CN1403834A - Laser ranging method and system - Google Patents
Laser ranging method and system Download PDFInfo
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- CN1403834A CN1403834A CN 02130849 CN02130849A CN1403834A CN 1403834 A CN1403834 A CN 1403834A CN 02130849 CN02130849 CN 02130849 CN 02130849 A CN02130849 A CN 02130849A CN 1403834 A CN1403834 A CN 1403834A
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Abstract
The present invention relates to laser ranging technology. In a photoelectronic signal oscillation loop comprising controlled laser emitter, measured target and optical receiver connected successively and under the control of the optical receiver, photoelectronic signal oscillation cycle of laser output yes-no-yes and stable photoelectronic signal circulation are formed in the controlled laser emitter, and thus the range may be obtained. The oscillation circuit makes it possible for continuous determination of N cycles, and the average value in the N cycles is obtained with the flying time measuring unit and the microprocessor to raise the measurement precision. Meanwhile, the present invention has shortened total measurement time.
Description
Technical field
Laser distance measurement method and system thereof belong to the laser ranging technique field.
Background technology
The ultimate principle of laser ranging is: calculate laser signal light by till viameter ejaculation beginning, being radiated on the optical sensor components that reflects back into viameter on the object, again, (Time-Of-Flight) Δ T of required flight time; Utilize this flight time Δ T, can directly estimate the distance D (if do not consider air refraction, then flight time Δ T approximates distance twice 2D divided by the light velocity) between viameter and object.Yet because laser signal advances with the light velocity, and the light velocity is a value greatly, and when desiring to make the precision of distance D to reach 1mm, its flight time measuring accuracy of Δ T need reach 6.7ps (10
-12Second).So, how accurately and fast to measure flight time Δ T, be the gordian technique of laser ranging.
Traditional distance-finding method is to utilize electronic circuit technology, and the deration of signal of the flight time Δ T that will survey is elongated so that measure; Or become other electric numerical value that is easy to measure (for example voltage etc.) to attempt the variation with this electric numerical value, the anti-size that pushes away flight time Δ T the conversion of signals of flight time Δ T.Accuracy requirement is high more, and the complexity of its electronic circuit and the demand of precision electronic element all will improve greatly.A kind of method that improves measuring accuracy is to take repeatedly to measure the method that is averaged, and generally speaking, measuring N is inferior averages, and its measuring accuracy can improve N
1/2Times, but corresponding Measuring Time has also increased N doubly.
The time T of one-shot measurement
0Comprise flight time Δ T and time measurement required time T
1, Δ T is much smaller than T usually
1, as 100 meters range findings, its Δ T is about 670ns (10
-9Second), and T
1Usually in the millisecond magnitude, both differ more than 1000 times, therefore, and T
0Approximate T
1If, measuring 1000 times and be averaged, total measurement required time T is about T
1* 1000.
Summary of the invention
The object of the present invention is to provide a kind of Measuring Time weak point and high laser distance measurement method and the system thereof of measuring accuracy.
Laser distance measurement method of the present invention is characterised in that: in a photosignal oscillating loop that is connected in series successively by controlled laser transmitter, measured target and optical receiver three and constitutes, under the control of laser pickoff, the duty of controlled laser transmitter is by there being the output of light output → unglazed output → have again light to constitute photosignal oscillation period, the continuous circulation in cycle just constitutes a stable photosignal loop, above-mentioned cycle t
0Can be expressed as follows:
t
0＝ΔT+t
1＝ΔT+t
11+t
12
Continuous coverage N all after date got t
0Average;
Wherein, t
1: the oscillatory circuit delay time;
t
11: the time interval between optical receiver output signal and the input signal, the i.e. time delay of optical receiver itself;
t
12: required time between controlled laser transmitter input electrical signal and the emission light signal, i.e. controlled laser emission
The time delay of device itself;
The time interval of measuring two adjacent output signals of optical receiver multiply by 2 again, can obtain photosignal t oscillation period
0, therefrom can calculate flight time Δ T.
Laser distance measuring system of the present invention is characterised in that: it contains: by the controlled laser transmitter, the optical receiver that the representative of measured target and output level has light or do not have an optical control signal is connected in series and photosignal oscillatory circuit that closed loop constitutes successively, input end link to each other with the optical receiver output terminal and be provided with Measuring Time or measuring period number and with above-mentioned oscillatory circuit hysteresis NT
0The flight time measurement unit of time operation, the microprocessor that input end links to each other with the time measuring unit output terminal of flight.Described controlled laser transmitter contains: the Laser emission driver that input end links to each other with the optical receiver output terminal, what link to each other with the Laser emission driver output end is driven laser diode, receives behind the laser signal that is driven laser diode output the lens to the measured target emission through optical fiber again.Described optical receiver contains: the lens that receive the reflector laser of measured target, receive the optical sensor of above-mentioned reflector laser through optical fiber, the voltage feedback signal output signal that input signal is exported for the optical sensor that is amplified by transimpedance amplifier is respectively and is input to the controlled laser transmitter, light being arranged or do not have the quick comparer of voltage of optical control signal of flight time measurement unit, described light to be arranged or do not have optical control signal be to receive and the difference decision of the voltage feedback signal that amplified from the optical sensor output terminal by being set in advance in reference voltage on the quick comparer of voltage and the quick comparer of voltage.
Experimental results show that: it has reached intended purposes.
Description of drawings
Fig. 1: laser distance measuring system schematic block circuit diagram.
Fig. 2: the photosignal sequential chart among Fig. 1 in the photosignal oscillating loop.
Embodiment:
In Fig. 1, the 1st, the controlled laser transmitter, it contains: a Laser emission driver 11, its driving laser diode 12 emission laser signal light, this laser signal light imports lens 14 through optical fiber 13, projects on the measured target 2; One optical receiver 3, it is importing optical fiber 32 from measured target 2 laser light reflected signals via lens 31, connect and cause optical sensor 33, optical sensor 33 detected laser signals are through transimpedance amplifier 34 amplifications and convert voltage signal to, be sent to the quick comparer 35 of voltage, the voltage signal that receives when the quick comparer 35 of voltage is during greater than its reference voltage, to export one optical control signal will be arranged, otherwise then export no optical control signal, this signal is represented with the high or low of output level, above-mentioned control signal is transferred into Laser emission driver 11 with the control Laser emission, is sent to flight time measurement unit 4 simultaneously; This measuring unit 4 is measured the cycle t of above-mentioned control signal
0, according to different accuracy requirements, can be provided with Measuring Time or measuring period number; One microprocessor 5 is in order to be converted to tested distance D to the periodic quantity that records.
In Fig. 2, the laser signal light of controlled laser transmitter 1 output is received by optical receiver after measured target 2 reflections again, and its required flight time is Δ T; T between the circuit delay of optical receiver 3
11Arrive the time of exporting electric signal again after promptly receiving signal; The circuit delay time of controlled laser transmitter 1 is t
12Promptly receive the time of optical receiver output electric signal to controlled laser transmitter emission laser signal.Then, again by controlled laser transmitter 1 output light signal.
When measuring beginning, put controlled laser transmitter 1 for emission state to measured target 2 emission beam of laser, receive by optical receiving set 3 through measured target 2 reflection backs, during the propagation in atmosphere time-delay be Δ T; After optical receiver 3 receives laser, output high level signal to controlled laser transmitter 1, during circuit delay be t
11After controlled laser transmitter 1 receives high level signal, promptly optical control signal is arranged after, be placed in and stop emission state, promptly stop to measured target 2 emission laser, during from receiving high level signal to stopping to launch laser through circuit delay t
12
Controlled laser transmitter 1 stops luminous signal behind propagation in atmosphere time-delay Δ T, is received by optical receiver 3, and promptly it receives no light signal; This no light signal is through circuit delay t
11After, optical receiver output low level signal does not promptly have light signal through circuit delay t
12, be sent to controlled laser transmitter 1 and make it recover emission laser.
Above-mentioned luminous → stop → time of luminous again process i.e. photosignal t oscillation period
0, its formation and computing formula are as above-mentioned.
The electric signal of optical receiver 3 output is transferred into the flight time measurement unit 4 that is made of chip MAX191 etc. simultaneously, and this signal is promptly with t
0Be the cycle fluctuating signal in cycle, tested flight time Δ T is also contained in wherein, and flight time measurement unit 4 is from t
0In draw Δ T.It can measure the time Nt that comprises N continuous pulsation periodic signal
0Draw t
0Mean value is to improve measuring accuracy.
In the ordinary course of things, t
1In 100ns.With 100 meters range findings is example, t
1Get maximal value 100ns, t
0Then be 770ns, when only measuring one-period, measuring required time t is T
0With T
1Sum, T
1Be the required time of time measurement, usually in the millisecond magnitude, much larger than t
0So measurement time t is about T
1In the present invention, the flight time measurement unit lags behind above-mentioned oscillatory circuit Nt
0The time operation, thereby when measuring one-period, measuring required time t is t
0* 1000=770 μ s and T
1Sum is about 2T
1, but also obtained 1000 times average precision simultaneously, and promptly reducing significantly but measure required time t, conventional art is T
1* 1000, the present invention is 2T
1, be the former 1/500, measure that required time t descends significantly but measuring accuracy has improved on the contrary.
Claims (4)
1, laser distance measurement method, it is realizing apart from being converted into the flight time, promptly apart from=1/2 * light velocity * flight time, wherein, flight time is meant from sending range finding with laser signal → be radiated on the object → reflect and receive the required time Δ T of above-mentioned laser signal, it is characterized in that: at one by the controlled laser transmitter, measured target and optical receiver three are connected in series and in the photosignal oscillating loop that constitutes successively, under the control of laser pickoff, the duty of controlled laser transmitter is by there being the output of light output → unglazed output → have again light to constitute photosignal oscillation period, the continuous circulation in cycle just constitutes a stable photosignal loop, above-mentioned cycle t
0Can be expressed as follows:
t
0＝ΔT+t
1＝ΔT+t
11+t
12
Continuous coverage N all after date got t
0Average;
Wherein, t
1: the oscillatory circuit delay time;
t
11: the time interval between optical receiver output signal and the input signal, the i.e. time delay of optical receiver itself;
t
12: required time between controlled laser transmitter input electrical signal and the emission light signal, i.e. controlled laser emission
The time delay of device itself:
The time interval of measuring two adjacent output signals of optical receiver multiply by 2 again, can obtain photosignal t oscillation period
0, therefrom can calculate flight time Δ T.
2, laser distance measurement method according to claim 1 and the system that proposes, it is characterized in that, it contains: by the controlled laser transmitter, the optical receiver that the representative of measured target and output level has light or do not have an optical control signal is connected in series and photosignal oscillatory circuit that closed loop constitutes successively, input end link to each other with the optical receiver output terminal and be provided with Measuring Time or measuring period number and with above-mentioned oscillatory circuit hysteresis NT
0The flight time measurement unit of time operation, the microprocessor that input end links to each other with flight time measurement unit output terminal.
3, laser distance measuring system according to claim 2, it is characterized in that, described controlled laser transmitter contains: the Laser emission driver that input end links to each other with the optical receiver output terminal, what link to each other with the Laser emission driver output end is driven laser diode, receives behind the laser signal that is driven laser diode output the lens to the measured target emission through optical fiber again.
4, laser distance measuring system according to claim 2, it is characterized in that, described optical receiver contains: the lens that receive the reflector laser of measured target, receive the optical sensor of above-mentioned reflector laser through optical fiber, the voltage feedback signal output signal that input signal is exported for the optical sensor that is amplified by transimpedance amplifier is respectively and is input to the controlled laser transmitter, light being arranged or do not have the quick comparer of voltage of optical control signal of flight time measurement unit, described light to be arranged or do not have optical control signal be to receive and the difference decision of the voltage feedback signal that amplified from the optical sensor output terminal by being set in advance in reference voltage on the quick comparer of voltage and the quick comparer of voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02130849 CN1403834A (en) | 2002-10-11 | 2002-10-11 | Laser ranging method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02130849 CN1403834A (en) | 2002-10-11 | 2002-10-11 | Laser ranging method and system |
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| Publication Number | Publication Date |
|---|---|
| CN1403834A true CN1403834A (en) | 2003-03-19 |
Family
ID=4746485
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|---|---|---|---|
| CN 02130849 Pending CN1403834A (en) | 2002-10-11 | 2002-10-11 | Laser ranging method and system |
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|---|---|
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100388007C (en) * | 2004-08-05 | 2008-05-14 | 南阳孚达光电技术有限公司 | Binocular type laser distance measuring and speed measuring instrument |
| CN100416298C (en) * | 2006-05-19 | 2008-09-03 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN1880970B (en) * | 2005-06-16 | 2010-05-12 | 株式会社扫佳 | Distance measuring device and method thereof |
| CN101887126A (en) * | 2010-06-27 | 2010-11-17 | 清华大学 | Double-frequency laser Doppler velocity measurement method and device |
| CN103852067A (en) * | 2012-12-04 | 2014-06-11 | 德州仪器公司 | Method for adjusting operating parameters of Time of Flight (TOF) measurement system |
| CN105510300A (en) * | 2016-01-04 | 2016-04-20 | 聚光科技(杭州)股份有限公司 | Automatic electrode adjustment device and method |
| CN106054276A (en) * | 2015-04-13 | 2016-10-26 | 洛克威尔自动控制安全公司 | Flight time safety optoelectronic barrier and method for monitoring protective region |
| CN106154815A (en) * | 2016-07-27 | 2016-11-23 | 哈尔滨睿之芯信息技术股份有限公司 | Split-second precision TT&C system for the field of finding range |
| CN106209290A (en) * | 2016-07-14 | 2016-12-07 | 清华大学 | A kind of propagation delay time and transmission range measure system and method |
| CN108161232A (en) * | 2017-12-11 | 2018-06-15 | 厦门盈趣科技股份有限公司 | A kind of method and device of laser curved surface engraving |
| CN108196265A (en) * | 2016-12-08 | 2018-06-22 | 北京万集科技股份有限公司 | A kind of multi-path laser flight time parallel acquisition system and method |
| CN108287347A (en) * | 2018-02-09 | 2018-07-17 | 广东欧珀移动通信有限公司 | Distance measuring method, electronic device and computer readable storage medium |
| CN111164379A (en) * | 2018-09-07 | 2020-05-15 | 深圳市大疆创新科技有限公司 | Method and apparatus for laser ranging |
| CN112292610A (en) * | 2018-04-10 | 2021-01-29 | 爱贝欧汽车系统有限公司 | Method for carrying out a measurement procedure |
-
2002
- 2002-10-11 CN CN 02130849 patent/CN1403834A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100388007C (en) * | 2004-08-05 | 2008-05-14 | 南阳孚达光电技术有限公司 | Binocular type laser distance measuring and speed measuring instrument |
| CN1880970B (en) * | 2005-06-16 | 2010-05-12 | 株式会社扫佳 | Distance measuring device and method thereof |
| CN100416298C (en) * | 2006-05-19 | 2008-09-03 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN101887126A (en) * | 2010-06-27 | 2010-11-17 | 清华大学 | Double-frequency laser Doppler velocity measurement method and device |
| CN103852067A (en) * | 2012-12-04 | 2014-06-11 | 德州仪器公司 | Method for adjusting operating parameters of Time of Flight (TOF) measurement system |
| CN103852067B (en) * | 2012-12-04 | 2017-06-30 | 德州仪器公司 | The method for adjusting the operating parameter of flight time (TOF) measuring system |
| CN106054276A (en) * | 2015-04-13 | 2016-10-26 | 洛克威尔自动控制安全公司 | Flight time safety optoelectronic barrier and method for monitoring protective region |
| CN106054276B (en) * | 2015-04-13 | 2019-08-13 | 罗克韦尔自动化瑞士有限责任公司 | Monitor the flight time safe photoelectricity barrier and method of protection zone |
| CN105510300B (en) * | 2016-01-04 | 2019-01-04 | 聚光科技(杭州)股份有限公司 | Electrode self-checking device and method |
| CN105510300A (en) * | 2016-01-04 | 2016-04-20 | 聚光科技(杭州)股份有限公司 | Automatic electrode adjustment device and method |
| CN106209290A (en) * | 2016-07-14 | 2016-12-07 | 清华大学 | A kind of propagation delay time and transmission range measure system and method |
| CN106154815A (en) * | 2016-07-27 | 2016-11-23 | 哈尔滨睿之芯信息技术股份有限公司 | Split-second precision TT&C system for the field of finding range |
| CN108196265A (en) * | 2016-12-08 | 2018-06-22 | 北京万集科技股份有限公司 | A kind of multi-path laser flight time parallel acquisition system and method |
| CN108196265B (en) * | 2016-12-08 | 2024-05-10 | 武汉万集光电技术有限公司 | Multi-path laser flight time parallel acquisition system and method |
| CN108161232A (en) * | 2017-12-11 | 2018-06-15 | 厦门盈趣科技股份有限公司 | A kind of method and device of laser curved surface engraving |
| CN108287347A (en) * | 2018-02-09 | 2018-07-17 | 广东欧珀移动通信有限公司 | Distance measuring method, electronic device and computer readable storage medium |
| CN112292610A (en) * | 2018-04-10 | 2021-01-29 | 爱贝欧汽车系统有限公司 | Method for carrying out a measurement procedure |
| CN111164379A (en) * | 2018-09-07 | 2020-05-15 | 深圳市大疆创新科技有限公司 | Method and apparatus for laser ranging |
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