CN104808214A - Pulse laser rangefinder with multiple transmission systems - Google Patents
Pulse laser rangefinder with multiple transmission systems Download PDFInfo
- Publication number
- CN104808214A CN104808214A CN201510225096.6A CN201510225096A CN104808214A CN 104808214 A CN104808214 A CN 104808214A CN 201510225096 A CN201510225096 A CN 201510225096A CN 104808214 A CN104808214 A CN 104808214A
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- Prior art keywords
- laser
- control module
- count control
- pulse laser
- photoelectric receiving
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- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a pulse laser rangefinder with multiple transmission systems. The pulse laser rangefinder comprises a laser transmission system, a photoelectric receiving system, a counting control module, a MCU (micro controller unit) processing module and an oscillator. The laser transmission system at least comprises two transmission units which are respectively connected with the counting control module. The counting control module is respectively connected with the photoelectric receiving system, the MCU processing module and the oscillator, and the photoelectric receiving system is connected with the MCU processing module. By the pulse laser rangefinder with the multiple transmission systems, the technical problem of combination of two transmission units into the pulse laser rangefinder with the multiple transmission systems is solved, and improvement of measurement precision and increase of ranging distance are realized.
Description
Technical field
The invention provides a kind of pulse laser laser welder of multi-emitting system, refer in particular to a kind of pulse laser laser welder adopting multi-emitting system to improve the multi-emitting system of distance accuracy.
Background technology
Pulse laser laser welder (referring to shown in Fig. 1) workflow of the multi-emitting system of prior art is: send ranging burst by MCU, pulse starts high-speed counter and starts counting while laser pulse is launched in startup laser transmission circuit (as laser tube driving circuit driving laser power valve).The laser pulses irradiate of launching when LASER Discharge Tube is after measured target, be reflected back and enter receiving system, namely received by photoelectric receiving tube and compare with a threshold voltage after amplifier amplifies, when echo signal intensity is higher than threshold voltage, comparer exports high level, form echo-pulse, this pulse makes counter stop counting.The count value of counter is laser time of flight, calculates the distance of measured target thus.But in the prior art, the range measurement principle (referring to shown in Fig. 2) of the pulse laser laser welder of single transmit system is: stadimeter is in the pulse of t0 moment Emission Lasers, and high-speed counter starts counting simultaneously; At the laser pulse that t1 reception reflects to target, counter stops counting, and suppose that the count frequency of counter is f, count value is N, then target range is:
D=(N × C)/(2 × f) ... (1) C is the light velocity
The count value N of counter can only be integer, and after count frequency is fixing, the resolution of stadimeter is also just fixed as:
dD=C/(2×f) ……(2)
Visible, want to improve resolution and just must improve counter frequency, the count frequency calculated needed for the known resolution wanting acquisition 1 meter by equation (2) is 150MHz, the count frequency needed for resolution wanting acquisition 0.5 meter is 300MHz, and high frequency high stable oscillator and high-speed counter are all great tests for circuit design and cost of products.
Certainly, in the prior art, many raising distance accuracies and method thereof also have problems, such as: a kind of method improving measuring accuracy, see equation (2), because laser gets back to 2 times that the actual distance of flying over of receiving system is target range, so will divided by 2 again from being issued to.If can allow, laser again between stadimeter and target more flies one back and forth, and its resolution then becomes:
dD=C/(4×f) ……(3)
Visible, resolution is doubled, and that is only needs the count frequency of 150MHz just can obtain the resolution of 0.5 meter.Refer to shown in Fig. 3, if be not that control counter stops counting after the ranging burst that when starting to find range, stadimeter is launched is reflected back receiver, but the 2nd ranging burst launched by triggering radiating circuit again, just stops counting after the 2nd pulse is reflected back.So just achieve coming and going for twice thus improving resolution of laser.But when adopting above method, the transmitting driving circuit of pulse laser can produce the problem that duration of charging length cannot be mated.
Incorporated by reference to consulting shown in Fig. 4, the single laser tube drive circuit that the pulse laser laser welder for single transmit system is common.Launch high-voltage power supply before launching and be full of electricity by resistance R to storage capacitor C.Trigger speed-sensitive switch SW during transmitting to close, storage capacitor is discharged by laser tube LD, will produce the immediate current that peak value reaches several amperes, thus excitation laser pipe sends of short duration laser pulse in laser tube.Then close SW, wait for that C is again filled electricity and just can launches next laser pulse.The general C duration of charging is several milliseconds, and laser pulse only had for tens nanoseconds to tens microseconds from being issued to the time reflected, and it is impossible for wanting within the so of short duration time, allow storage capacitor be full of electricity.Also have the problem increasing range finding ranging, the pulse laser laser welder for traditional single transmit system will improve ranging, and it mainly adopts two kinds of approach: one is utilize Detection of Weak Signals principle from noise, extract real echoed signal; Two is the signal to noise ratio (S/N ratio)s improving Received signal strength.The first approach implements circuit more complicated, to device and device accuracy requirement higher; The second approach improves the signal to noise ratio (S/N ratio) of Received signal strength, mainly uses high sensitive receiver part, at present main employing avalanche-type photoelectric receiving tube; In addition be exactly use low noise amplifier; Be exactly improve emissive power in addition.But snowslide pipe and each producer of low noise amplifier are substantially accomplished ultimate attainment, be difficult to improve a lot again.The simplest method uses more high-power laser diode to improve emissive power exactly.From the laser drive circuit shown in Fig. 4, the drive current needed for the laser diode that power is larger is larger, higher to the requirement of electronic switch, and the probability that the raising electronic switch along with power lost efficacy is larger.And high power laser diode is very difficult to buying, on market, the laser diode of below 75W has a lot of company both at home and abroad in production, and than being easier to buying, the company that can produce more than 75W laser diode is just fewer.
Summary of the invention
For solving the problems of the technologies described above, fundamental purpose of the present invention is the pulse laser laser welder providing a kind of multi-emitting system.
For reaching above-mentioned purpose, the technical scheme of the present invention's application is: the pulse laser laser welder that the invention provides a kind of multi-emitting system, it comprises laser transmitting system, photoelectric receiving system, count control module, MCU processing module and oscillator, wherein: laser transmitting system at least comprises two cover transmitter units, two cover transmitter units connection count control module respectively; Count control module connects photoelectric receiving system, MCU processing module and oscillator respectively, and photoelectric receiving system also connects MCU processing module and comprises photoelectric receiving tube, amplifier, comparer simultaneously.
Preferred in embodiments of the present invention, transmitter unit comprises first, second cover transmitter unit, wherein: first set transmitter unit comprises the first driving circuit and is attached thereto the first LASER Discharge Tube connect, second cover transmitter unit comprises the second driving circuit and is attached thereto the second LASER Discharge Tube connect, first, second driving circuit comprises signal input part respectively, and first, second driving circuit signal input part is connected with count control module respectively.
Preferred in embodiments of the present invention, photoelectric receiving tube is connected with the normal phase input end of comparer by amplifier, and the output terminal of comparer is then connected with count control module.
Preferred in embodiments of the present invention, MCU processing module comprises data terminal, ranging burst signal end and threshold voltage signal end, wherein: data terminal and the equal connection count control module of ranging burst signal end, threshold voltage signal end is then connected with the inverting input of comparer.
Preferred in embodiments of the present invention, count control module adopts CPLD module, wherein: corresponding logic control and MCU application in matched modification CPLD module each other between first, second cover transmitter unit.
Preferred in embodiments of the present invention, the distance-finding method of the pulse laser laser welder of multi-emitting system is: MCU processing module sends ranging burst signal to count control module, count control module enable logic controls and triggers the first driving circuit to drive the first LASER Discharge Tube to launch first laser pulse, after first laser pulse is reflected back photoelectric receiving system, the control counter of count control module does not stop counting, but triggering the second driving circuit drives the second LASER Discharge Tube to launch second laser pulse, after second laser pulse is reflected back photoelectric receiving system, counter then stops counting.
Preferred in embodiments of the present invention, the distance-finding method of the pulse laser laser welder of multi-emitting system is: relatively independent between first, second cover transmitter unit, the two time interval of launching is unrestricted, realize same target running fire twice laser pulse with this, the time interval between twice emitting is associated with target range.
Preferred in embodiments of the present invention, the increasing Cheng Fangfa of the pulse laser laser welder of multi-emitting system is: when measuring more remote target, by changing transmitter unit logic control, directly trigger first, second cover transmitter unit when range finding is started to launch simultaneously, improve emissive power by this and increase range finding ranging.
Preferred in embodiments of the present invention, the increasing Cheng Fangfa of the pulse laser laser welder of multi-emitting system is: when first, second cover transmitter unit transmits to same distance objective simultaneously, the echoed signal that reflection produces strengthens.
Compared with prior art, its useful effect is in the present invention: the good result improving distance accuracy and increase range finding ranging.
Accompanying drawing explanation
Fig. 1 is the pulse laser laser welder theory diagram of the single transmit system of prior art.
Fig. 2 is the laser range finder range measurement principle figure of prior art.
Fig. 3 is that the double triggering of prior art improves resolution schematic diagram.
Fig. 4 is the pulse laser emission circuit diagram of prior art.
Fig. 5 is the block diagram that the pulse laser laser welder of emission coefficient more than the embodiment of the present invention is formed.
Fig. 6 is the pulse ranging sequential chart of the embodiment of the present invention.
Fig. 7 presents two cover transmitter units to trigger the curve comparison figure that the single transmitter unit with tradition triggers simultaneously.
Embodiment
Below in conjunction with specific embodiment and accompanying drawing, the present invention is described in further detail.The example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining technical scheme of the present invention, and not should be understood to limitation of the present invention.
In describing the invention, term " interior ", " outward ", " longitudinal direction ", " transverse direction ", " on ", D score, " top ", " end " or "front", "rear", "left", "right" etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship, be only the present invention for convenience of description instead of require that the present invention with specific azimuth configuration and operation, therefore must not should be understood to limitation of the present invention.
Referring to Fig. 5 and combining consults shown in Fig. 6 and Fig. 7, the invention provides a kind of pulse laser laser welder of multi-emitting system, it comprises laser transmitting system 10, photoelectric receiving system 20, high-speed counter and Logic control module (hereinafter referred to as " count control module ") 30, MCU processing module 40 and oscillator 50, wherein: laser transmitting system 10 at least comprises two cover transmitter units 11,12, two and overlaps transmitter unit 11,12 connection count control module 30 respectively; Count control module 30 connects photoelectric receiving system 20, MCU processing module 40 and oscillator 50 respectively, and photoelectric receiving system 20 also connects MCU processing module 40 and comprises photoelectric receiving tube, amplifier, comparer simultaneously.
In embodiments of the present invention, two cover transmitter units 11,12(also can be described as first set transmitter unit 11 and the second cover transmitter unit 12), wherein: first set transmitter unit 11 comprises the first driving circuit 111 and is attached thereto the first LASER Discharge Tube 112 connect, second cover transmitter unit 12 comprises the second driving circuit 121 and is attached thereto the second LASER Discharge Tube 122 connect, first, second driving circuit 111,121 comprises signal input part respectively, and the signal input part of first, second driving circuit 111,121 is connected with count control module 30 respectively.
In embodiments of the present invention, photoelectric receiving tube is connected with the normal phase input end of comparer by amplifier, the output terminal of comparer is then connected with count control module 30, the light signal making laser transmitting system 10 launch by this, after target reflection, is received by photoelectric receiving system 20 and is sent to count control module 30 and process.
In embodiments of the present invention, MCU processing module 40 comprises data terminal, ranging burst signal end and threshold voltage signal end, wherein: data terminal and the equal connection count control module 30 of ranging burst signal end, threshold voltage signal end is then connected with the inverting input of comparer.
In embodiments of the present invention, the corresponding logic control of matched modification each other and processor program between transmitter unit 11,12, can accomplish the good result improving distance accuracy.Such as: the method improving distance accuracy is: please combine again and consult shown in Fig. 6, during range finding, MCU sends ranging burst signal to count control module 30, count control module 30 enable logic controls and triggers the first driving circuit 111 to drive the first LASER Discharge Tube 112 to launch first laser pulse, after first laser pulse is reflected back photoelectric receiving system 20, the control counter of count control module 30 does not stop counting, but triggering the second driving circuit 121 drives the second LASER Discharge Tube 122 to launch second laser pulse, after second laser pulse is reflected back photoelectric receiving system 20, counter then stops counting.Be relatively independent between transmitter unit 11,12, the time interval of transmitting is unrestricted, so just can realize the object to same target running fire at least twice laser pulse, and time interval between twice emitting is relevant to target range.Please combining consults shown in Fig. 6 again, and Fig. 6 is emission coefficient pulse ranging sequential chart.When employing two overlaps transmitter unit 11,12, resolution can be made to improve 1 times, as equation within the scope of its ranging that can reach at the pulse laser laser welder of traditional multi-emitting system: dD=C/ (4 × f) ... (3).
In embodiments of the present invention, the corresponding logic control of matched modification each other and processor program between transmitter unit 11,12, can accomplish the good result increasing ranging.Such as: the method increasing ranging is: when more remote target measured by needs, can be switched to and increase journey pattern, when hardware circuit does not make any change, by changing the logic control of radiating circuit, directly trigger two cover transmitter units 11,12 when range finding is started to launch simultaneously, emissive power can be made like this to double, thus increase substantially ranging.Please combining consults shown in Fig. 7 again, compared with the system that the single transmitter unit that the system adopting two cover transmitter units 11,12 simultaneously to launch is traditional with employing is launched.When to same distance objective test, according to identical threshold level, the echo signal intensity that two cover reflection electric circuits produce is stronger.When distance strengthens further, the system that have employed two cover radiating circuits will have farther ranging.According to the side circuit of such thinking design, all counters and digital independent logic control thereof have piece of CPLD module just can complete, clock source is done with the active crystal oscillator of 80MHz, CPLD inside completes first overtone and obtains within the scope of the highest frequency that 160MHz(allows at CPLD) counting clock, achieve the resolution of ranging of 0.5 meter.By experiment, under demonstrating increasing journey pattern, ranging rises to 50%.
Claims (5)
1. the pulse laser laser welder of a multi-emitting system, comprise laser transmitting system, photoelectric receiving system, count control module, MCU processing module and oscillator, it is characterized in that: laser transmitting system at least comprises two cover transmitter units, two cover transmitter units connection count control module respectively; Count control module connects photoelectric receiving system, MCU processing module and oscillator respectively, and photoelectric receiving system also connects MCU processing module and comprises photoelectric receiving tube, amplifier and comparer simultaneously.
2. the pulse laser laser welder of multi-emitting system as claimed in claim 1, it is characterized in that: two cover transmitter units are first, second cover transmitter unit, wherein: first set transmitter unit comprises the first driving circuit and is attached thereto the first LASER Discharge Tube connect, second cover transmitter unit comprises the second driving circuit and is attached thereto the second LASER Discharge Tube connect, first, second driving circuit comprises signal input part respectively, and first, second driving circuit signal input part is connected with count control module respectively.
3. the pulse laser laser welder of multi-emitting system as claimed in claim 2, it is characterized in that: photoelectric receiving tube is connected with the normal phase input end of comparer by amplifier, the output terminal of comparer is then connected with count control module.
4. the pulse laser laser welder of multi-emitting system as claimed in claim 3, it is characterized in that: MCU processing module comprises data terminal, ranging burst signal end and threshold voltage signal end, wherein: data terminal and the equal connection count control module of ranging burst signal end, threshold voltage signal end is then connected with the inverting input of comparer.
5. the pulse laser laser welder of multi-emitting system as claimed in claim 4, is characterized in that: count control module adopts CPLD module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510225096.6A CN104808214A (en) | 2015-05-05 | 2015-05-05 | Pulse laser rangefinder with multiple transmission systems |
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| CN201510225096.6A CN104808214A (en) | 2015-05-05 | 2015-05-05 | Pulse laser rangefinder with multiple transmission systems |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106501813A (en) * | 2017-01-11 | 2017-03-15 | 温州中壹技术服务有限公司 | A kind of laser range finder |
| CN107315177A (en) * | 2017-07-06 | 2017-11-03 | 深圳乐创信息通讯技术有限公司 | Laser ranging circuit, laser ranging system, preventing collision of vehicles collision device and its control method |
| CN107884762A (en) * | 2016-09-30 | 2018-04-06 | 比亚迪股份有限公司 | Laser radar and vehicle |
| CN108802746A (en) * | 2017-11-30 | 2018-11-13 | 北醒（北京）光子科技有限公司 | A kind of jamproof distance measuring method and device |
| WO2019104613A1 (en) * | 2017-11-30 | 2019-06-06 | 北醒（北京）光子科技有限公司 | Anti-interference method and device for distance measurement |
| CN112558097A (en) * | 2020-11-23 | 2021-03-26 | Oppo（重庆）智能科技有限公司 | Electronic device, control method of electronic device, and computer-readable storage medium |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107884762A (en) * | 2016-09-30 | 2018-04-06 | 比亚迪股份有限公司 | Laser radar and vehicle |
| CN106501813A (en) * | 2017-01-11 | 2017-03-15 | 温州中壹技术服务有限公司 | A kind of laser range finder |
| CN107315177A (en) * | 2017-07-06 | 2017-11-03 | 深圳乐创信息通讯技术有限公司 | Laser ranging circuit, laser ranging system, preventing collision of vehicles collision device and its control method |
| CN107315177B (en) * | 2017-07-06 | 2018-09-28 | 深圳乐创信息通讯技术有限公司 | Laser ranging circuit, laser ranging system, preventing collision of vehicles collision device and its control method |
| CN108802746A (en) * | 2017-11-30 | 2018-11-13 | 北醒（北京）光子科技有限公司 | A kind of jamproof distance measuring method and device |
| WO2019104613A1 (en) * | 2017-11-30 | 2019-06-06 | 北醒（北京）光子科技有限公司 | Anti-interference method and device for distance measurement |
| US10809363B2 (en) | 2017-11-30 | 2020-10-20 | Benewake (Beijing) Co., Ltd. | Anti-interference ranging method and apparatus |
| CN108802746B (en) * | 2017-11-30 | 2024-02-13 | 北醒（北京）光子科技有限公司 | Anti-interference ranging method and device |
| CN112558097A (en) * | 2020-11-23 | 2021-03-26 | Oppo（重庆）智能科技有限公司 | Electronic device, control method of electronic device, and computer-readable storage medium |
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