CN219715755U - Laser ranging data acquisition device - Google Patents

Abstract

The utility model provides a laser ranging data acquisition device which can be applied to the technical field of laser ranging. The device comprises: the system comprises a signal acquisition processing module and a man-machine interaction module. The signal acquisition processing module comprises an amplifier, a high-speed comparator, an FPGA SOC chip, an ADC chip, an SD card, a crystal oscillator chip, a level conversion interface and an Ethernet data transmission interface. The FPGA SOC chip comprises a programmable logic unit and a processing unit, wherein the programmable logic unit comprises a time window module, a time interval measuring module, a multi-pulse accumulation algorithm processing module, a data processing module and a data transmission module. The laser ranging data acquisition device provided by the utility model can dynamically range the detected target in real time in two different modes, and the distance value is returned in real time, so that the device has the advantages of simple circuit, low cost, high real-time performance, long-distance detection and small noise interference, and the ranging accuracy and the target monitoring reliability are effectively improved.

Description

Laser ranging data acquisition device

Technical Field

The utility model relates to the technical field of ranging, in particular to a laser ranging data acquisition device.

Background

The laser ranging technology generally irradiates a target object with a laser pulse signal sent by a system, reflects the target object to obtain a laser echo signal, receives the laser echo signal by the system, and calculates the measured distance by calculating the flight time of laser in the atmosphere. In recent years, with the development of information technology, the application range of laser ranging is wider and wider, and the laser ranging can be used in the fields of electric power, water conservancy, military, construction, laser radar and the like.

The laser ranging device generally comprises an optical machine unit, a photoelectric receiving unit, a time interval measuring system and a data control and acquisition processing system, noise is filtered in real time by adopting a hardware circuit mode, a circuit is very complex, a ranging target object is simple to point, an expected target cannot be intelligently judged or an unexpected target object cannot be actively filtered, and problems such as ranging errors are easy to generate under the condition of poor signal-to-noise ratio can be solved. The time interval measurement in the laser ranging data acquisition device comprises an analog method and a digital insertion method, wherein the analog method adopts an ADC chip (ADC mode) mostly, required information is obtained by measuring a voltage value converted after analog signals are charged and discharged, the measurement precision is high, the measurement range is limited, the digital insertion method adopts a TDC chip (TDC mode) mostly, the time interval is clocked by synchronous clock pulses, and the digital insertion method does not have the limitation of the measurement range, but can not obtain an accurate result due to the influence of noise under the condition of weaker signals, so the laser ranging data acquisition device capable of combining the ADC mode and the TDC mode is needed to achieve the aim of accurately measuring the distance no matter whether the signals are strong or weak.

Disclosure of Invention

In view of the above problems, the present utility model provides a laser ranging data acquisition device, so as to solve the problems in the prior art that the circuit is complex, the ranging target object is simple to point, the expected target cannot be intelligently judged or the target object is not expected to be actively filtered, and the measurement error is easy to occur when the signal to noise ratio is poor.

The utility model provides a laser ranging data acquisition device, which comprises:

the system comprises a signal acquisition processing module and a man-machine interaction module, wherein the signal acquisition processing module is connected with the man-machine interaction module;

the signal acquisition processing module comprises an amplifier, a high-speed comparator, an FPGA SOC chip, an ADC chip, an SD card, a crystal oscillator chip, a level conversion interface and an Ethernet data transmission interface.

According to the embodiment of the utility model, the amplifier is respectively connected with the high-speed comparator and the ADC chip, the ADC chip is connected with the level conversion interface, the amplifier is connected with the high-speed comparator, the SD card, the crystal oscillator chip and the level conversion interface are all connected with the FPGA SOC chip, the FPGA SOC chip is connected with the man-machine interaction module through the Ethernet data transmission interface, and the signal acquisition processing module is arranged on the PCB substrate.

According to the embodiment of the utility model, the FPGA SOC chip comprises a programmable logic unit and a processing unit, wherein the programmable logic unit comprises a time window module, a time interval measuring module, a multi-pulse accumulation algorithm processing module, a data processing module and a data transmission module;

the time window module is respectively connected with the time interval measuring module, the multi-pulse accumulation algorithm processing module and the data processing module.

According to the embodiment of the utility model, the processing unit comprises an SD card starting module and an Ethernet control module, wherein the SD card starting module is connected with the SD card, and the Ethernet control module is connected with the Ethernet data transmission interface.

According to the embodiment of the utility model, the time interval measuring module comprises a counter and a carry delay chain, and the counter and the carry delay chain are respectively connected with the data processing module.

According to the embodiment of the utility model, the PCB substrate comprises 1 power layer, 2 stratum layers and 3 signal layers, the signal lines on the PCB substrate are designed at equal intervals, and the wiring of the PCB substrate is a serpentine wiring.

According to the embodiment of the utility model, the PCB substrate further comprises N impedance matching resistors, wherein N is an integer greater than 1.

According to the embodiment of the utility model, the laser ranging data acquisition device further comprises an intelligent camera, and the intelligent camera is connected with the man-machine interaction module.

The laser ranging data acquisition device provided by the utility model can dynamically range the detected target in real time in two modes of ADC and TDC, and transmits the detected target image back in real time, has the advantages of simple circuit, low cost, high real-time performance, long-distance detection and small noise interference, and effectively improves the reliability of target monitoring and the ranging accuracy when the laser echo signal is weaker.

Drawings

The foregoing and other objects, features and advantages of the utility model will be apparent from the following description of embodiments of the utility model with reference to the accompanying drawings, in which:

fig. 1 schematically shows a schematic structure of a laser ranging data acquisition device according to an embodiment of the present utility model;

FIG. 2 schematically shows a schematic structure of an FPGA SOC chip according to an embodiment of the present utility model;

fig. 3 schematically shows a time interval measurement principle schematic according to an embodiment of the utility model;

fig. 4 schematically shows a circuit schematic of an amplifier according to an embodiment of the utility model;

FIG. 5 schematically shows a circuit schematic of a high-speed comparator according to an embodiment of the utility model;

FIG. 6 schematically shows a circuit pin schematic of an FPGA SOC chip according to an embodiment of the present utility model;

FIG. 7 schematically illustrates a schematic diagram of a circuit connection of an FPGA SOC chip to an SD card according to an embodiment of the present utility model; and

fig. 8 schematically shows a circuit connection schematic diagram of an FPGA SOC chip and an ethernet data transmission interface according to an embodiment of the present utility model.

Detailed Description

Hereinafter, embodiments of the present utility model will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the utility model. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the utility model. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

Fig. 1 schematically shows a schematic structure of a laser ranging data acquisition device according to an embodiment of the present utility model. As shown in fig. 1, in this embodiment, the laser ranging data acquisition device provided by the present utility model includes: the system comprises a signal acquisition processing module and a man-machine interaction module, wherein the signal acquisition processing module is connected with the man-machine interaction module. Wherein, the signal acquisition processing module includes: the system comprises an amplifier, a high-speed comparator, an FPGA SOC chip, an ADC chip, an SD card, a crystal oscillator chip, a level conversion interface and an Ethernet data transmission interface.

As shown in fig. 1, in this embodiment, the ADC chip is connected to the level conversion interface, the amplifier is connected to the high-speed comparator and the ADC chip, respectively, the high-speed comparator, the SD card, the crystal oscillator chip, and the level conversion interface are all connected to the FPGA SOC chip, and the FPGA SOC chip is connected to the man-machine interaction module through the ethernet data transmission interface, and the signal acquisition processing module is integrally disposed on the PCB substrate.

Specifically, the SD card provides a system file for the FPGA SOC chip, and the crystal oscillator chip provides a clock signal for the FPGA SOC chip, wherein the frequency range of the clock signal is 33.33 MHz-100 MHz. The laser pulse signal sent by the laser ranging device is reflected by a target object to obtain a laser echo signal, the photoelectric detector converts the laser echo signal into an analog echo electric signal, a synchronous signal sent by the laser ranging device is used as a reference signal, the reference signal and the analog echo electric signal are input into the laser ranging data acquisition device provided by the utility model, the reference signal and the analog echo electric signal are respectively amplified through an amplifier, the amplified reference signal and analog echo electric signal enter a high-speed comparator or an ADC chip, the reference signal and the analog echo electric signal are respectively converted into a digital reference signal and a digital echo electric signal through the high-speed comparator or the ADC chip, after the digital reference signal and the digital echo electric signal sent by the ADC chip are received by a level conversion interface, the digital reference signal and the digital echo electric signal are subjected to level conversion to obtain a digital reference signal and a digital echo electric signal with fixed levels, the FPGA SOC chip processes the digital reference signal and the digital echo electric signal with the fixed levels, the distance value between the ranging device and the target object is measured, and the distance value is transmitted to a human computer interaction module through an Ethernet data transmission interface to be displayed. The digital echo electrical signals include a first digital echo electrical signal and a second digital echo electrical signal.

The utility model forms a full-digital processing circuit based on the FPGA, has high instantaneity, can dynamically range the detection target in real time, and has the advantages of simple circuit and low cost.

Fig. 2 schematically shows a schematic structure of an FPGA SOC chip according to an embodiment of the present utility model. As shown in fig. 2, in this embodiment, the FPGA SOC chip includes a programmable logic unit and a processing unit, where the programmable logic unit includes a time window module, a time interval measurement module, a multi-pulse accumulation algorithm processing module, a data processing module, and a data transmission module. The time window module is respectively connected with the time interval measuring module, the multi-pulse accumulation algorithm processing module and the data processing module.

As shown in fig. 2, in this embodiment, the processing unit includes an SD card startup module and an ethernet control module, the SD card startup module is connected with the SD card, and the ethernet control module is connected with the ethernet data transmission interface.

When the programmable logic unit receives the digital reference signal and the digital echo electric signal, the time interval measuring module measures the time interval between the received digital echo electric signal and the digital reference signal, the time window module receives the instruction of the upper computer in the man-machine interaction module, and the time interval is subjected to preliminary noise filtering so as to reduce interference noise points. The time interval is transmitted to a data processing module, the data processing module converts the time interval into a distance value, the distance value is transmitted to a processing unit through a data transmission module, and the processing unit transmits the distance value to a human-computer interaction module through an Ethernet data transmission interface for display.

It should be noted that the time interval measurement module may also be replaced by a separate ASIC and/or a dedicated chip, which is not limited in this respect.

Because the correlation of the laser echo signals is extremely strong and the correlation of the noise signals does not exist, the utility model carries out correlation superposition on the digital echo electric signals obtained by converting a plurality of weaker laser echo signals according to the correlation through the multi-pulse accumulation algorithm processing module, and can improve the signal-to-noise ratio of the signals after superposition, thereby obtaining accurate distance value measurement results. And the time window module receives the instruction given by the man-machine interaction module, and the accuracy of the ranging result is greatly increased by removing all data outside the time window module to filter out noise.

Fig. 3 schematically shows a time interval measurement principle according to an embodiment of the utility model. As shown in fig. 3, in this embodiment, the time interval measurement module includes a counter and a carry delay chain, and the counter and the carry delay chain are respectively connected with the data processing module.

Starting a counter, enabling a reference signal obtained by converting a laser pulse signal to enter an FPGA SOC chip, and starting a carry delay chain to work to obtain a t1 value; the laser pulse signal is reflected back to the laser echo signal when encountering a target object, the digital echo electric signal obtained by converting the laser echo signal enters an FPGA SOC chip, and a carry chain delay chain works again to obtain a t2 value; the period of the clock CLK is T, and thus the time difference is Δt=tclk+t1-T2, and the distance difference is d= Δt×3×108/2. Therefore, the distance value between the laser ranging data acquisition device and the detection target can be calculated by utilizing the time difference value of the laser pulse signal and the laser echo signal reaching the laser ranging data acquisition device.

In some embodiments, the PCB substrate comprises 1 power layer, 2 stratum layers and 3 signal layers, the signal lines on the PCB substrate are designed at equal intervals, and the wiring of the PCB substrate is a serpentine wiring.

In some embodiments, the PCB substrate further includes N impedance matching resistors, where N is an integer greater than 1.

As shown in fig. 2, in this embodiment, the laser ranging data acquisition device further includes an intelligent camera, and the intelligent camera is connected with the man-machine interaction module.

Fig. 4 schematically shows a circuit schematic of an amplifier according to an embodiment of the present utility model, fig. 5 schematically shows a circuit schematic of a high-speed comparator according to an embodiment of the present utility model, fig. 6 schematically shows a circuit pin schematic of an FPGA SOC chip according to an embodiment of the present utility model, fig. 7 schematically shows a circuit connection schematic of an FPGA SOC chip according to an embodiment of the present utility model with an SD card, and fig. 8 schematically shows a circuit connection schematic of an FPGA SOC chip according to an embodiment of the present utility model with an ethernet data transmission interface.

As shown in fig. 4-8, the FPGA SOC chip adopts Zynq series XC7Z020CLG400-2i from Xilinx corporation, the model of the adc chip is LS08D2000, the model of the amplifier is OPA855, the model of the high-speed comparator chip is TLV3501, and the model of the ethernet data transmission interface chip is RTL8211E.

The utility model reduces the reflection of the laser echo signal by adding the impedance matching resistor so as to improve the signal quality of the digital echo electric signal. And when the distance is measured in real time, the intelligent camera is utilized to shoot the target image in real time and transmit the target image to the upper computer of the human-computer interaction module for display, so that the real-time performance is high, and the reliability of target monitoring is effectively improved.

Specifically, referring to fig. 1 to 8, the specific distance measurement process of the laser ranging data acquisition device provided by the utility model is as follows: the laser ranging device comprises a laser ranging device, a photoelectric detector, a digital reference signal and a digital echo signal, wherein the laser pulse signal sent by the laser ranging device is reflected by a target object to obtain a laser echo signal, the photoelectric detector converts the laser echo signal into an analog echo signal, a synchronous signal sent by the laser ranging device is used as a reference signal, the reference signal and the analog echo signal are input into the laser ranging data acquisition device provided by the utility model, the reference signal and the analog echo signal are transmitted to a high-speed comparator or an ADC chip after being amplified by an amplifier, the reference signal and the analog echo signal are respectively converted into a digital reference signal and a digital echo signal by the high-speed comparator or the ADC chip (the analog echo signal is converted into a first digital echo signal and is applied to a TDC mode, the ADC chip converts the analog echo signal into a second digital echo signal and is applied to an ADC mode), and after the digital reference signal and the digital echo signal sent by the ADC chip are received by a level conversion interface, the digital reference signal and the digital echo signal are obtained and are transmitted to a programmable logic unit in the FPGA chip.

If the digital echo electric signal is the first digital echo electric signal, a time interval between the first digital echo electric signal and the digital reference signal is obtained through a carry delay chain and a counter in the time interval measurement module, a time window module receives an instruction of an upper computer in the man-machine interaction module, and noise filtering is carried out on the time interval to reduce interference noise points. The time interval is transmitted to a data processing module, the data processing module converts the time interval into a distance value, the distance value is transmitted to a processing unit through a data transmission module, and the processing unit transmits the distance value to a human-computer interaction module through an Ethernet data transmission interface for display. Meanwhile, the intelligent camera shoots the detection target at intervals of preset time, and transmits the shot target image to the man-machine interaction module for display, wherein the preset time can be any time period, and the utility model is not limited to the preset time.

If the measured distance value is found to be larger, or the distance measurement noise and interference are found to be more, the signal-to-noise ratio of the echo signal is low, the fact that the laser echo signal is weaker at the moment is indicated, therefore, an ADC mode is adopted, namely a second digital echo electric signal, after a fixed-level digital reference signal and a second digital echo electric signal are obtained through a level conversion interface, correlation superposition is carried out on the fixed-level digital reference signal and the second digital echo electric signal through a multi-pulse accumulation algorithm processing module, the digital reference signal and the second digital echo electric signal after the correlation superposition are transmitted to a data processing module, a time interval between the digital reference signal and the second digital echo electric signal is obtained through the data processing module, then a time window module receives an instruction of an upper computer in a man-machine interaction module, noise filtering is carried out on the time interval, and interference noise points are reduced. The time interval is converted into a distance value by a data processing module. The method is characterized in that a host computer of a man-machine interaction module is provided with a program for selecting a TDC mode and an ADC mode, the TDC mode and the ADC mode can be selected automatically or manually by the program, the automatic selection can be compared with a preset threshold value for judgment, and the threshold value can be distance or signal-to-noise ratio, and the method is not limited.

In summary, the utility model forms a full-digital processing circuit based on the FPGA, can carry out real-time dynamic ranging on the detection target in two modes of ADC and TDC, and transmits the real-time dynamic ranging back to the target image, does not depend on a hardware circuit to carry out noise filtering, reduces noise interference, avoids the problem of ranging errors under the condition of poor signal-to-noise ratio, greatly improves the ranging accuracy and the reliability of target monitoring, and realizes the real-time dynamic monitoring on the detection target.

The laser ranging data acquisition device provided by the utility model has the advantages of simple circuit, low cost, high real-time performance, long-distance detection and small noise interference, and effectively improves the reliability of target monitoring and the ranging accuracy when a laser echo signal is weaker.

Those skilled in the art will appreciate that the features recited in the various embodiments of the utility model and/or in the claims may be combined in various combinations and/or combinations even if such combinations or combinations are not explicitly recited in the utility model. In particular, the features recited in the various embodiments of the utility model and/or in the claims can be combined in various combinations and/or combinations without departing from the spirit and teachings of the utility model. All such combinations and/or combinations fall within the scope of the utility model.

The embodiments of the present utility model are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present utility model. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the utility model is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the utility model, and such alternatives and modifications are intended to fall within the scope of the utility model.

Claims (8)

1. A laser ranging data acquisition device, characterized by comprising: the system comprises a signal acquisition processing module and a man-machine interaction module, wherein the signal acquisition processing module is connected with the man-machine interaction module;

the signal acquisition processing module comprises an amplifier, a high-speed comparator, an FPGA SOC chip, an ADC chip, an SD card, a crystal oscillator chip, a level conversion interface and an Ethernet data transmission interface.

2. The laser ranging data acquisition device according to claim 1, wherein the amplifier is connected with the high-speed comparator and the ADC chip respectively, the ADC chip is connected with the level conversion interface, the high-speed comparator, the SD card, the crystal oscillator chip and the level conversion interface are all connected with the FPGA SOC chip, the FPGA SOC chip is connected with the man-machine interaction module through the Ethernet data transmission interface, and the signal acquisition processing module is arranged on the PCB substrate.

3. The laser ranging data acquisition device according to claim 1 or 2, wherein the FPGA SOC chip comprises a programmable logic unit and a processing unit, the programmable logic unit comprises a time window module, a time interval measurement module, a multi-pulse accumulation algorithm processing module, a data processing module and a data transmission module;

the time interval measuring module, the data processing module and the data transmission module are sequentially connected, and the time window module is respectively connected with the time interval measuring module, the multi-pulse accumulation algorithm processing module and the data processing module.

4. The laser ranging data acquisition device according to claim 3, wherein the processing unit comprises an SD card starting module and an ethernet control module, the SD card starting module is connected with the SD card, and the ethernet control module is connected with the ethernet data transmission interface.

5. A laser ranging data acquisition device as claimed in claim 3, wherein the time interval measurement module comprises a counter and a carry delay chain, the counter and carry delay chain being respectively connected with the data processing module.

6. The laser ranging data acquisition device of claim 2, wherein the PCB substrate comprises 1 power layer, 2 strata and 3 signal layers, the signal lines on the PCB substrate are designed with equal intervals, and the trace of the PCB substrate is a serpentine trace.

7. The laser ranging data acquisition device of claim 6, wherein the PCB substrate further comprises N impedance matching resistors, N being an integer greater than 1.

8. The laser ranging data acquisition device of claim 1, further comprising a smart camera, the smart camera being connected to the man-machine interaction module.