CN106054205A - Laser range finding device and laser range finding method thereof - Google Patents
Laser range finding device and laser range finding method thereof Download PDFInfo
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- CN106054205A CN106054205A CN201610638159.5A CN201610638159A CN106054205A CN 106054205 A CN106054205 A CN 106054205A CN 201610638159 A CN201610638159 A CN 201610638159A CN 106054205 A CN106054205 A CN 106054205A
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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
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser range finding device and a laser range finding method thereof based on leading-edge time discriminating technology. The device comprises a photoelectric conversion circuit, an amplification circuit, a first and second threshold comparator, a timing circuit and a processor, wherein the photoelectric conversion circuit converts a laser signal into a first electric signal; the amplification circuit amplifies the first electric signal and outputs a second electric signal; the first and second threshold comparator compares the leading-edge voltage value of the second electric signal with first and second threshold voltages in real time to obtain first and second triggering signals; the timing circuit obtains first and second time corresponding to the first and second triggering signals; and according to the first and second time, the processor obtains a waveform gradient of the laser signal, and a range-finding value is compensated. According to the invention, multiple rough range-finding values are obtained via a multi-threshold leading-edge time discriminating technology, the processor calls an algorithm to calculate the relation of waveform gradient, the range-finding value of higher precision is obtained, and the reflectivity of a target object is obtained at the same time.
Description
Technical field
The present invention relates to a kind of laser ranging technique, particularly relate to a kind of laser ranging based on forward position moment authentication technique
Method.
Background technology
In the prior art, laser range finder is mainly and is obtained distance letter by the flight time of Laser Measurement pulse
Breath.Such as, pulse type laser diastimeter uses laser instrument as light source, using laser as carrier wave, according to time-of-flight, leads to
Cross the time difference between detection laser firing pulses and laser echo pulse to measure distance.Specifically, laser range finder includes
Generating laser and laser pickoff, beaten at mesh to spatial emission one pulse laser, this pulsed laser signal by generating laser
After mark body surface, its echo-signal is captured by laser pickoff.By generating laser send laser signal moment and
Time difference between the moment of laser pickoff capture echo can calculate the target object distance to laser range finder, and it is public
Formula is expressed as: L=C*T/2, L are the target object distance to laser range finder, and C is the light velocity, and T is the time in above-mentioned two moment
Difference.Understanding from the equations above, the measuring speed of impulse method is exceedingly fast, and is equal to the light velocity, therefore the most sensitive to the error of time.
In order to eliminate rise time (rising edge) of laser echo signal and range value (intensity) is different and the Time walk that causes and making an uproar
The time jitter that sound causes, tellurometer needs to use moment authentication technique.
At present, the moment authentication technique of conventional pulsed laser ranging has three kinds: lithography when one is forward position, another kind is
Constant fraction discriminator method, lithography when another is high pass.As a example by forward position moment method, analogue echoes signal is converted to one by it to be had
The digital logic signal of temporal information, when the amplitude of signal is less than a certain given threshold value, does not export triggering signal；When signal
When amplitude reaches given threshold value, just export the triggering signal of fixed amplitude.Compared with lithography when constant fraction discriminator method and high pass, the moment
Discriminator circuit simple in construction, cheap, strong anti-interference performance, but its precision is the highest.Such as, due to the difference of target surface characteristic
Different (such as roughness, gradient etc.), often cause broadening or the deformation of echo impulse；Meanwhile, laser echo pulse is in transmission
During be easily subject to decay and the interference of the objects such as dust in air, smog, steam, echo waveform can be opened up to some extent
Width and distortion.Additionally, the time of advent that the surface reflectivity of target object also makes forward position threshold value changes so that output
Time produces difference, eventually affects the certainty of measurement of laser range finder.
In view of this, how to design a kind of laser ranging system based on forward position moment authentication technique, do not dramatically increasing
Improve certainty of measurement during laser ranging on the basis of system complexity and cost, thus overcome prior art drawbacks described above or
Deficiency, is the problem that person skilled is urgently to be resolved hurrily in the industry.
Summary of the invention
For the drawbacks described above that the laser ranging system of prior art is existing when measuring distance, the present invention provides a kind of
Range accuracy, laser ranging system based on forward position moment authentication technique and laser distance measurement method thereof can be improved.
According to one aspect of the present invention, it is provided that a kind of laser ranging system based on forward position moment authentication technique, including:
Photoelectric switching circuit, for being converted to first signal of telecommunication by the laser signal received；
Amplifying circuit, is electrically coupled to described photoelectric switching circuit, for described first signal of telecommunication being amplified process,
And export second signal of telecommunication, during described second signal of telecommunication has a forward position successively and during a tailing edge；
First threshold comparator, is electrically coupled to described amplifying circuit, for by the voltage in described second signal of telecommunication forward position
Value compares in real time with a first threshold voltage, obtains one first triggering signal；
Second Threshold comparator, is electrically coupled to described amplifying circuit, for by the voltage in described second signal of telecommunication forward position
Value compares in real time with a Second Threshold voltage, obtains one second triggering signal, and this Second Threshold voltage is more than this first threshold
Threshold voltage；
Timing circuit, is electrically coupled to described first threshold comparator and described Second Threshold comparator, for obtain with
Described first triggers signal triggers the first corresponding moment of signal and the second moment with described second；And
Processor, is used for receiving and processing described first moment and described second moment, and according to described second moment with
Described first moment obtains the waveform slope of described laser signal, thus utilizes described waveform slope to mend laser ranging value
Repay.
An embodiment wherein, when described processor obtains initial always according to described second moment and described first moment
Carve, thus utilize described initial time and described waveform slope that described laser ranging value is compensated.
An embodiment wherein, described photoelectric switching circuit is light-detecting device, and described light-detecting device is photoelectricity two
Pole pipe (PIN), avalanche mode photodiodes (APD) or photomultiplier tube (PMT).
An embodiment wherein, amplifying circuit is trans-impedance amplifier or difference amplifier.
An embodiment wherein, described amplifying circuit is one-stage amplifier or the amplifier of multiple cascade.
An embodiment wherein, when the magnitude of voltage of certain point in described second signal of telecommunication forward position rises to described first threshold electricity
During pressure, described first threshold comparator output described first triggers signal；Voltage when certain point in described second signal of telecommunication forward position
When value rises to described Second Threshold voltage, described Second Threshold comparator output described second triggers signal.
An embodiment wherein, described first threshold voltage and described Second Threshold voltage are passed through by single voltage source
Electric resistance partial pressure produces.
An embodiment wherein, described first threshold voltage and described Second Threshold voltage are respectively by different voltage source lists
Solely produce.
An embodiment wherein, described first threshold comparator and described Second Threshold comparator are integrated in same control
Chip, and described first threshold voltage and internal reference voltage that described Second Threshold voltage is described control chip.
An embodiment wherein, described laser ranging system also includes two d type flip flops, is respectively arranged at described first
Between threshold comparator and described processor and between described Second Threshold comparator and described processor.
An embodiment wherein, described laser ranging system also includes the 3rd threshold comparator, is electrically coupled to described
Amplifying circuit, for magnitude of voltage and one the 3rd threshold voltage in described second signal of telecommunication forward position being compared in real time, obtains one
Signal is triggered in 3rd forward position, and described processor is used for receiving described first moment, described second moment and touching with the described 3rd
Signal the 3rd corresponding moment, and utilize the first moment, the second moment and the 3rd moment to carry out curve fitting described in acquisition
The described waveform slope of laser signal.
An embodiment wherein, described processor is digital signal processor, micro-control unit, field-programmable gate array
Row or CPLD, and this processor built-in laser ranging value is compensated and calculates target object reflection
The firmware of rate.
According to another aspect of the present invention, it is provided that a kind of laser distance measurement method based on forward position moment authentication technique, suitable
In compensating laser ranging value, this laser distance measurement method comprises the following steps:
Receive a laser signal and be converted into first signal of telecommunication；
Being amplified described first signal of telecommunication processing to export second signal of telecommunication, described second signal of telecommunication has one successively
During forward position and during a tailing edge；
The magnitude of voltage in described second signal of telecommunication forward position is carried out with a first threshold voltage and a Second Threshold voltage respectively
Comparing in real time, obtain one first triggering signal and one second and trigger signal, this Second Threshold voltage is more than this first threshold voltage；
Obtain and trigger signal and described second triggering signal each self-corresponding first moment and the second moment with described first；
And
Receive and process described first moment and described second moment, and according to described second moment and described first moment
Obtain the waveform slope of described laser signal, thus utilize described waveform slope that laser ranging value is compensated.
An embodiment wherein, when the magnitude of voltage of certain point in described second signal of telecommunication forward position rises to described first threshold electricity
During pressure, export described first and trigger signal；When the magnitude of voltage of certain point in described second signal of telecommunication forward position rises to described Second Threshold
During voltage, export described second and trigger signal.
An embodiment wherein, this laser distance measurement method also includes: according to laser ranging value and described waveform slope meter
Calculate the surface reflectivity of the object reflecting described laser signal.
Using laser ranging system and the laser distance measurement method thereof of the present invention, photoelectric switching circuit is for by swashing of being received
Optical signal is converted to first signal of telecommunication, and first signal of telecommunication is amplified process and exports second signal of telecommunication by amplifying circuit, and first
Threshold comparator and Second Threshold comparator by the magnitude of voltage in the second signal of telecommunication forward position respectively with a first threshold voltage and one
Two threshold voltages compare in real time, obtain the first triggering signal and second and trigger signal, and timing circuit obtains and triggers with first
Signal and second triggers the first corresponding moment of signal and the second moment, and processor obtained with the first moment according to the second moment
The waveform slope of laser signal, thus utilize waveform slope that laser ranging value is compensated.Compared to prior art, the present invention
Compared by the multi thresholds of forward position moment authentication technique and obtain multiple rough moment value, and be sent to processor to calculate this
Slope relationship between some rough moment value and then draw the laser ranging value that precision is higher.Additionally, the present invention also can get mesh
The surface reflectivity of mark object, circuit structure is simple, strong adaptability, can be widely applied to laser radar or diastimeter.
Accompanying drawing explanation
Reader is after the detailed description of the invention having read the present invention referring to the drawings, it will more clearly understand the present invention's
Various aspects.Wherein,
Fig. 1 is shown according to one embodiment of the present invention, the knot of laser ranging system based on forward position moment authentication technique
Structure block diagram；
Fig. 2 illustrates the circuit connection diagram of an illustrative examples of the laser ranging system of Fig. 1；
Fig. 3 illustrates that existing laser ranging system utilizes the forward position discriminating moment to carry out the waveform diagram of laser ranging；
Fig. 4 illustrates that the laser ranging system of the present invention utilizes the forward position discriminating moment to carry out the waveform diagram of laser ranging；
And
Fig. 5 is shown according to another embodiment of the present invention, laser distance measurement method based on forward position moment authentication technique
FB(flow block).
Detailed description of the invention
In order to make techniques disclosed in this application content more detailed and complete, can refer to the following of accompanying drawing and the present invention
Various specific embodiments, labelling identical in accompanying drawing represents same or analogous assembly.But, those of ordinary skill in the art
Should be appreciated that embodiment provided hereinafter is not for limiting the scope that the present invention is contained.Additionally, accompanying drawing is used only for
Schematically it is illustrated, and draws not according to its life size.
With reference to the accompanying drawings, the detailed description of the invention of various aspects of the present invention is described in further detail.
Fig. 1 is shown according to one embodiment of the present invention, the knot of laser ranging system based on forward position moment authentication technique
Structure block diagram.
As described in the background section, although existing moment discrimination circuit simple in construction, cheap, interference free performance
By force, but after the laser pulse launched interacts with target object, owing to the difference of target surface characteristic is (such as roughness, inclination
Degree etc.), often cause broadening or the deformation of echo impulse；Further, laser echo pulse is easily subject to sky in transmitting procedure
The decay of the object such as dust, smog, steam and interference in gas, echo waveform can be by broadening to some extent and distortion；Meanwhile, mesh
The reflectance of mark object also makes change the time of advent of forward position threshold value, also makes the time of output produce difference, impact
Range accuracy.
For the problems referred to above, the invention provides a kind of slope-compensation formula laser ranging based on forward position moment authentication technique
Device.With reference to Fig. 1, in this embodiment, the laser ranging system of the present invention includes photoelectric switching circuit 10, amplifying circuit
12, first threshold comparator 141, Second Threshold comparator 143, timing circuit 16 and processor 18.Such as, amplifying circuit 12 is
Trans-impedance amplifier or difference amplifier.Further, amplifying circuit 12 can be one-stage amplifier or the amplifier of multiple cascade.
Specifically, photoelectric switching circuit 10 is as electrooptical device, for being converted to by the laser signal received
First signal of telecommunication.Such as, photoelectric switching circuit 10 can be light-detecting device, such as photodiode (PIN), avalanche type photoelectricity two
Pole pipe (APD) or photomultiplier tube (PMT).Amplifying circuit 12 is coupled to the outfan of photoelectric switching circuit 10.Amplifying circuit 12
For first signal of telecommunication being amplified process and exporting second signal of telecommunication.During second signal of telecommunication has a forward position successively and one
During tailing edge.
First threshold comparator 141 is electrically coupled to amplifying circuit 12.First threshold comparator 141 is for by the second telecommunications
Magnitude of voltage and a first threshold voltage in number forward position compare in real time, obtain one first triggering signal.Second Threshold comparator
143 are electrically coupled to amplifying circuit 12.Second Threshold comparator 143 is for by the magnitude of voltage and one second in the second signal of telecommunication forward position
Threshold voltage compares in real time, obtains one second triggering signal, and this Second Threshold voltage is more than this first threshold voltage.Preferably
Ground, when the magnitude of voltage of certain point in the second signal of telecommunication forward position rises to first threshold voltage, first threshold comparator 141 exports first
Trigger signal；When the magnitude of voltage of certain point in the second signal of telecommunication forward position continues to rise to Second Threshold voltage from first threshold voltage,
Second Threshold comparator 143 exports the second triggering signal.Here, first threshold voltage and Second Threshold voltage can be by single
Voltage source is produced by electric resistance partial pressure.Or, first threshold voltage and Second Threshold voltage also can be respectively by different voltage source lists
Solely produce.It is preferred that first threshold comparator 141 and Second Threshold comparator 143 are integrated in same control chip, and the first threshold
Threshold voltage and Second Threshold voltage are the internal reference voltage of control chip.
Timing circuit 16 is electrically coupled to first threshold comparator 141 and Second Threshold comparator 143, for obtaining and the
One triggers the first corresponding moment of signal and triggers, with second, the second moment that signal is corresponding.Processor 18 and timing electricity
Road 16 is connected.Processor 18 receives and processes the first moment and the second moment, and obtains with the first moment according to the second moment
The waveform slope of laser signal, thus utilize waveform slope that laser ranging value is compensated.
At a specific embodiment, the laser ranging system of the present invention also includes the 3rd threshold comparator.3rd threshold ratio is relatively
Device is electrically coupled to amplifying circuit 12, for by the magnitude of voltage in the second signal of telecommunication forward position and one the 3rd threshold voltage in real time than
Relatively, one the 3rd triggering signal is obtained.Timing circuit 16 triggers signal and second according to first and triggers signal and obtain corresponding the
One moment and the second moment.Processor 18 is used for receiving the first moment, the second moment and triggers signal with the 3rd corresponding
3rd moment, and utilize the first moment, the second moment and the 3rd moment carry out curve fitting obtain laser signal waveform slope.
Such as, processor 18 can be digital signal processor (digital signal processor, DSP), micro-control unit
(micro controller unit, MCU), field programmable gate array (field programmable gate array,
Or CPLD (complex programmable logic device, CPLD) FPGA).
At a specific embodiment, processor 18 obtains initial time always according to the second moment and the first moment, thus utilizes
Laser ranging value is compensated by initial time and waveform slope.
Additionally, be the bad phenomenon avoiding the occurrence of signal false triggering, the laser ranging system of the present invention also can arrange D and trigger
Device, lays respectively between first threshold comparator 141 and processor 18, between Second Threshold comparator 143 and processor 18.
Fig. 2 illustrates the circuit connection diagram of an illustrative examples of the laser ranging system of Fig. 1.
With reference to Fig. 2, in this embodiment, the function of photoelectric switching circuit is achieved by photodiode.Amplifying circuit
12 include two amplifiers cascaded, i.e. pre-amplifier and main amplifier cascade, the input of main amplifier is electrically connected to
The outfan of pre-amplifier.First threshold comparator 141 and the equal electric property coupling of the respective input of Second Threshold comparator 143
Outfan to amplifying circuit 12.If amplifying circuit 12 is made up of the pre-amplifier cascaded and main amplifier, then main amplifier
Outfan be connected with first threshold comparator 141 and the respective normal phase input end of Second Threshold comparator 143.First threshold electricity
Pressure and Second Threshold voltage are realized by divider resistance respectively and are electrically coupled to the inverting input of respective comparator.Timing electricity
Road 16 is connected with first threshold comparator 141 and Second Threshold comparator 143, triggers for triggering signal and second according to first
Signal records two moment point of correspondence.Processor 18 obtains the waveform of laser signal further according to the second moment and the first moment
Slope.It is preferred that timing circuit 16 can be integrated in the inside of processor 18, consequently, it is possible to timing circuit 16 and processor 18 it
Between signal transmission can carry out at device or chip internal, thus can the transmission speed of promotion signal and treatment effeciency.
Fig. 3 illustrates that existing laser ranging system utilizes the forward position discriminating moment to carry out the waveform diagram of laser ranging.Fig. 4 shows
The laser ranging system going out the present invention utilizes the forward position discriminating moment to carry out the waveform diagram of laser ranging.
Research shows, when laser ranging system and target object same distance apart, and the surface reflectivity of target object
The biggest, return laser beam is the strongest, and the steep of echo-signal is the biggest, i.e. slope is the biggest.As it is shown on figure 3, in the prior art,
Laser ranging uses fixed threshold voltage, calculates dress by the time difference between forward position moment and the initial time of echo-signal
Put the distance between target object.But, during from Fig. 3 (a)～Fig. 3 (d) it can be seen that the forward position of different echo strength differentiates
Carve and there is bigger error, and this error is on greatly affecting range accuracy.By contrast, as shown in Fig. 4 (a)～Fig. 4 (d),
The laser ranging circuit of the present invention uses dual threshold to respectively obtain the first moment and second moment of same echo-signal, and leads to
Spending the two moment obtains the waveform slope of laser signal, and then utilizes waveform slope accurately to calculate the moment value of correspondence,
Thus the precision of improving laser range finding.
Fig. 5 is shown according to another embodiment of the present invention, laser distance measurement method based on forward position moment authentication technique
FB(flow block).
Specifically, in step sl, photoelectric switching circuit 10 receives a laser signal and is converted into the first telecommunications
Number.In step s3, first signal of telecommunication from photoelectric switching circuit 10 is amplified processing to export the by amplifying circuit 12
Two signals of telecommunication.During second signal of telecommunication has a forward position successively and during a tailing edge.Then, in step s 5, first threshold
Comparator 141 and Second Threshold comparator 143 by the magnitude of voltage in the second signal of telecommunication forward position respectively with a first threshold voltage and one
Second Threshold voltage compares in real time, obtains one first triggering signal and one second and triggers signal, and this Second Threshold voltage is big
In this first threshold voltage.Then, in the step s 7, timing circuit 16 obtains each with the first triggering signal and the second triggering signal
Self-corresponding first moment and the second moment.Finally, in step s 9, processor 18 received and processes the first moment and when second
Carve, and obtain the waveform slope of laser signal according to the second moment and the first moment, thus utilize waveform slope to laser ranging
Value compensates.Additionally, the method also can calculate the reflectance of the object of reflected laser signals according to waveform slope.Such as, when
When distance between device with target object is identical, the slope as obtained is relatively big, then explanation echo-signal is relatively strong, and object is also described
Reflectance is bigger；Otherwise, if the slope obtained is less, then explanation echo-signal is more weak, then the reflectance of object is relatively low.
Using laser ranging system and the laser distance measurement method thereof of the present invention, photoelectric switching circuit is for by swashing of being received
Optical signal is converted to first signal of telecommunication, and first signal of telecommunication is amplified process and exports second signal of telecommunication by amplifying circuit, and first
Threshold comparator and Second Threshold comparator by the magnitude of voltage in the second signal of telecommunication forward position respectively with a first threshold voltage and one
Two threshold voltages compare in real time, obtain the first triggering signal and second and trigger signal, and timing circuit obtains and triggers with first
Signal and second triggers the first corresponding moment of signal and the second moment, and processor obtained with the first moment according to the second moment
The waveform slope of laser signal, thus utilize waveform slope that laser ranging value is compensated.Compared to prior art, the present invention
Compared by the multi thresholds of forward position moment authentication technique and obtain multiple rough moment value, and be sent to processor to calculate this
Slope relationship between some rough moment value and then draw the laser ranging value that precision is higher.Additionally, the present invention also can get mesh
The surface reflectivity of mark object, circuit structure is simple, strong adaptability, can be widely applied to laser radar or diastimeter.
Above, the detailed description of the invention of the present invention is described with reference to the accompanying drawings.But, those skilled in the art
It is understood that in the case of without departing from the spirit and scope of the present invention, it is also possible to the detailed description of the invention of the present invention is made each
Plant change and replace.These changes and replacement all fall in claims of the present invention limited range.
Claims (15)
1. a laser ranging system based on forward position moment authentication technique, it is characterised in that described laser ranging system includes:
Photoelectric switching circuit, for being converted to first signal of telecommunication by the laser signal received；
Amplifying circuit, is electrically coupled to described photoelectric switching circuit, for described first signal of telecommunication is amplified process and defeated
Go out second signal of telecommunication, during described second signal of telecommunication has a forward position successively and during a tailing edge；
First threshold comparator, is electrically coupled to described amplifying circuit, for by the magnitude of voltage in described second signal of telecommunication forward position with
One first threshold voltage compares in real time, obtains one first triggering signal；
Second Threshold comparator, is electrically coupled to described amplifying circuit, for by the magnitude of voltage in described second signal of telecommunication forward position with
One Second Threshold voltage compares in real time, obtains one second triggering signal, and this Second Threshold voltage is more than this first threshold electricity
Pressure；
Timing circuit, is electrically coupled to described first threshold comparator and described Second Threshold comparator, for obtaining with described
First triggers signal triggers the first corresponding moment of signal and the second moment with described second；And
Processor, is used for receiving and processing described first moment and described second moment, and according to described second moment with described
First moment obtained the waveform slope of described laser signal, thus utilized described waveform slope to compensate laser ranging value.
Laser ranging system the most according to claim 1, it is characterised in that described processor is always according to described second moment
Obtain initial time with described first moment, thus utilize described initial time and described waveform slope to described laser ranging value
Compensate.
Laser ranging system the most according to claim 1, it is characterised in that described photoelectric switching circuit is photo-detector
Part, described light-detecting device is photodiode (PIN), avalanche mode photodiodes (APD) or photomultiplier tube (PMT).
Laser ranging system the most according to claim 1, it is characterised in that described amplifying circuit is trans-impedance amplifier or difference
Divide amplifier.
5. according to the laser ranging system described in claim 1 or 4, it is characterised in that described amplifying circuit is one-stage amplifier
Or the amplifier of multiple cascade.
Laser ranging system the most according to claim 1, it is characterised in that certain point on described second signal of telecommunication forward position
Magnitude of voltage when rising to described first threshold voltage, described first threshold comparator output described first triggers signal；When described
When the magnitude of voltage of certain point in the second signal of telecommunication forward position rises to described Second Threshold voltage, the output of described Second Threshold comparator is described
Second triggers signal.
Laser ranging system the most according to claim 1, it is characterised in that described first threshold voltage and described second
Threshold voltage is produced by electric resistance partial pressure by single voltage source.
Laser ranging system the most according to claim 1, it is characterised in that described first threshold voltage and described second threshold
Threshold voltage is individually produced by different voltage sources respectively.
Laser ranging system the most according to claim 1, it is characterised in that described first threshold comparator and described second
Threshold comparator is integrated in same control chip, and described first threshold voltage and described Second Threshold voltage are described control core
The internal reference voltage of sheet.
Laser ranging system the most according to claim 1, it is characterised in that described laser ranging system also includes two D
Trigger, is respectively arranged between described first threshold comparator and described processor and described Second Threshold comparator and institute
State between processor.
11. laser ranging systems according to claim 1, it is characterised in that described laser ranging system also includes the 3rd
Threshold comparator, is electrically coupled to described amplifying circuit, for by the magnitude of voltage in described second signal of telecommunication forward position and one the 3rd threshold
Threshold voltage compares in real time, obtains one the 3rd triggering signal,
Described processor is used for receiving described first moment, described second moment and triggers signal with the described 3rd corresponding
3rd moment, and utilize described first moment, described second moment and described 3rd moment carry out curve fitting acquisition described swash
The described waveform slope of optical signal.
12. laser ranging systems according to claim 1, it is characterised in that described processor be digital signal processor,
Micro-control unit, field programmable gate array or CPLD, and this processor is built-in to laser ranging value
Compensate and calculate the firmware of target object reflectance.
13. 1 kinds of laser distance measurement methods based on forward position moment authentication technique, are suitable to compensate laser ranging value, its feature
Being, this laser distance measurement method comprises the following steps:
Receive a laser signal and be converted into first signal of telecommunication；
Being amplified described first signal of telecommunication processing to export second signal of telecommunication, described second signal of telecommunication has a forward position successively
During period and a tailing edge；
The magnitude of voltage in described second signal of telecommunication forward position is carried out with a first threshold voltage and a Second Threshold voltage respectively in real time
Relatively, obtaining one first triggering signal and one second and trigger signal, this Second Threshold voltage is more than this first threshold voltage；
Obtain and trigger signal and described second triggering signal each self-corresponding first moment and the second moment with described first；And
Receive and process described first moment and described second moment, and obtain with described first moment according to described second moment
The waveform slope of described laser signal, thus utilize described waveform slope that laser ranging value is compensated.
14. laser distance measurement methods according to claim 13, it is characterised in that when certain point in described second signal of telecommunication forward position
Magnitude of voltage when rising to described first threshold voltage, export described first and trigger signal；When certain of described second signal of telecommunication forward position
When the magnitude of voltage of point rises to described Second Threshold voltage, export described second and trigger signal.
15. laser distance measurement methods according to claim 13, it is characterised in that this laser distance measurement method also includes:
The surface reflectivity of the object reflecting described laser signal is calculated according to described laser ranging value and described waveform slope.
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| CN108931779A (en) * | 2017-05-27 | 2018-12-04 | 北京万集科技股份有限公司 | Identification device, laser radar and moment discrimination method at the time of based on laser radar |
| CN109696684A (en) * | 2019-01-10 | 2019-04-30 | 电子科技大学中山学院 | Self-correlation laser radar device |
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