WO2003060556A1 - Two laser beams rangefinder based on time of flight - Google Patents
Two laser beams rangefinder based on time of flight Download PDFInfo
- Publication number
- WO2003060556A1 WO2003060556A1 PCT/RU2002/000451 RU0200451W WO03060556A1 WO 2003060556 A1 WO2003060556 A1 WO 2003060556A1 RU 0200451 W RU0200451 W RU 0200451W WO 03060556 A1 WO03060556 A1 WO 03060556A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- output
- linked
- input
- pulse
- sqmo
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
-
- 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
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
-
- 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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
Definitions
- the present invention relates to the distance measuring instruments - to rangers.
- pulse laser rangers are used, for instance, one of them is described in the book by V.V.Molebniy “Systems for optical detection and ranging", edited in Moscow by Mashinostroenie in 1981 , page 52. It comprises the pulse laser with an optical collimating system, emitting short optical pulses at the object; from its output the start reference pulse is branched off to the reference photo receiver with pulse amplification, which is connected with the start pulse of the time-interval counter (TIC).
- TIC time-interval counter
- the optical signal reflected from the object through the optical receiving objective, gets into the photo receiver and it is amplified by the pulse amplifier and it is forwarded to the stop input of TIC.
- Distance to the object is defined by the measured time interval.
- This ranger comprises the pulse laser (for instance, semiconductor quantum-mechanical oscillator [SQMO] with the scheme of pumping), the optical system making the emission diagram, the reference photo receiver, the receiving photo receiver with the receiving optical system, TIC; all the above-mentioned are set in a clock pulse-oscillator, key schemes, the counter, the memory unit 1 , the memory unit 2, the reader and the indicator, the scheme "or", the reversible counter.
- the pulse laser for instance, semiconductor quantum-mechanical oscillator [SQMO] with the scheme of pumping
- the information about distance up to each object is stored in the memory unit of this ranger; the memory unit is a source of information about an object required, being brought out by the reader.
- FIGURE 1 shows the optical scheme of the submitted laser ranger with the higher level of selectivity of the objects being measured
- FIGURE 2 shows the epures of signals and the principle of the ranger's operation
- FIGURE 3 shows the application of two emitting channels with the noncoincided emission diagrams
- the laser ranger comprises:
- the laser ranger-detector operates as follows.
- the controlled oscillator (2) makes a sequence of short pulses T im ⁇ 100 nsec with a repetition frequency F r ⁇ 100 Hz ⁇ 1 kHz (it is suitable for space observation); pulses start in turn SQMO 1 laser (20) and SQMO 2 laser (21) through the linked power amplifier (1).
- the SQMO emission gets at the objects through the collimating lens (6) and the collimating lens (7).
- a signal reflected from the object gets at the receiving lens (8), then at the AP photo receiver (22); the photodetected signal is amplified by the amplifier (9) and finally it is brought to the comparators (10) and (11).
- the first comparator (11) develops an information signal upon overcome of detection threshold, which is formed by three branches.
- the second comparator (10) develops the control signals, proportional to the noise level of receiving channel.
- Pbackground is the level of the background noise.
- a P po er is the level of noise of the AP power regulator.
- noise ampii f is the level of noise of the amplifier.
- n oise ⁇ °c is the temperature noise.
- a number of noise pulses after the second comparator (10) is transformed in integrators (12), (13) into control signals with a different constant of time.
- the first signal V COntr i (when ⁇ ⁇ « ⁇ 2 ) is speed-response and it is brought through the adder (16) simultaneously with V contr2 at the reference input of the first comparator (11).
- V CO nt r 3 i the adaptive signal, considering correction of the detection threshold, depending on the signal's changes within the distance. It is required for suppression of signals from the diffusive objects and for signals development from optical systems.
- con tr2 it settles the task of adaptation of the detection threshold for the factors slowly changing - temperature and slow changes of the background (day, night, clouds etc.)
- Vcontri it settles the task of adaptation of the detection threshold for the factors quickly changing [difference of background: light/dark, building, shadow, parasitical sources of light in the field of view upon quick space scanning by the ranger].
- CO ntr3 it settles the task of adaptation of the detection threshold, depending on the distance up to the object in order to decrease amplitude-time error in distance measuring and space-time amplitude selection of the useful objects (optical systems) from the parasitical objects (diffusive-reflective).
- Optical systems give the reflected signal (glare), according to the signal's level [P op t.re f i is the level of the reflected signal from the optical systems; P i f is the level of the reflected signal from the diffusive objects],
- the noise immunity, selectivity of detection and measurement of objects' parameters increase.
- Application of the voice synthesizer (17) enables to receive the information about distance without the interruption of operator from search & observation process, it increases reliability and efficiency of the information's search & record.
- Application of the separate indicator (18) for the object detection gives possibility to fix quickly position of the field of view of the ranger at the object.
- the double mode of pumping of the semiconductor quantum-mechanical oscillator [SQMO] is applied.
- the first mode is the increased repetition frequency F ⁇ kHz upon objects search
- the second mode is the rarely repeating mode upon getting at an object F r ⁇ 1 Hz.
- the application of two emitting channels with the noncoincided emission diagrams enables to provide the selection of the useful point objects (optical systems), relatively the extended objects (walls reflecting diffusively etc., glasses in buildings, road signs and so on), using the criteria of the angle and linear dimensions.
- the optical devices have the reflective aperture of ⁇ 20 ⁇ 50 mm, but the walls, the glasses, the light-reflecting road signs are of much more bigger dimensions. That is why the extended objects, we have two signals from the extended objects from the first SQMO and from the second SQMO. Upon that, the signal of prohibition to supply information is generated into the pulse sharper (19), according to the counter's (14) signal. If there is a signal from the first SQMO, the prohibition is absent.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02806414A EP1459098A1 (en) | 2001-12-27 | 2002-10-14 | Two laser beams rangefinder based on time of flight |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU2001135382 | 2001-12-27 | ||
RU2001135382/28A RU2001135382A (en) | 2001-12-27 | 2001-12-27 | LASER RANGEFINDER |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003060556A1 true WO2003060556A1 (en) | 2003-07-24 |
Family
ID=20254953
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/RU2002/000451 WO2003060556A1 (en) | 2001-12-27 | 2002-10-14 | Two laser beams rangefinder based on time of flight |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1459098A1 (en) |
RU (1) | RU2001135382A (en) |
WO (1) | WO2003060556A1 (en) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4020834C1 (en) * | 1990-06-29 | 1991-10-24 | Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De | Driverless transport system control - uses laser sensor with laser diodes working in push=pull to detect position from retroreflective strips |
US5336899A (en) * | 1992-11-24 | 1994-08-09 | The United States Of America As Represented By The Secretary Of The Army | Adjustable near infrared rangefinder illuminator |
US5359404A (en) * | 1989-03-27 | 1994-10-25 | Laser Technology, Inc. | Laser-based speed measuring device |
EP0747725A2 (en) * | 1995-06-07 | 1996-12-11 | HE HOLDINGS, INC. dba HUGHES ELECTRONICS | Low cost laser range finder system architecture |
-
2001
- 2001-12-27 RU RU2001135382/28A patent/RU2001135382A/en not_active Application Discontinuation
-
2002
- 2002-10-14 WO PCT/RU2002/000451 patent/WO2003060556A1/en not_active Application Discontinuation
- 2002-10-14 EP EP02806414A patent/EP1459098A1/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5359404A (en) * | 1989-03-27 | 1994-10-25 | Laser Technology, Inc. | Laser-based speed measuring device |
DE4020834C1 (en) * | 1990-06-29 | 1991-10-24 | Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De | Driverless transport system control - uses laser sensor with laser diodes working in push=pull to detect position from retroreflective strips |
US5336899A (en) * | 1992-11-24 | 1994-08-09 | The United States Of America As Represented By The Secretary Of The Army | Adjustable near infrared rangefinder illuminator |
EP0747725A2 (en) * | 1995-06-07 | 1996-12-11 | HE HOLDINGS, INC. dba HUGHES ELECTRONICS | Low cost laser range finder system architecture |
Also Published As
Publication number | Publication date |
---|---|
RU2001135382A (en) | 2003-09-10 |
EP1459098A1 (en) | 2004-09-22 |
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