CN1721875A - Target searching method and apparatus for pulsed laser range finder - Google Patents
Target searching method and apparatus for pulsed laser range finder Download PDFInfo
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- CN1721875A CN1721875A CN 200410060408 CN200410060408A CN1721875A CN 1721875 A CN1721875 A CN 1721875A CN 200410060408 CN200410060408 CN 200410060408 CN 200410060408 A CN200410060408 A CN 200410060408A CN 1721875 A CN1721875 A CN 1721875A
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Abstract
The invention relates to a goal seeking method and apparatus of pulsed laser range finder which comprises the following steps: emitting laser signal; receiving laser signal: optical receiver in turn sends the received laser signal which is reflected by objection and the echo which is formed by environment interfering material's noise into differential circuit; differential circuit operates it and cuts off the pulse which is less than one clock period and constrains the pulse which is more than one clock period into a pulse width; then it separately forms regular discontinuous integer echo; gathering the temporary sum of integer echo; goal seeking.
Description
Technical field
The invention belongs to laser technology field, the target seeking method and the goal seeking device thereof of the high precision short-pulse laser stadimeter under particularly a kind of low signal-to-noise ratio.
Background technology
Laser ranging is a kind of mode in the light wave range finding, existing laser range finder can be divided into two kinds of pulsed and phase types, the disclosed a kind of application number of Patent Office of the People's Republic of China is 011094486 laser range finder, be a kind of target seeking method and device that can work in the laser range finder that contains wrong alert rate, its propose a kind of can work with the environment that the alert rate of constant mistake is arranged under the method one use digital integration technology of laser ranging fast the filtering out of will mixing, can signal that find out target under the fast situation of mixing arranged.
The pulse type laser range finding is adopted single-chip microcomputer to control mostly and is calculated with the analysis and utilization shift register and carries out the echo storage, dumping to internal storage location by single-chip microcomputer then builds and adds processing, emitting times is fixed, do not use special-purpose high-speed digital signal processor, computing velocity is slow, and pulse-width is not handled, noise processed is relatively poor, speed is low, and time delay is long, can not adapt to various situations and state.
Summary of the invention
The object of the present invention is to provide a kind of target seeking method of pulse laser laser welder, to improve computing velocity.
Another object of the present invention is to provide a kind of goal seeking device of pulse laser laser welder.
The target seeking method of pulse laser laser welder of the present invention may further comprise the steps:
(1) emission laser signal: select environmental pattern according to environmental aspect, laser beam emitting device according to the predetermined emitting times of selected environmental pattern and interval time the emission pulse laser signal;
(2) receive laser signal: the echo that the noise that is produced by object laser light reflected signal and environmental interference thing that optical receiver will receive at every turn forms, send into differentiating circuit successively, carry out shaping by differentiating circuit, the pulse of width less than a clock period disappeared, width is tied to a pulse width greater than the pulse of a clock period, forms neat but discontinuous shaping echo respectively;
(3) shaping echo temporary and adding up: the limit transmitting side receives the limit and adds up, before the emission of postorder, for the shaping echo that last time received, directly finish data temporary, the extraction of temporal data is added up and the storage of cumulative data;
(4) goal seeking: start distance computation routine at microprocessor at last, utilize statistical method, count echo times, data are carried out analytic statistics, the data greater than setting value in the data are handled, exclude data less than setting value, to get rid of with system noise at random, the later maximal value of statistics will be detected, and according to address, convert into range data, draw target range.
The goal seeking device of pulse laser laser welder of the present invention comprises:
One mode selector, the pattern difference, emitting times and Transmission Time Interval are adjustable, are used for measurement and data processing under the different mode.
One generating laser is used for emission pulse laser;
One laser signal receiver, the echo that forms in order to the noise that is produced by object laser light reflected signal and environmental interference thing that will receive at every turn;
One differentiating circuit, send into differentiating circuit successively in order to the echo that will receive at every turn, carry out shaping by differentiating circuit, the pulse of width less than a clock period disappeared, width is tied to a pulse width greater than the pulse of a clock period, forms neat but discontinuous shaping echo respectively;
One clock signal generator is in order to the required clock signal of generation system;
One totalizer, in order to before the emission of postorder, for the shaping echo that last time received, directly finish data temporary, the extraction of temporal data is added up and the storage of cumulative data;
One beat generator carries out all accumulating operations under the effect of beat;
One microprocessor, finish and the work of fetching data after all emitting times is finished receiving to add up, generate continuous address on address wire, the data on the reading of data line are carried out analytic statistics with data then, data greater than particular value in the data are handled, exclude data, will get rid of with system noise at random, the later maximal value of statistics is detected less than particular value, and, convert into range data according to address.
Described beat generator is made up of one group of d type flip flop.
Described clock signal generator utilizes hardware phase-locked-loop PLL to carry out process of frequency multiplication, can use the low frequency crystal oscillator to carry out high frequency operation and handle, and makes the high frequency clock of inner 150MHZ of generation of signal processor or 160MHZ.
Utilize the twoport synchronous random access memory to carry out the storage of echoed signal; Utilize the hardware totalizer that the echoed signal of above-mentioned memory ram storage is carried out accumulation calculating, store into again in another twoport synchronous random access memory.
The present invention utilizes PHASE-LOCKED LOOP PLL TECHNIQUE that the low frequency crystal oscillator is carried out frequency multiplication; Utilize the twoport synchronous random access memory to carry out the storage of echoed signal; Utilize differentiating circuit to carry out the shaping and the de-noising of echo-pulse; Utilize beat generator to carry out beat control and synchronous; Utilize the hardware totalizer that the echoed signal of above-mentioned memory ram storage is carried out accumulation calculating, store into again in another twoport synchronous random access memory; Utilize statistical method, count echo times in the laser range finder range, in single-chip microcomputer, carry out data processing at last, reach the purpose that is fit to various environmental changes.Utilize hardware to carry out accumulation calculating, improve computing velocity greatly, and according to the pattern difference, emitting times and Transmission Time Interval are adjustable, the short-pulse laser range finding that can improve measuring distance, improve data processing precision, reduce noise, reduce noise, improve computing velocity, improve emitting times and adapt to various mode condition.
Description of drawings
Fig. 1 is circuit theory diagrams of the present invention;
Fig. 2 eliminates the oscillogram of noise for the present invention utilizes differentiating circuit;
Fig. 3 is the beat oscillogram of beat generator;
Fig. 4 is a working plan of the present invention.
Embodiment
As shown in Figure 1, the goal seeking device of pulse laser laser welder of the present invention referring to Fig. 1, is made up of Laser emission receiving circuit, laser signal processor and microprocessor three parts.Include electronic circuits such as beat generator, PLL frequency multiplication of phase locked loop device, totalizer, differentiating circuit zero suppression position circuit, address generator, twoport synchronous random access memory (RAM) and multi-way switch in the laser signal processor.Beat generator is that d type flip flop is formed; Differentiating circuit is made up of two d type flip flops and a phase inverter;
Annexation is as follows:
(110) emission request signal of microprocessor portion connects the emission request end of the zero suppression position circuit (101) of laser signal generator (100); (110) address wire is connected to the external address end of (107); (110) data line is connected to the q2[7..0 of (104)]; (110) sampling that sampling end is connected to the address generator (102) of laser signal processor (100) finishes end; Beginning and add up and finish to be connected respectively to the corresponding port of laser signal generator (100) adds up; The clk of phaselocked loop (108) is connected to the clk end of (102) (103) (104) (105) (106) (109); The q1[0 of totalizer (106)] connect the q1[0 of (103)], q2[7..0] be connected to the q2[7..0 of (104)], q3[7..0] be connected to the q3[7..0 of (104)]; The output of multi-way switch (107) is connected to the rdaddr and the wraddr end of (103) and (104); The address end of address generator B is connected to the input end of multi-way switch (107); The inside/outside of multi-way switch not address selection is subjected to the io output terminal of microprocessor; The T1 of beat generator, T2, T3, T4 is ground connection location generator B (114), twoport synchronous random access memory 1 (103) and twoport synchronous random access memory 2 (104) respectively, the corresponding clock port of totalizer (106); Emission allows to be connected to laser transmission circuit (112); The echo of laser pick-off circuit is connected to the echoed signal end of laser signal processor (100).
Realize that the technical scheme that purpose of the present invention is taked is: laser ranging system is made up of Laser emission receiving circuit, laser signal processor and microprocessor three parts.Include electronic circuits such as beat generator, PLL frequency multiplication of phase locked loop device, totalizer, differentiating circuit zero suppression position circuit, address generator, twoport synchronous random access memory (RAM) and multi-way switch in the laser signal processor.Beat generator is that d type flip flop is formed, and can produce T1, T2, T3, T4 totally four groups of time clock, and control address generator B, RAM and totalizer are carried out synchronous working respectively; PLL frequency multiplication of phase locked loop device sends 30MHz or 40MHz to the low frequency crystal oscillator and carries out 5 or 4 process of frequency multiplication, and the high frequency oscillation pulse that produces 150MHz or 160MHz, to guarantee the execution of high frequency operation; Differentiating circuit is that laser is accepted the echo signal that circuit receives, i.e. shaping is carried out in the pulse of different width, eliminates the noise clutter in advance, and what guaranteed to enter RAM is discontinuous and neat pulse signal; Address generator not only produces the address counting, return microprocessor and send the sampling end signal, make microprocessor send the request of adding up to totalizer, simultaneously read data content among the RAM at the rising edge of time clock by the address ram bus, then, deliver to microprocessor and carry out analytic statistics, on LCD display, demonstrate result of calculation according to mode characteristic.
The short-pulse laser distance measuring signal processing method carries out according to the following steps:
(1) program start pushes button, and sends the emission request to microprocessor (110), and microprocessor enters zero suppression position circuit (101), uses shift register to delay time, and carries out time delay constant and eliminates the row mode State Selection of going forward side by side;
(2) enabling address generator A (102), echoed signal is accepted circuit through laser and is arrived differentiating circuit;
(3) start Laser emission, echo carried out shaping by differentiating circuit,
(4) address generator A brings into operation, and twoport synchronous random access memory 1 (103) begins action synchronously, and data are written into RAMI, and address generator is finished the primary address count cycle after (for example 1024 addresses), stops;
(5) add up by the startup of microprocessor machine;
(6) enabling address generator B carries out the operation of the first beat TI under the beat of beat generator (109), produce first address, and arrives the address wire of twoport synchronous random access memory 1 (103) and twoport synchronous random access memory 2 (104) simultaneously;
(7) carry out the operation of the second beat T2, the second beat T3, the second beat T4 under the beat of beat generator, data are squeezed into RAM2 (104), finish the once emission operation that adds up.
(8) continue step (5)--(7), finish adding up of all addresses.
(9) computing machine starts emission next time according to the emitting times of add up end signal and this pattern, continues to carry out (1)--the action of (8), finishes up to whole emitting times.
(10) start the distance calculation subroutine,, and send LCD to show result of calculation by the microprocessor statistical study.
Short-pulse laser distance measuring equipment and the signal processing method made according to such scheme.Utilize PHASE-LOCKED LOOP PLL TECHNIQUE that the low frequency crystal oscillator is carried out frequency multiplication: to utilize RAM to carry out echoed signal and store; Utilize differentiating circuit to carry out the shaping and the de-noising (referring to Fig. 2) of echo circuit; Utilize beat generator to carry out beat control and synchronous; Utilize totalizer to carry out the accumulation calculating of two kinds of RAM; Utilize statistical method, count echo times in the laser range finder range, in microprocessor, carry out data processing at last, reach the purpose that is fit to various environmental changes, utilize hardware to carry out accumulation calculating, improve computing velocity greatly, and according to different mode, emitting times is variable.Utilize differentiating circuit can effectively eliminate the interference of spiking, the filtering clutter improves signal to noise ratio (S/N ratio), and makes 1 ram cell that enters that echoed signal can be complete, effectively raises measuring accuracy.
After firing button is pressed, microprocessor is at first determined system state, and corresponding circuit carried out precharge, making circuit reach steady state (SS) just sends the emission request later on and at first enters zero suppression position circuit (101) to microprocessor (110) microprocessor, carry out the elimination of the time delay constant K of elimination system own, this circuit uses shift register to delay time, and making mistiming of generation time of emission permission and enabling address generator A (102) is the k value;
Echoed signal is accepted circuit through laser and is arrived differentiating circuit, carry out differential by differentiating circuit (105) and handle shaping (referring to Fig. 2), the pulse of different width is handled, with the external pulse shaping, to disappear less than the pulse of a clock period, will be above the pulse width that is tied to of a pulse width, what assurance entered RAM is a discontinuous ram cell.
When the address generator brings into operation, begin action synchronously at twoport synchronous random access memory 1 (103), when the clk rising edge arrives, data are driven among the RAMI, after the address generator is finished the primary address counting, stop, and send the sampling end signal for microprocessor (110), finish Laser emission sampling for the first time.
Microprocessor (110) is received after the sampling end signal, the notification signal processor request of adding up immediately, signal processor receive add up the request after, enabling address generator B (114), under the beat of beat generator, carry out the operation of the first beat TI, produce first address;
This address arrives the address wire of twoport synchronous random access memory 1 (103) and twoport synchronous random access memory 2 simultaneously, (104) and read two contents among the RAM at the rising edge of beat T2;
Rising edge at beat T3 carries out add operation in 1+7 totalizers (108);
Rising at beat T4 is driven into twoport synchronous random access memory 2 (104), finishes an address function;
Successively, address generator produces second address, repeats (1)-operation of (4), up to finishing whole addresses.
Beat generator be by a series of d type flip flops produce by waveform components shown in Figure 3, all accumulating operations carry out under the effect of beat, improve speed and accuracy greatly.
Adding up produces the end signal that adds up after finishing, and send microprocessor;
Microprocessor produces for the second time according to mode characteristic and operates to n Laser emission, repeats above-mentioned emission and the operation that adds up.
Referring to Fig. 4, be the working procedure of laser ranging system, specific as follows:
After pressing the startup button, the program of laser ranging signal processing apparatus just brings into operation.
I) program start enters step 401, and initial parameter, pattern and Laser emission state are set;
Ii) step 402 detects battery status, if operated in 30 seconds, device just enters super low energy consumption state 412 steps;
Iii) step 404, mode key is pressed, and carries out the step 413 of model selection, otherwise, carry out step 405;
Iv) step 406 starts Laser emission;
V) step 407 is finished sampling, add up, otherwise repeat steps 406;
Vi) step 409 adds up and finishes, and starts distance calculation subroutine procedure 410, otherwise, return step 408;
Vii) step 411, LCD shows result of calculation, program run finishes.
Claims (5)
1, a kind of target seeking method of pulse laser laser welder is characterized in that: this method may further comprise the steps:
(1) emission laser signal: select environmental pattern according to environmental aspect, laser beam emitting device according to the predetermined emitting times of selected environmental pattern and interval time the emission pulse laser signal;
(2) receive laser signal: the echo that the noise that is produced by object laser light reflected signal and environmental interference thing that optical receiver will receive at every turn forms, send into differentiating circuit successively, carry out shaping by differentiating circuit, the pulse of width less than a clock period disappeared, width is tied to a pulse width greater than the pulse of a clock period, forms neat but discontinuous shaping echo respectively;
(3) shaping echo temporary and adding up: the limit transmitting side receives the limit and adds up, before the emission of postorder, for the shaping echo that last time received, directly finish data temporary, the extraction of temporal data is added up and the storage of cumulative data;
(4) goal seeking: start distance computation routine at microprocessor at last, utilize statistical method, count echo times, data are carried out analytic statistics, the data greater than setting value in the data are handled, exclude data less than setting value, to get rid of with system noise at random, the later maximal value of statistics will be detected, and according to address, convert into range data, draw target range.
2, a kind of goal seeking device of pulse laser laser welder, it is characterized in that: this device comprises:
One mode selector, the pattern difference, emitting times and Transmission Time Interval are adjustable, are used for measurement and data processing under the different mode.
One generating laser is used for emission pulse laser;
One laser signal receiver, the echo that forms in order to the noise that is produced by object laser light reflected signal and environmental interference thing that will receive at every turn;
One differentiating circuit, send into differentiating circuit successively in order to the echo that will receive at every turn, carry out shaping by differentiating circuit, the pulse of width less than a clock period disappeared, width is tied to a pulse width greater than the pulse of a clock period, forms neat but discontinuous shaping echo respectively;
One clock signal generator is in order to the required clock signal of generation system;
One totalizer, in order to before the emission of postorder, for the shaping echo that last time received, directly finish data temporary, the extraction of temporal data is added up and the storage of cumulative data;
One beat generator carries out all accumulating operations under the effect of beat;
One microprocessor, finish and the work of fetching data after all emitting times is finished receiving to add up, generate continuous address on address wire, the data on the reading of data line are carried out analytic statistics with data then, data greater than particular value in the data are handled, exclude data, will get rid of with system noise at random, the later maximal value of statistics is detected less than particular value, and, convert into range data according to address.
3, the goal seeking device of pulse laser laser welder according to claim 2 is characterized in that: described beat generator is made up of one group of d type flip flop.
4, the goal seeking device of pulse laser laser welder according to claim 2, it is characterized in that: described clock signal generator utilizes hardware phase-locked-loop PLL to carry out process of frequency multiplication, can use the low frequency crystal oscillator to carry out high frequency operation and handle, make the high frequency clock of inner 150MHZ of generation of signal processor or 160MHZ.
5, the goal seeking device of pulse laser laser welder according to claim 2 is characterized in that: utilize the twoport synchronous random access memory to carry out the storage of echoed signal; Utilize the hardware totalizer that the echoed signal of above-mentioned memory ram storage is carried out accumulation calculating, store into again in another twoport synchronous random access memory.
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| CNB2004100604084A CN1327243C (en) | 2004-07-15 | 2004-07-15 | Target searching method and apparatus for pulsed laser range finder |
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| CNB2004100604084A CN1327243C (en) | 2004-07-15 | 2004-07-15 | Target searching method and apparatus for pulsed laser range finder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100416298C (en) * | 2006-05-19 | 2008-09-03 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN102594461A (en) * | 2012-03-23 | 2012-07-18 | 斯肯威（上海）工业检测科技有限公司 | Combined modulation ultrasonic pulse transceiving method and device |
| CN102621529A (en) * | 2011-01-11 | 2012-08-01 | 西门子公司 | Method for echo processing in a pulse-echo ranging system |
| CN108490445A (en) * | 2018-03-06 | 2018-09-04 | 重庆理工大学 | A kind of infrared distance measurement method and device based on pulse width detection |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5206500A (en) * | 1992-05-28 | 1993-04-27 | Cincinnati Microwave, Inc. | Pulsed-laser detection with pulse stretcher and noise averaging |
| CN1374503A (en) * | 2001-03-12 | 2002-10-16 | 亚洲光学股份有限公司 | Target seeking method and seeker capable of operating on laser range finder with certain false alarm rate |
| CN1329744C (en) * | 2003-08-29 | 2007-08-01 | 北京理工大学 | Accumulating short and medium range finding method with pulse laser |
-
2004
- 2004-07-15 CN CNB2004100604084A patent/CN1327243C/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100416298C (en) * | 2006-05-19 | 2008-09-03 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN102621529A (en) * | 2011-01-11 | 2012-08-01 | 西门子公司 | Method for echo processing in a pulse-echo ranging system |
| US9001620B2 (en) | 2011-01-11 | 2015-04-07 | Siemens Aktiengesellschaft | Method for echo processing in a pulse-echo ranging system |
| CN102621529B (en) * | 2011-01-11 | 2015-05-27 | 西门子公司 | Method for echo processing in a pulse-echo ranging system |
| CN102594461A (en) * | 2012-03-23 | 2012-07-18 | 斯肯威（上海）工业检测科技有限公司 | Combined modulation ultrasonic pulse transceiving method and device |
| CN108490445A (en) * | 2018-03-06 | 2018-09-04 | 重庆理工大学 | A kind of infrared distance measurement method and device based on pulse width detection |
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| CN1327243C (en) | 2007-07-18 |
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