CN1548985A - Laser radar echo receiving apparatus and controlling method - Google Patents
Laser radar echo receiving apparatus and controlling method Download PDFInfo
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- CN1548985A CN1548985A CNA031134963A CN03113496A CN1548985A CN 1548985 A CN1548985 A CN 1548985A CN A031134963 A CNA031134963 A CN A031134963A CN 03113496 A CN03113496 A CN 03113496A CN 1548985 A CN1548985 A CN 1548985A
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Abstract
The present invention discloses ladar echo receiving device and control method. The receiving device contains laser emitting and receiving parts, as well as microcomputer, connected cutting optical path, chopping part to block low altitude echo signal, reference signal part to output time reference signal, time sequence part to generate trigger signal and servo motor control signal and signal drive part for remote triggering. The control method includes determining the trigger mode of laser emitting part to generate repeated signal, determining the state of servo motor to generate time reference signal, generating time delay, generating and delaying the sync signal and generating the laser emitting part triggering signal. The present invention is convenient, fast and high in reliability.
Description
Technical field the present invention relates to a kind of radar installations and operation method, especially laser radar echo receiving trap and control method.
Background technology is present, and people often use laser radar in order to survey the state of high-altitude stratospheric aerosol.Laser radar need receive the laser echo signal about 10～40Km when surveying, analog computation and actual measured results all show, nearly 6 orders of magnitude of the dynamic range of 10～40Km laser echo signal intensity.In the low latitude, every rising 3Km echoed signal intensity reduces by an order of magnitude approximately; In the high-altitude, then every rising 10Km echoed signal intensity just reduces by an order of magnitude.For improving the height of surveying, people have to increase the emissive power of laser instrument or improve detector sensitivity., this has caused a new problem again, and promptly the low latitude echoed signal is very strong, gently then makes receiving system saturated, and is heavy then cause highly sensitive detector to damage; With the photomultiplier is example, and strong illumination can make cathode material fatigue, needs could recover for a long time.This will make the result of detection error of laser radar very big.For addressing this problem, in the Chinese invention patent ublic specification of application CN 1340702A that announced on March 20th, 2002, disclosed a kind of " multi-wavelength laser radar can programme controlled shutter device and control method ".Its optical gate parts of opening and turn-offing etc. constitute but it is by laser emission part, receiving-member and programmed control, and wherein, laser emission part adopts Nd-YAG laser instrument and XeCl laser instrument; Receiving-member is receiving telescope and many photoelectric commutators that contain photomultiplier; The optical gate parts are made up of with EPROM and panel hand switch two cover optical gate signal deteching circuits of the optical gate blade on the high speed alternating current arbor, optical gate blade both sides, the variable frequency power source able to programme of high speed alternating current generator and the Z64180 single-chip microcomputer as controller that is electrically connected with this power supply and aforesaid laser emission part; The optical gate blade places the perifocus place of receiving telescope.During work, according to the needs of surveying height, set the position of optical gate blade on receiving light path artificially by the panel hand switch in the controller, it is the receiving light path before photoelectric commutator is opened or turn-offed to the optical gate blade, to shelter from stronger low latitude echoed signal, guarantee that photoelectric commutator all can be operated in the normal scope in the whole process of atmospheric sounding.But, this multi-wavelength laser radar can programme controlled shutter device and control method exist weak point, at first, use inconvenience, automaticity is not high, needs manually to set indirectly to open or turn-off receiving light path; Secondly, complex structure, integrated level are low, cause easy break-down, poor reliability; Once more, it is longer to finish the required time of switch optical gate, makes laser radar be difficult to respectively the target in high low latitude be carried out real-time detection apace.
The summary of the invention the technical problem to be solved in the present invention provides a kind of easy to use, reliable operation for overcoming weak point of the prior art, fast the laser radar echo receiving trap and the control method of real-time detection.
The laser radar echo receiving trap contains laser emission part, receiving-member and the light chopping part in the laser radar, said receiving-member comprises receiving telescope and photoelectric commutator, said light chopping part comprises the blade on motor, electric machine controller and the motor shaft, the radius of turn of said blade places the place, focal plane of said receiving telescope, and particularly said device also comprises microcomputer and the light chopping part that is electrically connected with it, reference signal parts, clock signal parts and signal driver part; The servomotor that said light chopping part comprises servomotor controller and is electrically connected with it, and the chopper disk that has circular hole and blade on the servo motor shaft, the light-path that is used to cut the reference signal parts makes its generation time reference signal, and blade is in time placed before the photoelectric commutator with low altitude echo signal; Said reference signal parts comprise light emitting diode and phototriode, and they place the both sides of said circular hole radius of turn respectively, with the output time reference signal; Said clock signal parts comprise clock signal processor and digital-to-analog conversion card, wherein, the clock signal processor is formed by three timer/counter cascades, first output terminal in them and second gate terminals are joined, the output terminal of second clock termination reference signal parts, the gate terminals that the output termination is the 3rd, the 3rd output terminal is connected to the input end of signal driver part, three timer/counters all are connected with its address bus through the address decoder of microcomputer, its mode of operation is respectively, first works in internal clocking, the internal trigger pattern, be used to produce original repetition rate signal, second works in external clock, external trigger mode, be used to realize repetition rate signal and time reference signal synchronously to produce synchronizing signal, the 3rd works in internal clocking, external trigger mode, the basic enterprising line delay that is used for delay value that synchronizing signal is sent here in microcomputer is to produce trigger pip, the output termination servomotor controller of digital-to-analog conversion card, be used to produce the control signal of chopper disk rotating speed, the startup of chopper disk, the digital signal that the control signal that turns to and brake is sent here by microcomputer produces; Said signal driver part comprises time base circuit, voltage comparator circuit and amplifying circuit, be transformed into the positive pulse trigger pip with negative pulse trigger pip with the output of clock signal parts, and it is carried out shaping and promote load-carrying ability, be used for triggering at a distance laser emission part.
As the further improvement of device, described servomotor is 1628 type high-speed servo motors; Described servomotor controller is a BLD3502 type servo circuit; Described blade is two, places the two ends of chopper disk center of circle symmetry respectively; Light emitting diode in the described reference signal parts is an infrarede emitting diode; Described reference signal parts are GK122 type transmission-type optical switch component; Timer/counter in the described clock signal parts is the PCL-836 timer/counter, this PCL-836 timer/counter places the ISA expansion slot of microcomputer mainboard, two groups of three timer/counters that cascade on it forms are respectively applied for and trigger different laser instruments, its digital quantity output port 1., 2., 3.,
() be connected to the corresponding end of BLD3502 type servo circuit plate, be used to control servomotor startup, turn to, brake; Digital-to-analog conversion card in the described clock signal parts is a PCL-728 digital-to-analog conversion card, and this PCL-728 digital-to-analog conversion is placed in the ISA expansion slot of microcomputer mainboard, and its output port CH1 is connected with the input end of BLD3502 type servo circuit; Time base circuit in the described signal driver part is 555 general time base circuits, and voltage comparator circuit is 393 common voltage comparator circuits, and amplifying circuit is an emitter follower amplifier.
The control method of laser radar echo receiving trap comprises the laser emission part emission laser that triggers in the laser radar, and by receiving-member reception echoed signal, particularly said method comprises following steps: determine the trigger mode of laser emission part, produce a repetition rate signal of representing trigger mode; Determine the state of servomotor, and produce a time reference signal; According to the height of surveying, with reference to circular hole on the chopper disk and interlobate central angle, and the turning to of servomotor, rotating speed, produce a delay value Δ t; Produce a synchronizing signal by repetition rate signal and time reference signal; Behind sync signal delay Δ t, produce the trigger pip that triggers laser emission part.
Beneficial effect with respect to prior art is that one, whole echo receiving trap all move under the unified control of microcomputer, after once setting relevant parameter, the height value that the user only need import detection just can both be made things convenient for by the result of device acquisition measurement, and is quick again; They are two years old, have circular hole and the blade that is used for low altitude echo signal on the chopper disk simultaneously with the generation time reference signal, by the accurate position that time reference signal just can be learnt blade, save the detection part of leaf position, improved the integrated level and the reliability of device; Its three, can be continuously, fast, respectively the target in high low latitude is surveyed in real time.
Description of drawings is described in further detail optimal way of the present invention below in conjunction with accompanying drawing.
Fig. 1 is a kind of basic structure synoptic diagram of the present invention;
Fig. 2 is the line graph of the PCL-836 timer/counter of one of clock signal parts formation among Fig. 1;
Fig. 3 is a kind of embodiment circuit structure diagram of signal driver part among Fig. 1;
Fig. 4 is the process flow diagram of control method of the present invention;
Fig. 5 is the workflow diagram of device shown in Figure 1;
Fig. 6 is a control signal sequential chart of the present invention, wherein, (A) initial triggering signal that produces for device, it is the repetition rate signal, this signal also is not used in the triggering laser emission part, (B) time reference signal that produces after by light chopping part cutting light-path for the reference signal parts is (C) for repetition rate signal and the time reference signal synchronizing signal that has leaf position that produced of back synchronously, (D) for being used to trigger the trigger pip of laser emission part behind the Δ t that synchronizing signal is delayed time;
Fig. 7 is to use the actual effect figure behind the present invention, and wherein, horizontal ordinate is for surveying height, and unit is a km, and ordinate is a laser echo signal intensity, and unit is a photon number; Noise when the following crest that is occurred of 9Km is the photomultiplier connection among the figure.
Embodiment is referring to Fig. 1, Fig. 2 and Fig. 3, and the laser radar echo receiving trap comprises 7, one light chopping parts of a microcomputer, a receiving-member, 4, one signal driver parts 5 of 3, one clock signal parts of reference signal parts and a laser emission part 6.This microcomputer 7 is electrically connected with light chopping part, reference signal parts 3, clock signal parts 4 and signal driver part 5 respectively, and signal driver part 5 is electrically connected with laser emission part 6.
Wherein, 7 overall control actions of microcomputer, it is universal microcomputer.
Light chopping part comprises the BLD3502 type servo circuit (servomotor controller 8) of Minimotor company and 1628 type high-speed servo motors 9 of the Minimotor company that is electrically connected with it, and on the servo motor shaft have a circular hole 2 and with the chopper disk 1 of two blades 11 of its center of circle symmetry; The light-path that is used to cut reference signal parts 3 makes its generation time reference signal, and blade 11 is in time placed before the photoelectric commutator 10 with low altitude echo signal.
Receiving-member comprises receiving telescope 12 and photoelectric commutator 10, and receiving telescope 12 and photoelectric commutator 10 place the both sides of blade 11 radiuss of turn respectively, and photoelectric commutator 10 is wherein selected photomultiplier for use; Be used to receive laser echo signal.
Clock signal parts 4 comprise PCL-836 timer/counter and the PCL-728 digital-to-analog conversion card that grinds magnificent company, and they all place the ISA expansion slot of microcomputer 7 mainboards.Wherein, the PCL-836 timer/counter is by two groups of three timer/counter (C0～C2, C3～C5) cascade forms, two groups of concurrent workings, be respectively applied for and trigger Nd-YAG laser instrument and XeCl laser instrument, the aerial lug of its sequential port is first (C0, C3) output terminal (OUT0, OUT3) with second (C1, C4) gate terminals (GATE1, GATE4) join, second (C1, C4) clock end (CLK1, CLK4) all connect the output terminal of reference signal parts 3, output terminal (OUT1, OUT4) meet the 3rd (C2, C5) gate terminals (GATE2, GATE5), the 3rd (C2, C5) output terminal (OUT2, OUT5) be connected to the input end of signal driver part 5, two groups of three timer/counter (C0～C2, C3～C5) all is connected through the address decoder of microcomputer 7 address bus with it, its mode of operation is respectively: first (C0, C3) work in internal clocking, the internal trigger pattern is used to produce original repetition rate signal, second (C1, C4) work in external clock, external trigger mode, be used to realize repetition rate signal and time reference signal synchronously to produce synchronizing signal, the 3rd (C2 C5) works in internal clocking, external trigger mode, the basic enterprising line delay that is used for delay value that synchronizing signal is sent here in microcomputer 7 is to produce the trigger pip (the anti-interference signal of negative logic) that triggers laser emission part 6, and concrete method to set up can see the service manual of PCL-836 for details; The digital quantity output port of PCL-836 timer/counter 1., 2., 3.,
() end produce start, turn to, brake signal, be connected to the corresponding end of BLD3502 type servo circuit plate, be used to control the state of servomotor 9; The CH1 port of PCL-728 digital-to-analog conversion card is connected to the input end of BLD3502 type servo circuit plate, and it is used for controlling the rotating speed of chopper servomotor 9 by the continuous adjustable voltage of 0～10V of software control output.
Signal driver part 5 comprises 555 general time base circuit U1,393 common voltage comparator circuit U2 and emitter follower amplifier etc.Wherein, the resistance R 1, the capacitor C 1 that are electrically connected with U1 constitute the pulse reverse circuit that negative edge triggers, and have only the undersuing of 1 microsecond to be transformed into positive pulse signal the pulsewidth of clock signal parts 4 outputs.Resistance R 2 that is electrically connected with U2 and R3 (ratio is 5: 1), pull-up resistor R4, input resistance R5 constitute pulse shaping circuit, positive pulse signal are carried out the pulsewidth adjustment of 50～250 microseconds, the antijamming capability during with the enhancing signal long-distance transmissions.Triode 3DG1 and resistance R 6 constitutes emitter follower amplifiers, is used to improve the carrying load ability of signal, finishes at a distance the triggering to laser emission part 6.
Referring to Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the control method of laser radar echo receiving trap and device workflow are as follows: after the energising of laser radar echo receiving trap, microcomputer 7 presets initial value for each functional part, promptly set its initialization state, wherein, give the timer/counter (C0 of PCL-836 timer/counter, C3) mode of operation of She Dinging is an internal clocking, the internal trigger pattern, give timer/counter (C1, C4) mode of operation of She Dinging is an external clock, external trigger mode, give timer/counter (C2, C5) mode of operation of She Dinging is an internal clocking, external trigger mode (step 110).Then, after the user of device sets a triggering mode to device, be that setting device is that single triggers at random or continous-stable triggers, single as optional 50～250 microsecond pulsewidths triggers at random, or trigger with the frequency continous-stable of 10Hz or 20Hz respectively, microcomputer 7 produces a time corresponding parameter thus after its address bus is delivered to the timer/counter (C0 of PCL-836 timer/counter, C3), to produce the original repetition rate signal (step 120～130) of corresponding pulsewidth by it.Then, after the user of device sets the rotating speed of servomotor 9 to device, microcomputer 7 produces a running parameter and comes PCL-728 digital-to-analog conversion to stick into row to set, and start servomotor 9 (step 140～160), make its generation time reference signal with light-path by chopper disk 1 cutting reference signal parts 3.Afterwards, the user of device sets a detection height to device after, as the height more than the 40Km, microcomputer 7 is according to the central angle of 11 in the circular hole 2 on the turning to of triggering mode, servomotor 9, rotating speed, the chopper disk 1 and blade, and survey highly, calculate a delay value Δ t, and through its address bus be sent to timer/counter (C2, C5); Before this, timer/counter (C1, C4) gate terminals (GATE1, GATE4) and clock end (CLK1, CLK4) receive timer/counter (C0 respectively, C3) the repetition rate signal of Chan Shenging and by the time reference signal of reference signal parts 3 output, and they have been produced one and be sent to timer/counter (C2 with the back, C5) gate terminals (GATE2, GATE5) synchronizing signal, (C2's timer/counter of this moment C5) delays time synchronizing signal behind the Δ t, (OUT2 OUT5) sends a pulsewidth and has only the negative pulse trigger pip of the triggering laser emission part 6 of 1 microsecond (the anti-interference signal of negative logic) (step 170～200) its output terminal.After the input end IN of 555 general time base circuit U1 in the signal driver part 5 receives this signal, be converted into positive pulse signal and deliver to 393 common voltage comparator circuit U2, positive pulse signal being carried out delivering to triode 3DG1 after the pulsewidth adjustment of 50～250 microseconds by U2 amplifies, to improve the carrying load ability of signal, finish at a distance triggering to laser emission part 6.Emission laser after laser emission part 6 is triggered, the echoed signal of its differing heights is earlier after receiving telescope 12 is assembled back directive photomultiplier, to shelter from the echoed signal in the following low latitude of 40Km this moment by the blade 11 on the chopper disk 1 of servomotor 9 driven rotary, and only let slip echoed signal more than the 40Km, its laser echo signal is as shown in Figure 7; Wherein, the appearance of the laser echo signal curve of 35～40Km height is because the echoed signal hot spot is gradually become partial occlusion by blade 11 from blocking entirely, up to what all pass through to be produced.Be 50 microseconds the transit time (from the complete shut-down to the standard-sized sheet) of blocking of this device, this does not have influence to telemeasurement, because the high-rise initial distance of measuring of laser radar is 9 kilometers, the transmission time that is echoed signal needs 60 microseconds, much larger than blocking transit time, thereby avoided the influence of transition state to measuring.Did device wait for that user's decision continues to survey (step 210) after a detection process was finished? if do not survey, then make servomotor 9 stop operating, forward to and wait for that the user sets triggering mode place (step 220) to device; If continue to survey, will device inquire that the user changes the height (step 230) of detection? if change height, then change the user and set highly place's (step 170) of detection to device; If do not change height, then device still carries out detection once more automatically by former height (changeing step 180).
This example has only exemplified a kind of laser instrument that triggers in the laser emission part 6, if trigger two or more laser instruments, then only needs to judge that before this example triggering which kind of laser instrument gets final product.
Obviously, those skilled in the art can carry out various changes and modification to laser radar echo receiving trap of the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1, a kind of laser radar echo receiving trap, contain laser emission part (6), receiving-member and light chopping part in the laser radar, said receiving-member comprises receiving telescope (12) and photoelectric commutator (10), said light chopping part comprises the blade (11) on motor, electric machine controller and the motor shaft, the radius of turn of said blade (11) places the place, focal plane of said receiving telescope (12), it is characterized in that:
Said device also comprises microcomputer (7) and the light chopping part that is electrically connected with it, reference signal parts (3), clock signal parts (4) and signal driver part (5);
The servomotor (9) that said light chopping part comprises servomotor controller (8) and is electrically connected with it, and the chopper disk (1) that has circular hole (2) and blade (11) on the servo motor shaft, the light-path that is used to cut reference signal parts (3) makes its generation time reference signal, and makes blade (11) in time place photoelectric commutator (10) before with low altitude echo signal;
Said reference signal parts (3) comprise light emitting diode and phototriode, and they place the both sides of said circular hole (2) radius of turn respectively, with the output time reference signal;
Said clock signal parts (4) comprise clock signal processor and digital-to-analog conversion card, wherein, the clock signal processor is formed by three timer/counter cascades, first output terminal in them and second gate terminals are joined, the output terminal of second clock termination reference signal parts (3), the gate terminals that the output termination is the 3rd, the 3rd output terminal is connected to the input end of signal driver part (5), three timer/counters all are connected through the address decoder of microcomputer (7) address bus with it, its mode of operation is respectively, first works in internal clocking, the internal trigger pattern, be used to produce original repetition rate signal, second works in external clock, external trigger mode, be used to realize repetition rate signal and time reference signal synchronously to produce synchronizing signal, the 3rd works in internal clocking, external trigger mode, the basic enterprising line delay that is used for delay value that synchronizing signal is sent here in microcomputer (7) is to produce trigger pip, the output termination servomotor controller (8) of digital-to-analog conversion card, be used to produce the control signal of chopper disk (1) rotating speed, the startup of chopper disk (1), the digital signal that the control signal that turns to and brake is sent here by microcomputer (7) produces;
Said signal driver part (5) comprises time base circuit, voltage comparator circuit and amplifying circuit, be transformed into the positive pulse trigger pip with negative pulse trigger pip with clock signal parts (4) output, and it is carried out shaping and promote load-carrying ability, be used for triggering at a distance laser emission part (6).
2, device according to claim 1, wherein, servomotor (9) is 1628 type high-speed servo motors.
3, device according to claim 1, wherein, servomotor controller (8) is a BLD3502 type servo circuit.
4, device according to claim 1, wherein, blade (11) is two, places the two ends of chopper disk (1) center of circle symmetry respectively.
5, device according to claim 1, wherein, the light emitting diode in the reference signal parts (3) is an infrarede emitting diode.
6, device according to claim 5, wherein, reference signal parts (3) are GK122 type transmission-type optical switch component.
7, according to claim 1 or 3 described devices, wherein, timer/counter in the clock signal parts (4) is the PCL-836 timer/counter, this PCL-836 timer/counter places the ISA expansion slot of microcomputer (7) mainboard, two groups of three timer/counter (C0～C2 that cascade on it forms, C3～C5) is respectively applied for and triggers different laser instruments, its digital quantity output port 1., 2., 3.,
() be connected to the corresponding end of BLD3502 type servo circuit plate, be used to control servomotor startup, turn to, brake.
8, according to claim 1 or 3 described devices, wherein, digital-to-analog conversion card in the clock signal parts (4) is a PCL-728 digital-to-analog conversion card, this PCL-728 digital-to-analog conversion is placed in the ISA expansion slot of microcomputer (7) mainboard, and its output port CH1 is connected with the input end of BLD3502 type servo circuit.
9, device according to claim 1, wherein, the time base circuit in the signal driver part (5) is 555 general time base circuits, and voltage comparator circuit is 393 common voltage comparator circuits, and amplifying circuit is an emitter follower amplifier.
10, the control method of device according to claim 1 comprises laser emission part (6) the emission laser that triggers in the laser radar, and receives echoed signal by receiving-member, it is characterized in that said method comprises following steps:
Determine the trigger mode of laser emission part (6), produce a repetition rate signal of representing trigger mode;
Determine the state of servomotor (9), and produce a time reference signal;
According to the height of surveying, with reference to circular hole (2) on the chopper disk (1) and the central angle between blade (11), and the turning to of servomotor (9), rotating speed, produce a delay value Δ t;
Produce a synchronizing signal by repetition rate signal and time reference signal;
Behind sync signal delay Δ t, produce the trigger pip that triggers laser emission part (6).
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| CN102176023A (en) * | 2007-02-06 | 2011-09-07 | 电装波动株式会社 | Laser radar apparatus that measures direction and distance of an object |
| CN101839981B (en) * | 2010-01-28 | 2012-05-23 | 中国人民解放军电子工程学院 | Method and device for acquiring laser imaging echo waveform and level characteristics |
| CN102721956A (en) * | 2012-06-08 | 2012-10-10 | 中国科学院光电技术研究所 | Method for acquiring and transmitting echo signals in light beam aiming system |
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| CN101738610B (en) * | 2009-10-16 | 2012-10-24 | 西安电子科技大学 | Parallel collecting and processing device of high-speed multichannel laser echo |
| CN101839981B (en) * | 2010-01-28 | 2012-05-23 | 中国人民解放军电子工程学院 | Method and device for acquiring laser imaging echo waveform and level characteristics |
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| CN103135102A (en) * | 2013-02-02 | 2013-06-05 | 中国科学院安徽光学精密机械研究所 | Laser radar system with function of inhibiting low-altitude strong echo signals |
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| CN110244311A (en) * | 2019-06-28 | 2019-09-17 | 深圳市速腾聚创科技有限公司 | Laser radar reception device, laser radar system and laser distance measurement method |
| US11768278B2 (en) | 2019-06-28 | 2023-09-26 | Suteng Innovation Technology Co., Ltd. | Lidar receiving apparatus, lidar system and laser ranging method |
| WO2021109918A1 (en) * | 2019-12-06 | 2021-06-10 | 北京石头世纪科技股份有限公司 | Pulse ranging device and method, and automatic cleaning apparatus having same |
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