CN1580815A - Pulse echo treating method and device for laser range finder - Google Patents
Pulse echo treating method and device for laser range finder Download PDFInfo
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Abstract
The present invention relate sto a pulse echo processing method of laser distance measuring instrument. Said method includes the folllowing steps: a. making laser main wave pass through fixed threshold to produce initial count pulse to time measuring circuit, and making said two time-measuring channels simultaneously start measurement; b. amplifying laser echo, at the same time feeding it into two time-measuring channels of time measuring circuit and simultaneously making measurement, in which first time-measuring channel uses rising edge trigger, and second time-measuring channel uses folling ege trigger; C. averaging measured values of two time-measuring channels to obtain time measured value; and d. taking difference value of measured values to two time-measuring channels and can obtain grey value. Its measurement is accurate, and its circuit is simple.
Description
Technical field
The present invention relates to laser ranging field, particularly about a kind of laser range finder pulse echo disposal route and device.
Background technology
Utilize high brightness, high directivity and high coherence's laser that target is done detection and carried out the laser direct imaging technology, can constitute the laser direct imaging three dimension system of earth observation or ground scenery.Adopt laser to do active radiation, not only utilize laser ranging, go back the target reflection strength information that the exploring laser light echo carries.Target range and reflection strength information by the exploring laser light echo-pulse carries can obtain high-resolution range data of each pixel of terrain object and gray scale picture.In the Scenery Imaging of ground, can obtain target ground line drawing at an easy rate.In the earth observation imaging, combining global positioning system (GPS) and inertial navigation system (INS) can directly obtain the 3-dimensional image information of atural object, and, its image and three-dimensional coordinate mate fully, need not other ground control point, further, can also reach Three-dimension Target identification and classification, realize high resolving power, efficiently, accurately, initiatively, directly three-dimensional imaging over the ground.The laser remote sensing imaging can obtain very high spatial resolution, need not interpolation and can obtain even high-resolution digital elevation figure, and the efficient of information processing is very high.The laser remote sensing imaging is made active light source with laser, the active remote sensing mode is less be subjected to environment, weather, target light according to and the image of contrast, can all weather operations, be particularly suitable for engineering and use and military observation.Growing along with laser instrument and Detection Techniques thereof, research in this respect is with use will be more and more widely.
The ultimate principle of laser imaging is to launch narrow laser beam pulses to target, surveys the return laser beam of the illuminated point on this target then.An echo can provide the range information and the half-tone information of one or more targets.
Time measuring unit is the time interval that is used for measuring between the start-stop signal.Want accurately to obtain the shoot laser pulse to the time between the return laser beam of target reflection, must determine the moment of echo-pulse, thereby measure the distance of target accurately.The method of differentiating constantly mainly contains three kinds at present: forward position discriminating, constant ratio discriminating and high pass are held resistance and are differentiated.The forward position differential method is to determine start-stop constantly by fixing thresholding mode, promptly equals moment that the point of the default thresholding of institute arrives as the start-stop moment with intensity in the pulse front edge.This method realizes simple, but the drift error that is caused by pulse height and change of shape is very big.The moment that rising edge of a pulse half high some arrival is got in the constant ratio discriminating is the start-stop moment, and it can overcome in the differential method of forward position because the drift error that pulse height and change of shape cause.High pass hold resistance constantly differential method with the signal pulse of receiving lines output by a high pass capacitance-resistance filter circuit, extreme point originally becomes zero point, with this as the start-stop moment point.
In above three kinds of moment discrimination methods, the easiest realization is differentiated in the forward position, and error is also maximum.Constant ratio is differentiated and high pass appearance resistance differential method implements than forward position discriminating difficulty.
Further, laser imaging not only will obtain range information, also will obtain half-tone information.Three kinds of above methods itself can not directly obtain the half-tone information of target in range finding, and half-tone information are necessary in the laser imaging process according to top being presented in.Therefore adopting also needs to add a cover grey scale signal disposal system in the laser distance measuring system of said method and could gather the necessary half-tone information of laser imaging, and this will increase the complexity and the cost of system greatly.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the difficulty of above-mentioned prior art, the drift error that provides a kind of laser range finder pulse echo process eliminates to be caused by pulse height and change of shape.
For achieving the above object, the invention provides a kind of laser range finder pulse echo disposal route, may further comprise the steps: a. arrives time measurement circuit by fixed threshold to produce initial count pulse with laser main wave, makes two time measurement passages of time measuring circuit begin simultaneously to measure; B. sending into two time measurement passages of time measuring circuit after return laser beam being amplified simultaneously measures simultaneously, these two time measurement passages are all determined to stop constantly by fixing thresholding mode, different is: the very first time measures passage and uses rising edge to trigger, and the second time measurement passage uses negative edge to trigger; C. the measured value with two time measurement passages averages, and obtains time measured value.
Further, the gray scale of utilization of the present invention target under the very little situation of laser beam divergence and the difference of two time measurement channel measurement values have corresponding relation, can realize the integrated precision measurement of distance and gray scale, according to time measured value that records and the formula of asking distance, calculate the distance value of being surveyed; Utilize beam expanding lens to the described laser main wave compression angle of divergence, again according to the corresponding relation of the difference of gray scale and two time measured values, by the counter gray scale of releasing target of difference.
Another object of the present invention is to provide a kind of laser range finder pulse echo treating apparatus of realizing above-mentioned laser range finder pulse echo disposal route.
For achieving the above object, the invention provides a kind of laser range finder pulse echo treating apparatus, form by pulsed laser, beam expanding lens, receiving optics, detector and amplifying circuit, time measuring circuit and digital signal processing unit, described time measuring circuit has two independently time measurement passages, the very first time measures passage and adopts rising edge triggering stopping counting, and second time measurement passage employing negative edge triggers and stops counting.
Described two time measurement passages all adopt fixedly thresholding triggering, and detector and amplifying circuit are with two time measurement passages of echo-pulse while time of delivery (TOD) metering circuit; Laser pulse reflexes to main wave detector through a semi-transparent semi-reflecting lens with the sub-fraction laser energy after compressing the angle of divergence through beam expanding lens, main wave detector produces initial count pulse to the time measurement circuit by a fixed threshold, makes two channel times measurements of time measuring circuit begin simultaneously to measure; Described digital signal processing unit is obtained the difference of the value that two time measurement passages record, and utilizes this difference to calculate gray-scale value; Described digital signal processing unit averages the value that two time measurement passages record, and calculates distance value with this.
Because the amplitude of laser main wave pulse and dimensionally stable can not cause drift error, so the present invention utilizes laser main wave pulse generation count pulse to come triggered time metering circuit work.The present invention measures by rising edge and negative edge to same signal, can obtain two time measured values.The Measurement Resolution of time value can accomplish to have realized precision measurement more than the 120ps.These two time measured values are averaged, just can eliminate the drift error that causes by pulse height and change of shape.Simultaneously, under the very little situation of laser beam divergence, the difference of the gray scale of target and these two time measured values has corresponding relation, can be by the counter gray scale of releasing target of difference.Because the difference of two time measured values is also calculated by precision measurement, so the mistiming also is accurate.So it also is accurate that the gray scale of target is measured.
In sum, the invention has the advantages that: the different passages by the chronometer time metering circuit are measured the rising edge and the negative edge of same return laser beam pulse, need not add other circuit, both can eliminate the drift error that causes by pulse height and change of shape, can obtain the gray-scale value of target again, realize the integrated precision measurement of distance and gray scale.System uses digital, incorporate method, and circuit is simple, is easy to realize.
The present invention is further illustrated below in conjunction with accompanying drawing and embodiment.
Description of drawings
Fig. 1 is the structural representation of laser range finder pulse echo treating apparatus of the present invention.
Embodiment
Relevant detailed description of the present invention and technology contents, existing as follows with regard to accompanying drawings:
In one embodiment of the invention, a kind of laser range finder pulse echo disposal route at first arrives time measurement circuit by fixed threshold to produce initial count pulse with laser main wave, makes two time measurement passages of time measuring circuit begin simultaneously to measure.This is because the amplitude and the dimensionally stable of laser main wave pulse can not cause drift error.Thereby adopt the laser main wave pulse to come the work that the triggered time measures passage, and avoided the influence of drift error from root, laser main wave has been guaranteed the reliable and stable of trigger condition by the screening of fixed threshold simultaneously.
Sending into two time measurement passages of time measuring circuit after then return laser beam being amplified simultaneously measures simultaneously, these two time measurement passages are all determined to stop constantly by fixing thresholding mode, different is: the very first time measures passage and uses rising edge to trigger, and the second time measurement passage uses negative edge to trigger; Its effect is: measure by rising edge and negative edge to same signal, can obtain two time measured values.The Measurement Resolution of time value can accomplish to have realized precision measurement more than the 120ps.These two time measured values are averaged, just can eliminate the drift error that causes by pulse height and change of shape.
Simultaneously, under the very little situation of laser beam divergence, the difference of the gray scale of target and these two time measured values has corresponding relation, can be by the counter gray scale of releasing target of difference.Because the difference of two time measured values is also calculated by precision measurement, so the mistiming also is accurate.So it also is accurate that the gray scale of target is measured.
Can compress the angle of divergence to laser main wave by beam expanding lens, realize that the very little condition of laser beam divergence is to realize the integrated precision measurement of distance and gray scale, according to time measured value that records and the formula of asking distance, promptly distance equals the light velocity and multiply by the time, can calculate the distance value of being surveyed; Again according to the corresponding relation of the difference of gray scale and two time measured values, by the counter gray scale of releasing target of difference.Here can be calculated in advance of storage is good in counting circuit gray scale and the corresponding tables of mistiming, go out gray-scale value by computation of table lookup; Also can be to derive relation formula between them, utilize this formula directly to calculate gray-scale value according to the difference of measured value according to the corresponding relation of the difference of gray scale and two time measured values.
See also Fig. 1, Fig. 1 is the structural representation of laser range finder pulse echo treating apparatus of the present invention.It is made up of pulsed laser, beam expanding lens, receiving optics, detector and amplifying circuit, time measuring circuit and digital signal processing unit, described time measuring circuit has two independently time measurement passages, the very first time measures passage and adopts rising edge triggering stopping counting, and second time measurement passage employing negative edge triggers and stops counting.
Its working condition is: pulsed laser emission laser pulse, laser pulse is through the beam expanding lens compression angle of divergence.Laser pulse is launched through a semi-transparent semi-reflecting lens again.Semi-transparent semi-reflecting lens reflexes to main wave detector with the sub-fraction laser energy, and main wave detector produces an initial count pulse to the time measurement circuit by a fixed threshold, makes two passages of time measuring circuit begin simultaneously to measure.
Optical system receives return laser beam to detector.Detector receives return laser beam and amplifies, again with echo-pulse two passages of time of delivery (TOD) metering circuit simultaneously.Two passages all adopt fixedly thresholding triggering, and the very first time measures passage and adopts rising edge triggering stopping counting, and second time measurement passage employing negative edge triggers and stops counting.
The very first time measures the count value of the passage and the second time measurement passage and delivers to digital signal processing unit.Digital signal processing unit is handled count results, obtains distance and gray-scale value.The distance algorithm of digital signal processing unit is according to time measured value that records and the formula of asking distance, promptly multiply by the time apart from equaling the light velocity, can calculate the distance value of being surveyed, the time value here is the mean value that time measured value that two time measurement passages record averages gained.The gray scale measuring method here is the corresponding relation according to the difference of gray scale and two time measured values, by the counter gray scale of releasing target of difference.Here can be calculated in advance of storage is good in counting circuit gray scale and the corresponding tables of mistiming, go out gray-scale value by computation of table lookup; Also can be to derive relation formula between them, utilize this formula directly to calculate gray-scale value according to the difference of measured value according to the corresponding relation of the difference of gray scale and two time measured values.
Above introduce, it only is preferred embodiment of the present invention, can not limit scope of the invention process with this, it is the variation that is equal to that the those skilled in the art in the present technique field are done according to the present invention, and those skilled in that art improvement, the variation known, all should still belong to the scope that patent of the present invention contains.
Claims (10)
1, a kind of laser range finder pulse echo disposal route is characterized in that may further comprise the steps:
A. laser main wave is arrived the time measurement circuit by fixed threshold to produce initial count pulse, make two time measurement passages of time measuring circuit begin simultaneously to measure;
B. sending into two time measurement passages of time measuring circuit after return laser beam being amplified simultaneously measures simultaneously, these two time measurement passages are all determined to stop constantly by fixing thresholding mode, different is: the very first time measures passage and uses rising edge to trigger, and the second time measurement passage uses negative edge to trigger;
C. the measured value with two time measurement passages averages, and obtains time measured value.
D. the measured value of two time measurement passages is got difference, can obtain gray-scale value.
2, laser range finder pulse echo disposal route according to claim 1 is characterized in that calculating the distance value of being surveyed according to time measured value that records and the formula of asking distance.
3, laser range finder pulse echo disposal route according to claim 1 is characterized in that described laser main wave is through the beam expanding lens compression angle of divergence.
4, laser range finder pulse echo disposal route according to claim 3 is characterized in that the corresponding relation according to the difference of gray scale and two time measured values, by the counter gray scale of releasing target of difference.
5, a kind of laser range finder pulse echo treating apparatus, form by pulsed laser, beam expanding lens, receiving optics, detector and amplifying circuit, time measuring circuit and digital signal processing unit, it is characterized in that: described time measuring circuit has two independently time measurement passages, the very first time measures passage and adopts rising edge triggering stopping counting, and second time measurement passage employing negative edge triggers and stops counting.
6, laser range finder pulse echo treating apparatus according to claim 5, thresholding triggers to it is characterized in that all adopting fixedly by described two time measurement passages.
7, laser range finder pulse echo treating apparatus according to claim 5 is characterized in that detector and amplifying circuit two time measurement passages with echo-pulse while time of delivery (TOD) metering circuit.
8, laser range finder pulse echo treating apparatus according to claim 5, it is characterized in that through a semi-transparent semi-reflecting lens sub-fraction laser energy being reflexed to main wave detector after laser pulse is through the beam expanding lens compression angle of divergence, main wave detector produces initial count pulse to the time measurement circuit by a fixed threshold, makes two time measurement passages of time measuring circuit begin simultaneously to measure.
9, laser range finder pulse echo treating apparatus according to claim 8 is characterized in that described digital signal processing unit obtains the difference of two time measurement passage measured values, and utilizes this difference to calculate gray-scale value.
10, laser range finder pulse echo treating apparatus according to claim 5 is characterized in that described digital signal processing unit averages the value that two time measurement passages record, and calculates distance value with this.
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| CNB2004100184919A CN1327240C (en) | 2004-05-20 | 2004-05-20 | Pulse echo treating method and device for laser range finder |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100416298C (en) * | 2006-05-19 | 2008-09-03 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN101852851A (en) * | 2010-04-02 | 2010-10-06 | 中国科学院上海技术物理研究所 | Gain-variable trans-impedance amplifier integrated circuit for pulse laser range finder echo receiver |
| CN101839981B (en) * | 2010-01-28 | 2012-05-23 | 中国人民解放军电子工程学院 | Method and device for acquiring laser imaging echo waveform and level characteristics |
| CN102870005A (en) * | 2010-05-19 | 2013-01-09 | 三菱电机株式会社 | Obstacle detection device |
| CN103364790A (en) * | 2013-07-18 | 2013-10-23 | 武汉海达数云技术有限公司 | Pulse laser distance measurement system and method based on waveform time domain registration analysis |
| CN103913749A (en) * | 2014-03-28 | 2014-07-09 | 中国科学院上海技术物理研究所 | Ranging method based on measurement of laser pulse flight time |
| CN104048628A (en) * | 2014-06-16 | 2014-09-17 | 山东中科普锐检测技术有限公司 | Method for accurately detecting thickness through ultrasonic wave equivalent peak value and device using method |
| CN104729458A (en) * | 2015-03-25 | 2015-06-24 | 北京航天控制仪器研究所 | Novel distance measuring instrument based on thermal filed bunching effect |
| CN104833979A (en) * | 2015-04-27 | 2015-08-12 | 北京航天控制仪器研究所 | Laser ranging method and laser ranging data signal processing method |
| CN105091848A (en) * | 2015-06-01 | 2015-11-25 | 北京航天控制仪器研究所 | Time correlation calculation diastimeter and measuring method |
| CN105319556A (en) * | 2014-06-24 | 2016-02-10 | 常州大地测绘科技有限公司 | Pulse laser rangefinder and implementation method thereof |
| CN106353766A (en) * | 2016-09-08 | 2017-01-25 | 上海理鑫光学科技有限公司 | Laser radar multipoint distance measurement system on basis of diffraction optical components |
| CN107193008A (en) * | 2017-07-25 | 2017-09-22 | 安徽大学 | A kind of supersonic range finder and method |
| CN107783140A (en) * | 2016-08-25 | 2018-03-09 | 左罗 | High-precision laser range finder and its distance-finding method |
| CN107843903A (en) * | 2017-10-27 | 2018-03-27 | 天津津航技术物理研究所 | A kind of more threshold values TDC high-precision lasers pulse ranging methods |
| CN109669188A (en) * | 2019-01-17 | 2019-04-23 | 杜鑫 | Mostly along triggered time discrimination method and pulse type laser distance measuring method |
| CN111239707A (en) * | 2018-11-28 | 2020-06-05 | 湖北华中光电科技有限公司 | Human eye safety double-wave gate laser detection device |
| TWI700507B (en) * | 2018-10-24 | 2020-08-01 | 精準基因生物科技股份有限公司 | Time-of-flight ranging device and time-of-flight ranging method |
| CN111538025A (en) * | 2020-05-06 | 2020-08-14 | 福瑞泰克智能***有限公司 | Laser ranging method and system |
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| DE4316348A1 (en) * | 1993-05-15 | 1994-11-17 | Wild Heerbrugg Ag | Distance measuring device |
| CN1064129C (en) * | 1996-12-12 | 2001-04-04 | 中国科学院遥感应用研究所 | Apparatus and method for remote sensing multi-dimension information integration |
| DE19855296C1 (en) * | 1998-12-01 | 2000-08-31 | Bosch Gmbh Robert | Device for distance measurement using a semiconductor laser in the visible wavelength range using the transit time method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100416298C (en) * | 2006-05-19 | 2008-09-03 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN101839981B (en) * | 2010-01-28 | 2012-05-23 | 中国人民解放军电子工程学院 | Method and device for acquiring laser imaging echo waveform and level characteristics |
| CN101852851A (en) * | 2010-04-02 | 2010-10-06 | 中国科学院上海技术物理研究所 | Gain-variable trans-impedance amplifier integrated circuit for pulse laser range finder echo receiver |
| CN101852851B (en) * | 2010-04-02 | 2012-06-27 | 中国科学院上海技术物理研究所 | Gain-variable trans-impedance amplifier integrated circuit for pulse laser range finder echo receiver |
| CN102870005B (en) * | 2010-05-19 | 2015-07-08 | 三菱电机株式会社 | Obstacle detection device |
| CN102870005A (en) * | 2010-05-19 | 2013-01-09 | 三菱电机株式会社 | Obstacle detection device |
| US8797829B2 (en) | 2010-05-19 | 2014-08-05 | Mitsubishi Electric Corporation | Obstacle detection device |
| CN103364790A (en) * | 2013-07-18 | 2013-10-23 | 武汉海达数云技术有限公司 | Pulse laser distance measurement system and method based on waveform time domain registration analysis |
| CN103364790B (en) * | 2013-07-18 | 2015-09-02 | 武汉海达数云技术有限公司 | A kind of method that pulsed laser ranging system analyzed based on waveform time domain registration is found range |
| CN103913749A (en) * | 2014-03-28 | 2014-07-09 | 中国科学院上海技术物理研究所 | Ranging method based on measurement of laser pulse flight time |
| CN104048628B (en) * | 2014-06-16 | 2017-02-15 | 山东中科普锐检测技术有限公司 | Method for accurately detecting thickness through ultrasonic wave equivalent peak value and device using method |
| CN104048628A (en) * | 2014-06-16 | 2014-09-17 | 山东中科普锐检测技术有限公司 | Method for accurately detecting thickness through ultrasonic wave equivalent peak value and device using method |
| CN105319556A (en) * | 2014-06-24 | 2016-02-10 | 常州大地测绘科技有限公司 | Pulse laser rangefinder and implementation method thereof |
| CN104729458A (en) * | 2015-03-25 | 2015-06-24 | 北京航天控制仪器研究所 | Novel distance measuring instrument based on thermal filed bunching effect |
| CN104833979A (en) * | 2015-04-27 | 2015-08-12 | 北京航天控制仪器研究所 | Laser ranging method and laser ranging data signal processing method |
| CN104833979B (en) * | 2015-04-27 | 2017-03-15 | 北京航天控制仪器研究所 | A kind of method of the signal transacting of laser ranging and laser ranging data |
| CN105091848A (en) * | 2015-06-01 | 2015-11-25 | 北京航天控制仪器研究所 | Time correlation calculation diastimeter and measuring method |
| CN107783140A (en) * | 2016-08-25 | 2018-03-09 | 左罗 | High-precision laser range finder and its distance-finding method |
| CN106353766A (en) * | 2016-09-08 | 2017-01-25 | 上海理鑫光学科技有限公司 | Laser radar multipoint distance measurement system on basis of diffraction optical components |
| CN107193008A (en) * | 2017-07-25 | 2017-09-22 | 安徽大学 | A kind of supersonic range finder and method |
| CN107843903A (en) * | 2017-10-27 | 2018-03-27 | 天津津航技术物理研究所 | A kind of more threshold values TDC high-precision lasers pulse ranging methods |
| TWI700507B (en) * | 2018-10-24 | 2020-08-01 | 精準基因生物科技股份有限公司 | Time-of-flight ranging device and time-of-flight ranging method |
| CN111239707A (en) * | 2018-11-28 | 2020-06-05 | 湖北华中光电科技有限公司 | Human eye safety double-wave gate laser detection device |
| CN109669188A (en) * | 2019-01-17 | 2019-04-23 | 杜鑫 | Mostly along triggered time discrimination method and pulse type laser distance measuring method |
| CN111538025A (en) * | 2020-05-06 | 2020-08-14 | 福瑞泰克智能***有限公司 | Laser ranging method and system |
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