CN109669188B - Multi-edge trigger time identification method and pulse type laser ranging method - Google Patents
Multi-edge trigger time identification method and pulse type laser ranging method Download PDFInfo
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- CN109669188B CN109669188B CN201910046538.9A CN201910046538A CN109669188B CN 109669188 B CN109669188 B CN 109669188B CN 201910046538 A CN201910046538 A CN 201910046538A CN 109669188 B CN109669188 B CN 109669188B
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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
- 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
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
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Abstract
The invention discloses a multi-edge trigger time identification method, which is used for pulse type laser ranging and is characterized in that: the method comprises the steps that a threshold comparator receives an echo signal of laser ranging, and the rising edge and the falling edge of the echo signal trigger the threshold comparator at the same time with the same threshold voltage; and triggering a threshold comparator at a first time by the rising edge of the echo signal, triggering the threshold comparator at a second time by the falling edge of the echo signal, and taking the average value of the first time and the second time as the time for receiving the echo signal by the threshold comparator. The multi-edge trigger time identification method can fundamentally solve the problem that the system stability and the trigger clock error cannot be compatible.
Description
Technical Field
The invention relates to the field of photoelectric distance measurement, in particular to a multi-edge trigger time identification method and a pulse laser distance measurement method using the same.
Background
The basic principle of pulse laser ranging is as follows: the laser transmitter transmits a laser pulse (referred to simply as a "start wave signal") to the target object to be measured at the ranging point, an echo signal of the light pulse reflected by the target object to be measured is received by the receiver, and the distance between the ranging point and the target object to be measured is measured based on the difference between the time when the echo signal is received by the receiver and the time when the start wave signal is transmitted by the laser transmitter.
At present, a time discrimination method is generally adopted to determine the receiving time of an echo signal, wherein the time discrimination is to convert an analog echo signal into a digital logic signal with time information based on a threshold comparator (or a voltage comparator with a set threshold), set a threshold voltage for the threshold comparator in advance, trigger a counter when the rising edge of the echo signal is higher than the threshold voltage, and calculate the distance of a detected target, wherein the count value of the counter is the laser flight time.
The light intensity of the echo signal of the same initial wave signal reflected by different measured targets is divided into different intensities, on the other hand, along with the increase of the distance, the echo signal received by the receiving device is also reduced, the rising edges of the strong light and the weak light are different, as shown in fig. 1 and 2, the triggering of the echo signal of the strong light and the weak light by the threshold level can bring a clock error delta t, the clock error can cause a centimeter-level or even decimeter-level time error, and in order to reduce the clock error, the threshold voltage needs to be set as close to the substrate noise as possible, so the clock error delta t can be reduced as much as possible, but another problem can be brought, and the noise of the system can easily trigger the counter by mistake. As shown in fig. 1, the threshold voltage is high, the system is not easily triggered by mistake, the stability is good, but the clock error Δ t between the strong and weak signals is large, and the system precision is poor. As shown in fig. 3, the threshold voltage is low, and the trigger error Δ t between the strong and weak signals is small, but the low threshold voltage is easily triggered by glitches and ripples caused by the system power supply or the environment, and the system stability is not good.
Disclosure of Invention
The invention aims to provide a multi-edge trigger time identification method, which is used for pulse type laser ranging, can thoroughly solve the problem of strong and weak light trigger clock errors while improving the stability of a ranging system, and can fundamentally solve the contradiction between the system stability and the trigger clock errors.
In order to solve the technical problem, the invention provides a multi-edge trigger time identification method, which is used for pulse laser ranging, wherein a threshold comparator receives an echo signal of the laser ranging, and the rising edge and the falling edge of the echo signal trigger the threshold comparator at the same time by the same threshold voltage; and triggering a threshold comparator at a first time by the rising edge of the echo signal, triggering the threshold comparator at a second time by the falling edge of the echo signal, and taking the average value of the first time and the second time as the time for receiving the echo signal by the threshold comparator.
In a preferred embodiment of the present invention, the threshold comparator further comprises a plurality of threshold voltages with gradually changing amplitudes, each of the threshold voltages being greater than the amplitude of the noise signal; one of the plurality of threshold voltages is selected as a currently used threshold voltage.
In a preferred embodiment of the present invention, the step of selecting the current threshold voltage from the plurality of threshold voltages comprises: gradually reducing the threshold voltage amplitude of the threshold comparator until the threshold comparator is triggered, and selecting the threshold voltage when the threshold comparator is triggered as the current threshold voltage.
In a preferred embodiment of the present invention, the step of selecting the current threshold voltage from the plurality of threshold voltages comprises: gradually increasing the threshold voltage amplitude of the threshold comparator until the threshold comparator cannot be triggered, and selecting the threshold voltage when the threshold comparator is triggered for the last time as the current threshold voltage.
In order to solve the above technical problem, the present invention further provides a pulsed laser ranging method, which uses the above time discrimination method to determine the receiving time of the echo signal.
In a preferred embodiment of the present invention, the laser ranging method further comprises the following steps:
(1) The transmitting device transmits a Gaussian pulse signal to a target object;
(2) The light path selector arranged between the transmitting device and the target object processes the Gaussian pulse signals, so that part of energy of a single Gaussian pulse signal enters an inner light path and part of energy enters an outer light path;
(3) The receiving device sequentially receives a first echo signal of the inner light path and a second echo signal of the outer light path after being reflected by the target object;
(4) And calculating the distance to be measured according to the time difference between the first echo signal and the second echo signal received by the receiving device.
In a preferred embodiment of the present invention, the timing device further records a time interval T1 from the transmission of the gaussian pulse signal to the reception of the first echo signal, and a time interval T2 from the transmission of the gaussian pulse signal to the reception of the second echo signal;
calculating the distance D to be measured according to a formula I:
where C is the speed of light.
In a preferred embodiment of the present invention, the optical path selector is a half-reflecting and half-transmitting mirror.
In a preferred embodiment of the present invention, the emitting device is a pulsed laser diode.
According to the multi-edge trigger time identification method, the rising edge and the falling edge of the echo signal trigger the threshold comparator at the same time by the same threshold voltage, and the average value of the rising edge trigger time and the falling edge trigger time is taken as the receiving time of the echo signal, so that on one hand, a higher threshold voltage can be set, the system cannot be triggered mistakenly, and the stability of the system is improved; on the other hand, the median time points (the average value of the rising edge trigger time and the falling edge trigger time) of any intensity echo signal are the same, and the strong light trigger and the weak light trigger have no clock error under the condition of setting a higher threshold voltage, so that the contradiction problem of system stability and trigger clock error is fundamentally solved.
Drawings
FIG. 1 is a diagram illustrating the triggering of a strong/weak optical echo signal when a threshold voltage is large in the prior art;
FIG. 2 is a diagram illustrating the triggering of a strong/weak optical echo signal when a threshold voltage is small in the prior art;
FIG. 3 is a schematic diagram of the triggering of echo signals in the preferred embodiment of the present invention;
FIG. 4 is a block diagram of a pulsed laser ranging in a preferred embodiment of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Examples
The embodiment discloses a multi-edge trigger time identification method for pulse laser ranging.
In the technical solution of this embodiment, as shown in fig. 4, the pulse type laser ranging process is as follows:
(1) The transmitting device transmits Gaussian pulse signals which are continuous in time domain and can be superposed in frequency domain to the target object; in the technical solution of this embodiment, the emitting device is a pulsed laser diode, and the pulsed laser diode emits a gaussian pulse signal under the driving of a laser driver.
(2) The light path selection device arranged between the transmitting device and the target object processes the Gaussian pulse, so that part of energy of a single Gaussian pulse signal enters an inner light path and part of energy enters an outer light path; in the technical scheme of this embodiment, the light path selection device preferably uses a half-reflecting and half-transmitting mirror, and a part of energy of a single gaussian pulse signal enters the inner light path after being reflected by the half-reflecting and half-transmitting mirror, and a part of energy enters the outer light path after being irradiated through the half-reflecting and half-transmitting mirror.
(3) The receiving device sequentially receives a first echo signal of the Gaussian pulse signal in the inner light path and a second echo signal of the Gaussian pulse signal reflected by the target object in the outer light path; specifically, after a single Gaussian pulse signal is sent out, part of energy enters an inner light path and is received by a receiving device for the first time, and part of energy enters an outer light path and irradiates a measured target object, and is reflected by the measured target object and then is received by the receiving device for the second time.
(4) The timing device records the time difference delta t between the first echo signal receiving and the second echo signal receiving of the receiving device; Δ T = T2-T1, where T1 is a time interval from the emission of the gaussian pulse signal to the reception of the first echo signal; t2 is the time interval from the emission of the gaussian pulse signal until the reception of the second echo signal.
(5) The data processor calculates the distance D of the measured target object according to a formula I:
where C is the speed of light.
After a single Gaussian pulse signal is sent out, part of energy enters an inner light path and is received by a receiving device for the first time, part of energy enters an outer light path and irradiates to a measured target object, the measured target object is reflected and then is received by the receiving device for the second time, a timing device records the time difference delta T (= T2-T1) between the first echo signal receiving time and the second echo signal receiving time of the receiving device, and the time difference delta T (= T2-T1) is calculated according to a formula
And calculating the distance of the measured target object.
In this embodiment technical scheme, through light path and outer light path in the design, can dig out systematic error, photoelectric device's ageing and environment humiture to ranging system's influence, ensure laser rangefinder's range finding precision and degree of accuracy.
On the other hand, the Gaussian pulse signal is used as the light wave signal of laser ranging, the Gaussian pulse signal has the characteristics of continuity in the time domain and superposition in the frequency domain, so that the pulse type laser ranging system is a single-transmitting and single-receiving ranging system, compared with the traditional phase type laser ranging system, the ranging cost and the design complexity can be reduced on the premise of ensuring the laser ranging precision and accuracy, and the difficulty of device type selection can be reduced by the single-pulse transmitting and single-pulse receiving modes.
As a further improvement of the present invention, the receiving time of the receiving device for receiving the first echo signal and the second echo signal is determined based on a multi-edge triggered time-finding method, specifically, the specific method of the multi-edge triggered time-finding is as follows:
a threshold comparator receives an echo signal of laser ranging, and the rising edge and the falling edge of the echo signal trigger the threshold comparator simultaneously with the same threshold voltage; the rising edge of the echo signal triggers a threshold comparator at a first time, the falling edge of the echo signal triggers the threshold comparator at a second time, and the average value of the first time and the second time is taken as the time for the threshold comparator to receive the echo signal.
In the technical scheme of this embodiment, the receiving time of the first echo signal and the receiving time of the second echo signal are both determined based on multi-edge trigger time identification, and the first echo signal and the second echo signal are both continuous gaussian pulse signals that can be superimposed in a time domain and a frequency domain.
Specifically, when the first echo signal is determined, the rising edge and the falling edge of the first echo signal trigger the threshold comparator at the same time with the same threshold voltage, the rising edge of the first echo signal starts the threshold comparator at the first time, the falling edge of the first echo signal triggers the threshold comparator at the second time, and the average value of the first time and the second time is taken as the time for receiving the first echo signal. Here, it is understood as follows: for example, setting the threshold voltage of the threshold comparator to be 0.5V, triggering the threshold comparator at 1.2S after the first echo signal is sent out by the rising edge of the first echo signal, triggering the threshold comparator at 1.4S after the first echo signal is sent out by the falling edge of the first echo signal, then selecting the threshold comparator after the first echo signal is sent out
Is the time of reception of the first echo signal.
Because the first echo signal is a Gaussian pulse signal which is continuous in time domain and can be superposed in frequency domain, the echo signal with any intensity can trigger the threshold comparator without fail, and the median points of the rising edge trigger and the falling edge trigger of the echo signal with any intensity are overlapped. Specifically, as shown in fig. 3, under the same trigger threshold voltage, the time for the rising edge of the strong light signal to trigger the threshold comparator is T1, and the time for the falling edge of the strong light signal to trigger the threshold comparator is T2; the rising edge of the weak light signal triggers the threshold comparator at time T1, the falling edge thereof triggers the threshold comparator at time T2, and the median value of T1 and T2 coincides with the median value of T1 and T2 at time T. Based on the characteristic, the invention takes the median value of rising edge trigger and falling edge trigger as the time of receiving the echo, and the echo signal with any intensity has no trigger constant error, thus thoroughly solving the problem of strong and weak light trigger clock error.
On the other hand, after the problem of trigger clock errors is solved, the threshold voltage of the threshold comparator can be properly increased, so that the system cannot be triggered by mistake, and the stability of the system is improved.
The determination of the receiving time of the second echo signal is the same as the first echo signal, and is not described herein again.
In order to set a proper threshold voltage, the multi-edge triggering verification of the invention also has the following improvements:
the threshold comparator has a plurality of threshold voltages with gradually changing amplitudes, and each threshold voltage is larger than the amplitude of the noise signal; one of the threshold voltages is selected as a currently used threshold voltage.
As a first embodiment, the step of selecting the current threshold voltage from the plurality of threshold voltages comprises: gradually reducing the threshold voltage amplitude of the threshold comparator until the threshold comparator is triggered, and selecting the threshold voltage when the threshold comparator is triggered as the current threshold voltage.
For example, the threshold comparator has threshold voltages of 1V, 0.8V, 0.6V, 0.4V, and 0.2V, and in the initial state, the threshold voltage is set to 1V, and it is determined whether the threshold comparator will start: if the threshold comparator is triggered, selecting the threshold voltage of the threshold comparator to be 1V; if the threshold comparator is not triggered, the threshold voltage of the threshold comparator is reset to be 0.8V, the judgment is carried out again until the threshold comparator is triggered, and the threshold voltage when the threshold comparator is triggered is selected to be the current threshold voltage.
As another embodiment, the step of selecting the current threshold voltage from the plurality of threshold voltages comprises: gradually increasing the threshold voltage amplitude of the threshold comparator until the threshold comparator cannot be triggered, and selecting the threshold voltage when the threshold comparator is triggered for the last time as the current threshold voltage.
For example, the threshold comparator has threshold voltages of 1V, 0.8V, 0.6V, 0.4V, and 0.2V, where 0.2V is a threshold voltage that must trigger the threshold comparator, and in the initial state, the threshold voltage is set to 0.4V, and it is determined whether the threshold comparator is triggered: if the threshold comparator is not triggered, selecting 0.2V as the threshold voltage of the threshold comparator, and ending the threshold voltage setting process; resetting the voltage of the threshold comparison weapon to 0.6V if the threshold comparator is triggered; and resetting the threshold voltage and then judging until the threshold comparator is not triggered, and selecting the threshold voltage when the threshold comparator is triggered for the last time as the current threshold voltage.
Chinese patent publication No. CN 102798865A discloses a multi-counter parallel counting pulse laser ranging method, which has a plurality of high-speed counters and a plurality of comparators, and uses a series of high and low threshold level parallel trigger signals, so as to primarily solve the problems of system stability and trigger clock error, however, the system is rather complicated, the multi-path comparator increases the system volume, power consumption and cost, and in addition, the error between the parallel comparator and the comparator also increases the system error, so that the contradiction between the system stability and the trigger clock error cannot be fundamentally solved.
The invention uses the pulse laser ranging method of multi-edge trigger time detection to solve the contradiction problem of system stability and trigger clock error.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (6)
1. A pulse type laser ranging method is characterized in that a multi-edge trigger time identification method is used for determining the receiving time of an echo signal; the multi-edge trigger time identification method comprises the following steps:
the method comprises the steps that a threshold comparator receives an echo signal of laser ranging, and the rising edge and the falling edge of the echo signal trigger the threshold comparator at the same time with the same threshold voltage; triggering a threshold comparator at a first time by the rising edge of the echo signal, triggering the threshold comparator at a second time by the falling edge of the echo signal, and taking the average value of the first time and the second time as the time for receiving the echo signal by the threshold comparator;
the laser ranging specifically comprises the following steps:
(1) The transmitting device transmits a Gaussian pulse signal to a target object;
(2) The light path selector arranged between the transmitting device and the target object processes the Gaussian pulse signals, so that part of energy of a single Gaussian pulse signal enters an inner light path, and part of energy enters an outer light path;
(3) The receiving device sequentially receives a first echo signal of the inner light path and a second echo signal of the outer light path after being reflected by the target object;
(4) Calculating the distance to be measured according to the time difference between the first echo signal and the second echo signal received by the receiving device;
the timing device records a time interval T1 from the transmission of the Gaussian pulse signal to the reception of the first echo signal and a time interval T2 from the transmission of the Gaussian pulse signal to the reception of the second echo signal;
calculating the distance D to be measured according to a formula I:
where C is the speed of light.
2. The pulsed laser ranging method of claim 1, wherein the optical path selector is a half-reflecting and half-transmitting mirror.
3. The pulsed laser ranging method of claim 1, wherein the emitting device is a pulsed laser diode.
4. The pulsed laser ranging method of claim 1, wherein the threshold comparator has a plurality of threshold voltages of gradually varying amplitude, each of the threshold voltages being greater than an amplitude of a noise signal; one of the plurality of threshold voltages is selected as a currently used threshold voltage.
5. The pulsed laser ranging method of claim 4, wherein selecting a current threshold voltage from the plurality of threshold voltages comprises:
gradually reducing the threshold voltage amplitude of the threshold comparator until the threshold comparator is triggered, and selecting the threshold voltage when the threshold comparator is triggered as the current threshold voltage.
6. The pulsed laser ranging method of claim 4, wherein the step of selecting the current threshold voltage from the plurality of threshold voltages comprises:
gradually increasing the threshold voltage amplitude of the threshold comparator until the threshold comparator cannot be triggered, and selecting the threshold voltage when the threshold comparator is triggered for the last time as the current threshold voltage.
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| CN112236687A (en) * | 2019-04-30 | 2021-01-15 | 深圳市大疆创新科技有限公司 | Detection circuit, detection method, distance measuring device and mobile platform |
| CN112083436B (en) * | 2020-09-04 | 2024-06-18 | 深圳市迈测科技股份有限公司 | Method, device and equipment for correcting light-storage distance-measuring error and laser distance-measuring instrument |
| CN112596062B (en) * | 2021-01-28 | 2021-07-13 | 锐驰智光(北京)科技有限公司 | Method and device for detecting echo signal of laser radar and storage medium |
| CN112799086B (en) * | 2021-03-30 | 2023-07-14 | 上海思岚科技有限公司 | Method, device and equipment for laser ranging |
| CN113189605B (en) * | 2021-04-08 | 2022-06-17 | 中电海康集团有限公司 | Method and system for improving laser ranging precision based on uncertainty |
| CN117169907A (en) * | 2023-08-18 | 2023-12-05 | 深圳市龙之源科技股份有限公司 | Laser pulse ranging method, control device, circuit and equipment thereof |
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| JPH07110208A (en) * | 1993-10-12 | 1995-04-25 | Mitsubishi Heavy Ind Ltd | Laser range finder |
| JPH0915334A (en) * | 1995-06-28 | 1997-01-17 | Mitsubishi Heavy Ind Ltd | Laser equipment for measuring distance |
| CN1327240C (en) * | 2004-05-20 | 2007-07-18 | 中国科学院上海技术物理研究所 | Pulse echo treating method and device for laser range finder |
| JP4793675B2 (en) * | 2005-04-21 | 2011-10-12 | 独立行政法人産業技術総合研究所 | Distance measuring device |
| CN201514481U (en) * | 2009-09-23 | 2010-06-23 | 伊玛精密电子（苏州）有限公司 | Laser range finder |
| CN202770994U (en) * | 2012-08-06 | 2013-03-06 | 深圳市迈测科技有限公司 | Ranging system |
| CN103941262B (en) * | 2014-04-01 | 2016-06-29 | 中国科学院合肥物质科学研究院 | A kind of pulse laser distance measuring device and adopt the pulsed laser ranging method of this device |
| CN107688185A (en) * | 2017-06-05 | 2018-02-13 | 罗印龙 | A kind of laser ranging system and its distance-finding method |
| CN107843903B (en) * | 2017-10-27 | 2021-05-11 | 天津津航技术物理研究所 | Multi-threshold TDC high-precision laser pulse distance measuring method |
| CN108196262A (en) * | 2017-12-07 | 2018-06-22 | 常州华达科捷光电仪器有限公司 | A kind of laser ranging system |
| CN207704032U (en) * | 2017-12-15 | 2018-08-07 | 杭州欧镭激光技术有限公司 | A kind of laser ranging system |
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