CN211786110U - Pulse laser ranging circuit based on MS1003 - Google Patents
Pulse laser ranging circuit based on MS1003 Download PDFInfo
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- CN211786110U CN211786110U CN202020247245.5U CN202020247245U CN211786110U CN 211786110 U CN211786110 U CN 211786110U CN 202020247245 U CN202020247245 U CN 202020247245U CN 211786110 U CN211786110 U CN 211786110U
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Abstract
The application discloses a pulse laser ranging circuit based on MS1003, which comprises an MCU, a time-to-digital conversion circuit, a laser transmitting circuit and a laser receiving circuit; the time-to-digital conversion circuit adopts an MS1003 chip. The MS1003 has the advantages of high integration level, simplicity in operation and the like, the SPI communication speed can reach 40mhz at most, and the two independent STOP channels can respectively measure 10 pulses at most, so that the highest ranging precision of the pulsed laser ranging circuit can reach 23 ps. Therefore, the pulse laser ranging scheme based on the MS1003 can effectively improve the accuracy, the scanning speed and the measurable pulse number of laser ranging, and further can effectively improve the economic benefit and the social value of products.
Description
Technical Field
The application relates to the technical field of laser ranging, in particular to a pulse laser ranging circuit based on MS 1003.
Background
With the wide application of laser radar in the fields of automobile unmanned driving, AGV (automatic guided vehicle) trolley, unmanned aerial vehicle cruising, robot and the like, pulse laser ranging has become the best ranging mode of laser radar. In the pulsed laser ranging circuit, a high-speed TDC (time-to-digital conversion circuit) is a very important device in laser ranging. However, the high-speed TDC in the current market generally has the problems of great development difficulty, low precision and the like. In view of the above, it is an important need to provide a pulsed laser ranging circuit to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The application aims to provide a pulse laser ranging circuit based on an MS1003, so that the accuracy, the scanning speed and the measurable target number of laser ranging are effectively improved.
In order to solve the technical problem, the application discloses a pulse laser ranging circuit based on an MS1003, which comprises an MCU, a time-to-digital conversion circuit, a laser transmitting circuit and a laser receiving circuit; the time-to-digital conversion circuit is realized based on the MS 1003;
the MCU is used for sending a starting pulse to the time-to-digital conversion circuit and the laser emitting circuit which are connected with the MCU;
the laser transmitting circuit is used for transmitting laser to a target to be measured according to the received starting pulse and sending a first stopping pulse to the connected time-to-digital conversion circuit after the laser is transmitted successfully;
the laser receiving circuit is used for detecting the laser reflected from the target to be detected and sending a second stop pulse to the connected time-to-digital conversion circuit;
the time-to-digital conversion circuit is used for detecting the edge time of the first stop pulse and taking the edge time as the laser emission time, and detecting the edge time of the second stop pulse and taking the edge time as the laser receiving time; and the MCU is used for calculating the distance of the target to be measured according to the laser emission time and the laser receiving time.
Optionally, the laser emitting circuit comprises a high voltage circuit and a laser emitting tube;
the input end of the high-voltage circuit is connected with the MCU and used for outputting high-voltage narrow pulses to the laser emission tube according to the starting pulses;
the laser emission tube is used for outputting laser projected to the target to be measured under the excitation of the high-voltage narrow pulse, and sending the first stop pulse to the connected time-to-digital conversion circuit after the laser is successfully emitted.
Optionally, the laser receiving circuit includes an amplifying and comparing circuit and a laser receiving tube;
the output end of the laser receiving tube is connected with the amplification comparison circuit and is used for detecting the laser reflected from the target to be detected and outputting a current signal;
and the output end of the amplification comparison circuit is connected with the time-to-digital conversion circuit and is used for generating the second stop pulse corresponding to the current signal and outputting the second stop pulse to the time-to-digital conversion circuit.
Optionally, an SPI communication interface with a communication frequency of 40mhz is used between the MCU and the time-to-digital conversion circuit.
Optionally, the MCU is connected to the chip select terminal, the clock signal terminal, the data input terminal, the data output terminal, and the reset control terminal of the time-to-digital conversion circuit, respectively.
Optionally, the MCU is connected to an interrupt output terminal of the time-to-digital conversion circuit, and is configured to read the laser emission time and the laser reception time after receiving an interrupt signal output by the time-to-digital conversion circuit.
Optionally, the MS1003 has two independent STOP channels based on edge timing detection to selectively operate in a dual channel mode with measurement accuracy up to 46ps or a single channel mode with measurement accuracy up to 23 ps.
Optionally, the maximum number of pulses captured for a single duration of each of said STOP channels is 10.
Optionally, each said STOP channel selectively captures pulses in a "rising or falling edge" manner, or in a "rising and falling edge" manner.
Drawings
In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings that are needed to be used in the description of the prior art and the embodiments of the present application will be briefly described below. Of course, the following description of the drawings related to the embodiments of the present application is only a part of the embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any creative effort, and the obtained other drawings also belong to the protection scope of the present application.
Fig. 1 is a block diagram of a pulsed laser ranging circuit according to an embodiment of the present disclosure;
fig. 2 is a circuit structure diagram of a specific pulsed laser ranging circuit disclosed in an embodiment of the present application.
Detailed Description
The core of the application lies in providing a pulsed laser ranging circuit based on MS1003 to effectively improve the accuracy, scanning speed, measurable target number of laser ranging accuracy.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, the embodiment of the present application discloses a pulse laser ranging circuit based on an MS1003, which mainly includes an MCU100, a time-to-digital conversion circuit 200, a laser emitting circuit 300, and a laser receiving circuit 400; the time-to-digital conversion circuit 200 is implemented based on the MS 1003;
the MCU100 is configured to send a start pulse to the time-to-digital conversion circuit 200 and the laser emitting circuit 300 connected thereto;
the laser emitting circuit 300 is configured to emit laser to a target to be measured according to the received start pulse, and send a first stop pulse to the connected time-to-digital conversion circuit 200 after the laser is successfully emitted;
the laser receiving circuit 400 is configured to detect laser reflected from the target to be measured, and send a second stop pulse to the connected time-to-digital conversion circuit 200;
the time-to-digital conversion circuit 200 is used for detecting the edge time of the first stop pulse as the laser emission time, and detecting the edge time of the second stop pulse as the laser receiving time; so that the MCU100 calculates the distance to the target to be measured according to the laser emitting time and the laser receiving time.
Specifically, the MCU100 is used as a control center of the whole pulse laser ranging circuit and can be used to start the time-to-digital conversion function of the whole circuit. The MCU100 outputs the start pulse to the time-to-digital converter 200 and the laser emitting circuit 300, respectively, the time-to-digital converter 200 starts timing after receiving the start pulse, and the laser emitting circuit 300 emits laser to the target to be measured after receiving the start pulse.
It should be noted that the time-to-digital conversion circuit in the present application is specifically implemented based on the MS1003 chip. The SPI communication speed of the MS1003 can reach 40mhz at most, and the ranging speed can be effectively improved. The MS1003 has two independent STOP channels based on edge time detection, and each STOP channel continuously captures 10 pulses at a single time, that is, 10 pulses can be measured at most, and has the advantages of high integration level, simplicity in operation and the like.
Meanwhile, the MS1003 can selectively work in a dual-channel mode with the measurement precision reaching 46ps or a single-channel mode with the measurement precision reaching 23ps, and the precision of pulse laser ranging can be effectively guaranteed. Also, each STOP channel can selectively capture pulses in a "rising or falling edge" manner, or in a "rising and falling edge" manner, to accommodate different application requirements.
According to the principle of pulse laser ranging, laser is emitted from the laser emitting circuit 300 to the surface of the target to be measured and then reflected back to be received by the laser receiving circuit 400, so that the transmission distance of the laser in the process is twice as long as the distance between the laser and the target to be measured. Therefore, the distance between the laser and the target to be measured can be calculated by acquiring the travel time length of the laser from the time after the laser is transmitted to the time after the laser is received.
It should be noted that, in consideration of communication transmission, there is an error between the time when the MCU100 sends the start pulse and the specific time when the laser emitting circuit 300 actually emits the laser, so in order to improve the accuracy and speed of the pulsed laser ranging, the laser emitting circuit 300 adopted in the present application is specifically the laser emitting circuit 300 with self-feedback detection, which can perform self-detection through signal pickup, thereby determining whether the laser is actually and successfully emitted.
In addition, in this application, the self-feedback detection output end of the laser emitting circuit 300 is connected to one STOP channel of the time-to-digital converter 200, the self-feedback detection result of the laser emitting circuit 300, that is, the first STOP pulse, is output to the time-to-digital converter 200 for edge time detection, and the corresponding obtained timing time is the laser emitting time.
Because the edge moment of the first stop pulse is used as the laser emission moment in the application, and the edge moment of the start pulse is not directly used as the laser emission moment, the precision of the laser emission moment is effectively improved, and the precision of laser ranging is effectively improved. The measuring precision of the pulse laser ranging circuit provided by the application can reach 23ps, and compared with the 60ps precision of a traditional device, the pulse laser ranging circuit is greatly improved.
In addition, the laser receiving circuit 400 is located in the reflection optical path of the laser, and when receiving the laser reflected from the target to be measured, the laser receiving circuit 400 outputs a second stop pulse to the time-to-digital converter 200. When the time-to-digital converter 200 recognizes the second stop pulse by edge timing detection, the corresponding timing is the laser receiving timing.
Therefore, the MCU100 can calculate the distance to the target according to the laser emitting time and the laser receiving time measured by the time-to-digital converter 200, and the specific calculation formula is:
D＝c·(T2-T1)/2；
wherein D is the distance between the target and the distance to be measured; c is the speed of light; t is1The laser emission time; t is2Is the laser reception time.
Therefore, the pulse laser ranging circuit is realized based on the MS1003 with a high-speed SPI communication interface, is high in integration level and simple to operate, and can realize the communication speed of 40 mhz; two independent STOP channels in the MS1003 have multi-pulse capturing capability, and can capture 10 pulses at most respectively, so that the pulse capturing success rate and the ranging accuracy are effectively improved. The method and the device effectively improve the accuracy, the scanning speed and the measurable pulse number of the laser ranging.
Referring to fig. 2, fig. 2 is a circuit structure diagram of a specific pulsed laser ranging circuit disclosed in an embodiment of the present application, and includes an MCU100, a time-to-digital conversion circuit 200, a laser emitting circuit 300, and a laser receiving circuit 400. In this embodiment, the time-to-digital conversion circuit 200 specifically uses an MS1003 chip.
The MS1003 chip has two STOP channels based on edge timing detection, each channel can detect up to 10 pulses, and then the two channels can detect 20 pulses in total. The first STOP channel takes the time when the START end START receives the corresponding pulse as a starting point and takes the time when the STOP1 end receives the corresponding pulse as an end point to time; the second STOP channel STARTs from the time when the START of the timing sequence STARTs receiving the corresponding pulse, and ends with the time when the end STOP2 receives the corresponding pulse.
The MCU100 is connected to a START timing terminal START of the MS1003 chip and to an input terminal of a high voltage circuit in the laser transmitter circuit 300. After receiving the START pulse sent by the MCU100, the START end START STARTs timing; the laser emitting circuit 300 emits laser to the target to be measured after receiving the start pulse.
The self-feedback detection output end of the laser emitting circuit 300 is connected with the STOP1 end of the MS1003 chip, and sends a first STOP pulse to the STOP1 end after the laser is successfully emitted, and the MS1003 chip calculates and stores the moment when the STOP1 end receives the first STOP pulse as the laser emitting moment.
The output end of the laser receiving circuit 400 is connected with the STOP2 end of the MS1003 chip, and is used for detecting laser reflected from a target to be detected and sending a second STOP pulse to the STOP2 end; the timing at which the STOP2 terminal received the second STOP pulse is calculated and stored by the MS1003 chip as the laser reception timing.
The MCU100 may read the related data calculated in the MS1003 chip, and further calculate the distance to the target to be measured according to the laser emitting time and the laser receiving time.
In addition, in the embodiment of the present application, on the basis of the above contents, an SPI communication interface is used between the MS1003 chip and the MCU 100. Specifically, the MCU100 is connected to the chip select terminal SSN, the clock signal terminal SCK, the data input terminal SI, the data output terminal SO, and the reset control terminal RSTN of the MS1003 chip, respectively, SO that the MCU100 can operate the MS1003 chip.
Specifically, in the application, the MCU100 and the MS1003 adopt a high-speed SPI interface for communication, and the communication frequency can reach 40 mhz. The MCU100 performs register configuration, initialization, register reading, and the like on the MS1003 chip through the high-speed SPI interface, so that the MCU100 can read and write quickly at any time.
As a specific embodiment, in the pulse laser ranging circuit provided in the embodiment of the present application, on the basis of the above content, the MCU100 is connected to the interrupt output terminal INTN of the MS1003 chip, and is configured to read the laser emission time and the laser reception time after receiving an interrupt signal output by the MS1003 chip.
Specifically, in the embodiment of the present application, the MS1003 chip may be connected to the MCU100 by using an interrupt communication mechanism. The interrupt output terminal INTN of the MS1003 chip is always at a high level before the measurement is completed, and when the detection and the calculation are completed, the interrupt output terminal INTN outputs a low level, and the MCU100 performs data reading by detecting the high and low levels, i.e., the interrupt signal, output by the interrupt output terminal INTN of the MS 1003.
As described above, in this embodiment, in consideration of the interference pulse generated by the false touch, each STOP channel of the MS1003 chip may continuously perform edge time detection on a plurality of received pulses, and after the time detection is completed, the MCU100 identifies and determines a non-interference signal from the received pulses, so as to further improve the accuracy of laser ranging.
Specifically, upon detecting the first STOP pulse, the STOP1 terminal can measure the edge timing of up to 10 pulses; similarly, the second stop pulse, that is, the present embodiment may specifically have an edge detection capability and a calculation storage space for up to 20 pulses, thereby effectively avoiding missing the true stop pulse (including the first stop pulse or the second stop pulse) due to too many interference pulses caused by a harsh environment.
Furthermore, the MS1003 can selectively operate in a dual channel mode with a measurement accuracy of 46ps or a single channel mode with a measurement accuracy of 23ps because it has two independent STOP channels. Furthermore, each STOP channel can selectively capture pulses in a "rising or falling edge" fashion (i.e., written as one pulse when a rising or falling edge occurs), or in a "rising and falling edge" fashion (i.e., written as one pulse after a full rising-falling edge occurs).
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the equipment disclosed by the embodiment, the description is relatively simple because the equipment corresponds to the circuit disclosed by the embodiment, and the relevant points can be obtained by referring to the description of the method part.
It is further noted that, throughout this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The technical solutions provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall into the protection scope of the present application.
Claims (9)
1. A pulse laser ranging circuit based on an MS1003 is characterized by comprising an MCU, a time-to-digital conversion circuit, a laser emitting circuit and a laser receiving circuit; the time-to-digital conversion circuit is realized based on the MS 1003;
the MCU is used for sending a starting pulse to the time-to-digital conversion circuit and the laser emitting circuit which are connected with the MCU;
the laser transmitting circuit is used for transmitting laser to a target to be measured according to the received starting pulse and sending a first stopping pulse to the connected time-to-digital conversion circuit after the laser is transmitted successfully;
the laser receiving circuit is used for detecting the laser reflected from the target to be detected and sending a second stop pulse to the connected time-to-digital conversion circuit;
the time-to-digital conversion circuit is used for detecting the edge time of the first stop pulse and taking the edge time as the laser emission time, and detecting the edge time of the second stop pulse and taking the edge time as the laser receiving time; and the MCU is used for calculating the distance of the target to be measured according to the laser emission time and the laser receiving time.
2. The pulsed laser ranging circuit according to claim 1, wherein the laser emitting circuit comprises a high voltage circuit and a laser emitting tube;
the input end of the high-voltage circuit is connected with the MCU and used for outputting high-voltage narrow pulses to the laser emission tube according to the starting pulses;
the laser emission tube is used for outputting laser projected to the target to be measured under the excitation of the high-voltage narrow pulse, and sending the first stop pulse to the connected time-to-digital conversion circuit after the laser is successfully emitted.
3. The pulsed laser ranging circuit according to claim 1, wherein the laser receiving circuit comprises an amplification comparison circuit and a laser receiving tube;
the output end of the laser receiving tube is connected with the amplification comparison circuit and is used for detecting the laser reflected from the target to be detected and outputting a current signal;
and the output end of the amplification comparison circuit is connected with the time-to-digital conversion circuit and is used for generating the second stop pulse corresponding to the current signal and outputting the second stop pulse to the time-to-digital conversion circuit.
4. The pulsed laser ranging circuit according to claim 1, wherein an SPI communication interface with a communication frequency of 40mhz is used between the MCU and the time-to-digital conversion circuit.
5. The pulsed laser ranging circuit according to claim 4, wherein the MCU is connected to a chip selection terminal, a clock signal terminal, a data input terminal, a data output terminal, and a reset control terminal of the time-to-digital conversion circuit, respectively.
6. The pulsed laser ranging circuit according to claim 1, wherein the MCU is connected to an interrupt output terminal of the time-to-digital converter circuit, and configured to read the laser emission time and the laser reception time after receiving an interrupt signal output by the time-to-digital converter circuit.
7. The pulsed laser ranging circuit according to any one of claims 1 to 6, wherein the MS1003 has two independent STOP channels based on edge time detection so as to selectively operate in a dual channel mode with a measurement accuracy of 46ps or a single channel mode with a measurement accuracy of 23 ps.
8. The pulsed laser ranging circuit of claim 7 wherein the maximum number of pulses per single duration capture of each STOP channel is 10.
9. The pulsed laser ranging circuit of claim 7 wherein each STOP channel selectively captures pulses in either a "rising edge or a falling edge" manner, or in both a "rising edge and a falling edge" manner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020247245.5U CN211786110U (en) | 2020-03-03 | 2020-03-03 | Pulse laser ranging circuit based on MS1003 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020247245.5U CN211786110U (en) | 2020-03-03 | 2020-03-03 | Pulse laser ranging circuit based on MS1003 |
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| CN211786110U true CN211786110U (en) | 2020-10-27 |
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| CN202020247245.5U Active CN211786110U (en) | 2020-03-03 | 2020-03-03 | Pulse laser ranging circuit based on MS1003 |
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Address after: 310000 room 701, building 9, No. 1, Weiye Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou ruimeng Technology Co.,Ltd. Address before: 310051 room 701, building 9, No.1 Weiye Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU RUIMENG TECHNOLOGY Co.,Ltd. |