WO2008086651A1 - Systeme telemetre laser - Google Patents

Systeme telemetre laser Download PDF

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Publication number
WO2008086651A1
WO2008086651A1 PCT/CN2007/000122 CN2007000122W WO2008086651A1 WO 2008086651 A1 WO2008086651 A1 WO 2008086651A1 CN 2007000122 W CN2007000122 W CN 2007000122W WO 2008086651 A1 WO2008086651 A1 WO 2008086651A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
ranging system
laser ranging
receiving
time
Prior art date
Application number
PCT/CN2007/000122
Other languages
English (en)
Chinese (zh)
Inventor
Zhiqiang Xue
Original Assignee
Zhiqiang Xue
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 Zhiqiang Xue filed Critical Zhiqiang Xue
Priority to PCT/CN2007/000122 priority Critical patent/WO2008086651A1/fr
Publication of WO2008086651A1 publication Critical patent/WO2008086651A1/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

Definitions

  • the invention relates to a laser ranging system, in particular to a laser ranging system using a pulse-echo (TOF) time-of-flight laser ranging method.
  • TOF pulse-echo
  • phase laser ranging The interferometric laser ranging method is extremely sensitive to the vibration of the external environment and can only measure the relative displacement. Therefore, it is suitable for precision measurement with extremely short distance and stable external environment.
  • phase laser ranging The phase laser ranging method has a higher resolution, but since the phase detector can only measure the phase difference between the two signals (transmitting and receiving laser pulse signals), it is difficult to judge when the phase difference exceeds half of the modulation wavelength. Therefore, when measuring a long distance, the modulation frequency must be made small, but this will make the resolution of the distance worse. If high resolution and large measurement range are to be guaranteed at the same time, it is necessary to measure the same distance with several different modulation frequencies, which greatly increases the complexity of the system circuit.
  • the pulse echo type is the TOF (Time-of-Flight) method.
  • phase laser ranging is higher than that of pulse echo laser ranging, but
  • Pulse echo laser ranging has the following advantages: Under the same total average optical power output, the pulse echo measurable distance is much longer than the phase type. This is because pulsed lasers typically have a high instantaneous output optical power, so that objects farther away can still reflect back the intensity of the laser signal that is sufficiently detected. The single ranging rate is faster, and the accuracy can be increased multiple times. Since the phase detector measures the relative phase difference between two consecutive signals, the phase type is also time consuming in measurement time, which is a disadvantage for systems that must have high speed measurement rates and multiple measurements. The system architecture of pulse echo ranging is relatively simple. On laser ranging systems where resolution is not critical, pulse-echo is the most ideal implementation.
  • pulse echo type ranging is to calculate the time difference between the transmitted wave and the received echo
  • the main error affecting the accuracy of the ranging is: due to the different reflection properties of the object or the different distances of the measured distance.
  • the current time difference calculation method applied by the pulse-echo (TOF) laser ranging method is that the circuit is complicated or expensive, or has low precision, low resolution, stability, and poor reliability.
  • Most of the 'number products' using the pulse-echo laser ranging method have the disadvantages of complicated optical systems, mechanical structures and circuit components. Summary of the invention
  • An object of the present invention is to provide a laser ranging system using a pulse echo type laser ranging method which emits and receives an invisible laser signal and employs a highly integrated and highly accurate time difference calculation circuit.
  • the optical ranging system has simple optical system and mechanical structure, simple system, high precision, small error, stable and reliable, and low cost.
  • a laser ranging system comprising a transmitting module and a receiving module, the transmitting module comprising an emitting lens and the mounting lens a transmitting optical system composed of a transmitting cavity, and a laser emitter, transmitting a pulsed laser signal via a transmitting optical system;
  • the receiving module comprising a receiving optical system comprising a receiving lens and a receiving cavity in which the receiving lens is mounted, and a laser a receiver receives a pulsed laser signal via a receiving optical system and converts it into a pulsed electrical signal;
  • a time/digital converter for detecting and calculating a time difference between the transmitted pulse signal and the received pulse signal; and a clock generator that outputs a calibration clock signal to a time/digital converter;
  • a microcontroller microcontroller controlling the transmitting module, the receiving module clock generator time/digital converter and the clock generator, and calculating the position of the corresponding target and the laser ranging system according to the time difference
  • the laser ranging system of the invention adopts the principle of pulse echo, transmits and receives invisible laser signals, and adopts a high integration and high precision time difference calculation circuit.
  • the optical system is simple, and the detection, calculation and calibration of the time difference is realized based on the highly integrated CMOS LSI "Time/Digital Converter" TDC circuit, so that the laser range finder is small in size.
  • the system is simple, accurate, small in error, stable and reliable, easy to read and intuitive, and low in cost.
  • the laser ranging system can be applied to a laser range finder, a laser ranging telescope, and can also be applied to a laser speed measuring system, a car collision avoidance system, and the like.
  • FIG. 1 is a schematic diagram of an overall module of a laser ranging system of the present invention.
  • FIG. 2 is a schematic diagram of a transmitting module and a receiving module of the laser ranging system of the present invention.
  • FIG 3 is a schematic view of the whole machine assembly of the laser ranging system of the present invention.
  • FIG. 4 is a schematic view showing the working principle of the laser ranging system of the present invention.
  • Figure 5a is a block diagram of a transmitting circuit of the laser ranging system of the present invention.
  • Figure 5b is a schematic illustration of the transmitting optical system of the laser ranging system of the present invention.
  • Figure 6a is a block diagram of a receiving circuit of the laser ranging system of the present invention.
  • Figure 6b is a schematic view of the receiving optical system of the laser ranging system of the present invention.
  • FIG. 7 is a schematic diagram of a time/digital converter TDC circuit of the laser ranging system of the present invention. detailed description
  • FIG. 1 is a schematic diagram of an overall module of a laser ranging system according to the present invention.
  • the laser ranging system of the present invention comprises: a transmitting module 100, a receiving module 200, a guiding laser module 20, a Time-to-Digital Converter (TDC) 30, and a Single Chip Microcontroller 40.
  • a clock generator 50 a backlit LCD liquid crystal display device 60, a keyboard 70, a power supply unit 80, a JTAG (Joint Test Action Group) emulation and debug interface 90, and a programming and calibration interface 95.
  • JTAG Joint Test Action Group
  • the transmitting module 100 further includes: an emitting optical system composed of an emitting lens 125 and an emitting cavity 128 for mounting the transmitting lens 125, a pulsed laser diode 150, and mainly used for controlling the The emission control circuit 130 of the pulsed laser diode 150.
  • the receiving module 200 further includes: a receiving optical system composed of a receiving lens 225 and a receiving cavity 228 for mounting the receiving lens 225, a silicon PIN photodiode 250, and a receiving control circuit mainly for controlling the silicon PIN photodiode 250. 230.
  • the guided laser module 20 includes: a guided laser emitter 22 for emitting visible laser light, and a guided laser control circuit 24 for controlling the switch of the guided laser emitter 22.
  • the power supply unit 80 includes a battery 82 and a power manager 84.
  • FIG. 3 is a schematic diagram of the whole machine assembly of the laser ranging system of the present invention.
  • the laser ranging system is integrally mounted on a casing, wherein the transmitting optical system of the transmitting module 100, the receiving module 200
  • the receiving optical system, and the guiding laser emitter 22 guiding the laser module 20 are mounted on the front end of the housing to facilitate the transmission, reception of optical signals and the exit of visible laser spots.
  • the 60 drive circuit, JTAG emulation and debug interface 90, and the programming and calibration interface 95 are all integrated on the PCB.
  • the LCD liquid crystal display device 60 and the keyboard 70 are mounted on the outer surface of the casing, and the battery 82 is mounted in the battery compartment of the casing.
  • FIG. 4 is a schematic diagram of the working principle of the laser ranging system of the present invention.
  • the basic principle of the laser ranging system of the present invention is to achieve the purpose of measuring distance by detecting the time difference between the pulse signal emitted by the pulse laser diode 150 and the reflected laser pulse signal received by the silicon PIN photodiode 250, and on the LCD liquid crystal display device 60.
  • In front of the laser ranging system there is a pulsed laser diode 150 as a laser emitter and a silicon PIN photodiode 250 as a laser receiver. After positioning the target by guiding the laser, the laser pulse signal is emitted to the target and received by the target.
  • the laser pulse signal is further calculated and calibrated by the time/digital converter 30 and the clock generator 50, and then the microcontroller microcontroller 40 calculates and corrects the position of the corresponding target and the laser ranging system.
  • the distance is finally displayed on the LCD liquid crystal display device 60.
  • the single-chip microcomputer 40 sends a transmit pulse signal (TX pulse) to the transmit control circuit 130, and the transmit control circuit 130 is equivalent to a control switch to turn on the pulsed laser diode 150 to emit a pulsed laser.
  • the signal is then transmitted through the transmitting lens 125 as a beamlet of parallel laser pulses onto the target.
  • the laser light emitted by the pulsed laser diode 150 is invisible to the wavelength of 905 nm, and does not cause harm to the human eye.
  • the visible laser emitted by the guided laser emitter 22 is a 650-plane wavelength micropower ( ⁇ lmW) secondary laser (CLASS 2) conforming to the EN60825-1:XXXX standard, which requires protection of the human eye.
  • the receiving optical system includes a focusing receiving lens 225 having a high transmittance for a 905 nm wavelength laser, a filter 226 disposed between the silicon PIN photodiode 250 and the receiving lens 225, and a filter 226. Receive cavity.
  • the pulsed laser signal reflected back by the target passes through the receiving lens 225, is filtered by the filter 226, and is focused onto the silicon PIN photodiode 250, converted into a pulse current signal, and then sent to an amplifying circuit for amplification, and then at a current/voltage (
  • the I/V) conversion circuit converts the amplified pulse current signal into a pulse voltage signal, and finally compares the pulse voltage signal with a stable comparison level (Comp. level) sent from the microcontroller microcontroller 40 in the shaping comparison circuit.
  • the received pulse signal (RX pulse) in the form of a square wave is output and sent to the time/digital converter 30.
  • the laser pulse signal is emitted from the range finder to the target, and then reflected from the target back to the TOF (time-of-flight) of the range finder, that is, the laser pulse signal is transmitted and received.
  • Time difference detection, calculation and calibration are performed using internationally advanced dedicated CMOS large scale integrated circuit (ASIC) "time/digital converters, 'TDC circuits.
  • ASIC CMOS large scale integrated circuit
  • the time/digital converter 30 is mainly used for time difference detection, calculation, and Calibration, with high integration and precision.
  • the time/digital converter 30 correlates the start pulse signal and the pulse pulse signal (TX pulse) sent from the single chip microcomputer 40 with the received pulse signal (RX pulse) sent from the receiving control circuit 230. Calculate the time difference between the transmit pulse (TX pulse) and the received pulse signal (RX pulse) to the time/digital converter 30, and then perform the time calibration using the calibration clock (Calclk) sent from the clock generator 50 to obtain an accurate time.
  • the difference (ATC4Z) is sent to the microcontroller microcontroller 40 for processing in parallel data.
  • the time/digital converter 30 is a high-precision TDC (TDC, Time-to-Digital Converter) mode device implemented by a low-cost gate Array technology. It uses 0.6 ⁇ CMOS process technology and operates over a wide supply range of 2.7V to 5.5V in a LQFP44 0.8mm macro package.
  • TDC Time-to-Digital Converter
  • This TDC circuit achieves a typical resolution of 45ps (picoseconds) at 5V operation. This is not possible with conventional measuring devices. It combines multiple firing and multi-channel functions for simultaneous and/or successive measurement of time differences.
  • the burst-triggered measurement mode (Burst Measurement Mode) and the internal integrated operator (ALU) complete the performance.
  • this TDC device enables high-precision time-difference measurements with low power consumption, making it widely used in battery-powered applications.
  • time/digital converter 30 is well suited for applications where time difference measurements are made, such as laser distance measurement, phase measurement, ultrasonic positioning, and temperature measurement, to successfully implement the system.
  • microcontroller microcontroller 40 control circuit implements the following functions:
  • the output control and data signals are sent to the power management circuit 84 to respectively control the supply voltage values and the supply timings of the other peripheral function modules; and simultaneously receive the monitoring signals fed back by the power management circuit 84 to monitor and ensure that the system is in the measurement state. Stable and quality of the supply voltage, and when the system is in the non-measurement state (standby, sleep and shutdown), some or all of the other peripheral function modules are shut down in time to save power.
  • the output enable signal (Laser enable) is supplied to the guided laser control circuit 24.
  • the timing of the guided laser emitter 22 is controlled to be turned on/off to achieve the target positioning and system power saving purposes.
  • TX pulse transmit pulse signal
  • Stop A first time stop
  • the program of the single-chip microcomputer 40 can be repeatedly modified and upgraded, and the calibration work can be performed for each laser ranging system. produce.
  • the microcontroller microcontroller 40 receives the accurate time difference ATC!L sent by the time/digital converter 30 through the parallel port, and discards the delay time of the transmitting circuit 130 and the transmitting optical system for the transmitted pulse signal (TX pulse).
  • TX pulse transmitted pulse signal
  • ⁇ and the delay time ATRx of the receiving circuit 230 and the receiving optical system for receiving the pulse signal (RX pulse)
  • RX pulse the delay time of the entire circuit in the time domain (temperature drift, electromagnetic interference, etc.) target reflectance (color difference, material) , smoothness or roughness, etc.) and the time difference caused by the strength of the range signal ⁇ !>
  • D d-Ad 4 If the selected measurement reference edge (the leading edge or trailing edge of the laser rangefinder) is different, also consider the front and rear dimensions of the laser ranging system.
  • the microcontroller microcontroller 40 also performs unit conversion of measurement distance, area/volume measurement and intermediate value storage, delay measurement, measurement reference edge (leading edge/back edge) selection, maximum and minimum measurement and storage, continuous measurement , indirect measurement, the realization of the Pythagorean law function, the implementation of the addition and subtraction function, the number of measurement groups (such as 99 groups) stored, the calculation of the last measured value (such as 99 times) and other functional calculations.
  • the microcontroller microcontroller 40 also implements the conversion between the system measurement state (single, continuous measurement state) and the non-measurement state (; standby, sleep and shutdown states).
  • the single measurement state time is 2S (time can be changed, the same below), and the continuous measurement state is 2S cycle; the standby state is 10S, and the sleep state is 20S. After the system exceeds 20S in the sleep state, it will enter the shutdown state until the next power-on button is triggered, and the system enters the standby state again. That is to say, after the laser ranging system is installed in the battery 82:
  • the measurement state is entered (3);
  • the measurement button If the measurement button is pressed briefly, it will enter the single measurement state. After 2S, the LCD will display the measurement result. After the measurement is completed, it will enter the standby state (2). If the measurement button is pressed for 2S, the continuous measurement state will be entered. 2S measures the cycle, that is, the LCD displays the measurement result every 2S, until the measurement button is pressed again, and then enters the standby state (2). Delay measurement, area/volume measurement, maximum and minimum measurement, between The measurement and Pythagorean function and the addition and subtraction functions can also be divided into single measurement and continuous measurement. In the standby mode, press the function key you want to select first, then press or hold the (2S) measurement button briefly. Select to enter a single measurement or continuous measurement, and then calculate the result according to the respective algorithms of the selected function, and finally display the result on the LCD.
  • the LCD monitor stops flashing and statically displays the data and information of the last measurement result, turns off the LCD backlight, and the microcontroller microcontroller 40 runs in the low-speed power-saving mode, within 20S clock:
  • the clock generator 50 circuit receives the oscillation enable (Osc. enable) signal (active low) sent from the microcontroller microcontroller 40, starts working, and then outputs the calibration clock (Calclk) signal to the time /
  • the digitizer 30 performs calibration of the measured time difference.
  • the oscillation enable (Osc. enable) signal is high and the clock generator 50 circuit stops operating.
  • the LCD liquid crystal display device 60 with backlight and its driving circuit include a liquid crystal display driving circuit, an LCD display screen, a backlight driving circuit, and a backlight sheet/board.
  • the LCD liquid crystal display device 60 will be turned on for display of data and information, and the backlight will be lit for LCD display in other states except "off state and sleep state”. Screen lighting.
  • the most basic configuration of the keyboard 70 has a power on, power off, measurement, unit conversion and measurement reference edge selection buttons; It can also be extended to add some other function keys, such as continuous measurement, distance measurement, area measurement, volume measurement, delay measurement, indirect measurement, maximum and minimum measurement, call last measurement, Pythagorean law function, addition and subtraction function, storage function. , clear and backlight control buttons;
  • buttons can also be multiplexed into one button, such as power on/off, or power on/measure, or power off/clear, or add/subtract/unit conversion, or area/volume measurement selection, or distance/area / Volume measurement options and other composite buttons.
  • the power management circuit 84 is composed of a main power supply rising/regulating and controlling circuit, a transmitting circuit high voltage biasing and control circuit, a receiving circuit high voltage biasing and a control circuit.
  • the main power supply of all functional modules of the system is turned on, the transmitting and receiving circuits are all high voltage, the guiding laser is illuminated, and the microcontroller microcontroller 40 works at the highest speed working mode of its peripherals, and the whole system is comprehensive. In normal operation, the power consumption of the whole machine is maximized.
  • Battery 82 This system can be adapted to: 4xl.5V LR03 (AAA) four sections of 7th alkaline battery power supply, or 6F22 9V-square type alkaline battery power supply.
  • AAA 4xl.5V LR03
  • the guided laser control circuit 24 receives a laser enable signal from the microcontroller microcontroller 40, illuminates the guided laser emitter 22, and emits visible laser light toward the object to be tested. In other states, the guided laser control circuit 24 turns off the guided laser emitter 22 to achieve power saving purposes.
  • the visible guided laser wavelength selected by this system is: 650 nm ( ⁇ lMw, CLASS 2).
  • the standard for visible guided laser use of this system is: EN60825-1:03; EN60825-1:1994; EN60825-1:1993
  • JTAG emulation and debug interface 90 In system development and maintenance, the system is connected to the corresponding emulator through JTAG emulation and debug interface 90, which enables real-time online simulation, debugging and troubleshooting of the system.
  • the program of the microcontroller micro 'controller 40 can be repeatedly modified and upgraded by the programming and calibration interface 95.
  • each laser range finder can be calibrated by a calibration interface.
  • the laser ranging system is characterized by simple optical system, time difference detection, calculation and calibration based on a highly integrated CMOS LSI "time/digital converter" TDC circuit, so that it can realize laser measurement.
  • the instrument is small in size, low in cost, high in accuracy, small in error, good in stability, high in reliability, and convenient in reading.

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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)

Abstract

L'invention concerne un système télémètre laser comprenant : un module émetteur de laser (100) pourvu d'un système optique émetteur de laser (125) et d'un émetteur laser (150) servant à émettre un signal laser pulsé; un module de réception de laser (200) pourvu d'un système optique de détection de lumière (225) et d'un détecteur laser (250) servant à détecter et à convertir le signal laser pulsé en signal électrique; un convertisseur temps-numérique (30) servant à détecter et à calculer une différence entre le signal laser pulsé émis et le signal laser pulsé détecté; un générateur de temps (50) destiné à fournir un signal d'horloge au convertisseur temps-numérique; et un microcontrôleur à puce unique (40) destiné à commander le module d'émission de laser, le module de réception de laser, le convertisseur temps-numérique et le générateur de temps, de sorte à calculer la distance entre une cible donnée et l'emplacement du système télémètre laser.
PCT/CN2007/000122 2007-01-12 2007-01-12 Systeme telemetre laser WO2008086651A1 (fr)

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PCT/CN2007/000122 WO2008086651A1 (fr) 2007-01-12 2007-01-12 Systeme telemetre laser

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2486668A (en) * 2010-12-22 2012-06-27 St Microelectronics Res & Dev Real-time processing method and system for an optical range finder
CN103913749A (zh) * 2014-03-28 2014-07-09 中国科学院上海技术物理研究所 一种基于激光脉冲飞行时间测量的测距方法
CN107991663A (zh) * 2017-12-26 2018-05-04 河南科技大学 一种基于时间信息编码的激光测距装置及其方法
CN108196265A (zh) * 2016-12-08 2018-06-22 北京万集科技股份有限公司 一种多路激光飞行时间并行采集系统及方法
CN112904354A (zh) * 2021-01-22 2021-06-04 西安应用光学研究所 一种高精度激光测距距离模拟装置
EP3848670A4 (fr) * 2018-09-07 2022-03-16 SZ DJI Technology Co., Ltd. Procédé et dispositif de télémetrie laser

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JPH0886870A (ja) * 1994-09-19 1996-04-02 Mitsubishi Electric Corp レーザ測距装置
CN1851499A (zh) * 2006-05-19 2006-10-25 武汉大学 用于激光测距的数据采集装置及其采集流程

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2486668A (en) * 2010-12-22 2012-06-27 St Microelectronics Res & Dev Real-time processing method and system for an optical range finder
CN103913749A (zh) * 2014-03-28 2014-07-09 中国科学院上海技术物理研究所 一种基于激光脉冲飞行时间测量的测距方法
CN108196265A (zh) * 2016-12-08 2018-06-22 北京万集科技股份有限公司 一种多路激光飞行时间并行采集系统及方法
CN108196265B (zh) * 2016-12-08 2024-05-10 武汉万集光电技术有限公司 一种多路激光飞行时间并行采集系统及方法
CN107991663A (zh) * 2017-12-26 2018-05-04 河南科技大学 一种基于时间信息编码的激光测距装置及其方法
CN107991663B (zh) * 2017-12-26 2023-11-17 河南科技大学 一种基于时间信息编码的激光测距装置及其方法
EP3848670A4 (fr) * 2018-09-07 2022-03-16 SZ DJI Technology Co., Ltd. Procédé et dispositif de télémetrie laser
CN112904354A (zh) * 2021-01-22 2021-06-04 西安应用光学研究所 一种高精度激光测距距离模拟装置

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