CN111854679B - Laser ranging telescope and ranging circuit, method, equipment and medium thereof - Google Patents
Laser ranging telescope and ranging circuit, method, equipment and medium thereof Download PDFInfo
- Publication number
- CN111854679B CN111854679B CN202010843705.5A CN202010843705A CN111854679B CN 111854679 B CN111854679 B CN 111854679B CN 202010843705 A CN202010843705 A CN 202010843705A CN 111854679 B CN111854679 B CN 111854679B
- Authority
- CN
- China
- Prior art keywords
- chip
- laser
- stop
- ranging
- channel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 101100366946 Arabidopsis thaliana STOP1 gene Proteins 0.000 claims abstract description 24
- 230000000630 rising effect Effects 0.000 claims abstract description 24
- 101100366948 Arabidopsis thaliana STOP2 gene Proteins 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 10
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 23
- 238000004891 communication Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 102100024735 Resistin Human genes 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 101150091950 retn gene Proteins 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/04—Adaptation of rangefinders for combination with telescopes or binoculars
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application discloses a laser ranging telescope based on an MS1003, a ranging circuit, a ranging method, electronic equipment and a computer readable storage medium thereof, wherein the ranging circuit comprises a microcontroller, an MS1003 chip, a high-voltage laser transmitting circuit and a laser receiving and amplifying circuit; the microcontroller is used for generating a starting pulse and sending the starting pulse to the MS1003 chip and the high-voltage laser emission circuit; the high-voltage laser emission circuit is used for emitting laser to a target according to the starting pulse; the laser receiving and amplifying circuit is used for detecting laser reflected from a target, generating a STOP pulse and sending the STOP pulse to a STOP1 channel of the MS1003 chip; the MS1003 chip is used for detecting the rising edge time of the starting pulse as the laser emission time and detecting the rising edge time of the stopping pulse as the laser receiving time; the microcontroller is used for reading the time data in the MS1003 chip and calculating and generating distance data with the target. The application reduces the cost and the power consumption of the laser ranging telescope and improves the measuring precision and the using convenience.
Description
Technical Field
The application relates to the technical field of laser ranging, in particular to a laser ranging telescope based on an MS1003, a ranging circuit, a method, electronic equipment and a computer readable storage medium thereof.
Background
Along with the development of the laser ranging technology, the laser telescope can realize accurate distance measurement under any condition, and is widely applied to the fields of outdoor sports, golf courses, shooting aiming and the like.
However, the laser telescope on the market at present is mainly implemented by a high-speed adc+a high-speed FPGA (Field Programmable GATE ARRAY ), and the ranging method mainly has the following disadvantages:
A. the cost is high: the cost of the two devices, namely the high-speed ADC and the high-speed FPGA, is very high, so that the cost of the laser ranging telescope is very high;
B. the power consumption is large: most of the laser telescopes are battery powered, and because the power consumption of the high-speed ADC and the high-speed FPGA is very large, and the laser telescope can be completed only by multiple measurements, the power consumption is very large, and the laser telescope is not suitable for battery powered products;
C. the algorithm is complex: the realization method of the high-speed ADC and the high-speed FPGA comprises the steps of sampling the ADC, acquiring data of the ADC by the FPGA, and calculating the distance through multiple measurement and calculation of a correlation algorithm;
D. The precision is poor: the laser ranging has high requirement on the measuring speed, and the measuring precision is not high due to the limited speed of the FPGA.
In view of this, it has been a great need for a person skilled in the art to provide a solution to the above-mentioned technical problems.
Disclosure of Invention
The application aims to provide a laser ranging telescope based on an MS1003, a ranging circuit, a method, electronic equipment and a computer readable storage medium thereof, so as to reduce the cost and the power consumption of the laser ranging telescope and improve the measurement precision and the use convenience.
In order to solve the technical problems, in a first aspect, the application discloses a ranging circuit of a laser ranging telescope based on an MS1003, which comprises a microcontroller, an MS1003 chip, a high-voltage laser transmitting circuit and a laser receiving and amplifying circuit;
The microcontroller is used for generating a starting pulse and sending the starting pulse to the MS1003 chip and the high-voltage laser emission circuit;
the high-voltage laser emission circuit is used for emitting laser to a target according to the starting pulse;
the laser receiving and amplifying circuit is used for detecting laser reflected from the target, generating a STOP pulse and sending the STOP pulse to a STOP1 channel of the MS1003 chip;
the MS1003 chip is used for detecting the rising edge time of the starting pulse as the laser emission time and detecting the rising edge time of the stopping pulse as the laser receiving time;
The microcontroller is used for reading the time data in the MS1003 chip and calculating and generating distance data with the target.
Optionally, the microcontroller is connected with a chip select end, a clock signal end, a data input end, a data output end and a reset control end of the MS1003 chip respectively.
Optionally, the microcontroller is connected to an interrupt output end of the MS1003 chip, and is configured to read time data in the MS1003 chip after receiving an interrupt signal from the interrupt output end.
Alternatively, the laser receiving and amplifying circuit is respectively connected with a STOP1 channel and a STOP2 channel of the MS1003 chip, and is used for respectively sending the generated STOP pulse to the STOP1 channel and the STOP2 channel;
the STOP2 channel of the MS1003 chip is configured in a falling edge time detection mode, and a time difference between a falling edge time and a rising edge time of the STOP pulse is used to identify different STOP pulses.
Optionally, the microcontroller is connected to a STOP1 channel enable terminal and a STOP2 channel enable terminal of the MS1003 chip, respectively.
Optionally, the STOP1 channel and the STOP2 channel each have multiple pulses for single duration acquisition to achieve multi-target ranging.
In a second aspect, the application also discloses a ranging method of the laser ranging telescope based on the MS1003, which is applied to the microcontroller in the ranging circuit, and comprises the following steps:
sending a reset instruction to the MS1003 chip;
sending a configuration instruction and an initialization instruction to the MS1003 chip to enable the MS1003 chip to complete configuration and initialization;
Generating and sending a starting pulse to enable a high-voltage laser emission circuit to emit laser to a target, and enabling the MS1003 chip to start timing by taking the rising edge of the starting pulse as the laser emission time;
After a laser receiving amplification circuit detects laser reflected from the target and generates a STOP pulse, the MS1003 chip detects a rising edge of the STOP pulse as a laser receiving time based on a STOP1 channel, reads time data in the MS1003 chip;
and calculating and generating distance data with the target according to the time data.
In a third aspect, the application also discloses a laser ranging telescope based on the MS1003, which comprises any ranging circuit as described above.
In a fourth aspect, the present application also discloses an electronic device, including:
a memory for storing a computer program;
A processor for executing the computer program to implement the steps of any of the MS1003 based laser ranging telescope ranging methods described above.
In a fifth aspect, the present application also discloses a computer readable storage medium having stored therein a computer program which when executed by a processor is configured to implement the steps of any of the ranging methods of the MS1003 based laser ranging telescope as described above.
The ranging circuit of the MS 1003-based laser ranging telescope provided by the application comprises a microcontroller, an MS1003 chip, a high-voltage laser transmitting circuit and a laser receiving and amplifying circuit; the microcontroller is used for generating a starting pulse and sending the starting pulse to the MS1003 chip and the high-voltage laser emission circuit; the high-voltage laser emission circuit is used for emitting laser to a target according to the starting pulse; the laser receiving and amplifying circuit is used for detecting laser reflected from the target, generating a STOP pulse and sending the STOP pulse to a STOP1 channel of the MS1003 chip; the MS1003 chip is used for detecting the rising edge time of the starting pulse as the laser emission time and detecting the rising edge time of the stopping pulse as the laser receiving time; the microcontroller is used for reading the time data in the MS1003 chip and calculating and generating distance data with the target.
The MS 1003-based laser ranging telescope and the ranging circuit, the method, the electronic equipment and the computer readable storage medium thereof have the following beneficial effects: the application realizes time measurement based on the MS1003 chip, utilizes the signal links between the microcontroller and the MS1003 chip and between the laser receiving amplifying circuit and the MS1003 chip, and the signal links between the microcontroller and the high-voltage laser transmitting circuit, can accurately, efficiently and simply realize laser ranging, greatly reduces equipment cost and power consumption, and improves the economic benefit of products.
Drawings
In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the following will briefly describe the drawings that need to be used in the description of the prior art and the embodiments of the present application. Of course, the following drawings related to embodiments of the present application are only a part of embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any inventive effort, and the obtained other drawings also fall within the scope of the present application.
Fig. 1 is a block diagram of a ranging circuit of a laser ranging telescope based on an MS1003 according to an embodiment of the present application;
Fig. 2 is a schematic structural diagram of a ranging circuit of a laser ranging telescope based on an MS1003 according to an embodiment of the present application;
fig. 3 is a flowchart of a ranging method of a laser ranging telescope based on an MS1003 according to an embodiment of the present application;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The application aims at providing a ranging circuit, a ranging method, electronic equipment and a computer readable storage medium of a laser ranging telescope based on an MS1003 so as to reduce the cost and the power consumption of the laser ranging telescope and improve the measurement precision and the use convenience.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Along with the development of the laser ranging technology, the laser telescope can realize accurate distance measurement under any condition, and is widely applied to the fields of outdoor sports, golf courses, shooting aiming and the like.
However, the laser telescope on the market at present is mainly implemented by a high-speed adc+a high-speed FPGA (Field Programmable GATE ARRAY ), and the ranging method mainly has the following disadvantages:
A. the cost is high: the cost of the two devices, namely the high-speed ADC and the high-speed FPGA, is very high, so that the cost of the laser ranging telescope is very high;
B. the power consumption is large: most of the laser telescopes are battery powered, and because the power consumption of the high-speed ADC and the high-speed FPGA is very large, and the laser telescope can be completed only by multiple measurements, the power consumption is very large, and the laser telescope is not suitable for battery powered products;
C. the algorithm is complex: the realization method of the high-speed ADC and the high-speed FPGA comprises the steps of sampling the ADC, acquiring data of the ADC by the FPGA, and calculating the distance through multiple measurement and calculation of a correlation algorithm;
D. The precision is poor: the laser ranging has high requirement on the measuring speed, and the measuring precision is not high due to the limited speed of the FPGA.
In view of this, the present application provides a ranging scheme for a laser ranging telescope based on MS1003, which can effectively solve the above-mentioned problems.
Referring to fig. 1, the embodiment of the application discloses a ranging circuit of a laser ranging telescope based on an MS1003, which mainly comprises:
A microcontroller 101, an MS1003 chip 102, a high-voltage laser transmitting circuit 103 and a laser receiving and amplifying circuit 104;
The microcontroller 101 is used for generating a start pulse and sending the start pulse to the MS1003 chip 102 and the high-voltage laser emission circuit 103;
the high-voltage laser emission circuit 103 is used for emitting laser to a target according to the starting pulse;
The laser receiving and amplifying circuit 104 is used for detecting the laser reflected from the target, generating a STOP pulse and transmitting the STOP pulse to the STOP1 channel of the MS1003 chip 102;
the MS1003 chip 102 is configured to detect a rising edge time of a start pulse as a laser emission time and a rising edge time of a stop pulse as a laser reception time;
The microcontroller 101 is used for reading time data in the MS1003 chip 102, and calculating and generating distance data to a target.
First, it should be emphasized that the ranging circuit of the laser ranging telescope disclosed in the embodiments of the present application is specifically implemented based on the chip MS 1003. The MS1003 is a time measurement chip with high precision, low power consumption, low cost, multiple pulses and simple operation, and has the following advantages:
A. High precision: the MS1003 adopts an advanced process, the highest measurement precision can reach 23 picoseconds, and the measurement precision of 3 millimeters can be realized;
B. Low power consumption: the MS1003 has an operation mode and a low power consumption mode, wherein the power consumption current of the operation mode is 4 milliamperes, and the power consumption current of the low power consumption mode is 1 microampere;
C. Multipulse: MS1003 has two measurement channels, each with up to 10 measurable pulses, up to 20 targets;
D. the operation is simple: the user only needs to access the sending and receiving signals into the MS1003 chip 102, reads data through an SPI interface and performs distance conversion to obtain a ranging result, and the implementation process is convenient and simple;
E. low cost: the MS1003 has high integration level, and the package body adopts QFN20, so that the area and the cost are greatly reduced;
F. The measuring distance is wide: the MS1003 measurement time is 2.5 ns-20 us, and the measurement distance can realize seamless measurement of 0-3000 m.
It should be further noted that, the START port of the MS1003 chip 102 is specifically connected to the microcontroller 101, and is configured to receive a START pulse sent by the microcontroller 101. It will be readily appreciated that the signal received at the START port is used to trigger the timer on the timer function within the MS1003 chip 102 and the signal received at the STOP channel interface is used to trigger the timer off the timer within the MS1003 chip 102.
In the present application, the START pulse sent by the microcontroller 101 is sent to the high-voltage laser emission circuit 103, so that the high-voltage laser emission circuit 103 emits laser to the target, and is also sent to the START port of the MS1003 chip 102, so that the MS1003 chip 102 STARTs timing.
After receiving the laser beam reflected from the target, the laser beam receiving and amplifying circuit 104 generates a STOP pulse, and sends the STOP pulse to the STOP1 channel of the MS1003 chip 102, thereby stopping the timer. The time difference between the rising edge time of the start pulse and the rising edge time of the stop pulse detected by the MS1003 chip 102 is the flight time of the laser, so that the time difference can be used for performing ranging calculation. Thus, when the MS1003 chip 102 completes detection, the detected time data will be read by the microcontroller 101 as a data basis for calculating the distance to the target.
Therefore, the ranging circuit of the laser ranging telescope disclosed by the embodiment of the application realizes time measurement based on the MS1003 chip 102, and can accurately, efficiently and simply realize laser ranging by utilizing the signal links between the microcontroller 101 and the MS1003 chip 102 and the signal links between the laser receiving and amplifying circuit 104 and the MS1003 chip 102 as well as the signal links between the microcontroller 101 and the MS1003 chip 102, thereby greatly reducing equipment cost and power consumption and improving the economic benefit of products.
Referring to fig. 2, fig. 2 is a schematic circuit diagram of a ranging circuit of a laser ranging telescope based on an MS1003 according to an embodiment of the present application.
As a specific embodiment, the ranging circuit of the laser ranging telescope based on MS1003 disclosed in the embodiment of the present application is based on the above description, and the microcontroller 101 is respectively connected to the chip select terminal SSN, the clock signal terminal SCK, the data input terminal SI, the data output terminal SO, and the reset control terminal RSTN of the MS1003 chip 102.
As a specific embodiment, the ranging circuit of the MS 1003-based laser ranging telescope disclosed in the embodiment of the present application is based on the above description, where the microcontroller 101 is connected to the interrupt output terminal INTN of the MS1003 chip 102, and is configured to read the time data in the MS1003 chip 102 after receiving the interrupt signal from the interrupt output terminal INTN.
As a specific embodiment, the ranging circuit of the MS 1003-based laser ranging telescope disclosed in the embodiment of the present application is based on the above description, and the laser receiving and amplifying circuit 104 is respectively connected with the STOP1 channel and the STOP2 channel of the MS1003 chip 102, and is used for respectively sending the generated STOP pulse to the STOP1 channel and the STOP2 channel;
The STOP2 channel of the MS1003 chip 102 is configured in a falling edge timing detection mode, and a time difference between a falling edge timing and a rising edge timing of the STOP pulse is used to identify a different STOP pulse.
Note that the START port and STOP1 interface of the MS1003 chip 102 are configured in the rising edge timing detection mode, and the STOP2 interface is configured in the falling edge timing detection mode. The STOP1 interface and the STOP2 interface detect the STOP pulse transmitted from the laser receiving and amplifying circuit 104, respectively, and thus the time difference between the detection of the two STOP channels is the pulse width of the STOP pulse.
Since the targets of different material have different reflectivities for the same laser light, the pulse width of the stop pulse generated by the laser receiving amplification circuit 104 is different. Thus, in the present application, the pulse width of the STOP pulse can be acquired based on the two STOP channels of the MS1003 chip 102, so as to further identify different targets.
The laser receiving and amplifying circuit 104 mainly comprises a receiving diode and an amplifying and comparing circuit; the high-voltage laser emission circuit 103 mainly includes a high-voltage circuit and an emission diode.
As a specific embodiment, the ranging circuit of the MS 1003-based laser ranging telescope disclosed in the embodiment of the present application is based on the above description, and the microcontroller 101 is connected to the STOP1 channel enable terminal en_ STOPI and the STOP2 channel enable terminal en_stop2 of the MS1003 chip 102, respectively.
As a specific embodiment, the ranging circuit of the MS 1003-based laser ranging telescope disclosed in the embodiment of the present application is based on the above description, and the pulses continuously captured by the STOP1 channel and the STOP2 channel at a time are multiple, so as to achieve multi-target ranging.
As before, each STOP channel of MS1003 may last for a maximum of 10 pulses per time. Therefore, by utilizing the multi-pulse capturing advantage and the dual-channel detection advantage of the MS1003, the pulse width of the stop pulse corresponding to different targets can be identified, and multi-target ranging can be realized.
In practical applications, there may be some obstacles between the telescope and the target, such as birds, raindrops, etc., that affect the accuracy of ranging. The multi-target ranging function of the ranging circuit provides a realization basis for identifying the obstacle according to the pulse width characteristics of different types of targets (the pulse width of the obstacle is generally smaller), or provides a realization basis for identifying the obstacle according to the pulse reflection time characteristics of different types of targets (the pulse reflection of the obstacle is earlier than that of the target), so that the ranging circuit can further effectively provide ranging accuracy.
Referring to fig. 3, an embodiment of the application discloses a ranging method of a laser ranging telescope based on an MS1003, which is applied to a microcontroller 101 in a ranging circuit as described above, and the method mainly includes:
s201: a reset instruction is sent to the MS1003 chip 102.
Specifically, the reset operation includes a hardware reset and a software reset. The RSTN pin of microcontroller 101 to MS1003 sends a negative pulse of greater than 10 μs to perform a hardware reset, and then writes a 0x50 command to MS1003 via the SPI port to perform a software reset.
S202: and sending a configuration instruction and an initialization instruction to the MS1003 chip 102 to enable the MS1003 chip 102 to complete configuration and initialization.
Specifically, the microcontroller 101 configures the MS1003 by writing configuration parameters to configuration registers of the MS 1003. The configuration register of the MS1003 is composed of an 8-bit address and a 32-bit configuration parameter, the 8-bit address is 0x80, and the 32-bit configuration parameter is specifically set as follows: 0xBB084460, representing: both STOP1 and STOP2 are expected to receive 10 pulses; generating a calibration factor (CAL value) based on the non-calibration mode; START and STOP1 are both rising edge time capture mode, STOP2 is falling edge time capture mode; the End bits stop pulse monitor state is turned on and the Timeout interrupt source is turned on.
The microcontroller 101 may then initialize the MS1003 by sending 0x 70.
S203: a start pulse is generated and transmitted so that the high-voltage laser emission circuit 103 emits laser light to the target, and the MS1003 chip 102 starts timing with the rising edge of the start pulse as the laser emission time.
Specifically, the microcontroller 101 sends a START pulse to the high voltage laser transmitter circuit 103 and the START port of the MS1003, and the internal timer of the MS1003 STARTs to count.
S204: after the laser receiving amplification circuit 104 detects the laser light reflected from the target and generates a STOP pulse, the MS1003 chip 102 detects the rising edge of the STOP pulse as the laser light receiving timing based on the STOP1 channel, and the timing data in the MS1003 chip 102 is read.
Specifically, the laser light is reflected back after being emitted to the target, the laser light receiving and amplifying circuit 104 receives the processed output STOP pulses to STOP1 and STOP2, the MS1003 STOPs the timer and stores the measured time data in the result register. If there are multiple targets, the laser will reflect and receive multiple times, and time multiple times. MS1003 may receive up to 10 target-returned STOP pulses per STOP channel.
S205: distance data to the target is calculated and generated according to the time data.
As a specific example, after the MS1003 completes the pulse detection, the microcontroller 101 may be notified by an interrupt signal, so that the microcontroller 101 may perform data reading. That is, the INTN port of the MS1003 may generate a low level to inform the microcontroller 101 that the measurement is completed, and the microcontroller 101 may read the data stored in the result register to complete the time measurement of one laser ranging.
After the measurement is completed, the registers may be reconfigured to put the MS1003 from an operational mode into a low power mode.
Therefore, the ranging method of the MS 1003-based laser ranging telescope provided by the application realizes time measurement based on the MS1003 chip 102, and utilizes the signal links between the microcontroller 101 and the MS1003 chip 102 and between the laser receiving and amplifying circuit 104 and the MS1003 chip 102 as well as the signal links between the microcontroller 101 and the high-voltage laser transmitting circuit 103, so that the laser ranging can be realized accurately, efficiently and simply, the equipment cost and the power consumption are greatly reduced, and the economic benefit of the product is improved.
As a specific embodiment, in the ranging method based on the laser ranging telescope of the MS1003 according to the embodiment of the present application, after sending a configuration instruction and an initialization instruction to the MS1003 chip 102 to complete configuration and initialization of the MS1003 chip 102, the communication test may be further performed on the MS 1003.
Specifically, a communication register is provided in the MS1003 for verifying whether the microcontroller 101 and the MS1003 communicate normally. The communication register of the MS1003 is composed of an 8-bit address and 8-bit data. When the communication test is performed, the microcontroller 101 can write in the 8bit address 0xBC first, then read the 8bit data, and if the data is 0x60, the communication is successful; otherwise, the communication failure is indicated.
As a specific embodiment, the ranging method based on the laser ranging telescope for the MS1003 provided by the embodiment of the present application may further perform a CAL value test on the MS1003 after performing a communication test on the MS1003 on the basis of the above description.
Specifically, the CAL value is the time of measuring a high-speed reference clock (Tref) by using the timer of the MS1003, and after the measurement is completed, the measured value is saved to the corresponding result register. The CAL value of the test and verification MS1003 can be used to calibrate the time data measured later to obtain absolute time, so as to improve the measurement accuracy. Specifically, microcontroller 101 may initiate a CAL value test by sending a command of 0x04, and then read the CAL value of Tref measured by sending a command of 0 xBB.
For example, STOP-1 has a first pulse value of STOP-1_Result1 and STOP-2 has a first pulse value of STOP-2_Result; when the CAL value test is performed on the MS1003, if 1 time Tcal of Tref (i.e., CAL value of Tref) is measured by using the timer, the calibrated time data is:
Tstop1_1＝Tref/Tcal*STOP1_Result1；
Tstop2_1＝Tref/Tcal*STOP2_Result1；
the calculation of the latter pulse is similar. Further, the pulse width can be obtained by using TSTOp2_1-TSTOp1_1, and laser compensation and target judgment can be performed through the pulse width.
For the specific details of the ranging method of the MS 1003-based laser ranging telescope, reference may be made to the foregoing detailed description of the ranging circuit of the MS 1003-based laser ranging telescope, which will not be repeated herein.
Further, the embodiment of the application also discloses a laser ranging telescope based on the MS1003, which comprises any ranging circuit.
Referring to fig. 4, an embodiment of the present application discloses an electronic device, including:
a memory 301 for storing a computer program;
a processor 302 for executing the computer program to implement the steps of any of the ranging methods of the MS1003 based laser ranging telescope as described above.
Further, the embodiment of the application also discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program is used for realizing the steps of any ranging method of the MS 1003-based laser ranging telescope when being executed by a processor.
For details of the electronic device and the computer-readable storage medium, reference may be made to the foregoing detailed description of the ranging method of the MS 1003-based laser ranging telescope, which is not repeated herein.
In the application, each embodiment is described in a progressive manner, and each embodiment is mainly used for illustrating the difference from other embodiments, and the same similar parts among the embodiments are mutually referred. For the apparatus disclosed in the examples, since it corresponds to the method disclosed in the examples, the description is relatively simple, and the relevant points are referred to in the description of the method section.
It should also be noted that in this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The technical scheme provided by the application is described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that the present application may be modified and practiced without departing from the spirit of the present application.
Claims (5)
1. The ranging circuit of the laser ranging telescope based on the MS1003 is characterized by comprising a microcontroller, an MS1003 chip, a high-voltage laser transmitting circuit and a laser receiving and amplifying circuit;
The microcontroller is used for generating a starting pulse and sending the starting pulse to the MS1003 chip and the high-voltage laser emission circuit;
the high-voltage laser emission circuit is used for emitting laser to a target according to the starting pulse;
the laser receiving and amplifying circuit is used for detecting laser reflected from the target, generating a STOP pulse and sending the STOP pulse to a STOP1 channel of the MS1003 chip;
the MS1003 chip is used for detecting the rising edge time of the starting pulse as the laser emission time and detecting the rising edge time of the stopping pulse as the laser receiving time;
The microcontroller is used for reading the time data in the MS1003 chip and calculating and generating distance data between the time data and the target;
the microcontroller is respectively connected with a chip selection end, a clock signal end, a data input end, a data output end and a reset control end of the MS1003 chip;
The microcontroller is connected with the interrupt output end of the MS1003 chip and is used for reading time data in the MS1003 chip after receiving the interrupt signal from the interrupt output end;
The laser receiving and amplifying circuit is respectively connected with a STOP-1 channel and a STOP-2 channel of the MS1003 chip and is used for respectively sending the generated STOP pulse to the STOP-1 channel and the STOP-2 channel; the STOP2 channel of the MS1003 chip is configured in a falling edge time detection mode, and a time difference between a falling edge time and a rising edge time of the STOP pulse is used for identifying different STOP pulses;
the microcontroller is respectively connected with a STOP1 channel enabling end and a STOP2 channel enabling end of the MS1003 chip;
the number of pulses for single continuous capture of the STOP-1 channel and the STOP-2 channel is multiple to achieve multi-target ranging.
2. A ranging method of a laser ranging telescope based on MS1003, applied to the microcontroller in the ranging circuit of claim 1, comprising:
sending a reset instruction to the MS1003 chip;
sending a configuration instruction and an initialization instruction to the MS1003 chip to enable the MS1003 chip to complete configuration and initialization;
Generating and sending a starting pulse to enable a high-voltage laser emission circuit to emit laser to a target, and enabling the MS1003 chip to start timing by taking the rising edge of the starting pulse as the laser emission time;
After a laser receiving amplification circuit detects laser reflected from the target and generates a STOP pulse, the MS1003 chip detects a rising edge of the STOP pulse as a laser receiving time based on a STOP1 channel, reads time data in the MS1003 chip;
calculating and generating distance data between the target and the time according to the time data;
the microcontroller is respectively connected with a chip selection end, a clock signal end, a data input end, a data output end and a reset control end of the MS1003 chip;
The microcontroller is connected with the interrupt output end of the MS1003 chip and is used for reading time data in the MS1003 chip after receiving the interrupt signal from the interrupt output end;
The laser receiving and amplifying circuit is respectively connected with a STOP-1 channel and a STOP-2 channel of the MS1003 chip and is used for respectively sending the generated STOP pulse to the STOP-1 channel and the STOP-2 channel; the STOP2 channel of the MS1003 chip is configured in a falling edge time detection mode, and a time difference between a falling edge time and a rising edge time of the STOP pulse is used for identifying different STOP pulses;
the microcontroller is respectively connected with a STOP1 channel enabling end and a STOP2 channel enabling end of the MS1003 chip;
the number of pulses for single continuous capture of the STOP-1 channel and the STOP-2 channel is multiple to achieve multi-target ranging.
3. A laser ranging telescope based on MS1003 comprising the ranging circuit of claim 1.
4. An electronic device, comprising:
a memory for storing a computer program;
processor for executing the computer program to implement the steps of the ranging method as claimed in claim 2.
5. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the steps of the ranging method according to claim 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843705.5A CN111854679B (en) | 2020-08-20 | 2020-08-20 | Laser ranging telescope and ranging circuit, method, equipment and medium thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843705.5A CN111854679B (en) | 2020-08-20 | 2020-08-20 | Laser ranging telescope and ranging circuit, method, equipment and medium thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111854679A CN111854679A (en) | 2020-10-30 |
| CN111854679B true CN111854679B (en) | 2024-05-03 |
Family
ID=72969646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010843705.5A Active CN111854679B (en) | 2020-08-20 | 2020-08-20 | Laser ranging telescope and ranging circuit, method, equipment and medium thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111854679B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113359080A (en) * | 2021-07-08 | 2021-09-07 | 国网浙江省电力有限公司电力科学研究院 | Fault test distance error calibration method for cable fault flash tester |
| DE102021124480A1 (en) * | 2021-09-22 | 2023-03-23 | Claas E-Systems Gmbh | Method for identifying objects and agricultural working machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004226069A (en) * | 2003-01-20 | 2004-08-12 | Nec Engineering Ltd | Ranging device |
| CN107688185A (en) * | 2017-06-05 | 2018-02-13 | 罗印龙 | A kind of laser ranging system and its distance-finding method |
| CN109870702A (en) * | 2019-03-28 | 2019-06-11 | 河北镭族光电科技有限公司 | A kind of distant-range high-precision laser ranging system and distance measuring method based on TDC |
| CN212779189U (en) * | 2020-08-20 | 2021-03-23 | 杭州瑞盟科技有限公司 | Laser rangefinder telescope based on MS1003 and range finding circuit thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655563B (en) * | 2008-08-21 | 2012-07-04 | 金华市蓝海光电技术有限公司 | Laser ranging method with high accuracy and low power consumption and device thereof |
-
2020
- 2020-08-20 CN CN202010843705.5A patent/CN111854679B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004226069A (en) * | 2003-01-20 | 2004-08-12 | Nec Engineering Ltd | Ranging device |
| CN107688185A (en) * | 2017-06-05 | 2018-02-13 | 罗印龙 | A kind of laser ranging system and its distance-finding method |
| CN108333594A (en) * | 2017-06-05 | 2018-07-27 | 杭州光博视野科技有限责任公司 | A kind of laser pulse ranging device and method |
| CN109870702A (en) * | 2019-03-28 | 2019-06-11 | 河北镭族光电科技有限公司 | A kind of distant-range high-precision laser ranging system and distance measuring method based on TDC |
| CN212779189U (en) * | 2020-08-20 | 2021-03-23 | 杭州瑞盟科技有限公司 | Laser rangefinder telescope based on MS1003 and range finding circuit thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111854679A (en) | 2020-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111854679B (en) | Laser ranging telescope and ranging circuit, method, equipment and medium thereof | |
| US7053992B2 (en) | Rangefinder and method for collecting calibration data | |
| CN102636252B (en) | Method and device for detecting precise arrival moment of ultrasonic wave | |
| CN107576371B (en) | A kind of Ultrasonic Liquid Level Measurement and ultrasonic wave liquid level measuring apparatus | |
| CN105137443B (en) | Pulse type laser distance-finding method | |
| CN202182717U (en) | Laser ranging device based on time-to-digital converter (TDC) technology | |
| CN102798846B (en) | Method for measuring parameters of secondary radar echo pulses | |
| CN105066918A (en) | Ultrasonic underwater target thickness measuring system and thickness measuring method | |
| CN103995263B (en) | A kind of ultrasonic ranging method based on sequential | |
| CN104459705A (en) | Ultrasonic ranging system with temperature compensation function | |
| CN109669188B (en) | Multi-edge trigger time identification method and pulse type laser ranging method | |
| US20230341529A1 (en) | Target detection method, lidar and storage medium | |
| CN108226910A (en) | Monomer sonac detection system | |
| CN115469320A (en) | Laser ranging method, device and medium | |
| CN109212544A (en) | A kind of target range detection method, apparatus and system | |
| CN104048628A (en) | Method for accurately detecting thickness through ultrasonic wave equivalent peak value and device using method | |
| CN207336748U (en) | A kind of ultrasonic ranging system | |
| CN204594436U (en) | A kind of device of ultrasonic thickness measurement | |
| CN212779189U (en) | Laser rangefinder telescope based on MS1003 and range finding circuit thereof | |
| US20240027613A1 (en) | Object detection apparatus and object detection method | |
| CN103869096B (en) | Ultrasonic anemoscope range broadening method | |
| CN108333590A (en) | Method, apparatus, equipment and the storage medium of ultrasonic wave frequency conversion ranging | |
| Li et al. | High precision laser ranging based on STM32 microcontroller | |
| CN206209105U (en) | A kind of high-precision ultrasonic ranging device | |
| Zhang et al. | Research of ultrasonic distance measurement system based on DSP |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 310000 room 701, building 9, No. 1, Weiye Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou ruimeng Technology Co.,Ltd. Address before: 310053 room 701, building 9, No.1 Weiye Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU RUIMENG TECHNOLOGY Co.,Ltd. Country or region before: China |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |