CN108196265A - A kind of multi-path laser flight time parallel acquisition system and method - Google Patents
A kind of multi-path laser flight time parallel acquisition system and method Download PDFInfo
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- CN108196265A CN108196265A CN201611122319.7A CN201611122319A CN108196265A CN 108196265 A CN108196265 A CN 108196265A CN 201611122319 A CN201611122319 A CN 201611122319A CN 108196265 A CN108196265 A CN 108196265A
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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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- 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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The present invention provides a kind of multi-path laser flight time parallel acquisition system and method.The system includes：Laser emission array device emits multi-path laser signal for scanning；Echo signal reception array device is sent to echo signal processing device for multi-path echo optical signal to be converted into multi-channel electric signal；Multi-channel electric signal after amplification shaping for amplifying shaping to multi-channel electric signal, is sent to field programmable gate array chip by echo signal processing device；Field programmable gate array chip includes multi-channel time-delay device and 1 timer, multi-channel time-delay device is used to carry out delay process to the multi-channel electric signal after amplification shaping, by multi-channel time-delay, treated that electric signal merges into output signal all the way is sent to timer, wherein the non-overlapping copies in time per the electric signal after the delay process of road；Timer is used to obtain the multi-path laser flight time according to the output signal received.The present invention does not need to additional TDC chips, and occupancy FPGA internal resources are low, high certainty of measurement.
Description
Technical field
The present invention relates to laser technology fields, and in particular to a kind of multi-path laser flight time parallel acquisition system and side
Method.
Background technology
Laser sensor：The sensor measured using laser technology.It is by laser, laser detector and measures electricity
Road forms.Laser sensor is new type measuring instrument table, it the advantages of be that can realize contactless telemeasurement, speed is fast, precision
Height, range is big, and anti-light, electrical interference ability is strong etc..
The measurement effect of laser time of flight determines the range accuracy of laser sensor, at present single channel laser sensor
It is more mature, recording laser is mostly come using special time measurement chip (Time to Digital Converter, TDC)
Flight time, such as TDC-GP21 etc., this method are required for matching per road echo-signal there are one special timing chip, cost compared with
Height, design is complicated, is not suitable for multichannel scanning type laser sensor.
For multi-channel laser flight time measurement, in the prior art based on field programmable gate array (Field
Programmable Gate Array, FPGA) chip, in order to realize accurate timing, all at least it is equipped with all the way per road echo-signal
Timing module includes four timers per road timing module, largely occupies FPGA resource, if measurement way is excessive, causes
Timing is unstable.
Invention content
The embodiment of the present invention provides a kind of multi-path laser flight time parallel acquisition system and method, existing for solving
The problem of consumption of multi-path laser flight time parallel acquisition system FPGA resource is big, timing is unstable.
An embodiment of the present invention provides a kind of multi-path laser flight time parallel acquisition system, including：
Sequentially connected Laser emission array device, echo signal reception array device, echo signal processing device and scene can compile
Journey gate array chip；
The Laser emission array device emits multi-path laser signal for scanning；
The echo signal reception array device, for receiving the multi-path echo optical signal of the multi-path laser signal, by institute
It states multi-path echo optical signal and is converted into multi-channel electric signal and be sent to the echo signal processing device；
The echo signal processing device, for amplifying shaping to the multi-channel electric signal, by the Multi-path electricity after amplification shaping
Signal is sent to the field programmable gate array chip；
The field programmable gate array chip includes multi-channel time-delay device and 1 timer, and the multi-channel time-delay device is used for
Delay process is carried out to the multi-channel electric signal after the amplification shaping, treated that electric signal merges into one by the multi-channel time-delay
Road output signal is sent to the timer, wherein the non-overlapping copies in time per the electric signal after the delay process of road；
The timer is used to obtain the multi-path laser flight time according to the output signal received.
Optionally, the delayer includes counter and carry chain, the counter and the carry chain for obtain with
The delay time of electric signal after the corresponding amplification shaping of the delayer.
Optionally, the field programmable gate array chip is also connected with the Laser emission array device；
The field programmable gate array chip is additionally operable to while the timer starts timing, is sent out to the laser
It penetrates array device and sends Laser emission instruction.
Optionally, the echo signal reception array device includes multichannel high-voltage driving circuit, multiple single-point avalanche optoelectronics two
Pole pipe or multiple linear array avalanche photodides.
Optionally, the echo signal processing device includes multi-path echo signal amplification circuit and plurality of voltages threshold value comparison electricity
Road；
The multi-path echo signal amplification circuit is used to be amplified processing to the multi-channel electric signal；
The plurality of voltages threshold value comparison circuit is used to carry out Shape correction to the multi-channel electric signal after enhanced processing.
An embodiment of the present invention provides a kind of multi-path laser flight time parallel acquisition method based on above system, packets
It includes：
While timer starts timing, field programmable gate array chip sends Laser emission to Laser emission array device
Instruction；
The Laser emission array device sends multi-path laser letter after the Laser emission instruction is received to sweep object
Number；
Echo signal reception array device receives the multi-path echo optical signal of the multi-path laser signal, by the multi-path echo
Optical signal is converted into multi-channel electric signal and is sent to the echo signal processing device；
Echo signal processing device amplifies shaping to the multi-channel electric signal, and the multi-channel electric signal after amplification shaping is sent to
The field programmable gate array chip；
Multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, and the multi-channel time-delay is handled
Electric signal afterwards merges into output signal all the way and is sent to the timer, wherein per the electric signal after the delay process of road in the time
Upper non-overlapping copies；
The timer obtains the multi-path laser flight time according to the output signal received.
Optionally, the multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, including：
Electric signal after the amplification shaping of the multi-channel time-delay Qi Jiangge roads is delayed the different time, the counter on each road and into
Position chain obtains the delay time of the electric signal after amplification shaping corresponding with each road delayer.
Optionally, timing time and institute of the delay time of the electric signal after each road amplification shaping for the carry chain
State the sum of timing time of counter；
Carry chain timing since the rising edge of the high level of the electric signal after receiving corresponding amplification shaping, when
Terminate timing after encountering the rising edge of adjacent next clock cycle；
The timing time of the counter is the limit ranging according to system apart from preset fixed value.
Optionally, the delay time of the electric signal after each road amplification shaping is obtained according to formula (1)：
Wherein, tnAmplify the delay time of the electric signal after shaping for the n-th tunnel；Δtk1Amplify the electricity after shaping for kth road
The timing time of the carry chain of signal；Δtk2Amplify the timing time of the counter of the electric signal after shaping for kth road；Δt12
=0.
Optionally, the timer obtains the multi-path laser flight time required time according to the output signal received
Less than the laser emission period of the Laser emission array device.
Multi-path laser flight time parallel acquisition system and method provided in an embodiment of the present invention, Laser emission array device,
Emit multi-path laser signal for scanning；Echo signal reception array device, for multi-path echo optical signal to be converted into Multi-path electricity
Signal is sent to echo signal processing device；Echo signal processing device, for amplifying shaping to multi-channel electric signal, after amplification shaping
Multi-channel electric signal be sent to field programmable gate array chip；Field programmable gate array chip includes multi-channel time-delay device and 1
A timer, multi-channel time-delay device is used to carry out delay process to the multi-channel electric signal after amplification shaping, after multi-channel time-delay is handled
Electric signal merge into output signal all the way and be sent to timer, wherein per the electric signal after the delay process of road in time mutually not
Overlapping；Timer is used to obtain the multi-path laser flight time according to the output signal received.The present invention is realized more using FPGA
Return laser beam parallel timing in road does not need to additional TDC chips, and occupancy FPGA internal resources are low, high certainty of measurement.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structure diagram of the multi-path laser flight time parallel acquisition system of one embodiment of the invention；
Fig. 2 is the flow diagram of the multi-path laser flight time parallel acquisition method of one embodiment of the invention；
Fig. 3 is the delay sequence diagram of the one-way delay device of one embodiment of the invention；
Fig. 4 shows four road laser time of flight parallel acquisition sequence diagrams of one embodiment of the invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, clear, complete description is carried out to the technical solution in the embodiment of the present invention, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
Fig. 1 is the structure diagram of the multi-path laser flight time parallel acquisition system of one embodiment of the invention.Such as Fig. 1
Shown, the multi-path laser flight time parallel acquisition system of the embodiment of the present invention includes：
Sequentially connected Laser emission array device 11, echo signal reception array device 12, echo signal processing device 13 and existing
Field programmable gate array chip 14；
Laser emission array device 11 emits multi-path laser signal for scanning；
It should be noted that Laser emission array device 11 can realize continuous angle scanning transmitting multi-path laser signal.
Echo signal reception array device 12, for receiving the multi-path echo optical signal of the multi-path laser signal, by described in
Multi-path echo optical signal is converted into multi-channel electric signal and is sent to echo signal processing device 13；
Echo signal processing device 13, for amplifying shaping to the multi-channel electric signal, by the multiple telecommunication after amplification shaping
Number it is sent to field programmable gate array chip 14；
Field programmable gate array chip 14 includes multi-channel time-delay device 141 and 1 timer 142, the multi-channel time-delay device
For carrying out delay process to the multi-channel electric signal after the amplification shaping, the multi-channel time-delay treated electric signal is merged
Timer 142 is sent to for output signal all the way, wherein the non-overlapping copies in time per the electric signal after the delay process of road；
In practical applications, field programmable gate array chip 14 is also connected with Laser emission array device 11；
Field programmable gate array chip 14 is additionally operable to while timer 142 starts timing, to Laser emission array
Device 11 sends Laser emission instruction.
It will be appreciated that the Laser emission array device 11 of the embodiment of the present invention is controlled by FPGA, N roads laser continuous angle is carried out
Spend parallel scan, laser emission frequency F.
Timer 142 is used to obtain the multi-path laser flight time according to the output signal received.
The work that the multi-path laser flight time parallel acquisition system of the embodiment of the present invention is illustrated below in conjunction with Fig. 1 is former
Reason.
FPGA14 sends out START signal, the scanning transmitting N of Laser emission array device 11 (N>1) road laser pulse signal；Echo
Signal receiving array device 12 receives the N roads echo optical signal of same scan angle, and N roads echo optical signal is converted into N roads telecommunications
Number it is transferred to echo signal processing device 13；Echo signal processing device 13 is amplified shaping to N roads electric signal, and N is exported to FPGA
Road STOPn_in signals；FPGA14, including 141,1 timers 142 of N roads delayer, by N roads delayer 141 to N roads
STOPn_in signals carry out delay process, and the N roads STOPn_out signals after delay are merged into STOP signals all the way and are sent into meter
When device 142, per road delay process after STOPn_out non-overlapping copies in time.
Multi-path laser flight time parallel acquisition system provided by the invention realizes that multi-path laser echo is parallel using FPGA
Timing does not need to additional TDC chips, and occupancy FPGA internal resources are low, high certainty of measurement.
Specifically, delayer 141 includes counter and carry chain, and the counter and the carry chain are used to obtain and prolong
When device 141 it is corresponding amplification shaping after electric signal delay time.
Further, echo signal reception array device 12 includes multichannel high-voltage driving circuit, multiple single-point avalanche optoelectronics two
Pole pipe or multiple linear array avalanche photodides.
Further, echo signal processing device 13 includes multi-path echo signal amplification circuit and plurality of voltages threshold value comparison electricity
Road；
The multi-path echo signal amplification circuit is used to be amplified processing to the multi-channel electric signal；
The plurality of voltages threshold value comparison circuit is used to carry out Shape correction to the multi-channel electric signal after enhanced processing.
In practical applications, the signal amplification factor of echo-signal amplifying circuit sends the limit survey of array device according to laser
It is determined away from ability S.Voltage threshold comparison circuit plays filter action, and noise jamming can be effectively filtered off by adjusting threshold voltage.
Fig. 2 is the flow diagram of the multi-path laser flight time parallel acquisition method of one embodiment of the invention.Such as Fig. 2
Shown, the multi-path laser flight time parallel acquisition method of the embodiment of the present invention includes：
S21：While timer starts timing, field programmable gate array chip sends laser to Laser emission array device
Firing order；
S22：The Laser emission array device sends multichannel to sweep object after the Laser emission instruction is received and swashs
Optical signal；
S23：Echo signal reception array device receives the multi-path echo optical signal of the multi-path laser signal, by the multichannel
Echo optical signal is converted into multi-channel electric signal and is sent to the echo signal processing device；
S24：Echo signal processing device amplifies shaping to the multi-channel electric signal, and the multi-channel electric signal after amplification shaping is sent out
It send to the field programmable gate array chip；
S25：Multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, by the multi-channel time-delay
Treated, and electric signal merges into output signal all the way is sent to the timer, wherein existing per the electric signal after the delay process of road
Non-overlapping copies on time；
S26：The timer obtains the multi-path laser flight time according to the output signal received.
Multi-path laser flight time parallel acquisition method provided in an embodiment of the present invention realizes that multi-path laser returns using FPGA
The parallel timing of wave does not need to additional TDC chips, and occupancy FPGA internal resources are low, high certainty of measurement.
Specifically, the multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, including：
Electric signal after the amplification shaping of the multi-channel time-delay Qi Jiangge roads is delayed the different time, the counter on each road and into
Position chain obtains the delay time of the electric signal after amplification shaping corresponding with each road delayer.
Further, the delay time of the electric signal after each road amplification shaping for the carry chain timing time and
The sum of timing time of the counter；
Carry chain timing since the rising edge of the high level of the electric signal after receiving corresponding amplification shaping, when
Terminate timing after encountering the rising edge of adjacent next clock cycle；
The timing time of the counter is the limit ranging according to system apart from preset fixed value.
Illustrate the operation principle of one-way delay device of the present invention below in conjunction with Fig. 3.
As shown in figure 3, CLK is system clock, period T, STOPn_in signals may enter FPGA at any time, when
When STOPn_in signals high level arrives, carry chain " thin timing " is triggered, after adjacent next clock cycle rising edge is encountered
" the thin timing " of carry chain terminates, and obtains timing time as Δ tn1, by Δ tn1Afterwards, STOPn_in signals and system clock are complete
Into synchronization, counter " thick timing " starts in rising edge clock, by the Δ t being set in advancen2Afterwards, STOPn_out letters are generated
Number timer is input to, corresponding laser time of flight is obtained by timer.Wherein, 0≤Δ tn1≤ T,
Specifically, the embodiment of the present invention obtains the delay time of the electric signal after each road amplification shaping according to formula (1)：
Wherein, tnAmplify the delay time of the electric signal after shaping for the n-th tunnel；Δtk1Amplify the electricity after shaping for kth road
The timing time of the carry chain of signal；Δtk2Amplify the timing time of the counter of the electric signal after shaping for kth road；Δt12
=0.
Below by taking four road laser time of flight parallel acquisition processes as an example, the multi-path laser flight time of the present invention is illustrated
The principle of parallel acquisition method.
As shown in figure 4, the laser emission frequency F=72kHz of Laser emission array device, limit range capability S=50m,
FPGA crystal oscillators are 50MHz, i.e. T is divided into 16 parts, i.e. m=16 by FPGA clock cycle T=20ns, carry chain, are often completed primary
Carry takes Δt12=0, Δ t22=Δ t32=Δ t42=400ns.
FPGA sends out START signal to Laser emission array device and timer simultaneously, and Laser emission array device receives
After START signal, 4 road laser scan shine simultaneously, and timer starts timing.4 road laser pulses generate 4 after encountering testee
Road echo optical signal.4 road echo optical signals generate 4 road electric signals by echo signal reception array device, and 4 road electric signals are by putting
Almost simultaneous transmission is merged into FPGA, No. 4 delayers respectively to 4 road electric signals into line delay after the processing such as big filtering
STOP signals all the way.
The sequential that is delayed is as shown in figure 4, wherein：
T1=Δs t11；
T2=Δs t11+Δt12+Δt21+Δt22=Δ t11+Δt12+Δt21+400ns；
T3=Δs t11+Δt12+Δt21+Δt22+Δt31+Δt32=Δ t11+Δt12+Δt21+Δt31+800ns；
T4=Δs t11+Δt12+Δt21+Δt22+Δt31+Δt32+Δt41+Δt42=Δ t11+Δt12+Δt21+Δt31+
Δt41+1200ns。
After STOP signals are clocked into device, timer records four multichannel laser flight time successively, and whole process is less than
One laser emission period, i.e. 13us.
It should be noted that the timer is according to required for the output signal received obtains the multi-path laser flight time
Time be less than the Laser emission array device laser emission period.
Multi-path laser flight time parallel acquisition system and method provided in an embodiment of the present invention, Laser emission array device,
Emit multi-path laser signal for scanning；Echo signal reception array device, for multi-path echo optical signal to be converted into Multi-path electricity
Signal is sent to echo signal processing device；Echo signal processing device, for amplifying shaping to multi-channel electric signal, after amplification shaping
Multi-channel electric signal be sent to field programmable gate array chip；Field programmable gate array chip includes multi-channel time-delay device and 1
A timer, multi-channel time-delay device is used to carry out delay process to the multi-channel electric signal after amplification shaping, after multi-channel time-delay is handled
Electric signal merge into output signal all the way and be sent to timer, wherein per the electric signal after the delay process of road in time mutually not
Overlapping；Timer is used to obtain the multi-path laser flight time according to the output signal received.The present invention is realized more using FPGA
Return laser beam parallel timing in road does not need to additional TDC chips, and occupancy FPGA internal resources are low, high certainty of measurement.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
It should be noted that term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability
Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including
It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, also there are other identical elements in article or equipment.
In the specification of the present invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To put into practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, above in the description of exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into sometimes in single embodiment, figure or descriptions thereof.It however, should not be by the method solution of the disclosure
It releases and is intended in reflection is following：I.e. the claimed invention requirement is than the feature that is expressly recited in each claim more
More features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
Wherein each claim is in itself as separate embodiments of the invention.
Above example is merely to illustrate technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example modifies or carries out equivalent replacement to which part technical characteristic；And these are changed or replace
It changes, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of multi-path laser flight time parallel acquisition system, which is characterized in that including：
Sequentially connected Laser emission array device, echo signal reception array device, echo signal processing device and field programmable gate
Array chip；
The Laser emission array device emits multi-path laser signal for scanning；
The echo signal reception array device, will be described more for receiving the multi-path echo optical signal of the multi-path laser signal
Road echo optical signal is converted into multi-channel electric signal and is sent to the echo signal processing device；
The echo signal processing device, for amplifying shaping to the multi-channel electric signal, by the multi-channel electric signal after amplification shaping
It is sent to the field programmable gate array chip；
The field programmable gate array chip includes multi-channel time-delay device and 1 timer, and the multi-channel time-delay device is used for institute
It states the multi-channel electric signal after amplification shaping and carries out delay process, treated that electric signal merges into is defeated all the way by the multi-channel time-delay
Go out signal and be sent to the timer, wherein the non-overlapping copies in time per the electric signal after the delay process of road；
The timer is used to obtain the multi-path laser flight time according to the output signal received.
2. system according to claim 1, which is characterized in that the delayer includes counter and carry chain, the meter
Number device and the carry chain are used for the delay time of the electric signal after acquisition amplification shaping corresponding with the delayer.
3. system according to claim 1, which is characterized in that the field programmable gate array chip also with the laser
Emission array device is connected；
The field programmable gate array chip is additionally operable to while the timer starts timing, to the Laser emission battle array
Row device sends Laser emission instruction.
4. system according to claim 1, which is characterized in that the echo signal reception array device drives including multichannel high pressure
Dynamic circuit, multiple single-point avalanche photodides or multiple linear array avalanche photodides.
5. system according to claim 1, which is characterized in that the echo signal processing device is put including multi-path echo signal
Big circuit and plurality of voltages threshold value comparison circuit；
The multi-path echo signal amplification circuit is used to be amplified processing to the multi-channel electric signal；
The plurality of voltages threshold value comparison circuit is used to carry out Shape correction to the multi-channel electric signal after enhanced processing.
6. a kind of multi-path laser flight time parallel acquisition method based on any one of the claim 1-5 systems, feature
It is, including：
While timer starts timing, field programmable gate array chip sends Laser emission to Laser emission array device and refers to
It enables；
The Laser emission array device sends multi-path laser signal after the Laser emission instruction is received to sweep object；
Echo signal reception array device receives the multi-path echo optical signal of the multi-path laser signal, and the multi-path echo light is believed
Number being converted into multi-channel electric signal is sent to the echo signal processing device；
Echo signal processing device amplifies shaping to the multi-channel electric signal, the multi-channel electric signal after amplification shaping is sent to described
Field programmable gate array chip；
Multi-channel time-delay device carries out delay process to the multi-channel electric signal after the amplification shaping, and by the multi-channel time-delay, treated
Electric signal merges into output signal all the way and is sent to the timer, wherein mutual in time per the electric signal after the delay process of road
It is not overlapped；
The timer obtains the multi-path laser flight time according to the output signal received.
7. according to the method described in claim 6, it is characterized in that, the multi-channel time-delay device is to the multichannel after the amplification shaping
Electric signal carries out delay process, including：
Electric signal after the multi-channel time-delay Qi Jiangge roads amplification shaping is delayed the different time, the counter and carry chain on each road
Obtain the delay time of the electric signal after amplification shaping corresponding with each road delayer.
8. the method according to the description of claim 7 is characterized in that delay time of the electric signal after each road amplification shaping
For the timing time of the carry chain and the sum of the timing time of the counter；
Carry chain timing since the rising edge of the high level of the electric signal after receiving corresponding amplification shaping, when encountering
Terminate timing after the rising edge of adjacent next clock cycle；
The timing time of the counter is the limit ranging according to system apart from preset fixed value.
9. according to the method described in claim 8, it is characterized in that, the telecommunications after each road amplification shaping is obtained according to formula (1)
Number delay time：
Wherein, tnAmplify the delay time of the electric signal after shaping for the n-th tunnel；Δtk1Amplify the electric signal after shaping for kth road
Carry chain timing time；Δtk2Amplify the timing time of the counter of the electric signal after shaping for kth road；Δt12=0.
10. according to the method described in claim 6, it is characterized in that, the timer is obtained according to the output signal received
The multi-path laser flight time required time is less than the laser emission period of the Laser emission array device.
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| CN111381221A (en) * | 2018-12-27 | 2020-07-07 | 北京万集科技股份有限公司 | Laser pulse timing method and device and readable storage medium |
| CN112904355A (en) * | 2021-01-22 | 2021-06-04 | 武汉徕得智能技术有限公司 | Method for non-interference superposition of multi-path zoomed laser pulse ranging echo signals |
| WO2021109918A1 (en) * | 2019-12-06 | 2021-06-10 | 北京石头世纪科技股份有限公司 | Pulse ranging device and method, and automatic cleaning apparatus having same |
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| CN111381221B (en) * | 2018-12-27 | 2022-07-05 | 北京万集科技股份有限公司 | Laser pulse timing method and device and readable storage medium |
| WO2021109918A1 (en) * | 2019-12-06 | 2021-06-10 | 北京石头世纪科技股份有限公司 | Pulse ranging device and method, and automatic cleaning apparatus having same |
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