CN115755076A - Laser ranging system and method for improving distance resolution measurement capability - Google Patents
Laser ranging system and method for improving distance resolution measurement capability Download PDFInfo
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- CN115755076A CN115755076A CN202211453145.8A CN202211453145A CN115755076A CN 115755076 A CN115755076 A CN 115755076A CN 202211453145 A CN202211453145 A CN 202211453145A CN 115755076 A CN115755076 A CN 115755076A
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Abstract
The invention discloses a laser ranging system and a method for improving the measuring capability of distance resolution, and the system comprises a main control and data processing system (114), wherein the main control and data processing system (114) is respectively connected with a laser emitting unit, a sampling unit, a target laser receiving unit and a signal bleaching and separating unit; one laser beam of the laser emission unit is connected with the sampling unit; one laser beam of the target laser receiving unit is connected with the signal bleaching and separating unit. The saturable absorber in the signal bleaching separation unit is utilized to bleach the first target echo signal on the laser path, thereby realizing the separation from the second target and greatly improving the distance resolution of the laser range finder. The invention has the characteristic of well detecting two close-range targets respectively.
Description
Technical Field
The invention relates to a laser ranging system, in particular to a laser ranging system and a laser ranging method for improving the measuring capability of distance resolution.
Background
The laser range finder is an instrument for measuring the distance to a target by using a certain parameter of modulated laser. The distance measuring method is divided into a phase method distance measuring instrument and a pulse method distance measuring instrument, the pulse type laser distance measuring instrument emits a pulse laser beam or a sequence of short pulse laser beams to a target when in work, a photoelectric element receives the laser beam reflected by the target, a timer measures the time from the emitting to the receiving of the laser beam, and the distance from an observer to the target is calculated. The phase-method laser range finder detects a distance by detecting a phase difference occurring when emitted light and reflected light propagate in a space. However, when the laser range finder is used for distance detection of targets, if two targets close to each other appear on the path of a laser beam, echo signals of the two targets received by the photoelectric detector overlap to some extent, which may cause the laser range finder to jump, and when the two targets are close enough, the laser range finder may not even distinguish the two targets. Therefore, the prior art cannot effectively distinguish two close targets.
Disclosure of Invention
The invention aims to provide a laser ranging system and a laser ranging method for improving the distance resolution measuring capability. The invention has the characteristic of well detecting two close-range targets respectively.
The technical scheme of the invention is as follows: a laser ranging system for improving the measuring capability of distance resolution comprises a main control and data processing system, wherein the main control and data processing system is respectively connected with a laser transmitting unit, a sampling unit, a target laser receiving unit and a signal bleaching and separating unit; one laser beam of the laser emission unit is connected with the sampling unit; one laser beam of the target laser receiving unit is connected with the signal bleaching and separating unit.
In the laser ranging system capable of improving the distance resolution measurement capability, the laser emitting unit includes a driving circuit, a light source and an emitting optical system which are connected in sequence.
In the foregoing laser ranging system for improving the distance resolution measurement capability, the sampling unit includes a first light turning system corresponding to the emission optical system, and the first light turning system is connected to a first photodetector and a first receiving amplifier circuit.
In the laser ranging system capable of improving the distance resolution measurement capability, the target laser receiving unit includes a second receiving optical system, a second photodetector and a second receiving amplifying circuit, which are connected in sequence.
In the laser ranging system capable of improving the distance resolution measurement capability, the signal bleaching and separating unit includes a second light turning system, a saturable absorber, a third photodetector and a third receiving and amplifying circuit, which are connected in sequence.
A method for improving the laser distance measuring system of the distance resolution measuring ability, the main control and data processing system controls the drive circuit and the light source to emit the pulse laser, the pulse laser is emitted to the target after the beam expansion and collimation through the emission optical system; the first light turning system samples on the propagation path of the laser beam, the sampled echo signal is deflected by the first light turning system and received by the first photoelectric detector, and the sampled echo signal is amplified by the first receiving and amplifying circuit and then transmitted to the main control and data processing system; the second receiving optical system converges the echo signal of the first target, the second receiving optical system divides the converged light beam into two equal paths, one path converges to the second photoelectric detector, the second receiving amplifying circuit amplifies the signal of the second photoelectric detector, the data is transmitted to the main control and data processing system for processing, the other path of the converged light beam of the second receiving optical system is deflected by the second optical turning system and then enters the saturable absorber, the saturable absorber bleaches the echo signal of the first target, ensures the output of the second echo signal, and the echo signal of the first target disappears after being absorbed by the saturable absorber.
In the method for improving the distance resolution measurement capability of the laser ranging system, the main control and data processing system processes signals of the first receiving and amplifying circuit, the second receiving and amplifying circuit and the third receiving and amplifying circuit.
In the method for improving the distance resolution measurement capability of the laser ranging system, the main control and data processing system adopts a ranging mode of digital signal processing and loads an effective filtering algorithm; performing high-frequency equivalent sampling and multi-path phase extraction on the clock signal; sharpening the envelope of the sampling signal and the envelope of the echo signal by adopting a wavelet transform extraction algorithm; reducing the rising edge difference of the sampling signal and the echo signal by adopting a digital interpolation method; and calculating to obtain specific target values of the first target and the second target through a time flight algorithm.
In the method of the laser ranging system for improving the distance resolution measurement capability, the digital interpolation method adopts a delay line structure; the delay line consists of a series of delay units connected in series; each delay unit consists of a buffer and a D trigger;
after passing through one delay unit, the time interval between the rising edges of two adjacent target echo input signals is reduced by the delay time difference of one delay unit, and when the time interval between the two rising edges is finally reduced to be indistinguishable, the encoder converts the measurement result into binary output, so that high-resolution measurement of a tiny time interval is realized.
Compared with the prior art, the invention consists of a main control and data processing system, a laser transmitting unit, a sampling unit, a target laser receiving unit and a signal bleaching and separating unit, and a saturable absorber in the signal bleaching and separating unit is utilized to bleach a first target echo signal on a laser path, thereby realizing the separation with a second target and greatly improving the distance resolution of the laser range finder. Namely, the invention separates the multi-wave peak signal based on the saturable absorber, and can respectively carry out distance detection on two close targets, thereby improving the distance resolution of the laser range finder and realizing the detection of high distance resolution. In conclusion, the method has the characteristic of being capable of well detecting two close-range targets respectively.
Drawings
Fig. 1 is a structural view of the present invention.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention.
Examples are given. A laser ranging system for improving the measuring capability of distance resolution is formed as shown in figure 1 and comprises a main control and data processing system 114, wherein the main control and data processing system 114 is respectively connected with a laser emitting unit, a sampling unit, a target laser receiving unit and a signal bleaching and separating unit; one laser beam of the laser emission unit is connected with the sampling unit; one laser beam of the target laser receiving unit is connected with the signal bleaching and separating unit.
The laser emitting unit includes a driving circuit 101, a light source 102, and an emission optical system 103, which are connected in sequence.
The sampling unit includes a first light turning system 104 corresponding to the emission optical system 103, and the first light turning system 104 is connected with a first photodetector 105 and a first receiving amplification circuit 106.
The target laser receiving unit includes a second receiving optical system 107, a second photodetector 108, and a second receiving amplifying circuit 109, which are connected in this order.
The signal bleaching and separating unit comprises a second light turning system 110, a saturable absorber 111, a third photodetector 112 and a third receiving and amplifying circuit 113 which are connected in sequence.
A method for improving the laser distance measuring system of the distance resolution measuring ability, the main control and data processing system controls the drive circuit and the light source to emit the pulse laser, the pulse laser is emitted to the target after the beam expansion and collimation through the emission optical system; the first light turning system samples on the propagation path of the laser beam, the sampled echo signal is deflected by the first light turning system and received by the first photoelectric detector, and the electrical signal is amplified by the first receiving and amplifying circuit and then transmitted to the main control and data processing system; the target laser echo signal is converged by the second receiving optical system, and is divided into two paths which are equally divided in a converged light beam, one path is converged into the second photoelectric detector, the second receiving amplifying circuit amplifies the signal of the second photoelectric detector, the data is transmitted to the main control and data processing system for processing, the other path of the converged light beam of the second receiving optical system is deflected by the second light turning system and then enters the saturable absorber, the saturable absorber can bleach the echo signal of the first target to ensure the output of the second echo signal, and the echo signal of the first target is absorbed by the saturable absorber and disappears.
The main control and data processing system processes signals of the first receiving amplifying circuit, the second receiving amplifying circuit and the third receiving amplifying circuit.
The main control and data processing system adopts a distance measurement mode of digital signal processing and loads an effective filtering algorithm; performing high-frequency equivalent sampling and multi-path phase extraction on the clock signal; sharpening the envelope of the sampling signal and the envelope of the echo signal by adopting a wavelet transform extraction algorithm; reducing the rising edge difference of the sampling signal and the echo signal by adopting a digital interpolation method; and calculating specific target values of the first target and the second target by a time flight algorithm.
The digital interpolation method adopts a delay line structure; the delay line consists of a series of delay units connected in series; each delay unit consists of a buffer and a D trigger;
after passing through one delay unit, the time interval between the rising edges of two adjacent target echo input signals is reduced by the delay time difference of one delay unit, and when the time interval between two rising edges is finally reduced to be indistinguishable, the encoder converts the measurement result into binary output, thereby realizing high-resolution measurement on a tiny time interval.
The main control and data processing system adopts a distance measurement mode of digital signal processing and loads an effective filtering algorithm, and the processing capacity of the digital signal processing mode on low signal-to-noise ratio signals is improved by 2 times compared with the traditional analog distance measurement mode.
In consideration of the requirement of high integration of the system, the working mode control and scheduling of the laser range finder are uniformly decided and managed by the main control and data processing system and directly reach each bottom layer module, so that intermediate transfer links are reduced, and the instantaneity is improved.
The main control and data processing system performs high-frequency equivalent sampling and multi-path phase extraction methods on the clock signals so as to greatly improve the time resolution of two paths of ranging signals.
The main control and data processing system sharpens the envelope of the sampling signal and the envelope of the echo signal by adopting a wavelet transform extraction algorithm, and improves the signal-to-noise ratio of the system.
The master control and data processing system further employs a digital interpolation method to reduce the rising edge difference of the sampled signal and the echo signal.
The digital interpolation method of the main control and data processing system adopts a delay line structure similar to a vernier caliper. The delay line is composed of a series of delay units, one delay unit is composed of a buffer and a D trigger, the input and output delay time of the buffer and the D trigger are different, so after passing through one delay unit, the time interval between the rising edges of two adjacent target echo input signals is reduced by the delay time difference of one delay unit, and when the time interval between the two rising edges is reduced to be indistinguishable finally, the encoder converts the measurement result into binary output, thereby realizing high-resolution measurement on a tiny time interval.
And the main control and data processing system calculates specific target values of the first target and the second target through a time flight algorithm.
The 101 light source driving circuit outputs a driving signal required by the laser radiator.
The laser 102 is a laser, generally referred to as a fiber laser, a solid-state laser, and a semiconductor laser.
The emission optical system is generally a galileo telescope system or a keplerian telescope system.
The first light turning system is generally comprised of two right angle prisms.
The first photodetector may convert the laser light signal converted by the first light-converting system into an electrical signal.
The first receiving and amplifying circuit may amplify an electrical signal of the first photodetector.
The first receiving optical system may collect an echo signal of a target.
The second photodetector may convert the laser light signal collected by the second receiving optical system into an electrical signal.
The second receiving and amplifying circuit may amplify an electrical signal of the second photodetector.
The second light turning system is generally composed of two right angle prisms.
The saturable absorber can absorb the laser light wave emitted by the light source, and the absorption coefficient of the saturable absorber becomes smaller along with the absorption of the light wave.
The third photodetector may convert the laser light signal collected by the second receiving optical system into an electrical signal.
The third receiving and amplifying circuit may amplify an electrical signal of the third photodetector.
The data processing system may process signals of the first, second and third receive amplifier circuits to obtain a distance value between the first object and the second object.
Claims (9)
1. The utility model provides an improve laser rangefinder system of range resolution ratio measuring ability which characterized in that: the system comprises a main control and data processing system (114), wherein the main control and data processing system (114) is respectively connected with a laser emission unit, a sampling unit, a target laser receiving unit and a signal bleaching and separating unit; one laser beam of the laser emission unit is connected with the sampling unit; one laser beam of the target laser receiving unit is connected with the signal bleaching and separating unit.
2. The laser ranging system with improved range resolution measurement capability of claim 1, wherein: the laser emission unit comprises a driving circuit (101), a light source (102) and an emission optical system (103) which are connected in sequence.
3. The laser ranging system with improved range resolution measurement capability of claim 2, wherein: the sampling unit comprises a first light turning system (104) corresponding to the transmitting optical system (103), and the first light turning system (104) is connected with a first photodetector (105) and a first receiving amplification circuit (106).
4. A laser ranging system with improved range resolution measurement capability as claimed in claim 1, wherein: the target laser receiving unit comprises a second receiving optical system (107), a second photoelectric detector (108) and a second receiving amplifying circuit (109) which are connected in sequence.
5. The laser ranging system with improved range resolution measurement capability of claim 1, wherein: the signal bleaching and separating unit comprises a second light turning system (110), a saturable absorber (111), a third photodetector (112) and a third receiving and amplifying circuit (113) which are connected in sequence.
6. A method of using the laser ranging system with improved range resolution measurement capability of any one of claims 1-5, wherein: the main control and data processing system controls the driving circuit and the light source to emit pulse laser, and the pulse laser is emitted to a target after being subjected to beam expanding and collimating by the emission optical system; the first light turning system samples on the propagation path of the laser beam, the sampled echo signal is deflected by the first light turning system and received by the first photoelectric detector, and the sampled echo signal is amplified by the first receiving and amplifying circuit and then transmitted to the main control and data processing system; the second receiving optical system converges the echo signal of the first target, the second receiving optical system divides the converged light beam into two equal paths, one path converges to the second photoelectric detector, the second receiving amplifying circuit amplifies the signal of the second photoelectric detector, the data is transmitted to the main control and data processing system for processing, the other path of the converged light beam of the second receiving optical system is deflected by the second optical turning system and then enters the saturable absorber, the saturable absorber bleaches the echo signal of the first target, ensures the output of the second echo signal, and the echo signal of the first target disappears after being absorbed by the saturable absorber.
7. The method of claim 6, wherein the distance resolution measurement capability of the laser ranging system is improved by: the main control and data processing system processes signals of the first receiving amplifying circuit, the second receiving amplifying circuit and the third receiving amplifying circuit.
8. The method of claim 6, wherein the distance resolution measurement capability of the laser ranging system is improved by: the main control and data processing system adopts a distance measurement mode of digital signal processing and loads an effective filtering algorithm; performing high-frequency equivalent sampling and multi-path phase extraction on the clock signal; sharpening the envelope of the sampling signal and the envelope of the echo signal by adopting a wavelet transform extraction algorithm; reducing the rising edge difference of the sampling signal and the echo signal by adopting a digital interpolation method; and calculating specific target values of the first target and the second target by a time flight algorithm.
9. The method of claim 8, wherein the distance resolution measurement capability of the laser ranging system is improved by: the digital interpolation method adopts a delay line structure; the delay line consists of a series of delay units connected in series; each delay unit consists of a buffer and a D trigger;
after passing through one delay unit, the time interval between the rising edges of two adjacent target echo input signals is reduced by the delay time difference of one delay unit, and when the time interval between the two rising edges is finally reduced to be indistinguishable, the encoder converts the measurement result into binary output, so that high-resolution measurement of a tiny time interval is realized.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117949961A (en) * | 2024-03-26 | 2024-04-30 | 深圳光谦传感科技有限公司 | Laser ranging system, method and laser ranging sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117949961A (en) * | 2024-03-26 | 2024-04-30 | 深圳光谦传感科技有限公司 | Laser ranging system, method and laser ranging sensor |
| CN117949961B (en) * | 2024-03-26 | 2024-05-28 | 深圳光谦传感科技有限公司 | Laser ranging system, method and laser ranging sensor |
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