the master controller.
The present invention is due to taking above technical scheme, and it has advantages below：1st, the present invention is using independent of echo arteries and veins
The time point discrimination method of intensity is rushed, the generation that timer stops trigger signal being completed in single echo, will not be reduced sharp
The detection efficient of optical radar.2nd, the present invention obtains echo impulse peak value using peak holding rather than digital analog converter, eliminates
The digital-to-analogue conversion time, while reducing the cost of system, it is significant in the application of high-rate laser radar.3rd, it is of the invention
The pulse of laser radar detection different reflectivity object returns is arrived moment timing point independent of echo strength, improve three-dimensional
Laser radar range measurement accuracy, enhances adaptability of the three-dimensional laser radar to different surfaces reflectivity target.The present invention
It can be widely applied to pulse type laser range-measurement system, or the two dimension based on different light beam scan modes or three-dimensional laser radar system
In the ranging of system.
Brief description of the drawings
Fig. 1 is the time point discrimination method schematic diagram independent of echo strength of the present invention；
Fig. 2 is the time point discrimination method of the present invention；
Fig. 3 is the LDMS based on time point discrimination method of the present invention.
Embodiment
Come to carry out the present invention detailed description below in conjunction with accompanying drawing.It should be appreciated, however, that accompanying drawing has been provided only more
Understand the present invention well, they should not be interpreted as limitation of the present invention.In the description of the invention, it is to be understood that
Term " first ", " second " etc. are only used for the purpose of description, and it is not intended that indicating or implying relative importance.
From time-of-flight method pulsed three-dimensional laser radar principle, the ranging core of three-dimensional laser radar is a base
In the pulsed range-measurement system of time-of-flight method, therefore time point discrimination method proposed by the present invention is equally applicable to pulse type laser
Range-measurement system, or two dimension or three-dimensional laser radar system based on different light beam scan modes.
As shown in figure 1, the echo of three different amplitudes comes from the same target apart from different reflectivity in figure, if all
Time point discriminating is carried out using unified constant level V3, then the corresponding timing point T1 of echo 1, the corresponding timing point T2 of echo 2, echo 3
Correspondence timing point T3, T1 and T3, T2 and T3 time difference are exactly timing point tolerance, can cause range error.If used respectively
V1, V2, V3 carry out time point discriminating (judging that echo arrives the moment), and V1, V2, V3 and echo to echo 1, echo 2, echo 3
1st, echo 2, the peak value ratio of echo 3 are identical, then the timing point of echo 1, echo 2 and echo 3 is all T3 in theory, in the absence of timing
Error.
It is above-mentioned constant than time point discriminating in order to realize based on above-mentioned principle, the invention provides a kind of time point discrimination method,
Including herein below：In each ranging, peak value measurement or peak holding are carried out to echo impulse first, certain proportion is utilized
The peak impulse voltage of (such as 70%) decay differentiates level as the time point of current echo impulse.
As shown in Fig. 2 the process that implements of the time point discrimination method of the present invention is：Obtained echo will be detected during ranging
Pulse is divided into two-way, and peak holding processing is carried out all the way, and peak holding is handled for echo impulse to be converted into a direct current
Flat, DC level magnitude of voltage is the crest voltage of echo impulse；And the decay of setting ratio is carried out to DC level, for example
70%, the output after decay is as shown in V1 in Fig. 1；Another road carries out delay disposal, and delay disposal is realized and echo impulse is received
Second level delay, retardation in the output of delay disposal such as Fig. 1 it is ensured that more than peak holding and the caused time delay that decays, return
Shown in ripple 1.DC level after decay and the echo impulse after delay are subjected to magnitude of voltage comparison, and by magnitude of voltage comparative result
Arrived the moment as echo impulse at the time of changing, when the amplitude of echo impulse changes, time point differentiates level
Magnitude of voltage also changes therewith, realizes and differentiates independent of with the time point of echo strength.As shown in T1 in Fig. 1.When the width of echo impulse
When value changes, time point differentiate level magnitude of voltage also change therewith, realize it is as shown in Figure 1 independent of with echo strength
Time point differentiate.
As shown in figure 3, the time point discrimination method based on the present invention, the present invention also proposes the ranging independent of echo strength
System, including the amplification of master controller 1, pulsed laser 2, spectroscope 3, the first~the second detector 4~5, the first~the second
Device 6~7, first comparator 8, timing circuit 9 and time point discriminator circuit system 10, time point discriminator circuit system 10 are protected including peak value
Holder 11, delayer 12, the comparator 14 of attenuator 13 and second.
The control pulsed laser 2 of master controller 1 sends direct impulse, starts a distance measurement process.
The laser pulse that pulsed laser 2 is sent is divided into two-way light via spectroscope 3, through the reflection of spectroscope 3 all the way
Light is output to the first detector 4 by a speculum, and the first detector 4 will be sent to first after optical signal progress opto-electronic conversion and put
Big device 6, the first amplifier 6 and constant level signal connect two inputs of first comparator 8 respectively, first comparator 8 it is defeated
Go out end connection timing circuit 9 and be used as the timing commencing signal i.e. laser pulse emission moment.Timing circuit 9 starts when realizing recording gauge
Time difference Δ T between signal and timing end signal (i.e. laser echo pulse arrives the moment).
Another road light transmitted through spectroscope 3 is transmitted into testee as direct impulse, irreflexive through testee
Signal is transmitted into the second detector 5.Second detector 5 will optical signal carry out opto-electronic conversion after be transmitted into the second amplifier 7, through the
The signal of two amplifiers 7 output is separately sent to peak-holding circuit 11 and delayer 12, and peak-holding circuit 11 is realized echo arteries and veins
The peak holding of punching is a DC level；Delayer 12 realizes the delay that echo impulse is carried out to nanosecond, it is ensured that retardation
Postpone more than caused by peak-holding circuit and attenuator.The signal that peak-holding circuit 11 is exported is sent to attenuator 13, attenuator
13 realize the decay that setting ratio is carried out to the DC level that peak-holding circuit 11 is exported.The output of attenuator 13 and delayer 13
Signal is sent to the second comparator 14, completes to differentiate independent of with the time point of echo strength.The signal of second comparator 14 output
As trigger signal be sent to timing circuit 9 as timing end signal i.e. laser echo pulse arrive at the time of.
(laser is returned commencing signal (laser pulse emission moment) with timing end signal during 9 recording gauge of timing circuit
Wave impulse arrive the moment) between time difference Δ T, sent Δ T as this result measured to master controller 1.
Master controller 1 realizes the calculating of following formula according to Δ T, the distance value L this time measured：
In formula, C is the light velocity.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each part, connected mode and manufacture craft etc. are all
It can be varied from, every equivalents carried out on the basis of technical solution of the present invention and improvement should not be excluded
Outside protection scope of the present invention.
Claims (3)
1. a kind of time point discrimination method, it is characterised in that including herein below：
The echo impulse that detection is obtained when measuring is divided into two-way；
Peak holding processing is carried out all the way, and peak holding is handled for echo impulse to be converted into a DC level, direct current
Flat magnitude of voltage is the crest voltage of echo impulse, and the decay of setting ratio is carried out to DC level；
Another road carries out delay disposal, and delay disposal is used to carry out nanosecond delay to echo impulse, and retardation is it is ensured that be more than
Peak holding and time delay caused by decay；
DC level after decay and the echo impulse after delay are subjected to magnitude of voltage comparison, and magnitude of voltage comparative result is occurred
Arrived the moment as echo impulse at the time of change, when the amplitude of echo impulse changes, time point differentiates the voltage of level
Value also changes therewith, realizes and differentiates independent of with the time point of echo strength.
2. a kind of time point discriminator circuit system, it is characterised in that the circuit system includes peak-holding circuit, attenuator, delayer
And comparator；The peak-holding circuit is used to be a DC level by the peak holding of echo impulse and is sent to the decay
Device, the attenuator is used for the decay that setting ratio is carried out to DC level, and the delayer is used to enter the echo impulse
The delay of row nanosecond, the output signal of the attenuator and delayer is sent to the comparator and is compared processing acquisition
Echo impulse arrives the moment.
3. a kind of LDMS, it is characterised in that the range-measurement system include master controller, pulsed laser, first~
Second detector, the first~the second amplifier, first comparator, timing circuit and time point as claimed in claim 2 differentiate
Circuit system；
Pulsed laser described in the main controller controls sends direct impulse, the laser arteries and veins that the pulsed laser is sent
Punching is divided into two-way light；
Wherein light is transmitted into first detector all the way, and first detector is sent to after optical signal is carried out into opto-electronic conversion
First amplifier, first amplifier and constant level signal connect two inputs of the first comparator respectively,
The output end of the first comparator connects the timing circuit and is used as timing commencing signal；
Another road light is transmitted into testee as direct impulse, and being transmitted into described second through the irreflexive signal of testee visits
Device is surveyed, second detector is transmitted into second amplifier after optical signal is carried out into opto-electronic conversion, through the described second amplification
The signal of device output is separately sent to the peak-holding circuit and delayer, and the signal of the comparator output is sent to the meter
When circuit as timing end signal, the time difference during timing circuit recording gauge between commencing signal and timing end signal
And it is sent to the master controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710403347.4A CN107272011B (en) | 2017-06-01 | 2017-06-01 | Time point identification method, time point identification circuit system and laser ranging system |
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| CN201710403347.4A CN107272011B (en) | 2017-06-01 | 2017-06-01 | Time point identification method, time point identification circuit system and laser ranging system |
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| CN107272011A true CN107272011A (en) | 2017-10-20 |
| CN107272011B CN107272011B (en) | 2020-12-04 |
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| CN108303690A (en) * | 2018-01-17 | 2018-07-20 | 武汉煜炜光学科技有限公司 | A kind of distance measuring method and range-measurement system for eliminating laser radar blind area |
| CN115184907A (en) * | 2022-09-08 | 2022-10-14 | 北醒（北京）光子科技有限公司 | Balance detection circuit and laser ranging system |
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| CN107272011B (en) | 2020-12-04 |
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