CN209417298U - Based on the cumulative laser ranging system with waveform sampling of echo waveform - Google Patents
Based on the cumulative laser ranging system with waveform sampling of echo waveform Download PDFInfo
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- CN209417298U CN209417298U CN201822089739.0U CN201822089739U CN209417298U CN 209417298 U CN209417298 U CN 209417298U CN 201822089739 U CN201822089739 U CN 201822089739U CN 209417298 U CN209417298 U CN 209417298U
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Abstract
A kind of laser ranging system to be added up based on echo waveform with waveform sampling.The laser ranging system is received optical module, laser acquisition circuit and high-speed signal acquisition circuit and is formed by governor circuit, laser light source module, transmitting.The laser ranging system combines number of photons resolved detection with high-speed data acquisition, realize highly sensitive, high-precision degree, Larger Dynamic range laser ranging, the utility model is while realizing long-range target acquisition, the precision distance measurement for taking into account close-in target has many advantages, such as that small in size, at low cost, detection dynamic range is big, range accuracy is high, more soundings can be achieved.
Description
Technical field
It is especially a kind of based on the cumulative laser ranging with waveform sampling of echo waveform the utility model relates to laser radar
System.
Background technique
Laser ranging is one of most common laser sensing technology, and application field is extensive, such as military, space industry long distance
From target acquisition, the short distance high reliability target acquisition of industrial circle, high-speed, high precision target acquisition of civil field etc., especially
It is in civil field, with the hair of the industries such as automatic Pilot, unmanned plane, intelligent mobile robot, intelligent storage, security protection early warning
Exhibition, to laser ranging, more stringent requirements are proposed, as automatic Pilot to the operating distance and range accuracy of laser ranging require compared with
High, unmanned plane avoidance observes, intelligent robot more demanding to the volume and weight of system to the detection dynamic model of system
Enclose it is higher etc. with cost requirement, to sum up, being that the cost to laser range finder, volume, weight and range performance all propose
Higher requirement.
Currently, common laser ranging is mainly based upon the realization of flight time measurement principle, according to implementation difference, again
It is divided into direct flight time measurement principle and indirect flight time measuring principle.Wherein direct flight time measurement method is mainly arteries and veins
Formula laser ranging is rushed, the flight time by measuring the round-trip target of laser pulse obtains the range information of target；When indirect flight
Between mensuration it is different according to implementation method again include: that the laser ranging of linear frequency modulation formula, phase laser distance measurement, light source amplitude modulation swash
Ligh-ranging.The laser ranging technique for being typically based on direct flight time measurement method generallys use the realization of time difference measurements chip, surveys
It is usually several millimeters away from precision；Higher ranging usually may be implemented in laser ranging technique based on indirect flight time mensuration
Precision, but range accuracy is inversely proportional with ranging range, and in order to realize precision distance measurement, ranging range is general also smaller, Bu Nengman
Sufficient practical application request.But no matter which kind of distance measuring method is used, when carrying out a wide range of laser ranging, all be unable to do without detection dynamic
The problem of range, in order to realize the detection of Larger Dynamic range, it usually needs by the way of multi-channel detection, cause system structure
Complexity, volume are big, at high cost, are unfavorable for the application of laser ranging technique.There are also other laser ranging techniques, such as femtosecond
Laser ranging technique, interference formula laser ranging technique etc., due to being limited by cost, are not appropriate for the application of civil field.
Utility model content
For overcome existing laser ranging technique to be faced in realizing Larger Dynamic range detection and new application high cost,
The problems such as large volume, low precision, proposes a kind of based on the cumulative laser ranging system with waveform sampling of echo waveform, the Laser Measuring
Dynamic range away from the detection of system single channel is greater than 80dB, which has at low cost, small in size, light-weight, spy
Survey dynamic range is big, range accuracy is high, the advantages that more soundings can be achieved.
The technical solution of the utility model is as follows:
A kind of laser ranging system to be added up based on echo waveform with waveform sampling, its main feature is that: the laser ranging system
It is received optical module, laser acquisition circuit and high-speed signal acquisition circuit by governor circuit, laser light source module, transmitting and is formed,
The governor circuit includes FPGA main control chip and peripheral circuit composition, and the laser light source module includes semiconductor laser
Semiconductor laser two parts of device driving circuit and low cost, the peak power range of the semiconductor laser usually exist
Several hundred mW are between several hundred W, and for pulse width between 1ns~20ns, the transmitting receives optical module by transmitting optical frames
Group and reception optics microscope group are constituted, and the laser acquisition circuit is by photon number resolving detection, amplifying circuit and shaping circuit
Composition, the detection dynamic range of the photon number resolving detection reach 80dB or more, the high-speed signal acquisition circuit
It is made of high-speed signal acquisition circuit or specialized high-speed A/D chip, the acquisition rate of return laser beam electric signal is not less than 1Gbps；
The light trigger signal that the governor circuit generates generates after being received by the semiconductor laser device driving circuit
Pulsed drive current drives the semiconductor laser to generate pulse laser, and the pulse laser is through the transmitting optical frames
Emit after group collimation, the pulse laser of transmitting is received after target reflects by the reception optics microscope group, converges to described
Photon number resolving detection completes photoelectric signal transformation, and the electric signal of output is after the amplifying circuit and shaping circuit, quilt
The high-speed signal acquisition circuit acquisition, the high-speed signal acquisition circuit master control that the electric signal input of acquisition is described
Circuit, the governor circuit completes the parsing of the time location of laser echo signal, in conjunction with the when meta position of light trigger signal out
It sets, obtains the flight time of laser pulse, realize laser ranging, range accuracy is up to 0.3mm.
The laser light source module is made of the semiconductor laser and corresponding driving circuit of low cost, further
Expand measurement apart from when, the solid state laser or optical fiber laser of the higher laser power of use are as laser light source.
The photon number resolving detection is silicon based opto-electronics multiplier tube array number of photons resolution type detector or Geiger mould
Formula photoelectricity avalanche photodiode arrays number of photons resolution type detector.
The high-speed signal acquisition circuit selects the high speed sampling circuit built in high speed AD sampling chip and FPGA.
Utility model has the advantages that
1. the utility model lies in that number of photons resolved detection is combined with high-speed data acquisition, realize it is highly sensitive,
The laser ranging of high-precision degree, Larger Dynamic range, the utility model use photon number resolving detection, and single channel detects dynamic model
It encloses and is greater than 80dB, relative to traditional dynamic range 60dB based on APD detection, can be suitable for detection dynamic range requirement
Higher application.
2. the detectivity of the utility model is high, relative to APD detector, detectivity improves two quantity
Grade, under the requirement of identical operating distance, the utility model is lower to light source power and the Receiver aperture requirement of system, is easy to implement
Miniaturization, lightweight.
3. the detection accuracy of the utility model is high, the range accuracy of 0.3mm may be implemented, and it is traditional based on the flight time
The laser ranging technique of measuring principle cannot achieve the range accuracy of submillimeter level, and multiple target may be implemented simultaneously in the utility model
The application range of the technology has been expanded in the detection of echo.
Detailed description of the invention
Fig. 1 is the utility model based on the cumulative overall mechanism signal with the laser ranging system of waveform sampling of echo waveform
Figure；
In figure: 100-governor circuits, 200-laser light source modules, 201-semiconductor laser device driving circuits, 202-
Semiconductor laser, 300-transmitting reception optical modules, 301-transmitting optics microscope groups, 302-reception optics microscope groups, 400-
Laser acquisition circuit, 401-photon number resolving detections, 402-amplifying circuits, 403-shaping circuits, 500-high speed signals
Acquisition Circuit.
Specific embodiment
Below with reference to embodiment and attached drawing, the utility model is described in further detail, but should not successively limit the utility model
Protection scope.
First referring to Fig. 1, Fig. 1 is that the utility model is added up and the laser ranging system of waveform sampling based on echo waveform
Structural schematic diagram, as seen from the figure, the utility model is based on the cumulative laser ranging system with waveform sampling of echo waveform, by master control
Circuit 100, laser light source module 200, transmitting receive optical module 300, laser acquisition circuit 400 and high-speed signal acquisition circuit
500 compositions, the governor circuit 100 include that FPGA main control chip and peripheral circuit form, the laser light source module 200
Semiconductor laser 202 including semiconductor laser device driving circuit 201 and low cost, the transmitting receive optical module
300 are made of transmitting optics microscope group 301 and reception optics microscope group 302, and the laser acquisition circuit 400 is differentiated by number of photons and visited
It surveys device 401, amplifying circuit 402 and shaping circuit 403 to form, the high-speed signal acquisition circuit 500 is by high-speed signal acquisition
Circuit or specialized high-speed A/D chip composition；
The governor circuit 100 generates light trigger signal, after being received by the semiconductor laser device driving circuit 201
Pulse laser is generated after generating the pulsed drive current driving semiconductor laser 202, the laser is through the transmitting light
It learns after microscope group 301 collimates and is emitted, laser is received after target reflects by the reception optics microscope group 302, converges to described
Photon number resolving detection 401 completes photoelectric signal transformation, and the electric signal of output is through the amplifying circuit 402 and shaping circuit
It after 403, is acquired by the high-speed signal acquisition circuit 500, the high-speed signal acquisition circuit 500 is by the electric signal of acquisition
The input governor circuit 100, the governor circuit 100 complete the processing of data, realize laser ranging.
Using the ranging to target under certain occasion as embodiment, light source is used as using large-power semiconductor laser 202,
The transmission power of laser is 12W, optical maser wavelength 905nm；Governor circuit 100 generates light trigger signal, and triggering frequency exists
Between 1kHz~2MHz, for pulse width between 2ns~10ns, semiconductor laser device driving circuit 201 receives trigger signal
After generate pulsed drive current, driving current generates pulse laser after semiconductor laser 202 between 0.5A~18A,
The emitted optics microscope group 301 of laser is emitted after collimating, and laser is received the reception of optics microscope group 302 after target reflects, and is converged to
Photon number resolving detection 401, complete photoelectric signal transformation, signal again after amplifying circuit 402 and shaping circuit 403, it is high
Velocity signal capturing circuit 500 acquires, and the sampling rate of high-speed signal acquisition circuit is greater than 1Gbps, finally complete by governor circuit 100
At the processing of data, laser ranging is realized.The novelty of the utility model is number of photons resolved detection technology and high speed number
It is combined according to acquisition technique, realizes highly sensitive, high-precision degree, Larger Dynamic range laser ranging.
The main devices that the present embodiment uses have: can be used for generating fixed time sequence and carry out the FPGA master control core of data processing
Piece 100 uses clock frequency for the EP2C8Q208I8 chip of II series of Cyclone of 40MHz；It can be used for generating pulsed drive
The semiconductor laser device driving circuit 201EL7104 chip of electric current；Central wavelength 905nm, peak power is up to 50W's
905D1S3J06UA semiconductor laser 202；Transmitting, which receives optical module 300, can be selected general optical lens, be swashed with realizing
The collimation of light outgoing and the convergence for receiving return laser beam；The MicroFC- of SENSL company can be selected in photon number resolving detection 401
SMA-30035 detector；Amplifying circuit 402 and shaping circuit 403 can select general module；High-speed signal acquisition circuit
500 select ultra high speed A/D conversion chip AT84AD001B to realize, sampling rate 1Gbps.
In more detail, the course of work of the present embodiment is as follows:
1. parameter setting and device prepare: governor circuit 100 generate frequency be 100kHz, the difference that pulse width is 5ns
Trigger signal, the trigger signal are loaded into semiconductor laser device driving circuit 201, to drive laser light source to export corresponding frequencies
With pulse width light pulse signal；
2. semiconductor laser device driving circuit 201 is after receiving the trigger signal, corresponding frequencies and pulse width are generated
Driving current, size of current is adjustable, and adjustable range is between 0.5A~18A, and settable electric current is 6A, and driving current is loaded into
On semiconductor laser, the laser output of corresponding frequencies and pulse width is generated, laser peak power 12W, laser is by hair
It penetrates after optics microscope group 301 collimates and is emitted.
3. receiving optics microscope group 302 receives the reflected laser echo signal of target, and wiping out background light, Receiver aperture
For 25mm, laser echo signal is collected on photon number resolving detection 401, completes the photoelectric conversion of signal, electric signal
Amplify through amplifying circuit 402, and after 403 shaping of shaped circuit, is acquired by high-speed signal acquisition circuit 500, sampling rate is
1Gbps obtains the waveform of return laser beam.
4. the signal that governor circuit 100 acquires high-speed signal acquisition circuit 500 is handled, it is based on internal clocking timing
Relationship obtains the flight time of the round-trip target of laser pulse, obtains the distance value of target.
Theoretically the sampling rate of high-speed signal acquisition circuit is higher, and range accuracy is higher, but due to actually using process
In, it is limited by cost, sample rate generally will not be too high, can be by way of algorithm interpolation to realize higher range accuracy
Higher range accuracy is obtained, furthermore it is possible to which the mode average by multiple distance measurement value, obtains higher range accuracy.It is based on
Range accuracy can be promoted to 10mm or so by algorithm interpolation, by repeatedly surveying by the laser echo signal sample rate of 1Gbps
Amount is average, can further promote range accuracy and even carry out multiple to 0.3mm since the ranging rate of this system is higher
Measurement is average, and higher ranging rate can still be kept to export, and realizes high speed ranging.
Claims (4)
1. a kind of based on echo waveform is cumulative and the laser ranging system of waveform sampling, it is characterized in that: the laser ranging system by
Governor circuit (100), laser light source module (200), transmitting receive optical module (300), laser acquisition circuit (400) and high speed
Signal acquisition circuit (500) composition, the governor circuit (100) includes that FPGA main control chip and peripheral circuit form, described
Laser light source module (200) include semiconductor laser device driving circuit (201) and low cost semiconductor laser (202) two
Part, usually in several hundred mW between several hundred W, pulse width exists the peak power range of the semiconductor laser (202)
Between 1ns~20ns, the transmitting receives optical module (300) by transmitting optics microscope group (301) and receives optics microscope group
(302) it constitutes, the laser acquisition circuit (400) is by photon number resolving detection (401), amplifying circuit (402) and shaping
Circuit (403) composition, the detection dynamic range of the photon number resolving detection (401) reach 80dB or more, the height
Velocity signal capturing circuit (500) is made of high-speed signal acquisition circuit or specialized high-speed A/D chip, and return laser beam electric signal is adopted
Collect rate and is not less than 1Gbps；
The light trigger signal that the governor circuit (100) generates is received by the semiconductor laser device driving circuit (201)
After generate pulsed drive current, drive the semiconductor laser (202) generate pulse laser, the pulse laser is through described
Emit after transmitting optics microscope group (301) collimation, the pulse laser of transmitting is after target reflects by the reception optics microscope group
(302) it receives, converges to the photon number resolving detection (401) and complete photoelectric signal transformation, the electric signal of output is through institute
After the amplifying circuit (402) and shaping circuit (403) stated, acquired by the high-speed signal acquisition circuit (500), the height
Velocity signal capturing circuit (500) governor circuit (100) that the electric signal input of acquisition is described, the governor circuit (100)
The parsing for completing the time location of laser echo signal obtains flying for laser pulse in conjunction with the time location of light trigger signal out
The row time realizes laser ranging, and range accuracy is up to 0.3mm.
2. it is according to claim 1 based on the cumulative laser ranging system with waveform sampling of echo waveform, it is characterized in that: institute
The laser light source module (200) stated is made of the semiconductor laser and corresponding driving circuit of low cost, is further being expanded
Measurement apart from when, the solid state laser or optical fiber laser of the higher laser power of use are as laser light source.
3. it is according to claim 1 based on the cumulative laser ranging system with waveform sampling of echo waveform, it is characterized in that: institute
The photon number resolving detection (401) stated is silicon based opto-electronics multiplier tube array number of photons resolution type detector or Geiger mode photoelectricity
Avalanche photodiode arrays number of photons resolution type detector.
4. the laser ranging system according to any one of claims 1 to 3 to be added up based on echo waveform with waveform sampling,
Be characterized in: the high-speed signal acquisition circuit (500) selects the high speed sampling circuit built in high speed AD sampling chip and FPGA.
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| CN201822089739.0U CN209417298U (en) | 2018-12-13 | 2018-12-13 | Based on the cumulative laser ranging system with waveform sampling of echo waveform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109471118A (en) * | 2018-12-13 | 2019-03-15 | 上海大恒光学精密机械有限公司 | Based on the cumulative laser ranging system with waveform sampling of echo waveform |
| CN112904360A (en) * | 2021-01-25 | 2021-06-04 | 中国科学院上海光学精密机械研究所 | Large dynamic range detection device and method for ocean water body detection |
-
2018
- 2018-12-13 CN CN201822089739.0U patent/CN209417298U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109471118A (en) * | 2018-12-13 | 2019-03-15 | 上海大恒光学精密机械有限公司 | Based on the cumulative laser ranging system with waveform sampling of echo waveform |
| CN112904360A (en) * | 2021-01-25 | 2021-06-04 | 中国科学院上海光学精密机械研究所 | Large dynamic range detection device and method for ocean water body detection |
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