WO2008086651A1 - A laser rangefinder system - Google Patents

A laser rangefinder system Download PDF

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Publication number
WO2008086651A1
WO2008086651A1 PCT/CN2007/000122 CN2007000122W WO2008086651A1 WO 2008086651 A1 WO2008086651 A1 WO 2008086651A1 CN 2007000122 W CN2007000122 W CN 2007000122W WO 2008086651 A1 WO2008086651 A1 WO 2008086651A1
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WO
WIPO (PCT)
Prior art keywords
laser
ranging system
laser ranging
receiving
time
Prior art date
Application number
PCT/CN2007/000122
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French (fr)
Chinese (zh)
Inventor
Zhiqiang Xue
Original Assignee
Zhiqiang Xue
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Publication date
Application filed by Zhiqiang Xue filed Critical Zhiqiang Xue
Priority to PCT/CN2007/000122 priority Critical patent/WO2008086651A1/en
Publication of WO2008086651A1 publication Critical patent/WO2008086651A1/en

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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
    • 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

Definitions

  • the invention relates to a laser ranging system, in particular to a laser ranging system using a pulse-echo (TOF) time-of-flight laser ranging method.
  • TOF pulse-echo
  • phase laser ranging The interferometric laser ranging method is extremely sensitive to the vibration of the external environment and can only measure the relative displacement. Therefore, it is suitable for precision measurement with extremely short distance and stable external environment.
  • phase laser ranging The phase laser ranging method has a higher resolution, but since the phase detector can only measure the phase difference between the two signals (transmitting and receiving laser pulse signals), it is difficult to judge when the phase difference exceeds half of the modulation wavelength. Therefore, when measuring a long distance, the modulation frequency must be made small, but this will make the resolution of the distance worse. If high resolution and large measurement range are to be guaranteed at the same time, it is necessary to measure the same distance with several different modulation frequencies, which greatly increases the complexity of the system circuit.
  • the pulse echo type is the TOF (Time-of-Flight) method.
  • phase laser ranging is higher than that of pulse echo laser ranging, but
  • Pulse echo laser ranging has the following advantages: Under the same total average optical power output, the pulse echo measurable distance is much longer than the phase type. This is because pulsed lasers typically have a high instantaneous output optical power, so that objects farther away can still reflect back the intensity of the laser signal that is sufficiently detected. The single ranging rate is faster, and the accuracy can be increased multiple times. Since the phase detector measures the relative phase difference between two consecutive signals, the phase type is also time consuming in measurement time, which is a disadvantage for systems that must have high speed measurement rates and multiple measurements. The system architecture of pulse echo ranging is relatively simple. On laser ranging systems where resolution is not critical, pulse-echo is the most ideal implementation.
  • pulse echo type ranging is to calculate the time difference between the transmitted wave and the received echo
  • the main error affecting the accuracy of the ranging is: due to the different reflection properties of the object or the different distances of the measured distance.
  • the current time difference calculation method applied by the pulse-echo (TOF) laser ranging method is that the circuit is complicated or expensive, or has low precision, low resolution, stability, and poor reliability.
  • Most of the 'number products' using the pulse-echo laser ranging method have the disadvantages of complicated optical systems, mechanical structures and circuit components. Summary of the invention
  • An object of the present invention is to provide a laser ranging system using a pulse echo type laser ranging method which emits and receives an invisible laser signal and employs a highly integrated and highly accurate time difference calculation circuit.
  • the optical ranging system has simple optical system and mechanical structure, simple system, high precision, small error, stable and reliable, and low cost.
  • a laser ranging system comprising a transmitting module and a receiving module, the transmitting module comprising an emitting lens and the mounting lens a transmitting optical system composed of a transmitting cavity, and a laser emitter, transmitting a pulsed laser signal via a transmitting optical system;
  • the receiving module comprising a receiving optical system comprising a receiving lens and a receiving cavity in which the receiving lens is mounted, and a laser a receiver receives a pulsed laser signal via a receiving optical system and converts it into a pulsed electrical signal;
  • a time/digital converter for detecting and calculating a time difference between the transmitted pulse signal and the received pulse signal; and a clock generator that outputs a calibration clock signal to a time/digital converter;
  • a microcontroller microcontroller controlling the transmitting module, the receiving module clock generator time/digital converter and the clock generator, and calculating the position of the corresponding target and the laser ranging system according to the time difference
  • the laser ranging system of the invention adopts the principle of pulse echo, transmits and receives invisible laser signals, and adopts a high integration and high precision time difference calculation circuit.
  • the optical system is simple, and the detection, calculation and calibration of the time difference is realized based on the highly integrated CMOS LSI "Time/Digital Converter" TDC circuit, so that the laser range finder is small in size.
  • the system is simple, accurate, small in error, stable and reliable, easy to read and intuitive, and low in cost.
  • the laser ranging system can be applied to a laser range finder, a laser ranging telescope, and can also be applied to a laser speed measuring system, a car collision avoidance system, and the like.
  • FIG. 1 is a schematic diagram of an overall module of a laser ranging system of the present invention.
  • FIG. 2 is a schematic diagram of a transmitting module and a receiving module of the laser ranging system of the present invention.
  • FIG 3 is a schematic view of the whole machine assembly of the laser ranging system of the present invention.
  • FIG. 4 is a schematic view showing the working principle of the laser ranging system of the present invention.
  • Figure 5a is a block diagram of a transmitting circuit of the laser ranging system of the present invention.
  • Figure 5b is a schematic illustration of the transmitting optical system of the laser ranging system of the present invention.
  • Figure 6a is a block diagram of a receiving circuit of the laser ranging system of the present invention.
  • Figure 6b is a schematic view of the receiving optical system of the laser ranging system of the present invention.
  • FIG. 7 is a schematic diagram of a time/digital converter TDC circuit of the laser ranging system of the present invention. detailed description
  • FIG. 1 is a schematic diagram of an overall module of a laser ranging system according to the present invention.
  • the laser ranging system of the present invention comprises: a transmitting module 100, a receiving module 200, a guiding laser module 20, a Time-to-Digital Converter (TDC) 30, and a Single Chip Microcontroller 40.
  • a clock generator 50 a backlit LCD liquid crystal display device 60, a keyboard 70, a power supply unit 80, a JTAG (Joint Test Action Group) emulation and debug interface 90, and a programming and calibration interface 95.
  • JTAG Joint Test Action Group
  • the transmitting module 100 further includes: an emitting optical system composed of an emitting lens 125 and an emitting cavity 128 for mounting the transmitting lens 125, a pulsed laser diode 150, and mainly used for controlling the The emission control circuit 130 of the pulsed laser diode 150.
  • the receiving module 200 further includes: a receiving optical system composed of a receiving lens 225 and a receiving cavity 228 for mounting the receiving lens 225, a silicon PIN photodiode 250, and a receiving control circuit mainly for controlling the silicon PIN photodiode 250. 230.
  • the guided laser module 20 includes: a guided laser emitter 22 for emitting visible laser light, and a guided laser control circuit 24 for controlling the switch of the guided laser emitter 22.
  • the power supply unit 80 includes a battery 82 and a power manager 84.
  • FIG. 3 is a schematic diagram of the whole machine assembly of the laser ranging system of the present invention.
  • the laser ranging system is integrally mounted on a casing, wherein the transmitting optical system of the transmitting module 100, the receiving module 200
  • the receiving optical system, and the guiding laser emitter 22 guiding the laser module 20 are mounted on the front end of the housing to facilitate the transmission, reception of optical signals and the exit of visible laser spots.
  • the 60 drive circuit, JTAG emulation and debug interface 90, and the programming and calibration interface 95 are all integrated on the PCB.
  • the LCD liquid crystal display device 60 and the keyboard 70 are mounted on the outer surface of the casing, and the battery 82 is mounted in the battery compartment of the casing.
  • FIG. 4 is a schematic diagram of the working principle of the laser ranging system of the present invention.
  • the basic principle of the laser ranging system of the present invention is to achieve the purpose of measuring distance by detecting the time difference between the pulse signal emitted by the pulse laser diode 150 and the reflected laser pulse signal received by the silicon PIN photodiode 250, and on the LCD liquid crystal display device 60.
  • In front of the laser ranging system there is a pulsed laser diode 150 as a laser emitter and a silicon PIN photodiode 250 as a laser receiver. After positioning the target by guiding the laser, the laser pulse signal is emitted to the target and received by the target.
  • the laser pulse signal is further calculated and calibrated by the time/digital converter 30 and the clock generator 50, and then the microcontroller microcontroller 40 calculates and corrects the position of the corresponding target and the laser ranging system.
  • the distance is finally displayed on the LCD liquid crystal display device 60.
  • the single-chip microcomputer 40 sends a transmit pulse signal (TX pulse) to the transmit control circuit 130, and the transmit control circuit 130 is equivalent to a control switch to turn on the pulsed laser diode 150 to emit a pulsed laser.
  • the signal is then transmitted through the transmitting lens 125 as a beamlet of parallel laser pulses onto the target.
  • the laser light emitted by the pulsed laser diode 150 is invisible to the wavelength of 905 nm, and does not cause harm to the human eye.
  • the visible laser emitted by the guided laser emitter 22 is a 650-plane wavelength micropower ( ⁇ lmW) secondary laser (CLASS 2) conforming to the EN60825-1:XXXX standard, which requires protection of the human eye.
  • the receiving optical system includes a focusing receiving lens 225 having a high transmittance for a 905 nm wavelength laser, a filter 226 disposed between the silicon PIN photodiode 250 and the receiving lens 225, and a filter 226. Receive cavity.
  • the pulsed laser signal reflected back by the target passes through the receiving lens 225, is filtered by the filter 226, and is focused onto the silicon PIN photodiode 250, converted into a pulse current signal, and then sent to an amplifying circuit for amplification, and then at a current/voltage (
  • the I/V) conversion circuit converts the amplified pulse current signal into a pulse voltage signal, and finally compares the pulse voltage signal with a stable comparison level (Comp. level) sent from the microcontroller microcontroller 40 in the shaping comparison circuit.
  • the received pulse signal (RX pulse) in the form of a square wave is output and sent to the time/digital converter 30.
  • the laser pulse signal is emitted from the range finder to the target, and then reflected from the target back to the TOF (time-of-flight) of the range finder, that is, the laser pulse signal is transmitted and received.
  • Time difference detection, calculation and calibration are performed using internationally advanced dedicated CMOS large scale integrated circuit (ASIC) "time/digital converters, 'TDC circuits.
  • ASIC CMOS large scale integrated circuit
  • the time/digital converter 30 is mainly used for time difference detection, calculation, and Calibration, with high integration and precision.
  • the time/digital converter 30 correlates the start pulse signal and the pulse pulse signal (TX pulse) sent from the single chip microcomputer 40 with the received pulse signal (RX pulse) sent from the receiving control circuit 230. Calculate the time difference between the transmit pulse (TX pulse) and the received pulse signal (RX pulse) to the time/digital converter 30, and then perform the time calibration using the calibration clock (Calclk) sent from the clock generator 50 to obtain an accurate time.
  • the difference (ATC4Z) is sent to the microcontroller microcontroller 40 for processing in parallel data.
  • the time/digital converter 30 is a high-precision TDC (TDC, Time-to-Digital Converter) mode device implemented by a low-cost gate Array technology. It uses 0.6 ⁇ CMOS process technology and operates over a wide supply range of 2.7V to 5.5V in a LQFP44 0.8mm macro package.
  • TDC Time-to-Digital Converter
  • This TDC circuit achieves a typical resolution of 45ps (picoseconds) at 5V operation. This is not possible with conventional measuring devices. It combines multiple firing and multi-channel functions for simultaneous and/or successive measurement of time differences.
  • the burst-triggered measurement mode (Burst Measurement Mode) and the internal integrated operator (ALU) complete the performance.
  • this TDC device enables high-precision time-difference measurements with low power consumption, making it widely used in battery-powered applications.
  • time/digital converter 30 is well suited for applications where time difference measurements are made, such as laser distance measurement, phase measurement, ultrasonic positioning, and temperature measurement, to successfully implement the system.
  • microcontroller microcontroller 40 control circuit implements the following functions:
  • the output control and data signals are sent to the power management circuit 84 to respectively control the supply voltage values and the supply timings of the other peripheral function modules; and simultaneously receive the monitoring signals fed back by the power management circuit 84 to monitor and ensure that the system is in the measurement state. Stable and quality of the supply voltage, and when the system is in the non-measurement state (standby, sleep and shutdown), some or all of the other peripheral function modules are shut down in time to save power.
  • the output enable signal (Laser enable) is supplied to the guided laser control circuit 24.
  • the timing of the guided laser emitter 22 is controlled to be turned on/off to achieve the target positioning and system power saving purposes.
  • TX pulse transmit pulse signal
  • Stop A first time stop
  • the program of the single-chip microcomputer 40 can be repeatedly modified and upgraded, and the calibration work can be performed for each laser ranging system. produce.
  • the microcontroller microcontroller 40 receives the accurate time difference ATC!L sent by the time/digital converter 30 through the parallel port, and discards the delay time of the transmitting circuit 130 and the transmitting optical system for the transmitted pulse signal (TX pulse).
  • TX pulse transmitted pulse signal
  • ⁇ and the delay time ATRx of the receiving circuit 230 and the receiving optical system for receiving the pulse signal (RX pulse)
  • RX pulse the delay time of the entire circuit in the time domain (temperature drift, electromagnetic interference, etc.) target reflectance (color difference, material) , smoothness or roughness, etc.) and the time difference caused by the strength of the range signal ⁇ !>
  • D d-Ad 4 If the selected measurement reference edge (the leading edge or trailing edge of the laser rangefinder) is different, also consider the front and rear dimensions of the laser ranging system.
  • the microcontroller microcontroller 40 also performs unit conversion of measurement distance, area/volume measurement and intermediate value storage, delay measurement, measurement reference edge (leading edge/back edge) selection, maximum and minimum measurement and storage, continuous measurement , indirect measurement, the realization of the Pythagorean law function, the implementation of the addition and subtraction function, the number of measurement groups (such as 99 groups) stored, the calculation of the last measured value (such as 99 times) and other functional calculations.
  • the microcontroller microcontroller 40 also implements the conversion between the system measurement state (single, continuous measurement state) and the non-measurement state (; standby, sleep and shutdown states).
  • the single measurement state time is 2S (time can be changed, the same below), and the continuous measurement state is 2S cycle; the standby state is 10S, and the sleep state is 20S. After the system exceeds 20S in the sleep state, it will enter the shutdown state until the next power-on button is triggered, and the system enters the standby state again. That is to say, after the laser ranging system is installed in the battery 82:
  • the measurement state is entered (3);
  • the measurement button If the measurement button is pressed briefly, it will enter the single measurement state. After 2S, the LCD will display the measurement result. After the measurement is completed, it will enter the standby state (2). If the measurement button is pressed for 2S, the continuous measurement state will be entered. 2S measures the cycle, that is, the LCD displays the measurement result every 2S, until the measurement button is pressed again, and then enters the standby state (2). Delay measurement, area/volume measurement, maximum and minimum measurement, between The measurement and Pythagorean function and the addition and subtraction functions can also be divided into single measurement and continuous measurement. In the standby mode, press the function key you want to select first, then press or hold the (2S) measurement button briefly. Select to enter a single measurement or continuous measurement, and then calculate the result according to the respective algorithms of the selected function, and finally display the result on the LCD.
  • the LCD monitor stops flashing and statically displays the data and information of the last measurement result, turns off the LCD backlight, and the microcontroller microcontroller 40 runs in the low-speed power-saving mode, within 20S clock:
  • the clock generator 50 circuit receives the oscillation enable (Osc. enable) signal (active low) sent from the microcontroller microcontroller 40, starts working, and then outputs the calibration clock (Calclk) signal to the time /
  • the digitizer 30 performs calibration of the measured time difference.
  • the oscillation enable (Osc. enable) signal is high and the clock generator 50 circuit stops operating.
  • the LCD liquid crystal display device 60 with backlight and its driving circuit include a liquid crystal display driving circuit, an LCD display screen, a backlight driving circuit, and a backlight sheet/board.
  • the LCD liquid crystal display device 60 will be turned on for display of data and information, and the backlight will be lit for LCD display in other states except "off state and sleep state”. Screen lighting.
  • the most basic configuration of the keyboard 70 has a power on, power off, measurement, unit conversion and measurement reference edge selection buttons; It can also be extended to add some other function keys, such as continuous measurement, distance measurement, area measurement, volume measurement, delay measurement, indirect measurement, maximum and minimum measurement, call last measurement, Pythagorean law function, addition and subtraction function, storage function. , clear and backlight control buttons;
  • buttons can also be multiplexed into one button, such as power on/off, or power on/measure, or power off/clear, or add/subtract/unit conversion, or area/volume measurement selection, or distance/area / Volume measurement options and other composite buttons.
  • the power management circuit 84 is composed of a main power supply rising/regulating and controlling circuit, a transmitting circuit high voltage biasing and control circuit, a receiving circuit high voltage biasing and a control circuit.
  • the main power supply of all functional modules of the system is turned on, the transmitting and receiving circuits are all high voltage, the guiding laser is illuminated, and the microcontroller microcontroller 40 works at the highest speed working mode of its peripherals, and the whole system is comprehensive. In normal operation, the power consumption of the whole machine is maximized.
  • Battery 82 This system can be adapted to: 4xl.5V LR03 (AAA) four sections of 7th alkaline battery power supply, or 6F22 9V-square type alkaline battery power supply.
  • AAA 4xl.5V LR03
  • the guided laser control circuit 24 receives a laser enable signal from the microcontroller microcontroller 40, illuminates the guided laser emitter 22, and emits visible laser light toward the object to be tested. In other states, the guided laser control circuit 24 turns off the guided laser emitter 22 to achieve power saving purposes.
  • the visible guided laser wavelength selected by this system is: 650 nm ( ⁇ lMw, CLASS 2).
  • the standard for visible guided laser use of this system is: EN60825-1:03; EN60825-1:1994; EN60825-1:1993
  • JTAG emulation and debug interface 90 In system development and maintenance, the system is connected to the corresponding emulator through JTAG emulation and debug interface 90, which enables real-time online simulation, debugging and troubleshooting of the system.
  • the program of the microcontroller micro 'controller 40 can be repeatedly modified and upgraded by the programming and calibration interface 95.
  • each laser range finder can be calibrated by a calibration interface.
  • the laser ranging system is characterized by simple optical system, time difference detection, calculation and calibration based on a highly integrated CMOS LSI "time/digital converter" TDC circuit, so that it can realize laser measurement.
  • the instrument is small in size, low in cost, high in accuracy, small in error, good in stability, high in reliability, and convenient in reading.

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  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A laser rangefinder system includes a laser emitting module (100) which including a laser emitting optic system (125) and a laser emitter (150) for emitting a pulse laser signal; a laser received module (200) which including a light detecting optic system (225) and a laser detector (250) for detecting and converting the pulse laser signal into electric signal; a time-of-digital converter (30) for detecting and calculating a difference between the emitted pulse laser signal and the detected pulse laser signal; a time generator (50) for providing a clock signal to the time-of-digital converter; and a single chip micro-controller (40) for controlling the laser emitting module, the laser received module, the time-of-digital converter and the time generator, which calculating the distance between the relevant target and the place of the laser rangefinder system.

Description

激光测距***  Laser ranging system
技术领域 Technical field
本发明涉及一种激光测距***， 尤其是涉及一种采用脉冲回波式（TOF, Time-of- Flight )激光测距方式的激光测距***。 背景技术  The invention relates to a laser ranging system, in particular to a laser ranging system using a pulse-echo (TOF) time-of-flight laser ranging method. Background technique
当前现有的激光测距仪种类较多， 利用激光测距的原理也有多种。 目前， 激光测距所运用的原理大致可分为干涉式、 相位式及^ 中回波式三种：  Currently, there are many types of laser range finder, and there are many principles for using laser ranging. At present, the principles used in laser ranging can be roughly divided into three types: interferometric, phase, and ^ echo:
一、 干涉式激光测距。 干涉式激光测距方式对外界环境的震动极为敏感， 并且只能测量相对位移量， 所以适合使用在极短距离且外界环境稳定的精密测 量上。 二、 相位式激光测距。 相位式激光测距方式分辨率较高， 但由于相位检测 器只能测量到两信号 （发射和接收激光脉冲信号） 的相位差， 当相位差超过调 制波长的一半时， 则不易判断。 因此在测量较长距离时， 必须将调制频率变小， 但这会使距离的分辨率变差。 如果同时要保证高的分辨率与大的测量范围， 就 必需利用几个不同的调制频率对同一距离作测量， 这样会大大增加***电路的 复杂程度。 加上不同目标物的材质会对回波的相位产生误判的影响， 故必须使 用一个角锥棱镜作目标物， 使其回波相位不受目标物材质的影响， 才能得到真 正的实际距离， 而这在实际应用上不易达成。 并且因为要使用连续光波输出， 过强的输出功率会伤害人眼， 测量距离将因激光输出功率的限制而受限。  First, interferometric laser ranging. The interferometric laser ranging method is extremely sensitive to the vibration of the external environment and can only measure the relative displacement. Therefore, it is suitable for precision measurement with extremely short distance and stable external environment. Second, phase laser ranging. The phase laser ranging method has a higher resolution, but since the phase detector can only measure the phase difference between the two signals (transmitting and receiving laser pulse signals), it is difficult to judge when the phase difference exceeds half of the modulation wavelength. Therefore, when measuring a long distance, the modulation frequency must be made small, but this will make the resolution of the distance worse. If high resolution and large measurement range are to be guaranteed at the same time, it is necessary to measure the same distance with several different modulation frequencies, which greatly increases the complexity of the system circuit. Adding the material of different targets will have a misjudgment on the phase of the echo. Therefore, it is necessary to use a corner cube as the target so that the phase of the echo is not affected by the material of the target, and the real distance can be obtained. This is not easy to achieve in practical applications. And because continuous light output is used, excessive output power can harm the human eye, and the measurement distance will be limited by the limitation of the laser output power.
三、 脉冲回波式激光测距。 脉冲回波式即激光脉冲飞行时间 TOF (Time-of-Flight) 方式。  Third, pulse echo laser ranging. The pulse echo type is the TOF (Time-of-Flight) method.
一般而言， 相位式激光测距的分辨率比脉冲回波式激光测距方式要高， 但  In general, the resolution of phase laser ranging is higher than that of pulse echo laser ranging, but
1  1
确认本 是脉冲回波式激光测距却有以下优点： 在相同的总平均光功率输出的条件下， 脉冲回波式可测量的距离远比相位式的要长。 这是因为脉冲激光通常可以有很 高的瞬间输出光功率， 使较远处之目 物仍能反射回足够被检测到的激光信号 强度。 单次测距速率较快， 可多次测量增加准确度。 由于相位检测器所测量的 是两个连续信号间的相对相位差， 因此相位式在测量时间上也比较费时， 这对 于必须有高速测量速率及多次测量的***而言， 是一个不利因素。 脉冲回波式 测距的***架构较为简单。 在分辨率要求不太高的激光测距***上， 脉冲回波 式是具有最理想架构的实现方式。 Confirmation Pulse echo laser ranging has the following advantages: Under the same total average optical power output, the pulse echo measurable distance is much longer than the phase type. This is because pulsed lasers typically have a high instantaneous output optical power, so that objects farther away can still reflect back the intensity of the laser signal that is sufficiently detected. The single ranging rate is faster, and the accuracy can be increased multiple times. Since the phase detector measures the relative phase difference between two consecutive signals, the phase type is also time consuming in measurement time, which is a disadvantage for systems that must have high speed measurement rates and multiple measurements. The system architecture of pulse echo ranging is relatively simple. On laser ranging systems where resolution is not critical, pulse-echo is the most ideal implementation.
由于脉冲回波式测距是计算发射波与接收回波间的时间差求得待测距离 , 其中影响测距准确度的主要误差有： 因物体的反射性质不同或测量距离的远近 不同所产生回波脉冲的上升时间 （上升沿） 与振幅变化带来的误差， 以及回波 的时间差计算误差。 目前的脉冲回波式 (TOF)激光测距方式所应用的时间差计算 方法， 其缺陷是电路或较复杂， 或成本较高， 亦或精准度低、 分辨率低、 稳定 和可靠性差。 采用脉冲回波式激光测距方式的大多'数产品存在光学***、 机械 结构和电路组成均较为复杂的缺点。 发明内容  Since pulse echo type ranging is to calculate the time difference between the transmitted wave and the received echo, the main error affecting the accuracy of the ranging is: due to the different reflection properties of the object or the different distances of the measured distance. The rise time (rising edge) of the wave pulse and the error caused by the amplitude variation, and the time difference of the echo calculation error. The current time difference calculation method applied by the pulse-echo (TOF) laser ranging method is that the circuit is complicated or expensive, or has low precision, low resolution, stability, and poor reliability. Most of the 'number products' using the pulse-echo laser ranging method have the disadvantages of complicated optical systems, mechanical structures and circuit components. Summary of the invention
本发明的目的在于提供一种采用脉冲回波式激光测距方式的激光测距系 统，其发射和接收不可见激光信号，采用高集成度和高精度的时间差计算电路。 所述激光测距***光学***和机械构造简单， ***简易、 精准度高、 误差小， 稳定可靠， 且成本较低。  SUMMARY OF THE INVENTION An object of the present invention is to provide a laser ranging system using a pulse echo type laser ranging method which emits and receives an invisible laser signal and employs a highly integrated and highly accurate time difference calculation circuit. The optical ranging system has simple optical system and mechanical structure, simple system, high precision, small error, stable and reliable, and low cost.
为解决上述技术问题， 本发明所采用的技术方案是： 一种激光测距***， 其包括发射模块和接收模块， 所述发射模块包括由发射透镜及装设该发射透镜 的发射腔体组成的发射光学***、 及激光发射器， 经由发射光学***发射脉冲 激光信号； 所述接收模块包括由接收透镜及装设该接收透镜的接收腔体组成的 接收光学***、 及激光接收器， 经由接收光学***接收脉冲激光信号并将其转 化为脉冲电信号； 时间 /数字转换器， 用于检测和计算发射脉冲信号和接收脉冲 信号的时间差； 时钟发生器,输出校准时钟信号给时间 /数字转换器； 以及单片 机微控制器,控制所述发射模块、 接收模块时钟发生器时间 /数字转换器及时钟 发生器， 并据所述时间差计算相应的目标物与激光测距***所在位置的真实距 离。 In order to solve the above technical problem, the technical solution adopted by the present invention is: A laser ranging system comprising a transmitting module and a receiving module, the transmitting module comprising an emitting lens and the mounting lens a transmitting optical system composed of a transmitting cavity, and a laser emitter, transmitting a pulsed laser signal via a transmitting optical system; the receiving module comprising a receiving optical system comprising a receiving lens and a receiving cavity in which the receiving lens is mounted, and a laser a receiver receives a pulsed laser signal via a receiving optical system and converts it into a pulsed electrical signal; a time/digital converter for detecting and calculating a time difference between the transmitted pulse signal and the received pulse signal; and a clock generator that outputs a calibration clock signal to a time/digital converter; and a microcontroller microcontroller, controlling the transmitting module, the receiving module clock generator time/digital converter and the clock generator, and calculating the position of the corresponding target and the laser ranging system according to the time difference The true distance.
本发明的激光测距***采用脉冲回波式原理，发射和接收不可见激光信号， 并采用高集成度和高精度的时间差计算电路。 光学***简洁， 时间差的检测、 计算和校准是基于高集成度的 CMOS 大规模集成电路"时间 /数字转换器" TDC 电路来实现的， 从而使其实现的激光测距仪整机产品体积小、 ***简易、 精确 度高， 误差小， 稳定可靠、 读数方便直观， 且成本较低。 所述激光测距***可 应用于激光测距仪、 激光测距望远镜， 还可应用于激光测速***、 汽车防撞系 统等。 附图说明  The laser ranging system of the invention adopts the principle of pulse echo, transmits and receives invisible laser signals, and adopts a high integration and high precision time difference calculation circuit. The optical system is simple, and the detection, calculation and calibration of the time difference is realized based on the highly integrated CMOS LSI "Time/Digital Converter" TDC circuit, so that the laser range finder is small in size. The system is simple, accurate, small in error, stable and reliable, easy to read and intuitive, and low in cost. The laser ranging system can be applied to a laser range finder, a laser ranging telescope, and can also be applied to a laser speed measuring system, a car collision avoidance system, and the like. DRAWINGS
图 1是本发明激光测距***的整体模块示意图。  1 is a schematic diagram of an overall module of a laser ranging system of the present invention.
图 2是本发明激光测距***的发射模块和接收模块示意图。  2 is a schematic diagram of a transmitting module and a receiving module of the laser ranging system of the present invention.
图 3是本发明激光测距***的整机装配示意图。  3 is a schematic view of the whole machine assembly of the laser ranging system of the present invention.
图 4为本发明激光测距***的工作原理示意图。  4 is a schematic view showing the working principle of the laser ranging system of the present invention.
图 5a是本发明激光测距***的发射电路框图。  Figure 5a is a block diagram of a transmitting circuit of the laser ranging system of the present invention.
图 5b是本发明激光测距***的发射光学***示意图。 图 6a是本发明激光测距***的接收电路框图。 Figure 5b is a schematic illustration of the transmitting optical system of the laser ranging system of the present invention. Figure 6a is a block diagram of a receiving circuit of the laser ranging system of the present invention.
图 6b是本发明激光测距***的接收光学***示意图。  Figure 6b is a schematic view of the receiving optical system of the laser ranging system of the present invention.
图 7是本发明激光测距***的时间 /数字转换器 TDC电路原理图。 具体实施方式  Figure 7 is a schematic diagram of a time/digital converter TDC circuit of the laser ranging system of the present invention. detailed description
以下将结合具体实施方式对本发明进行详细描述。  The invention will be described in detail below in conjunction with the specific embodiments.
请参阅图 1 , 图 1为本发明激光测距***的整体模块示意图。 本发明的激 光测距***包括： 发射模块 100, 接收模块 200, 导向激光模块 20, 时间 /数字 转换器 （TDC, Time-to-Digital Converter ) 30, 单片机微控制器 （Single Chip Microcontroller ) 40, 时钟发生器 50, 带背光的 LCD液晶显示设备 60,键盘 70， 电源装置 80, JTAG(Joint Test Action Group，边界扫描测试标准)仿真和调试接口 90,及烧录和标定接口 95。  Please refer to FIG. 1. FIG. 1 is a schematic diagram of an overall module of a laser ranging system according to the present invention. The laser ranging system of the present invention comprises: a transmitting module 100, a receiving module 200, a guiding laser module 20, a Time-to-Digital Converter (TDC) 30, and a Single Chip Microcontroller 40. A clock generator 50, a backlit LCD liquid crystal display device 60, a keyboard 70, a power supply unit 80, a JTAG (Joint Test Action Group) emulation and debug interface 90, and a programming and calibration interface 95.
请一并参阅图 1及图 2, 该发射模块 100进一步包括： 由发射透镜 125及 装设该发射透镜 125 的发射腔体 128组成的发射光学***， 脉冲激光二极管 150, 及主要用于控制该脉冲激光二极管 150的发射控制电路 130。  Referring to FIG. 1 and FIG. 2 together, the transmitting module 100 further includes: an emitting optical system composed of an emitting lens 125 and an emitting cavity 128 for mounting the transmitting lens 125, a pulsed laser diode 150, and mainly used for controlling the The emission control circuit 130 of the pulsed laser diode 150.
该接收模块 200进一步包括： 由接收透镜 225及装设该接收透镜 225的接 收腔体 228组成的接收光学***， 硅 PIN光敏二极管 250, 及主要用于控制该 硅 PIN光敏二极管 250的接收控制电路 230。  The receiving module 200 further includes: a receiving optical system composed of a receiving lens 225 and a receiving cavity 228 for mounting the receiving lens 225, a silicon PIN photodiode 250, and a receiving control circuit mainly for controlling the silicon PIN photodiode 250. 230.
该导向激光模块 20包括： 用以发射可见激光的导向激光发射器 22， 以及 用以控制该导向激光发射器 22的开关的导向激光控制电路 24。  The guided laser module 20 includes: a guided laser emitter 22 for emitting visible laser light, and a guided laser control circuit 24 for controlling the switch of the guided laser emitter 22.
该电源装置 80包括电池 82及电源管理器 84。  The power supply unit 80 includes a battery 82 and a power manager 84.
请继续参阅图 3， 图 3是本发明激光测距***的整机装配示意图。 所述激光 测距***整体装设于一壳体， 其中发射模块 100的发射光学***， 接收模块 200 的接收光学***， 以及导向激光模块 20的导向激光发射器 22装设于壳体的前端， 便于发射、 接收光信号以及可见激光点的出射。 Please refer to FIG. 3 again. FIG. 3 is a schematic diagram of the whole machine assembly of the laser ranging system of the present invention. The laser ranging system is integrally mounted on a casing, wherein the transmitting optical system of the transmitting module 100, the receiving module 200 The receiving optical system, and the guiding laser emitter 22 guiding the laser module 20 are mounted on the front end of the housing to facilitate the transmission, reception of optical signals and the exit of visible laser spots.
而脉冲激光二极管 150及发射控制电路 130， 硅 PIN光敏二极管 250及接 收控制电路 230, 导向激光控制电路 24, 时间 /数字转换器 30,单片机微控制器 40, 时钟发生器 50, LCD液晶显示设备 60的驱动电路， JTAG仿真和调试接口 90,及烧录和标定接口 95都集成在 PCB板上。 发射控制电路 130,接收控制电 路 230, 导向激光控制电路 24, 时间 /数字转换器 30, 时钟发生器 50, LCD液 晶显示设备 60, 键盘 70, 电源装置 80, JTAG仿真和调试接口 90，烧录和标定 接口 95都与单片机微控制器 40的相应引脚电联接， 而这些元件又都与电源琴 置 80联接供给电源。  The pulse laser diode 150 and the emission control circuit 130, the silicon PIN photodiode 250 and the receiving control circuit 230, the laser control circuit 24, the time/digital converter 30, the microcontroller microcontroller 40, the clock generator 50, the LCD liquid crystal display device The 60 drive circuit, JTAG emulation and debug interface 90, and the programming and calibration interface 95 are all integrated on the PCB. The emission control circuit 130, the reception control circuit 230, the guidance laser control circuit 24, the time/digital converter 30, the clock generator 50, the LCD liquid crystal display device 60, the keyboard 70, the power supply device 80, the JTAG emulation and debugging interface 90, and the programming Both the calibration interface 95 and the corresponding pins of the microcontroller microcontroller 40 are electrically coupled, and these components are in turn coupled to the power supply 80 to supply power.
LCD液晶显示设备 60和键盘 70安装在壳体的外表面 , 电池 82则安装在 壳体的电池槽中。  The LCD liquid crystal display device 60 and the keyboard 70 are mounted on the outer surface of the casing, and the battery 82 is mounted in the battery compartment of the casing.
请继续参阅图 4, 图 4为本发明激光测距***的工作原理示意图。 本发明 激光测距***的基本原理是通过检测脉冲激光二极管 150发射出的脉冲信号和 硅 PIN光敏二极管 250收到的反射激光脉冲信号的时间差从而达到测量距离目 的， 并在 LCD液晶显示设备 60上显示出来的激光测距***。 激光测距***前 面有一个作为激光发射器的脉冲激光二极管 150 和一个作为激光接收器的硅 PIN光敏二极管 250, 它们通过导向激光定位目标物后， 向目标发射激光脉冲 信号并接收目标反射回来的激光脉冲信号； 再由时间 /数字转换器 30及时钟发 生器 50计算和校准出二者的时间差， 然后由单片机微控制器 40计算和修正出 相应的目标物与激光测距***所在位置的真实距离，最后在 LCD液晶显示设备 60上显示测量结果。 下面将进一步结合附图， 对激光测距***的具体构造和工作原理做详细的 说明。 Please continue to refer to FIG. 4, which is a schematic diagram of the working principle of the laser ranging system of the present invention. The basic principle of the laser ranging system of the present invention is to achieve the purpose of measuring distance by detecting the time difference between the pulse signal emitted by the pulse laser diode 150 and the reflected laser pulse signal received by the silicon PIN photodiode 250, and on the LCD liquid crystal display device 60. The laser ranging system shown. In front of the laser ranging system, there is a pulsed laser diode 150 as a laser emitter and a silicon PIN photodiode 250 as a laser receiver. After positioning the target by guiding the laser, the laser pulse signal is emitted to the target and received by the target. The laser pulse signal is further calculated and calibrated by the time/digital converter 30 and the clock generator 50, and then the microcontroller microcontroller 40 calculates and corrects the position of the corresponding target and the laser ranging system. The distance is finally displayed on the LCD liquid crystal display device 60. The specific construction and working principle of the laser ranging system will be described in detail below with reference to the accompanying drawings.
请一并参阅图 5a 图 5b, 单片机微控制器 40发出发射脉冲信号 (TX pulse)到 发射控制电路 130, 该发射控制电路 130相当于一个控制开关， 使脉冲激光二极 管 150导通， 发射脉冲激光信号,然后透过发射透镜 125以小束平行激光脉冲形式 发射到目标物上。 脉冲激光二极管 150发射出的激光为 905nm波长的不可见光， 不会对人眼造成伤害。 而导向激光发射器 22发射出的可见激光是符合 EN60825-1:XXXX标准的 650麵波长之微功率（<lmW )二级激光（CLASS 2 ) , 则需要对人眼进行防护。  Referring to FIG. 5a and FIG. 5b together, the single-chip microcomputer 40 sends a transmit pulse signal (TX pulse) to the transmit control circuit 130, and the transmit control circuit 130 is equivalent to a control switch to turn on the pulsed laser diode 150 to emit a pulsed laser. The signal is then transmitted through the transmitting lens 125 as a beamlet of parallel laser pulses onto the target. The laser light emitted by the pulsed laser diode 150 is invisible to the wavelength of 905 nm, and does not cause harm to the human eye. The visible laser emitted by the guided laser emitter 22 is a 650-plane wavelength micropower (<lmW) secondary laser (CLASS 2) conforming to the EN60825-1:XXXX standard, which requires protection of the human eye.
请一并参阅图 6aA图 6b, 接收光学***包括一片对 905nm波长激光具有高 透过率的聚焦接收透镜 225、 一片置于硅 PIN光敏二极管 250和接收透镜 225之间 的滤光片 226和一个接收腔体。 目标物反射回的脉冲激光信号透过接收透镜 225 , 经过滤光片 226滤波后， 聚焦到硅 PIN光敏二极管 250上， 转化为脉冲电流信号， 再送到放大电路进行放大， 然后在电流 /电压 (I/V)转换电路里把放大的脉冲电流 信号变成脉冲电压信号， 最后在整形比较电路里， 将脉冲电压信号和单片机微 控制器 40送出的稳定比较电平 (Comp.level)进行比较， 再输出方波形式的接收脉 冲信号 (RX pulse),并送到时间 /数字转换器 30。  Referring to FIG. 6aA and FIG. 6b together, the receiving optical system includes a focusing receiving lens 225 having a high transmittance for a 905 nm wavelength laser, a filter 226 disposed between the silicon PIN photodiode 250 and the receiving lens 225, and a filter 226. Receive cavity. The pulsed laser signal reflected back by the target passes through the receiving lens 225, is filtered by the filter 226, and is focused onto the silicon PIN photodiode 250, converted into a pulse current signal, and then sent to an amplifying circuit for amplification, and then at a current/voltage ( The I/V) conversion circuit converts the amplified pulse current signal into a pulse voltage signal, and finally compares the pulse voltage signal with a stable comparison level (Comp. level) sent from the microcontroller microcontroller 40 in the shaping comparison circuit. The received pulse signal (RX pulse) in the form of a square wave is output and sent to the time/digital converter 30.
通过导向激光定位目标物后， 激光脉冲信号从测距仪向目标物发射， 然后 从目标物反射回测距仪的整个飞行时间 TOF ( time-of-flight ) , 亦即激光脉冲信 号发射和接收时间差的检测、计算和校准是使用国际先进的专用 CMOS大规模集 成电路（ASIC ) "时间 /数字转换器， 'TDC电路来实现的。  After the target is guided by the laser, the laser pulse signal is emitted from the range finder to the target, and then reflected from the target back to the TOF (time-of-flight) of the range finder, that is, the laser pulse signal is transmitted and received. Time difference detection, calculation and calibration are performed using internationally advanced dedicated CMOS large scale integrated circuit (ASIC) "time/digital converters, 'TDC circuits.
请继续参阅图 7, 时间 /数字转换器 30主要用于时间差的检测、 计算和 校准， 具有较高的集成度和精度。 时间 /数字转换器 30把单片机微控制器 40送来 的启动脉冲信号 (Start pulse)和射脉冲信号 (TX pulse) ,同接收控制电路 230送来的 接收脉冲信号 (RX pulse)进行相关计算， 算出发射脉冲 （TX pulse )和接收脉冲 信号 (RX pulse)到达时间 /数字转换器 30的时间差值,然后再用时钟发生器 50送来 的校准时钟 (Calclk)进行时间校准， 得到准确的时间差值 (ATC4Z , 并用并行数 据的方式送给单片机微控制器 40进行处理。 Continuing to refer to FIG. 7, the time/digital converter 30 is mainly used for time difference detection, calculation, and Calibration, with high integration and precision. The time/digital converter 30 correlates the start pulse signal and the pulse pulse signal (TX pulse) sent from the single chip microcomputer 40 with the received pulse signal (RX pulse) sent from the receiving control circuit 230. Calculate the time difference between the transmit pulse (TX pulse) and the received pulse signal (RX pulse) to the time/digital converter 30, and then perform the time calibration using the calibration clock (Calclk) sent from the clock generator 50 to obtain an accurate time. The difference (ATC4Z) is sent to the microcontroller microcontroller 40 for processing in parallel data.
时间 /数字转换器 30是一个高精度的用低成本的门 P车列（Gate Array)技术实现 的 TDC ( TDC, Time-to-Digital Converter )模式器件。 它采用了 0.6μπι CMOS制 程技术， 可工作在 2.7V― 5.5V的宽电源范围， 封装形式为 LQFP44 0.8mm微距封 装。  The time/digital converter 30 is a high-precision TDC (TDC, Time-to-Digital Converter) mode device implemented by a low-cost gate Array technology. It uses 0.6μπι CMOS process technology and operates over a wide supply range of 2.7V to 5.5V in a LQFP44 0.8mm macro package.
在 5V工作电源时， 此 TDC电路可达到 45ps (皮秒)的典型分辨率。 这是传统 的测量器件不能达到的。 它结合了多次击发和多通道功能， 可以进行时间差的 同时和 /或逐次连续测量。 脉冲串触发测量模式 (Burst Measurement Mode)和内部 集成的运算器 (ALU)使其性能更为完善。  This TDC circuit achieves a typical resolution of 45ps (picoseconds) at 5V operation. This is not possible with conventional measuring devices. It combines multiple firing and multi-channel functions for simultaneous and/or successive measurement of time differences. The burst-triggered measurement mode (Burst Measurement Mode) and the internal integrated operator (ALU) complete the performance.
内部集成的测量法则加之其使用的技术， 此 TDC器件可在低功耗情况下进 行高精度时间差测量， 从而使其在电池供电的应用中得到广泛使用。  Internally integrated measurement techniques combined with the technology used, this TDC device enables high-precision time-difference measurements with low power consumption, making it widely used in battery-powered applications.
总之， 该时间 /数字转换器 30很适合时间差值的测量的应用， 比如， 在激光 距离测量， 相位测量， 超声定位和温度测量等方面， 可以成功地完成***的实 现方案。  In summary, the time/digital converter 30 is well suited for applications where time difference measurements are made, such as laser distance measurement, phase measurement, ultrasonic positioning, and temperature measurement, to successfully implement the system.
单片机微控制器 40控制电路实现如下功能：  The microcontroller microcontroller 40 control circuit implements the following functions:
1、 接收键盘 70按键发出的指令信号，进行相应的功能控制和操作，协调其 它***功能模块的运作步骤。 2、 输出控制和数据信号给电源管理电路 84,分别控制其它***功能模块的 供电电压值和供给时机； 并同时接收电源管理电路 84反馈回来的监测信号， 进 行监控， 保证***在测量状态时各供电电压的稳定和质量， 以及***在非测量 状态时 (待机， 睡眠和关机状态)对其它***功能模块部分或全部进行适时关断， 以达到省电目的。 1. Receive the command signal from the keyboard 70 button, perform corresponding function control and operation, and coordinate the operation steps of other peripheral function modules. 2. The output control and data signals are sent to the power management circuit 84 to respectively control the supply voltage values and the supply timings of the other peripheral function modules; and simultaneously receive the monitoring signals fed back by the power management circuit 84 to monitor and ensure that the system is in the measurement state. Stable and quality of the supply voltage, and when the system is in the non-measurement state (standby, sleep and shutdown), some or all of the other peripheral function modules are shut down in time to save power.
3、 输出控制和数据信号给液晶显示驱动电路，使 LCD液晶显示设备 60显示 期望测量数据和信息， 并以背光照明。  3. Output control and data signals to the liquid crystal display driving circuit, so that the LCD liquid crystal display device 60 displays desired measurement data and information, and is backlit.
4、 输出使能信号 (Laser enable)给导向激光控制电路 24。控制导向激光发射 器 22的适时打开 /关闭， 以达到目标物的定位和***省电目的。  4. The output enable signal (Laser enable) is supplied to the guided laser control circuit 24. The timing of the guided laser emitter 22 is controlled to be turned on/off to achieve the target positioning and system power saving purposes.
5、 输出启动脉冲信号 (Start pulse)给时间 /数字转换器 30电路。起动 /告知时 间 /数字转换器 30测量状态的开始， 并提供测量的起始时间参考点。 '  5. Output the start pulse signal to the time/digital converter 30 circuit. Start/Inform Time/Digital Converter 30 The start of the measurement state and the reference point for the measurement start time. '
6、 输出发射脉冲信号 (TX pulse)到发射电路 130和时间 /数字转换器 30电 路。 激励脉沖激光二极管 150发出瞬间功率强的激光脉冲， 并为时间 /数字转换器 30提供第一个计时暂停（Stop A )脉冲。  6. Output a transmit pulse signal (TX pulse) to the transmit circuit 130 and the time/digital converter 30 circuit. The excitation pulse laser diode 150 emits a laser pulse of a momentary power and provides a first time stop (Stop A) pulse to the time/digital converter 30.
7、 输出比较电平 (COMP.level)给接收电路 230。 尽可能使接收脉冲波 (RX pulse)整形锐化成上升沿很短的方波。  7. Output the comparison level (COMP.level) to the receiving circuit 230. As much as possible, the received pulse wave (RX pulse) is sharpened into a square wave with a short rising edge.
8、 输出振荡使能信号 (Osc. enable)给时钟发生器 50电路。 控制振荡器的适 时打开 /关闭， 以达到提供时间校准源和***省电目的。  8. Output the oscillation enable signal (Osc. enable) to the clock generator 50 circuit. Control the oscillator on/off in a timely manner to provide time calibration sources and system power savings.
9、 通过 JTAG仿真和调试接口 90与相应的仿真器连接。 可对***进行实时 在线仿真和调试， ***软件编程和硬件修改方便。  9. Connect to the corresponding emulator via JTAG emulation and debug interface 90. Real-time online simulation and debugging of the system, system software programming and hardware modification are convenient.
10、 通过烧录和标定接口 95，既可对单片机微控制器 40的程序进行反复的修 改和升级之烧写工作， '也可对每一激光测距***个体进行标定工作， 便于产品 生产。 10. By programming and calibrating the interface 95, the program of the single-chip microcomputer 40 can be repeatedly modified and upgraded, and the calibration work can be performed for each laser ranging system. produce.
11、 单片机微控制器 40通过并行口收到时间 /数字转换器 30时间送来的准确 时间差值 ATC!L，弃除发射电路 130及发射光学***对发射脉冲信号 (TX pulse) 的延迟时间 ΔΤΓχ ,以及接收电路 230及接收光学***对接收脉冲信号 (RX pulse) 的延迟时间 ATRx ,并且考虑整个电路在时间域上的漂动 （温漂、 电磁干扰等） 目标物反射率（色差、 材质、 光洁或粗糙度等）及测程信号强弱所带来 的时间差异△!>，计算出从激光测距仪发射到目标物， 再从目标物反射回激光测 距仪之整个激光脉冲在空间的实际往还飞行时间（The time-of-flight)ATrO ： ATTOF= ATCAL-(ATTx+ATRx)+( ΑΎΔ+ATr) ① (厶丁 和 1>可能是正或负值)， 由公式 ： d=ct/2 c为光速 ， t为往还飞行时间 ② 得到激光脉冲从激光测距仪到目标物的行程 d: d=cATTOF/2 ③ 然后， 修正激光飞行线路 (光路, Light Path)行程与激光测距***到目标物的 真实距离 （垂直距离或最短距离）的差值 Ad, 得到目标物与激光测距仪的真实 距离 D: 11. The microcontroller microcontroller 40 receives the accurate time difference ATC!L sent by the time/digital converter 30 through the parallel port, and discards the delay time of the transmitting circuit 130 and the transmitting optical system for the transmitted pulse signal (TX pulse). ΔΤΓχ , and the delay time ATRx of the receiving circuit 230 and the receiving optical system for receiving the pulse signal (RX pulse), and considering the drift of the entire circuit in the time domain (temperature drift, electromagnetic interference, etc.) target reflectance (color difference, material) , smoothness or roughness, etc.) and the time difference caused by the strength of the range signal △!>, calculate the entire laser pulse emitted from the laser range finder to the target, and then reflected back from the target to the laser range finder The time-of-flight of the space is ATrO: ATTOF= ATCAL-(ATTx+ATRx)+( ΑΎΔ+ATr) 1 (Kent and 1> may be positive or negative), by the formula: d =ct/2 c is the speed of light, t is the return time 2 to get the laser pulse from the laser range finder to the target's stroke d: d=cATTOF/2 3 Then, correct the laser flight path (Light Path) and Laser ranging system The actual distance of the object (the vertical distance or the shortest distance) difference Ad, to give the object with the laser rangefinder true distance D:
D=d-Ad ④ 如果， 选择的测量基准边（激光测距仪外观前沿或后沿） 不同， 还要考虑 激光测距***外观前后尺寸 则有 D=d-Ad 4 If the selected measurement reference edge (the leading edge or trailing edge of the laser rangefinder) is different, also consider the front and rear dimensions of the laser ranging system.
r = ά-Αά (测量基准边为前沿）  r = ά-Αά (measurement reference edge is leading edge)
D J ⑤  D J 5
L = d-Ad+Ah (测量基准边为后沿） L = d-Ad+Ah (measurement reference edge is trailing edge)
最后， 把相应数据送给 LCD液晶显示电路， 由显示屏显示测量距离。 12、 单片机微控制器 40还要进行测量距离的单位转换， 面积 /体积测量与中 间值存储， 延时测量， 测量基准边 (前沿 /后沿)选择， 最大及最小值测量与存储， 持续测量， 间接测量， 勾股定律功能的实现， 加减功能的实现， 测量组数（如 99组）存储， 最后测量值（如 99次） 的调用等计算和功能操作。 Finally, the corresponding data is sent to the LCD liquid crystal display circuit, and the measurement distance is displayed by the display screen. 12. The microcontroller microcontroller 40 also performs unit conversion of measurement distance, area/volume measurement and intermediate value storage, delay measurement, measurement reference edge (leading edge/back edge) selection, maximum and minimum measurement and storage, continuous measurement , indirect measurement, the realization of the Pythagorean law function, the implementation of the addition and subtraction function, the number of measurement groups (such as 99 groups) stored, the calculation of the last measured value (such as 99 times) and other functional calculations.
13、 单片机微控制器 40还要实现***测量状态 (单次、 持续测量状态)和非测 量状态 (；待机， 睡眠和关机状态)之间的转换。  13. The microcontroller microcontroller 40 also implements the conversion between the system measurement state (single, continuous measurement state) and the non-measurement state (; standby, sleep and shutdown states).
比如单次测量状态时间为 2S (时间可改变， 下同）一次， 持续测量状态为 2S循环进行； 待机状态为 10S, 睡眠状态为 20S。 ***在睡眠状态下超过 20S后， 即进入关机状态， 直到下一次开机按键被触发， ***再进入待机状态。 也就是 说， 激光测距***装入电池 82后：  For example, the single measurement state time is 2S (time can be changed, the same below), and the continuous measurement state is 2S cycle; the standby state is 10S, and the sleep state is 20S. After the system exceeds 20S in the sleep state, it will enter the shutdown state until the next power-on button is triggered, and the system enters the standby state again. That is to say, after the laser ranging system is installed in the battery 82:
(1)按一下开机键， ***复位， LCD液晶显示及背光电路工作， 闪烁显示当 前数据和信息 (或上次测量数据和信息)， 进入待机状态 (2)。  (1) Press the power button, the system resets, the LCD liquid crystal display and the backlight circuit work, and the current data and information (or the last measurement data and information) flashes to enter the standby state (2).
(2)进入待机状态后， 在 1 OS钟内：  (2) After entering the standby state, within 1 OS clock:
如有按测量键， 则进入测量状态 (3);  If the measurement button is pressed, the measurement state is entered (3);
如有按关机键， 则进入关机状态 (1);  If you press the power off button, it will enter the shutdown state (1);
如果按除"测量键和关机键"外其它任一功能键， 则维持待机状态 (2), 重新记时 10S;  If you press any of the function keys except the "Measurement button and the power-off button", the standby state is maintained (2), and the time is reset to 10S;
如果没有按任何键， 10S后则进入睡眠状态 (4)。 .  If no button is pressed, it will go to sleep after 10S (4). .
(3)如果短暂按一下测量键， 则进入单次测量状态， 2S钟后 LCD显示测量结 果， 测量完毕再进入待机状态 (2); 如果按住测量键达 2S， 则进入持续测量状态， 以 2S为循环进行测量， 即 LCD显示每 2S刷新一次测量结果， 直到再按一下测量 键， 重新进入待机状态 (2)。 延时测量、 面积 /体积测量、 最大及最小值测量、 间 接测量以及勾股定律功能和加减功能也可分为单次测量和持续测量， 只是在待 机状态下， 先按一下想要选择的功能键， 再短暂按一下或按住 (2S)测量键，选择 进入单次测量或者持续测量， 然后经过对应所选择功能各自的运算法则进行计 算后， 最后在 LCD上显示结果。 (3) If the measurement button is pressed briefly, it will enter the single measurement state. After 2S, the LCD will display the measurement result. After the measurement is completed, it will enter the standby state (2). If the measurement button is pressed for 2S, the continuous measurement state will be entered. 2S measures the cycle, that is, the LCD displays the measurement result every 2S, until the measurement button is pressed again, and then enters the standby state (2). Delay measurement, area/volume measurement, maximum and minimum measurement, between The measurement and Pythagorean function and the addition and subtraction functions can also be divided into single measurement and continuous measurement. In the standby mode, press the function key you want to select first, then press or hold the (2S) measurement button briefly. Select to enter a single measurement or continuous measurement, and then calculate the result according to the respective algorithms of the selected function, and finally display the result on the LCD.
(4)进入睡眠状态后， LCD液晶显示器停止闪烁并静态显示最后一次测量结 果之数据和信息， 关掉 LCD背光照明灯， 单片机微控制器 40运行在低速的省电 模式， 在 20S钟内：  (4) After entering the sleep state, the LCD monitor stops flashing and statically displays the data and information of the last measurement result, turns off the LCD backlight, and the microcontroller microcontroller 40 runs in the low-speed power-saving mode, within 20S clock:
如有按关机键， 则直接进入关机状态 (1);  If you press the power off button, it will directly enter the shutdown state (1);
如果按除"关机键 "外其它任一按键， 则再进入待机状态 (2); 如果没有按任何键， 则自动进入关机状态 (1)。  If you press any button except the "Shutdown button", it will enter the standby state (2); if you do not press any button, it will automatically enter the shutdown state (1).
(5)在除"关机状态 (1)" 外任何状态下（即在任何时候的任何菜单里）， 如有按 关机键， 则都可直接进入关机状态 (1), 激光测距仪被关闭掉。  (5) In any state except "Shutdown state (1)" (that is, in any menu at any time), if you press the power off button, you can directly enter the shutdown state (1), the laser rangefinder is turned off. Drop it.
在测量状态下， 时钟发生器 50电路收到单片机微控制器 40送来的振荡使能 (Osc. enable)信号 (低电平有效)， 开始工作， 再输出校准时钟 (Calclk)信号给时间 / 数字转换器 30进行测量时间差值的校准。 在其它状态下振荡使能 (Osc. enable)信 号为高电平， 时钟发生器 50电路停止工作。  In the measurement state, the clock generator 50 circuit receives the oscillation enable (Osc. enable) signal (active low) sent from the microcontroller microcontroller 40, starts working, and then outputs the calibration clock (Calclk) signal to the time / The digitizer 30 performs calibration of the measured time difference. In other states, the oscillation enable (Osc. enable) signal is high and the clock generator 50 circuit stops operating.
带背光的 LCD液晶显示设备 60及其驱动电路包含液晶显示驱动电路、 LCD 显示屏、 背光驱动电路及背光灯片 /板。  The LCD liquid crystal display device 60 with backlight and its driving circuit include a liquid crystal display driving circuit, an LCD display screen, a backlight driving circuit, and a backlight sheet/board.
在除"关机状态" 外任何状态下， LCD液晶显示设备 60都会打开进行数据和 信息的显示， 背光灯则是在除"关机状态和睡眠状态" 外其它状态下， 才会点亮 进行 LCD显示屏的照明。  In any state except "off state", the LCD liquid crystal display device 60 will be turned on for display of data and information, and the backlight will be lit for LCD display in other states except "off state and sleep state". Screen lighting.
键盘 70最基本配置有开机、 关机、 测量、 单位转换和测量基准边选择键； 也可扩展增加一些其它功能键， 如持续测量、 距离测量、 面积测量、 体积测量、 延迟测量、 间接测量、 最大及最小值测量、 调用最后测量值、 勾股定律功能、 加减功能、 存储功能、 清除及背光照明控制等按键； The most basic configuration of the keyboard 70 has a power on, power off, measurement, unit conversion and measurement reference edge selection buttons; It can also be extended to add some other function keys, such as continuous measurement, distance measurement, area measurement, volume measurement, delay measurement, indirect measurement, maximum and minimum measurement, call last measurement, Pythagorean law function, addition and subtraction function, storage function. , clear and backlight control buttons;
一些两个或两个以上的按键也可复用为一个按键， 如开机 /关机、 或开机 /测 量、 或关机 /清除、 或加减 /单位转换、 或面积 /体积测量选择、 或距离 /面积 /体积 测量选择等等复合按键。  Some two or more buttons can also be multiplexed into one button, such as power on/off, or power on/measure, or power off/clear, or add/subtract/unit conversion, or area/volume measurement selection, or distance/area / Volume measurement options and other composite buttons.
电源管理电路 84由主电源之升 /稳压和控制电路、 发射电路高压偏置和控制 电路、 接收电路高压偏置和控制电路三大部分组成。  The power management circuit 84 is composed of a main power supply rising/regulating and controlling circuit, a transmitting circuit high voltage biasing and control circuit, a receiving circuit high voltage biasing and a control circuit.
在关机状态下： 所有电源供给都会断开， 达到最大限度的省电目的； 在睡眠状态下： 只给单片机微控制器 40和 LCD显示电路供电， 并且为了省 电， 单片机微控制器 40工作在低速的省电模式；  In the off state: All power supplies are disconnected to achieve maximum power saving purposes; In the sleep state: only the microcontroller microcontroller 40 and the LCD display circuit are powered, and in order to save power, the microcontroller microcontroller 40 works Low-speed power saving mode;
在待机状态下： 只给单片机微控制器 40和 LCD显示及背光电路供电， 并且 单片机微控制器 40工作在其外设关闭的较高速之工作模式， 这时整个***耗电 较大。  In the standby state: only the microcontroller microcontroller 40 and the LCD display and backlight circuits are powered, and the microcontroller microcontroller 40 operates in a higher speed mode in which its peripherals are turned off. At this time, the entire system consumes a large amount of power.
在测量状态下： ***所有功能模块的主电源均打开， 发射和接收电路均获 得高压， 导向激光被点亮， 单片机微控制器 40工作在其外设打开的最高速之工 作模式， 整个***全面正常工作， 整机耗电达到最大。  In the measurement state: The main power supply of all functional modules of the system is turned on, the transmitting and receiving circuits are all high voltage, the guiding laser is illuminated, and the microcontroller microcontroller 40 works at the highest speed working mode of its peripherals, and the whole system is comprehensive. In normal operation, the power consumption of the whole machine is maximized.
电池 82, 本***可适应： 4xl.5V LR03(AAA)四节 7号碱性电池的供电， 或 者 6F22 9V—枚方型碱性电池的供电。  Battery 82, This system can be adapted to: 4xl.5V LR03 (AAA) four sections of 7th alkaline battery power supply, or 6F22 9V-square type alkaline battery power supply.
在测量状态下， 导向激光控制电路 24收到单片机微控制器 40发来的使能 ( Laser enable )信号， 点亮导向激光发射器 22, 发射可见激光射向待测目标物。 在其它状态下导向激光控制电路 24会关闭导向激光发射器 22， 以达到省电目的。 本***选择的可见导向激光波长为： 650nm (<lMw,CLASS 2)。 本***的可见导向激光使用标准为： EN60825-1 :03; EN60825-1 :1994; EN60825-1:1993„ In the measurement state, the guided laser control circuit 24 receives a laser enable signal from the microcontroller microcontroller 40, illuminates the guided laser emitter 22, and emits visible laser light toward the object to be tested. In other states, the guided laser control circuit 24 turns off the guided laser emitter 22 to achieve power saving purposes. The visible guided laser wavelength selected by this system is: 650 nm (<lMw, CLASS 2). The standard for visible guided laser use of this system is: EN60825-1:03; EN60825-1:1994; EN60825-1:1993
在***开发和维修中， ***通过 JTAG仿真和调试接口 90与相应的仿真器连 接， 可对***进行实时在线仿真、 调试及寻找故障点。  In system development and maintenance, the system is connected to the corresponding emulator through JTAG emulation and debug interface 90, which enables real-time online simulation, debugging and troubleshooting of the system.
在***开发中， 通过烧录和标定接口 95可对单片机微'控制器 40的程序进行 反复的修改和升级烧写工作。 在激光测试仪产品生产中， 通过标定接口， 可对 每一激光测距仪个体进行标定工作。  In the system development, the program of the microcontroller micro 'controller 40 can be repeatedly modified and upgraded by the programming and calibration interface 95. In the production of laser tester products, each laser range finder can be calibrated by a calibration interface.
本激光测距***方案特点是光学***简洁， 时间差的检测、 计算和校准是 基于高集成度的 CMOS大规模集成电路"时间 /数字转换器" TDC电路来实现的， 从而使其实现的激光测距仪整机产品体积小、 成本低、 精确度高， 误差小， 稳 定性好、 可靠性高、 读数方便直观。  The laser ranging system is characterized by simple optical system, time difference detection, calculation and calibration based on a highly integrated CMOS LSI "time/digital converter" TDC circuit, so that it can realize laser measurement. The instrument is small in size, low in cost, high in accuracy, small in error, good in stability, high in reliability, and convenient in reading.

Claims

权利要求 Rights request
1、 一种激光测距***， 其包括发射模块和接收模块， 所述发射模块包括 由发射透镜及装设该发射透镜的发射腔体组成的发射光学***， 所述接收模块 包括由接收透镜及装设该接收透镜的接收腔体组成的接收光学***， 其特征在 于：  A laser ranging system comprising a transmitting module and a receiving module, the transmitting module comprising a transmitting optical system comprising an emitting lens and an emitting cavity in which the transmitting lens is mounted, the receiving module comprising a receiving lens and A receiving optical system comprising a receiving cavity of the receiving lens, characterized in that:
所述发射模块进一步包括激光发射器， 经由发射光学***发射脉冲激光信 号；  The transmitting module further includes a laser emitter that transmits a pulsed laser signal via the transmitting optical system;
所述接收模块进一步包括激光接收器， 经由接收光学***接收脉冲激光信 号并将其转化为脉沖电信号；  The receiving module further includes a laser receiver that receives the pulsed laser signal via the receiving optical system and converts it into a pulsed electrical signal;
时间 /数字转换器， 用于检测和计算发射脉冲信号和接收脉冲信号的时间 差；  a time/digital converter for detecting and calculating a time difference between the transmitted pulse signal and the received pulse signal;
时钟发生器,输出校准时钟信号给时间 /数字转换器； 以及  a clock generator that outputs a calibration clock signal to a time/digital converter;
单片机微控制器,控制所述发射模块、 接收模块、 时间 /数字转换器及时钟 发生器， 并据所述时间差计算相应的目标物与激光测距***所在位置的真实距 离。  The single chip microcomputer controls the transmitting module, the receiving module, the time/digital converter and the clock generator, and calculates the true distance between the corresponding target and the position of the laser ranging system according to the time difference.
2、 根据权利要求 1所述的激光测距***， 其特征在于： 所述发射模块的 激光发射器为一脉冲激光二极管。  2. The laser ranging system according to claim 1, wherein: the laser emitter of the transmitting module is a pulsed laser diode.
3、 根据权利要求 2所述的激光测距***， 其特征在于： 所述脉冲激光二 极管发射出的激光为不可见光， 不会对人眼造成伤害。  3. The laser ranging system according to claim 2, wherein: the laser light emitted by the pulsed laser diode is invisible light, and does not cause harm to the human eye.
4、 根据权利要求 1或 2所述的激光测距***， 其特征在于： 所述发射模 块进一步包括一发射控制电路用以控制所述激光发射器。  4. A laser ranging system according to claim 1 or 2, wherein: said transmitting module further comprises an emission control circuit for controlling said laser emitter.
5、 根据权利要求 1所述的激光测距***， 其特征在于： 所述激光接收器 为一硅 PIN光敏二极管。 5. The laser ranging system according to claim 1, wherein: said laser receiver It is a silicon PIN photodiode.
6、 根据权利要求 1或 5所述的激光测距***， 其特征在于： 所述接收模 块进一步包括一接收控制电路用以控制所述激光接收器。  The laser ranging system according to claim 1 or 5, wherein: said receiving module further comprises a receiving control circuit for controlling said laser receiver.
7、 根据权利要求 5所述的激光测距***， 其特征在于： 所述接收模块进 一步包括一置于硅 PIN光敏二极管和接收透镜之间的滤光片。  7. The laser ranging system of claim 5 wherein: said receiving module further comprises a filter disposed between the silicon PIN photodiode and the receiving lens.
8、 根据权利要求 1所述的激光测距***， 其特征在于： 所述激光测距系 统进一步包括导向激光模块， 其包括导向激光发射器用以发射一可见激光定位 于目标物， 及用以控制该导向激光发射器的导向激光控制电路。  8. The laser ranging system according to claim 1, wherein: the laser ranging system further comprises a guiding laser module, comprising a guiding laser emitter for emitting a visible laser to be positioned on the target, and for controlling The guided laser emitter controls the laser control circuit.
9、 根据权利要求 1所述的激光测距***， 其特征在于： 所述激光测距系 统进一步包括液晶显示设备， 用以显示测量参数。  9. The laser ranging system according to claim 1, wherein: said laser ranging system further comprises a liquid crystal display device for displaying measurement parameters.
10、 根据权利要求 1 所述的激光测距***， 其特征在于： 所述激光测距 ***进一步包括一键盘。  10. The laser ranging system of claim 1 wherein: said laser ranging system further comprises a keyboard.
11、 根据权利要求 1 所述的激光测距***， 其特征在于： 所述激光测距 ***进一步包括一 JTAG仿真和调试接口。  11. The laser ranging system of claim 1 wherein: said laser ranging system further comprises a JTAG emulation and debug interface.
12、 根据权利要求 1 所述的激光测距***， 其特征在于： 所述激光测距 ***进一步包括一烧录和标定接口。  12. The laser ranging system of claim 1 wherein: said laser ranging system further comprises a programming and calibration interface.
PCT/CN2007/000122 2007-01-12 2007-01-12 A laser rangefinder system WO2008086651A1 (en)

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GB2486668A (en) * 2010-12-22 2012-06-27 St Microelectronics Res & Dev Real-time processing method and system for an optical range finder
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
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CN112904354A (en) * 2021-01-22 2021-06-04 西安应用光学研究所 High-precision laser ranging distance simulation device

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