CN117471480A - Multi-pulse step power detection method - Google Patents
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Abstract
The invention relates to a multi-pulse step power detection method, which adopts a multi-pulse step power detection system for detection, wherein the multi-pulse step power detection system comprises a signal transmitting module and a signal receiving module; the method includes a calibration phase and a detection phase; the calibration stage is to transmit a plurality of pulse signals with different powers to an object at a preset position, and acquire and process return light signals to obtain a delay coefficient; and the detection stage processes time information contained in the return light signal through the delay coefficient to obtain actual flight time, and obtains a detection distance through the actual flight time. The invention can compare a plurality of time differences under different powers with the same material to be expressed under different powers, and improves the detection precision through algorithm correction.
Description
Technical Field
The invention relates to a multi-pulse step power detection method, and belongs to the technical field of laser detection.
Background
The laser ranging is performed by taking a laser as a light source. Due to the characteristics of good monochromaticity, strong directivity and the like of laser and the integration of semiconductor electronic circuits, compared with an electro-optical distance meter, the electro-optical distance meter not only can operate day and night, but also can improve the distance measuring precision and obviously reduce the weight and the power consumption.
Currently, laser ranging can be classified into pulse laser ranging and phase laser ranging. The pulse laser ranging is carried out, the laser emitted by the range finder is received by the range finder after being reflected by the measured object, the range finder records the round trip time of the laser at the same time, and the half of the product of the speed of light and the round trip time is the distance between the range finder and the measured object.
The existing pulse laser ranging technology adopts a single pulse mode, the rising edge time of the received echo signal is different under different distances or different materials, and the time difference of the echo signal after being shaped by a comparator is changed, so that a certain detection error is caused.
Disclosure of Invention
In order to overcome the problems, the invention provides a multi-pulse step power detection method, which can compare a plurality of time differences under different powers and the same material to be represented under different powers, and then improve the detection precision through algorithm correction.
The technical scheme of the invention is as follows:
the multi-pulse step power detection method adopts a multi-pulse step power detection system for detection, wherein the multi-pulse step power detection system comprises a signal transmitting module and a signal receiving module;
the signal transmitting module is used for transmitting a plurality of laser pulse signals and transmitting synchronous transmitting signals to the signal receiving module; the signal transmitting module can transmit pulse signals with different powers;
the signal receiving module comprises a photoelectric conversion circuit, a signal amplifying circuit, a comparison circuit, a time-digital conversion circuit and a data processing unit;
the photoelectric conversion circuit converts the return light signal into an electric signal RX-OUT and transmits the electric signal RX-OUT to the signal amplification circuit;
the signal amplifying circuit amplifies the electric signals RX-OUT to obtain electric signals AMP-OUT and transmits the electric signals AMP-OUT to the comparing circuit;
the comparison circuit comprises a plurality of paths of electric signal AMP-OUT input channels, each path of channel is provided with a comparator and different reference voltages, and the comparator is used for comparing the reference voltages with the electric signals AMP-OUT and transmitting the comparison result to the time-digital conversion circuit;
the time-to-digital conversion circuit compares the comparison result with a synchronous transmitting signal to obtain time difference data, and transmits the time difference data to the data processing unit;
the photoelectric conversion circuit comprises a detector PD1, wherein the detector PD1 is an APD or SPAD or SiPM high-gain detector;
comprises a calibration stage and a detection stage;
the calibration stage is as follows:
the signal transmitting module is used for presetting a distanceLThe object at the position transmits a plurality of pulse signals with different powers, and the transmission interval of each pulse signal isT x And the power of the transmitted pulse signal is gradually increased;
receiving a return light signal;
obtaining the first signal through the comparison result and the synchronous transmitting signalnThe pulse signal is at the firstmAcquisition time of flight for acquisition at the input channel of the individual electrical signals AMP-OUTT nm ；
The acquisition time of flightT nm Namely the firstnThe pulse signal is transmitted from the beginning to the endmThe time at which the individual electrical signals AMP-OUT are input to the channel acquisition; specifically, the synchronous transmitting signal records the firstnThe emission time of the pulse signal, the firstmComparator record of the input channel of the electrical signal AMP-OUTnThe time of acquisition of each pulse signal, the difference between the two time of acquisitionT nm ；
By the acquisition of the time of flightT nm And a preset distanceLObtaining the delay coefficientYThe method specifically comprises the following steps:
；
wherein,Cis the speed of light;
the detection stage is as follows:
the multi-pulse step power detection system is used for detecting, and when the multi-pulse step power detection system is used for detecting, a pulse signal sent by the signal transmitting module is the same as a calibration stage;
obtaining the first signal through the comparison result and the synchronous transmitting signalThe pulse signal is at->Acquisition time of flight for acquisition at the input channel of the individual electrical signals AMP-OUT +.>The method comprises the steps of carrying out a first treatment on the surface of the The acquisition time of flight->Acquisition method of (2) and said acquisition time of flightT nm The same;
calculating the delay timeT Delay line :
；
Calculating the actual flight time:
；
the detection distance is calculated by the actual flight time.
Further, the calibration stage further includes pulse verification, specifically:
if the flight time is acquiredT n1 If not, reject the firstnThe pulse signal and power are lower than the firstnIf the number of pulse signals is less than three after the pulse signals are removed, the power is increased to be greater than that of the first pulse signalnPulse signals of the pulse signals until the number of the pulse signals is not less than three.
Further, the pulse verification further includes:
setting a threshold valueTIf there isAnd when transmitting, adding a pulse signal with power in between the nth pulse signal and the (n-1) th pulse signal.
The invention has the following beneficial effects:
the detection method is characterized in that echo signals with different powers are received at the same detection position, a plurality of comparators with different levels are used for shaping the echo signals, the echo signals are compared and analyzed with the transmitted synchronous signals and pulse intervals, echo time data of the same object at the same position under different power conditions are obtained, and the echo time data are processed to obtain accurate detection accuracy.
Drawings
Fig. 1 is a schematic diagram of a photoelectric conversion circuit and an amplifying circuit according to an embodiment of the present invention.
Fig. 2 shows a comparison circuit, a time-to-digital conversion circuit and a data processing unit according to an embodiment of the invention.
FIG. 3 is a schematic diagram showing a comparison of multiple pulse step power signals at different reference voltages.
Fig. 4 is a schematic diagram of a time point of sampling by the time-to-digital conversion circuit.
Detailed Description
The invention will now be described in detail with reference to the drawings and to specific embodiments.
1-2, a multi-pulse step power detection method adopts a multi-pulse step power detection system to detect, wherein the multi-pulse step power detection system comprises a signal transmitting module and a signal receiving module;
the signal transmitting module is used for transmitting a plurality of laser pulse signals and transmitting synchronous transmitting signals to the signal receiving module; the signal transmitting module can transmit pulse signals with different powers;
the signal receiving module comprises a photoelectric conversion circuit, a signal amplifying circuit, a comparison circuit, a time-digital conversion circuit and a data processing unit;
the photoelectric conversion circuit converts the return light signal into an electric signal RX-OUT and transmits the electric signal RX-OUT to the signal amplification circuit;
the signal amplifying circuit amplifies the electric signals RX-OUT to obtain electric signals AMP-OUT and transmits the electric signals AMP-OUT to the comparing circuit;
the comparison circuit comprises a plurality of paths of electric signal AMP-OUT input channels, each path of channel is provided with a comparator and different reference voltages, and the comparator is used for comparing the reference voltages with the electric signals AMP-OUT and transmitting the comparison result to the time-digital conversion circuit;
the time-to-digital conversion circuit compares the comparison result with a synchronous transmitting signal to obtain time difference data, and transmits the time difference data to the data processing unit;
referring to fig. 3 and 4, pulses of different power have different times of flight, and pulse signals of the same power also have different times of flight under measurement conditions of different reference voltages. Through this detecting system, gather the flight time under the different reference voltages of different powers, not only can realize the accurate detection of distance, can also realize the measurement of object reflectivity, through measuring object reflectivity, can carry out certain judgement to the object material.
The flight time of a pulse signal obtained under the measurement conditions of different reference voltages shown in FIG. 4 is t1 to t5.
For example, after the detection distance is determined, the surface reflectivity of the object can be obtained according to the attenuation conditions of pulse signals with different powers.
The photoelectric conversion circuit comprises a detector PD1, wherein the detector PD1 is an APD or SPAD or SiPM high-gain detector;
comprises a calibration stage and a detection stage;
the calibration stage is as follows:
the signal transmitting module is used for presetting a distanceLThe object at the position transmits a plurality of pulse signals with different powers, and the transmission interval of each pulse signal isT x And the power of the transmitted pulse signal is gradually increased;
receiving a return light signal;
obtaining the first signal through the comparison result and the synchronous transmitting signalnThe pulse signal is at the firstmAcquisition time of flight for acquisition at the input channel of the individual electrical signals AMP-OUTT nm ；
The acquisition time of flightT nm Namely the firstnThe pulse signal is transmitted from the beginning to the endmThe time at which the individual electrical signals AMP-OUT are input to the channel acquisition; specifically, the synchronous transmitting signal records the firstnThe emission time of the pulse signal, the firstmPersonal telecommunicationComparator record No. AMP-OUT input channelnThe time of acquisition of each pulse signal, the difference between the two time of acquisitionT nm ；
By the acquisition of the time of flightT nm And a preset distanceLObtaining the delay coefficientYThe method specifically comprises the following steps:
；
wherein,Cis the speed of light;
the detection stage is as follows:
the multi-pulse step power detection system is used for detecting, and when the multi-pulse step power detection system is used for detecting, a pulse signal sent by the signal transmitting module is the same as a calibration stage;
obtaining the first signal through the comparison result and the synchronous transmitting signalThe pulse signal is at->Acquisition time of flight for acquisition at the input channel of the individual electrical signals AMP-OUT +.>The method comprises the steps of carrying out a first treatment on the surface of the The acquisition time of flight->Acquisition method of (2) and said acquisition time of flightT nm The same;
calculating the delay timeT Delay line :
；
Calculating the actual flight time:
；
the detection distance, i.e. the product of the speed of light and the actual time of flight, is calculated from the actual time of flight.
In one embodiment of the invention, the calibration phase further comprises a pulse check, in particular:
if the flight time is acquiredT n1 If not, reject the firstnThe pulse signal and power are lower than the firstnIf the number of pulse signals is less than three after the pulse signals are removed, the power is increased to be greater than that of the first pulse signalnPulse signals of the pulse signals until the number of the pulse signals is not less than three.
Acquisition of time of flightT n1 Is the firstnThe acquisition flight time of each pulse signal in a first path of electric signal AMP-OUT input channel, wherein the first path of electric signal AMP-OUT input channel is the channel with the lowest reference voltage, and the acquisition flight timeT n1 The absence indicates that the pulse signal is not collected by any channel, the power is too low, and rejection is required.
In one embodiment of the present invention, the pulse verification further includes:
setting a threshold valueTIf there isThen at the time of transmissionnPulse signal and the firstn-adding a pulse signal with a power in between 1 pulse signals.
The ratio of the acquired flight time difference value to the interval of the adjacent pulse signals is too large, which indicates that the power setting difference between the two pulse signals is large and influences the test result.
In one embodiment of the invention, the pulse power is fittedT nm Curve through pulse power-T nm Curve obtained when power tends to infinityT nm As the actual flight time of the pulse signal, the detection distance is obtained by the actual flight time.
In the present embodiment, the more the number of pulse signals, the closer the fitted curve is to the actual, and the more accurate the result.
The pulse signal power is scaled up because the delay created during pulse detection is related to the shape of the pulse, scaling up facilitates fitting a curve.
According to the method, a plurality of curves can be manufactured, and one curve can be manufactured by data collected by one channel in the comparison circuit. Referring to fig. 3, if the channel with the highest reference voltage is used, only 1 pulse of rising edge is used, and a curve cannot be made, if the channel with the lowest reference voltage is used, 5 pulses of rising edge data are used for making the curve, but there may be a problem that the reference voltage is too low, the change of the time-of-flight difference is small, and the noise influence in the circuit is relatively large. Therefore, the calibration accuracy can be improved by adjusting the reference voltages of different channels.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures made by the description of the invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the invention.
Claims (3)
1. The multi-pulse step power detection method is characterized in that a multi-pulse step power detection system is adopted for detection, and the multi-pulse step power detection system comprises a signal transmitting module and a signal receiving module;
the signal transmitting module is used for transmitting a plurality of laser pulse signals and transmitting synchronous transmitting signals to the signal receiving module; the signal transmitting module can transmit pulse signals with different powers;
the signal receiving module comprises a photoelectric conversion circuit, a signal amplifying circuit, a comparison circuit, a time-digital conversion circuit and a data processing unit;
the photoelectric conversion circuit converts the return light signal into an electric signal RX-OUT and transmits the electric signal RX-OUT to the signal amplification circuit;
the signal amplifying circuit amplifies the electric signals RX-OUT to obtain electric signals AMP-OUT and transmits the electric signals AMP-OUT to the comparing circuit;
the comparison circuit comprises a plurality of paths of electric signal AMP-OUT input channels, each path of channel is provided with a comparator and different reference voltages, and the comparator is used for comparing the reference voltages with the electric signals AMP-OUT and transmitting the comparison result to the time-digital conversion circuit;
the time-to-digital conversion circuit compares the comparison result with a synchronous transmitting signal to obtain time difference data, and transmits the time difference data to the data processing unit;
the photoelectric conversion circuit comprises a detector PD1, wherein the detector PD1 is an APD or SPAD or SiPM high-gain detector;
comprises a calibration stage and a detection stage;
the calibration stage is as follows:
the signal transmitting module is used for presetting a distanceLThe object at the position transmits a plurality of pulse signals with different powers, and the transmission interval of each pulse signal isT x And the power of the transmitted pulse signal is gradually increased;
receiving a return light signal;
obtaining the first signal through the comparison result and the synchronous transmitting signalnThe pulse signal is at the firstmAcquisition time of flight for acquisition at the input channel of the individual electrical signals AMP-OUTT nm ；
The acquisition time of flightT nm Namely the firstnThe pulse signal is transmitted from the beginning to the endmThe time at which the individual electrical signals AMP-OUT are input to the channel acquisition; specifically, the synchronous transmitting signal records the firstnThe emission time of the pulse signal, the firstmComparator record of the input channel of the electrical signal AMP-OUTnThe time of acquisition of each pulse signal, the difference between the two time of acquisitionT nm ；
By the acquisition of the time of flightT nm And a preset distanceLObtaining the delay coefficientYThe method specifically comprises the following steps:
；
wherein,Cis the speed of light;
the detection stage is as follows:
the multi-pulse step power detection system is used for detecting, and when the multi-pulse step power detection system is used for detecting, a pulse signal sent by the signal transmitting module is the same as a calibration stage;
obtaining the first signal through the comparison result and the synchronous transmitting signalThe pulse signal is at->Acquisition time of flight for acquisition at the input channel of the individual electrical signals AMP-OUT +.>The method comprises the steps of carrying out a first treatment on the surface of the The acquisition time of flight->Acquisition method of (2) and said acquisition time of flightT nm The same;
calculating the delay timeT Delay line :
；
Calculating the actual flight time:
；
the detection distance is calculated by the actual flight time.
2. The multi-pulse step power detection method of claim 1, wherein the calibration phase further comprises pulse verification, specifically:
if the flight time is acquiredT n1 If not, reject the firstnThe pulse signal and power are lower than the firstnPulse of pulse signalsIf the number of the pulse signals is less than three after the signals are removed, the increased power is greater than that of the firstnPulse signals of the pulse signals until the number of the pulse signals is not less than three.
3. The multi-pulse step power detection method of claim 2, wherein the pulse check further comprises:
setting a threshold valueTIf there isAnd when transmitting, adding a pulse signal with power in between the nth pulse signal and the (n-1) th pulse signal.
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