CN110596717A - Laser echo processing embedded module, laser ranging method and system - Google Patents
Laser echo processing embedded module, laser ranging method and system Download PDFInfo
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- CN110596717A CN110596717A CN201910885292.4A CN201910885292A CN110596717A CN 110596717 A CN110596717 A CN 110596717A CN 201910885292 A CN201910885292 A CN 201910885292A CN 110596717 A CN110596717 A CN 110596717A
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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
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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
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention provides a laser echo processing embedded module, a laser ranging method and a laser ranging system, wherein the module comprises: the power supply module is used for providing set voltage for the module; the analog-to-digital conversion module is used for acquiring signals output by a linear laser detector in the laser ranging system and transmitting the signals to the data processing module; the level conversion module is used for acquiring signals output by the single photon detector and transmitting the signals to the data processing module; the data processing module is used for selecting a corresponding data processing mode to process the data; and the data storage module is used for storing the data processed by the data processing module. The laser echo processing embedded module can work in a linear laser ranging system and a single-photon laser ranging system at the same time, and effectively avoids the defects of the linear laser ranging mode or the single-photon laser ranging mode.
Description
Technical Field
The invention relates to the technical field of electronic equipment, in particular to a laser echo processing embedded module, a laser ranging method and a laser ranging system.
Background
The existing laser ranging technology mainly adopts two schemes of linear laser ranging and single-photon laser ranging, the principle of linear laser ranging is simple, a detector works in a linear mode, the sensitivity is low, and the energy required by a laser is large; the single photon laser ranging adopts a Geiger mode avalanche detector, has single photon sensitivity, is easily interfered by dark counting and background noise, can adopt a low-energy and high-repetition-frequency laser, and reduces the power consumption and the volume of a system.
In view of the above, it is necessary to provide a module that can be applied in two ranging methods.
Disclosure of Invention
The invention mainly aims to provide a laser echo processing embedded module, a laser ranging method embedded with the laser echo processing module and a system, and aims to provide a module capable of working in a linear laser ranging system and a single-photon laser ranging system simultaneously.
In order to achieve the purpose, the invention provides an embedded laser echo processing module, which is embedded in a laser ranging system with two ranging modes of linear laser ranging and single photon ranging;
the module includes:
the power supply module is used for providing set voltage for the module;
the analog-to-digital conversion module is used for acquiring signals output by a linear laser detector in the laser ranging system and transmitting the signals to the data processing module;
the level conversion module is used for acquiring signals output by the single photon detector and transmitting the signals to the data processing module;
the data processing module is used for receiving the linear laser ranging data or the single-photon laser ranging data and selecting a corresponding data processing mode according to the two modes of linear laser ranging or single-photon laser ranging to process the data;
and the data storage module is used for storing the data processed by the data processing module.
Preferably, the level conversion module adopts a DSLVDS 1002400 Mbps single-channel LVDS receiver, and is configured to convert a digital signal output by the single photon detector into an LVTTL signal and transmit the LVTTL signal to the data processing module.
Preferably, the data processing module is composed of an FPGA and a DSP, and the FPCA is configured to detect and process the received ranging data and transmit the ranging data to the DSP; and the DSP corrects the result on the basis of data processing of the FPGA.
Preferably, the module further comprises a serial port communication module for realizing data transmission and communication interface expansion.
Preferably, the serial port communication module adopts an RS422 serial port communication protocol.
Preferably, the power module is a wide-voltage input isolation module, and provides ± 12V, 5V, 3.3V voltage input for the module.
In order to achieve the above object, the present invention further provides a laser ranging method embedded with a laser echo processing module, the method comprising the following steps:
step S10, receiving a distance measuring instruction and controlling a laser to emit laser;
step S20, receiving a main wave sending pulse of a laser, taking the main wave sending pulse as an initial time, collecting laser echo data, and calculating a ranging result by adopting different methods according to the difference of a linear laser ranging principle and a single-photon laser ranging principle;
step S30, storing the ranging data in the data storage module.
Preferably, the step S20 includes:
in linear laser ranging, linear laser detector data are collected, a receiving pulse peak value is detected, the position time information is recorded, and then the target distance is calculated.
Preferably, the step S20 includes:
in the single photon laser ranging, the gating time is calculated according to the main wave pulse signal emitted by the laser every time, the single photon time of each position in the gating time is recorded, the measured data for n times are accumulated to obtain a ranging distribution histogram, and the target distance at the peak position is calculated.
In order to achieve the above object, the present invention further provides a laser ranging system embedded with a laser echo processing module, wherein the laser ranging system comprises: the laser echo processing embedded module is used for processing the laser echo; the laser ranging system further comprises:
the laser is in communication connection with the laser echo processing embedded module and is used for transmitting initial laser to a target object according to the driving electric signal;
the single-photon detector is in communication connection with the embedded laser echo processing module and is used for detecting a signal emitted by the laser and transmitting data to the level conversion module when the single-photon ranging mode is started;
and the linear laser detector is in communication connection with the laser echo processing embedded module and is used for detecting signals emitted by the laser and transmitting data to the analog-to-digital conversion module when the linear laser ranging mode is started.
The laser echo processing embedded module is embedded in a laser ranging system with two ranging modes of linear laser ranging and single-photon ranging; the module includes: the power supply module is used for providing set voltage for the module; the analog-to-digital conversion module is used for acquiring signals output by a linear laser detector in the laser ranging system and transmitting the signals to the data processing module; the level conversion module is used for acquiring signals output by the single photon detector and transmitting the signals to the data processing module; the data processing module is used for receiving the linear laser ranging data or the single-photon laser ranging data and selecting a corresponding data processing mode according to the two modes of linear laser ranging or single-photon laser ranging to process the data; and the data storage module is used for storing the data processed by the data processing module. The laser echo processing embedded module can work in a linear laser ranging system and a single-photon laser ranging system at the same time, and effectively avoids the defects of the linear laser ranging mode or the single-photon laser ranging mode.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic diagram of a laser echo processing embedded module and a laser ranging system with the laser echo processing module embedded therein according to the present invention;
FIG. 2 is a schematic flow chart of a laser ranging method with a laser echo processing module embedded therein according to the present invention;
FIG. 3 is a schematic flow chart of the system provided by the present invention;
FIG. 4 is a schematic diagram of the working principle of the linear laser ranging of the present invention;
FIG. 5 is a schematic diagram of the working principle of the single photon laser ranging of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical problems solved, the technical solutions adopted and the technical effects achieved by the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings and the specific embodiments. It is to be understood that the described embodiments are merely a few, and not all, of the embodiments of the present application. All other equivalent or obviously modified embodiments obtained by the person skilled in the art on the basis of the embodiments presented in the present application fall within the scope of protection of the invention without inventive step. The embodiments of the invention can be embodied in many different ways as defined and covered by the claims.
It should be noted that in the following description, numerous specific details are set forth in order to provide an understanding. It may be evident, however, that the subject invention may be practiced without these specific details.
It should be noted that, unless explicitly defined or conflicting, the embodiments and technical features in the present invention may be combined with each other to form a technical solution.
The invention mainly aims to provide a laser echo processing embedded module, and aims to provide a module which can work in a linear laser ranging system and a single-photon laser ranging system simultaneously.
Referring to fig. 1, the laser echo processing embedded module of the invention is embedded in a laser ranging system with two ranging modes of linear laser ranging and single photon ranging;
the module includes:
the power supply module is used for providing set voltage for the module;
the analog-to-digital conversion module is used for acquiring signals output by a linear laser detector in the laser ranging system and transmitting the signals to the data processing module;
the level conversion module is used for acquiring signals output by the single photon detector and transmitting the signals to the data processing module;
the data processing module is used for receiving the linear laser ranging data or the single-photon laser ranging data and selecting a corresponding data processing mode according to the two modes of linear laser ranging or single-photon laser ranging to process the data;
and the data storage module is used for storing the data processed by the data processing module.
The laser echo processing embedded module can work in a linear laser ranging system and a single-photon laser ranging system at the same time, and effectively avoids the defects of the linear laser ranging mode or the single-photon laser ranging mode.
It should be noted that, each module in the module performs communication connection according to the need of data transmission.
In a preferred embodiment, the level conversion module employs a DSLVDS 1002400 Mbps single-channel LVDS receiver, and is configured to convert a digital signal output by the single photon detector into an LVTTL signal and transmit the LVTTL signal to the data processing module.
Furthermore, the data processing module is composed of an FPGA and a DSP, and the FPCA is used for detecting and processing the received ranging data and transmitting the ranging data to the DSP; and the DSP corrects the result on the basis of data processing of the FPGA. Specifically, the data processing module adopts an XC7K325T FPGA + TMS320C6455 DSP architecture.
Preferably, the module further comprises a serial port communication module for realizing data transmission and communication interface expansion. The serial port communication module adopts an RS422 serial port communication protocol, and the anti-interference capability of signal transmission is increased by differential twisted pair.
The power module adopts THN30-2411WI and JCA0324D02 to provide +/-12V and 5VD voltages for the platform, and LTM4644 serves as a secondary voltage conversion module to provide 3.3V, 1.8V, 1.5V and 1V voltages for the platform;
the analog-digital conversion module adopts an AD7656 multichannel analog-digital converter, collects the temperature and working voltage of the laser and the detection, monitors the working state of the system in real time, collects ranging data output by the linear APD and transmits the ranging data to the data processing module;
the data storage module adopts a CF card of a flash company and a memory of 128G, and has the characteristics of small volume, light weight, large capacity, high transmission speed, low power consumption and the like; the MAX3490 chip is adopted for serial port communication, a full-duplex working mode is provided, and an RS422 communication protocol can meet long-distance transmission;
the level conversion module adopts a DSLVDS 1002400 Mbps single-channel LVDS receiver, converts the digital signal output by the single-photon detection module into an LVTTL signal and receives the LVTTL signal to the FPGA.
In addition, the present invention further provides a laser ranging system embedded with a laser echo processing module, and referring to fig. 1, the laser ranging system includes: the laser echo processing embedded module is used for processing the laser echo; the ranging system further includes:
the laser is in communication connection with the laser echo processing embedded module and is used for transmitting initial laser to a target object according to the driving electric signal;
the single-photon detector is in communication connection with the embedded laser echo processing module and is used for detecting a signal emitted by the laser and transmitting data to the level conversion module when the single-photon ranging mode is started;
and the linear laser detector is in communication connection with the laser echo processing embedded module and is used for detecting signals emitted by the laser and transmitting data to the analog-to-digital conversion module when the linear laser ranging mode is started.
Based on the laser ranging system, referring to fig. 2 and 3, the invention further provides a laser ranging method embedded with a laser echo processing module, and the method comprises the following steps:
step S10, receiving a distance measuring instruction and controlling a laser to emit laser;
step S20, receiving a main wave sending pulse of a laser, taking the main wave sending pulse as an initial time, collecting laser echo data, and calculating a ranging result by adopting different methods according to the difference of a linear laser ranging principle and a single-photon laser ranging principle;
step S30, storing the ranging data in the data storage module.
Wherein the step S20 includes:
in linear laser ranging, linear laser detector data are collected, a receiving pulse peak value is detected, the position time information is recorded, and then the target distance is calculated.
Alternatively, the step S20 includes:
in the single photon laser ranging, the gating time is calculated according to the main wave pulse signal emitted by the laser every time, the single photon time of each position in the gating time is recorded, the measured data for n times are accumulated to obtain a ranging distribution histogram, and the peak value position, namely the target distance, is calculated.
Specifically, after the laser ranging system is powered on, the system is initialized, the temperature control system of the laser, the linear laser detector and the single photon detector works, and temperature parameters of core components inside the laser, the linear laser detector and the single photon detector are detected. And transmitting the detected parameters to the embedded laser echo processing module, judging whether the temperature parameters of the laser, the linear laser detector and the single photon detector reach the working temperature range after the embedded laser echo processing module reads the temperature parameters of the internal core components of the laser, the linear laser detector and the single photon detector, if the temperature parameters reach the working temperature range, the system self-check is successful, the self-check state is uploaded, and the system enters the working mode. If the working range is not reached within the set time, the system self-check fails, the self-check state is uploaded, and the self-check is quitted.
And after the system enters a working state, waiting for the upper computer to send a parameter setting instruction, and if no parameter setting instruction exists, enabling the laser echo processing embedded module to work according to default parameters.
And after the upper computer sends the ranging instruction, receiving the ranging instruction sent by the upper computer, and starting ranging by the system to control the laser to emit laser. And receiving a main wave sending pulse of the laser as an initial time, collecting laser echo data, calculating a ranging result and uploading the ranging result to an upper computer.
In a linear laser ranging system, the ranging principle is as shown in fig. 4, after a laser emits a pulse signal, the laser emits a main wave pulse signal to a laser echo processing embedded module, the laser echo processing embedded module starts to collect detector data, detects a receiving pulse peak value, and records the position time information, so as to calculate a target distance;
in the single-photon laser ranging system, the ranging principle is as shown in fig. 5, a laser continuously emits laser pulses for multiple times, a laser echo processing embedded module calculates gating time according to a main wave pulse signal emitted by the laser at each time, single-photon events at each position in the gating time are recorded, measured data obtained in n times are accumulated to obtain a ranging distribution histogram, and a peak position is calculated to serve as a target distance; the data of n may be selected according to the requirements of the calculation amount or the calculation accuracy.
Finally, storing the ranging data in a data storage module, and receiving an instruction of an upper computer to stop ranging; or monitoring the working temperature of the laser and the detector, stopping ranging if the temperature exceeds the normal working temperature range, and uploading the working state to an upper computer;
the various steps of the present invention may be implemented in a general purpose computing device, for example, they may be centralized on a single computing device, such as: personal computers, server computers, hand-held or portable devices, tablet-type devices or multi-processor apparatus, which may be distributed over a network of computing devices, may perform the steps shown or described in a different order than those shown or described herein, or may be implemented as separate integrated circuit modules, or may be implemented as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific hardware or software or combination thereof.
The methods provided by the present invention may be implemented using programmable logic devices or as computer program software or program modules (including routines, programs, objects, components, data structures, etc.) including performing particular tasks or implementing particular abstract data types, such as a computer program product which is executed to cause a computer to perform the methods described herein. The computer program product includes a computer-readable storage medium having computer program logic or code portions embodied in the medium for performing the method. The computer-readable storage medium may be a built-in medium installed in the computer or a removable medium detachable from the computer main body (e.g., a storage device using a hot-plug technology). The built-in medium includes, but is not limited to, rewritable non-volatile memory such as: RAM, ROM, flash memory, and hard disk. The removable media include, but are not limited to: optical storage media (e.g., CD-ROMs and DVDs), magneto-optical storage media (e.g., MOs), magnetic storage media (e.g., magnetic tapes or removable disks), media with built-in rewritable non-volatile memory (e.g., memory cards), and media with built-in ROMs (e.g., ROM cartridges).
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The embedded module for processing the laser echo is characterized in that the module is embedded in a laser ranging system with two ranging modes of linear laser ranging and single-photon ranging;
the module includes:
the power supply module is used for providing set voltage for the module;
the analog-to-digital conversion module is used for acquiring signals output by a linear laser detector in the laser ranging system and transmitting the signals to the data processing module;
the level conversion module is used for acquiring signals output by the single photon detector and transmitting the signals to the data processing module;
the data processing module is used for receiving the linear laser ranging data or the single-photon laser ranging data and selecting a corresponding data processing mode according to the two modes of linear laser ranging or single-photon laser ranging to process the data;
and the data storage module is used for storing the data processed by the data processing module.
2. The embedded module of claim 1, wherein the level conversion module employs a DSLVDS 1002400 Mbps single-channel LVDS receiver, and is configured to convert a digital signal output by the single photon detector into an LVTTL signal and transmit the LVTTL signal to the data processing module.
3. The embedded module of claim 1, wherein the data processing module comprises an FPGA and a DSP, and the FPCA is configured to detect and process the received ranging data and transmit the ranging data to the DSP; and the DSP corrects the result on the basis of data processing of the FPGA.
4. The embedded module of claim 1, further comprising a serial communication module for data transmission and communication interface expansion.
5. The embedded module of claim 4, wherein the serial communication module employs an RS422 serial communication protocol.
6. The embedded module of claim 1, wherein the power module is a wide voltage input isolation module providing ± 12V, 5V, 3.3V input.
7. A laser ranging method embedded with a laser echo processing module is characterized by comprising the following steps:
step S10, receiving a distance measuring instruction and controlling a laser to emit laser;
step S20, receiving a main wave sending pulse of a laser, taking the main wave sending pulse as an initial time, collecting laser echo data, and calculating a ranging result by adopting different methods according to the difference of a linear laser ranging principle and a single-photon laser ranging principle;
step S30, storing the ranging data in the data storage module.
8. The laser ranging method with the embedded laser echo processing module set of claim 7, wherein the step S20 includes:
in linear laser ranging, linear laser detector data are collected, a receiving pulse peak value is detected, the position time information is recorded, and then the target distance is calculated.
9. The laser ranging method with the embedded laser echo processing module set of claim 7, wherein the step S20 includes:
in the single photon laser ranging, gate control time is calculated according to a main wave pulse signal emitted by laser each time, single photon time of each position in the gate control time is recorded, measured data obtained by n times are accumulated to obtain a ranging distribution histogram, and a peak value position is calculated to obtain a target distance.
10. The utility model provides a laser rangefinder system that has laser echo processing module of embedding which characterized in that, laser rangefinder system includes: the laser echo processing embedded module of any one of claims 1 to 6; the laser ranging system further comprises:
the laser is in communication connection with the laser echo processing embedded module and is used for transmitting initial laser to a target object according to the driving electric signal;
the single-photon detector is in communication connection with the embedded laser echo processing module and is used for detecting a signal emitted by the laser and transmitting data to the level conversion module when the single-photon ranging mode is started;
and the linear laser detector is in communication connection with the laser echo processing embedded module and is used for detecting signals emitted by the laser and transmitting data to the analog-to-digital conversion module when the linear laser ranging mode is started.
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