WO2002048738A1 - Appareil d'horloge, procede d'horloge et telemetre - Google Patents

Appareil d'horloge, procede d'horloge et telemetre Download PDF

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Publication number
WO2002048738A1
WO2002048738A1 PCT/JP2001/010844 JP0110844W WO0248738A1 WO 2002048738 A1 WO2002048738 A1 WO 2002048738A1 JP 0110844 W JP0110844 W JP 0110844W WO 0248738 A1 WO0248738 A1 WO 0248738A1
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WO
WIPO (PCT)
Prior art keywords
timing
pulse signal
pulse
reception timing
clock pulse
Prior art date
Application number
PCT/JP2001/010844
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English (en)
Japanese (ja)
Inventor
Naoto Inaba
Original Assignee
Nikon Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nikon Corporation filed Critical Nikon Corporation
Publication of WO2002048738A1 publication Critical patent/WO2002048738A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters

Definitions

  • the present invention relates to a timing device, a timing method, and a distance measuring device, and more particularly, to a timing device that measures the reception timing of a pulse cloud signal.
  • a timing device that measures the reception timing of a pulse signal transmitted at a predetermined timing, for example, based on the transmission timing.
  • a distance measuring device that irradiates a target with laser light, receives reflected light thereof, and measures the distance to the target has been proposed.
  • the time difference between the emission timing of the laser beam (transmission timing) and the reception timing of the reflected light (reception timing) is obtained from the count value of the clock pulse generated at a constant interval.
  • the distance to the target is calculated based on the calculated time difference (count value) and the speed of the pulsed laser light.
  • the measurement accuracy of the time difference is directly connected to the measurement accuracy of the distance.
  • the clock cycle is 12.5 nsec, and the distance measurement resolution corresponding to one clock pulse generation interval takes into account the speed of light. It is about 2 m.
  • the time difference between the emission timing of the pulsed laser light and the reception timing of the reflected light is obtained as the count value of the clock pulse (sample clock), which improves the accuracy of distance measurement. If there is more It is sufficient to use a clock pulse oscillator with a high frequency. In this case, an IC or the like capable of high-speed signal processing is also required. For example, if an oscillator of about 30 OMHz is used, the resolution of the distance measuring device can be increased to about 50 cm.
  • the present invention has been made in view of such circumstances, and does not require a high-frequency oscillator or the like, and is capable of measuring the reception timing of a pulse signal with a resolution shorter than a clock pulse generation interval.
  • An object of the present invention is to provide a timing method and a distance measuring device using the same.
  • a timing device includes: a transmitting unit that repeatedly transmits a pulse signal; and A timing unit including a receiving unit for measuring, wherein the transmitting unit transmits the pulse signal while shifting a transmitting timing for the clock pulse at a predetermined interval.
  • a plurality of count values can be obtained by counting the reception timing based on the clock pulse while shifting the transmission timing of the repeatedly transmitted pulse signal a plurality of times at predetermined intervals. . Since the pulse signal is transmitted while shifting the transmission timing with respect to the clock pulse at predetermined intervals, for example, a pulse that is repeatedly transmitted The signal transmission timing is shifted a plurality of times at predetermined intervals, the received timing is counted based on the clock pulse, and the obtained count values are calculated by statistical processing to obtain the clock pulse.
  • the reception timing can be counted at intervals shorter than the occurrence interval of the reception.
  • a timing device is a transmitting unit that repeatedly transmits a pulse signal, and a receiving unit that receives the pulse signal and measures reception timing of the pulse signal based on a count value of a clock pulse. Wherein the receiving unit shifts the reception timing at predetermined intervals.
  • the reception timing is shifted at a predetermined interval, for example, the shifted reception timing of the repeatedly transmitted pulse signal is counted based on the clock pulse, and the obtained plurality is obtained.
  • the reception timing can be counted at intervals shorter than the clock pulse generation interval.
  • the timing device is the timing device according to the first invention or the second invention, wherein the predetermined interval is a fixed interval shorter than a clock pulse period, and the maximum width of the shift is The value is one cycle or more of the clock pulse.
  • the pulse signal is shifted at a constant interval shorter than the clock pulse cycle, and the maximum value is one cycle or more of the clock pulse. Therefore, the reception timing is obtained a plurality of times and statistically processed. In this case, appropriate sampling is possible.
  • the timing device is the timing device according to the third invention, further comprising the receiving unit, wherein the reception unit obtains the count value obtained each time the transmission timing or the reception timing is shifted. The reception timing is counted according to the frequency distribution.
  • the timing device is the timing device according to a fifth invention, wherein the reception unit further includes a plurality of count values obtained by shifting the pulse signal a plurality of times. (l) to T (m), and when the frequency of occurrence of each count value is N (l) to N (m), the reception timing t of the pulse signal is
  • the reception unit counts the reception timing according to the frequency distribution of the count value of the pulse pulse obtained every time the transmission timing is shifted. Therefore, simple statistical processing becomes possible.
  • a timing device is the timing device according to any one of the first invention to the fifth invention, wherein the transmitting unit transmits a pulsed laser light as the pulse signal.
  • a light source unit that irradiates the object with light
  • the receiving unit includes a light receiving unit that receives the pulsed laser light reflected from the object, and the receiving unit receives timing of the pulsed laser light. Is measured.
  • the time difference between the emission timing and the reception timing of the pulsed laser light can be counted with high accuracy, the time measurement until the transmitted laser light is reflected by the target object and received is performed.
  • the resolution is improved, and the timing accuracy is also improved.
  • the timekeeping method includes: a step of repeatedly transmitting a pulse signal; a step of receiving the pulse signal; and a step of measuring a reception timing of the pulse signal based on a count value of a clock pulse.
  • the transmission timing or reception timing for the clock pulse is shifted at predetermined intervals. And transmitting the pulse signal.
  • the transmission timing or the reception timing of the repeatedly transmitted pulse signal is shifted a plurality of times at a predetermined interval, and the reception timing is timed based on the clock pulse to obtain a plurality of times.
  • a pulse signal is transmitted while shifting the transmission timing for a clock pulse at a predetermined interval.
  • the transmission timing of a repeatedly transmitted pulse signal is shifted a plurality of times at a predetermined interval.
  • a distance measuring apparatus is a distance measuring apparatus according to the sixth aspect of the present invention, comprising: a timing device configured to measure the reception timing and the light speed of the pulsed laser light to reach the target object.
  • a timing device configured to measure the reception timing and the light speed of the pulsed laser light to reach the target object.
  • the time difference between the emission timing of the pulsed laser light and the reception timing can be counted with high accuracy, so that the distance to the target object can be calculated.
  • the resolution of the distance is improved, and the distance measurement accuracy is also improved.
  • FIG. 1 is a perspective view of a laser distance measuring apparatus to which the present invention is applied.
  • FIG. 2 is a block diagram showing the internal configuration of the laser distance measuring device.
  • FIG. 3 is a circuit diagram showing a configuration of the shift circuit.
  • FIG. 4 is a timing chart for explaining shift values of light emission timing (transmission timing) by the shift circuit.
  • Fig. 5 is a timing chart showing how light reception timing (reception timing) is measured when determining the distance to the target.
  • FIG. 6 is a timing chart showing how the light reception timing is measured when the distance to the target is 500 m.
  • FIG. 7 is a timing chart showing how the light reception timing is measured when the distance to the target is 502 m.
  • FIG. 8 is a timing chart showing how the light reception timing is measured when the distance to the object is 501 m.
  • FIG. 9 is a flowchart showing the distance measuring program.
  • FIG. 10 is a timing chart showing a state of measurement when obtaining the distance to the target object while shifting the reception timing.
  • FIG. 1 is a perspective view of a laser distance measuring apparatus 100 to which the present invention is applied
  • FIG. 2 is a block diagram showing an internal configuration thereof.
  • the laser distance measuring apparatus 100 is provided with a power and distance measurement start button 101 and a mode change button 102 on its upper surface. Further, a laser irradiation window 103 and a laser receiving window 104 are provided on the front surface thereof, and a finder window (not shown) is provided on the rear surface thereof.
  • a collimating lens 111 is arranged on the side of the laser irradiation window 103, and a condenser lens 121 is arranged on the side of the laser receiving window 104.
  • a semiconductor laser (light emitting element) 112 As shown in FIG. 2, a semiconductor laser (light emitting element) 112, a pulse generating circuit 130, a shift circuit 130, and a collimating lens 111 are provided inside the laser range finder 100 as shown in FIG. Circuit 140 is arranged.
  • a photodiode (light receiving element) 122 and a receiving circuit 150 are arranged on the side of the condenser lens 121.
  • the control circuit 160 delays the light emission start signal output from the above-described pulse generation circuit 130 by a predetermined shift value using the shift circuit 140, and outputs the signal from the semiconductor laser 112. Laser light is emitted at a predetermined timing (light emission timing).
  • control circuit 160 detects the reception timing (reception timing) of the laser beam reflected by the object 1 based on the signal from the reception circuit 150.
  • the control circuit '160 detects the time difference (t in Fig. 2 (b)) between the light emission timing (transmission timing) and the light reception timing (reception timing) by counting the clock pulse (see Fig. 5). .
  • control circuit 160 calculates a distance L from the laser distance measuring apparatus 100 to the object 1 based on the counted time difference and the speed of the laser beam (as a distance calculation unit). function).
  • the control circuit 160 displays this calculation result on the liquid crystal display 170 in the finder.
  • the detection of the time difference t is performed by repeatedly generating a pulsed laser beam, and is repeated each time each laser beam is generated. Then, the time difference t obtained a plurality of times is statistically processed to obtain one value (time difference).
  • the emission timing is determined by a predetermined shift value S with respect to a clock pulse for counting the emission timing. Only to shift it.
  • the transmitting section is constituted by the collimating lens 111, the semiconductor laser 112, the pulse generating circuit 130, the shift circuit 140, and the control circuit 160.
  • the light source section is composed of the collimating lens 111 and the semiconductor laser 112.
  • the receiving unit is composed of a condenser lens 121, a photodiode 122, a receiving circuit 150, and a control circuit 160, of which a condenser lens 121 and a photodiode 122 are formed. Constitutes a light receiving section.
  • the emission timing of the laser light is shifted by the shift value S by the operation of the shift circuit 140.
  • the light emission timing is shifted a plurality of times, but the difference ⁇ S between the shift values S is shorter than the clock pulse period Tx.
  • the maximum value Sx of the shift value S is equal to or longer than the clock pulse period Tx (see FIG. 5).
  • the shift circuit 140 includes an analog switch 141, a comparator 142, a capacitor 143, and the like, as shown in FIG. Then, a signal (light emission start signal) from the pulse generation circuit 130 is input to the analog switch 141, and the current Ic flows from the constant current source when the analog switch 141 is turned on by this signal. . A setting voltage Vc for setting shift value S is applied to the other terminal of comparator 142.
  • FIG. 4 is a timing chart when the light emission timing is delayed by the shift circuit 140.
  • td CxVc / Ic (C is the capacitance of the capacitor) ⁇ ' ⁇ (1)
  • S the light emission timing (transmission) of the semiconductor laser 112 according to the shift value set voltage Vc by the shift circuit 140 Timing is delayed for a predetermined time td (S).
  • Fig. 5 shows the light emission timing when the light emission timing is changed with different shift values S (SI, S2 to Sx) with respect to the closing pulse, and the target 1
  • S x SlO.
  • the light emission timing (transmission timing) is shifted 10 times within a period Sx slightly longer than the clock pulse period Tx.
  • the number of pulses at which the reflected light is detected depends on the distance L from the laser distance measuring device 100 to the target 1.
  • the frequency of the oscillator (not shown) of the pulse generator circuit 130 is 80 MHz (period 12.5 nsnsc), the resolution of the laser range finder 100 is 2 m, and the laser range finder Consider the case where the distance L from 100 to the target 1 is 50 Om (Figs. 5 and 6).
  • the emission timing of the semiconductor laser 112 is shifted 10 times within the period Sx. It is also assumed that shift values S (SI, S2-Sx) are shifted from each other by a fixed time (difference ⁇ S).
  • the reception timing of the laser beam generated 10 times in 10 shifts is as shown in Fig. 7 (a), and the timing is once for the clock pulse (Tn). It is counted eight times by the clock pulse (Tn + 1) and once by the clock pulse ( ⁇ + 2). The histogram obtained at this time is shown in Fig. 7 (b).
  • the distance L 1 (here, 502 m) from the laser range finder 100 to the target 1 is calculated through the calculation of the reception timing. Is done.
  • the distance L to the target 1 is an integer multiple of the resolution (for example, 2 m) (for example, 500 m, 502 m-) s histogram, one clock pulse The shape of the histogram is almost the same even though it is shifted.
  • a histogram (Fig. 8 (b)) is obtained.
  • the count value is a value (Tn or Tn + 1) representing either 500 m or 502 m.
  • the period indicating the light reception timing is equivalent to a clock panel (Tn) corresponding to 500 m, and equivalent to 500 m. It is counted by the clock pulse (Tn + 1).
  • the clock pulse Tn + 1 the clock pulse irradiated after being shifted ten times.
  • the light reception timing is counted five times by the clock pulse Tn and five times by the clock pulse ⁇ + 1 (histogram in Fig. 8 (b)).
  • the value of L3 (501 m) can be obtained through the calculation of the reception timing.
  • the distance at the point between LI (500 m) and L 2 (502 m) can be calculated by the conventional resolution (2 m). A finer resolution can be obtained.
  • the difference of the shift value S is constant (AS)
  • AS the shift value
  • the shift value is known in advance, it differs from the equation (2).
  • the distance L can be obtained precisely by calculation.
  • the number of shifts may be increased and the shift value difference AS may be shortened.
  • the distance measurement accuracy of the laser distance measuring apparatus 100 is improved.
  • the accuracy of distance measurement is further improved.
  • the light emission of the semiconductor laser 112 is directly detected by the sensor 199 (indicated by a broken line in FIG. 2), and the light emission timing is detected from the time when the light emission timing is actually detected. Starting the counting can increase the measurement accuracy.
  • FIG. 9 is a flowchart showing a distance measurement program executed by a CPU (not shown) in the control circuit 160 to perform the above-described distance measurement.
  • step S1 When the power and measurement start button 101 provided on the laser range finder 100 is pressed and the power is turned on, first, the counting of clock pulses is started in step S1, and the semiconductor is then started in step S2. The light emission processing of the laser 112 is performed. Here, the light emission timing is shifted by the above-mentioned constant shift value by the shift circuit 140.
  • step S3 it is determined whether or not the photodiodes 122 detect the laser beam reflected by the object 1. While the determination result is “No”, the count of the clock pulse is continued. When the determination result changes to "Yes”, the count value of the clock pulse at this time is captured in step S4.
  • the histogram is updated using the count value acquired this time, and in the following step S6, it is determined whether or not n (for example, 10) detections have been performed. Is determined.
  • step S6 As long as the determination result of step S6 is "No", steps S1 to S5 described above are repeatedly executed. Then, when the result of the determination in step S6 changes to "Yes", the process proceeds to step S7, and based on the histogram obtained up to this point, the distance from the laser ranging device 100 to the target 1 is increased. The distance L is calculated.
  • the reception timing is shifted by a delay circuit that is substantially the same as the shift circuit 140.
  • a signal for counting may be generated (S1 to Sx in FIG. 10).
  • the actual light receiving pulse is obtained at the timing indicated by light receiving pulse # 1, but at the next light receiving time (indicated by light receiving pulse # 2), this light receiving pulse is obtained. Is delayed by S2 and sent to the next connected processing circuit.
  • the received light pulse is delayed by Sn and sent to the processing circuit connected next.
  • the laser ranging device 100 counts the light receiving timing of the semiconductor laser 112, but other light emitting elements (eg, LEDs) are used.
  • the present invention is also applicable to the measuring instrument used.
  • the case where the laser beam is measured once for one shift value has been described for the sake of simplicity. Even if the shift value is changed to the maximum shift value while measuring multiple laser beams for one shift value, the reception timing is measured while changing the shift value to the maximum shift value. The cycle may be repeated several times, and by processing this The reliability of the measured values can be improved.
  • the timekeeping device and the timekeeping method of the present invention can be used to measure time with high accuracy using an inexpensive configuration.
  • the distance measuring device of the present invention can be used for measuring distance with high accuracy by an inexpensive configuration.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Unknown Time Intervals (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un télémètre laser (100) qui comprend un circuit (130) générateur d'impulsions pour générer de façon répétée un faisceau laser à impulsions, un laser à semi-conducteur (112), une photodiode (122) pour recevoir le faisceau laser, et un circuit récepteur (150). Un circuit de commande (160) mesure le rythme de la réception de la lumière sur la base du nombre d'impulsions d'horloge. Ce télémètre (100) comprend également un circuit (140) pour commuter le rythme de rayonnement du faisceau laser de l'impulsion d'horloge à un intervalle prédéterminé. Le rythme de réception d'un signal d'impulsion peut être mesuré à l'aide d'une résolution que l'intervalle de génération de l'impulsion d'horloge sans qu'un oscillateur haute fréquence soit nécessaire.
PCT/JP2001/010844 2000-12-15 2001-12-11 Appareil d'horloge, procede d'horloge et telemetre WO2002048738A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000-382288 2000-12-15
JP2000382288A JP2002181934A (ja) 2000-12-15 2000-12-15 計時装置、計時方法、及び測距装置

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WO2002048738A1 true WO2002048738A1 (fr) 2002-06-20

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103412474A (zh) * 2013-05-24 2013-11-27 西安交通大学 基于fpga的tdc-gp2测时范围高精度扩展电路

Families Citing this family (13)

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Publication number Priority date Publication date Assignee Title
JP2002328170A (ja) * 2001-05-01 2002-11-15 Nikon Corp 遅延回路、計時装置及びレーザ測距装置
US7379395B2 (en) * 2004-06-30 2008-05-27 Teradyne, Inc. Precise time measurement apparatus and method
JP2006208360A (ja) * 2004-12-27 2006-08-10 Tokyo Keiso Co Ltd 伝達時間計測装置
JP2006329902A (ja) * 2005-05-30 2006-12-07 Nikon Corp 測距装置及び測距方法
EP3206046B1 (fr) 2007-12-21 2021-08-25 Leddartech Inc. Procédés et systèmes de détection et de télémétrie
EP2189804B1 (fr) * 2008-11-21 2010-10-06 Sick Ag Capteur optoélectronique et procédé destiné à la mesure de distance selon le principe du temps de propagation de la lumière
DE502008001000D1 (de) * 2008-11-21 2010-09-02 Sick Ag Optoelektronischer Sensor und Verfahren zur Messung von Entfernungen nach dem Lichtlaufzeitprinzip
DE502008001493D1 (de) * 2008-11-21 2010-11-18 Sick Ag Optoelektronischer Sensor und Verfahren zur Messung von Entfernungen nach dem Lichtlaufzeitprinzip
EP2315045B1 (fr) * 2009-10-22 2012-08-01 Sick Ag Mesure des éloignements ou des modifications d'éloignement
JP6304321B2 (ja) * 2016-07-26 2018-04-04 オムロン株式会社 測距センサおよび測距方法
CN108508451A (zh) * 2018-04-03 2018-09-07 深圳新亮智能技术有限公司 高精度高频次的脉冲激光测距传感器
JP2021099271A (ja) * 2019-12-23 2021-07-01 ソニーセミコンダクタソリューションズ株式会社 測距装置およびその制御方法、並びに、電子機器
JPWO2022264504A1 (fr) * 2021-06-15 2022-12-22

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JPH03142397A (ja) * 1989-10-27 1991-06-18 Nec Corp レーザ測距装置
JPH09127240A (ja) * 1995-10-30 1997-05-16 Koden Electron Co Ltd パルスレーダ及び時間軸伸長回路
EP0875772A2 (fr) * 1997-05-02 1998-11-04 Endress + Hauser GmbH + Co. Procédé et appareil de mesure de distance par ondes électromagnétiques employant le temps de vol d'impulsions
JP2001124855A (ja) * 1999-10-26 2001-05-11 Matsushita Electric Works Ltd 距離計測方法およびその装置

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH03142397A (ja) * 1989-10-27 1991-06-18 Nec Corp レーザ測距装置
JPH09127240A (ja) * 1995-10-30 1997-05-16 Koden Electron Co Ltd パルスレーダ及び時間軸伸長回路
EP0875772A2 (fr) * 1997-05-02 1998-11-04 Endress + Hauser GmbH + Co. Procédé et appareil de mesure de distance par ondes électromagnétiques employant le temps de vol d'impulsions
JP2001124855A (ja) * 1999-10-26 2001-05-11 Matsushita Electric Works Ltd 距離計測方法およびその装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103412474A (zh) * 2013-05-24 2013-11-27 西安交通大学 基于fpga的tdc-gp2测时范围高精度扩展电路

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