Self-triggered pulsed laser ranging circuit

Abstract

The application discloses a self-triggering pulse laser ranging circuit and relates to the technical field of laser photoelectricity, and the system comprises an MCU main control circuit module, a high-precision timing circuit module, a signal processing circuit, a transmitting circuit module, an optical device, an optical sampling circuit and a detector receiving circuit module. The transmitting circuit module is driven by the MCU main control circuit module to emit laser, and the laser is split by the optical device. One way of the laser is identified by the optical sampling circuit through reflection, and the other way of the laser is shot to a measured target. After being reflected by the measured target, the laser is identified and processed by the detector receiving circuit module. According to the processed signals, the MCU main control circuit module and the high-precision timing circuit module complete laser ranging by using preset laser ranging logic. The application shortens the time consumed for measuring the distance of the measured target at one time, saves the storage space of the main control chip, accelerates the system operation speed, improves the laser ranging precision and the precision can reach millimeter level.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser photoelectricity, and particularly relates to a self-triggering pulse laser ranging circuit. BACKGROUND

[0002] The pulse laser ranging has the advantages of high transmission power, long measuring range and no need for cooperative targets, but the measuring precision is relatively low. In order to improve the pulse laser ranging precision, a high-precision timing circuit module is generally used, and the average value is obtained by multiple measurements on the same target to improve the ranging precision. However, this method needs to configure the timing circuit initialization multiple times, and also needs a certain storage space to store the data obtained by multiple measurements, and the data processing time is also prolonged. In addition, each measurement will introduce a certain system error, such as the opening trigger time of the timing circuit and the delay error of the gate circuit, and the measurement error will be introduced after the average value is obtained by multiple measurements, which will ultimately affect the ranging precision of the whole system. SUMMARY

[0003] Therefore, the application provides a self-triggering pulse laser ranging circuit, which aims to solve the problems of high data storage requirement, long measurement time, large measurement error and low ranging precision of the current pulse laser ranging circuit.

[0004] To achieve the above purpose, the application adopts the following technical scheme:

[0005] In a first aspect, the application provides a self-triggering pulse laser ranging circuit, which comprises an MCU main control circuit module, a high-precision timing circuit module, a signal processing circuit, a transmitting circuit module, an optical device, an optical sampling circuit and a detector receiving circuit module.

[0006] The MCU main control circuit module is connected with the high-precision timing circuit module, and the output end of the MCU main control circuit module is connected with the input end of the transmitting circuit module.

[0007] The input end of the signal processing circuit is connected with the optical sampling circuit, the output end of the signal processing circuit is connected with the high-precision timing circuit module and the MCU main control circuit module, and the output end of the detector receiving circuit module is connected with the high-precision timing circuit module and the MCU main control circuit module respectively.

[0008] The laser emitted by the transmitting circuit module is split by the optical device, one way of the laser is identified by the optical sampling circuit after reflection, and the other way of the laser is shot to the measured target and identified by the detector receiving circuit module after reflection by the measured target.

[0009] Further, the signal processing circuit is used for error correction on the signal output by the optical sampling circuit, and the error-corrected signal is output to the high-precision timing circuit module and the MCU main control circuit module respectively.

[0010] Further, after the MCU main control circuit module and the high-precision timing circuit module detect the signal output by the signal processing circuit, the MCU main control circuit module executes the laser ranging logic to perform the cyclic laser ranging, and sends a door closing signal to the high-precision timing circuit module to end the laser ranging after the laser ranging logic ends.

[0011] Further, the laser ranging logic specifically comprises: when the MCU main control circuit module and the high-precision timing circuit module detect the signal output by the signal processing circuit, the high-precision timing circuit module starts timing, and simultaneously the MCU main control circuit module cyclically drives the transmitting circuit module to emit laser according to a preset cyclic ranging number N, and identifies and detects the echo pulse signal reflected by the measured target through the detector receiving circuit module; when the number of the echo pulse signal detected by the MCU main control circuit module is equal to N, and the number of the door closing signal set by the high-precision timing circuit module is satisfied, the MCU main control circuit module stops driving the transmitting circuit module, and simultaneously the detector receiving circuit module sends the last echo pulse signal to the high-precision timing circuit module as the final door closing signal to drive the high-precision timing circuit module to stop timing, and one laser ranging ends.

[0012] Further, the detector receiving circuit module is used for photoelectric conversion, signal amplification and denoising processing on the echo pulse signal reflected by the measured target, and the processed echo pulse signal is sent to the MCU main control circuit module and the high-precision timing circuit module respectively.

[0013] Further, the optical device is a beam splitter and a mirror, the beam splitter is used for splitting the laser emitted by the transmitting circuit module, and the mirror is used for reflecting one signal split out to the optical sampling circuit.

[0014] Further, the optical sampling circuit is used for taking the received and identified laser as an optical sampling trigger signal, and performing shaping processing on the optical sampling trigger signal, and outputting the shaped optical sampling trigger signal to the signal processing circuit.

[0015] Further, the detector receiving circuit module specifically comprises a photoelectric converter, a signal amplifier and a filter connected in sequence; and the output end of the filter is connected to the STOP pin of the MCU main control circuit module and the high-precision timing circuit module respectively.

[0016] The above technical solutions are adopted in the application, and the application at least has the following beneficial effects:

[0017] The self-triggering pulse laser ranging circuit provided in the application comprises an MCU main control circuit module, a high-precision timing circuit module, a signal processing circuit, a transmitting circuit module, an optical device, an optical sampling circuit and a detector receiving circuit module. The MCU main control circuit module is connected with the high-precision timing circuit module, and the output end of the MCU main control circuit module is connected with the input end of the transmitting circuit module; the input end of the signal processing circuit is connected with the optical sampling circuit, and the output end of the signal processing circuit is connected with the high-precision timing circuit module and the MCU main control circuit module; and the output end of the detector receiving circuit module is connected with the high-precision timing circuit module and the MCU main control circuit module respectively. Under this setting, the MCU main control circuit module drives the transmitting circuit module to emit laser, and the laser is split by the optical device, one way of the laser is identified by the optical sampling circuit after reflection and is processed by the signal processing circuit as an opening signal of the high-precision timing circuit module, and the other way of the laser is shot to the measured target and is identified and processed by the detector receiving circuit module after reflection, and the MCU main control circuit module and the high-precision timing circuit module perform laser ranging by using laser ranging logic according to the processed signals. In the self-triggering pulse laser ranging process, the high-precision timing circuit module only needs to perform time interval measurement once, which improves the laser ranging precision, shortens the total time of one measurement, saves the data storage space, and realizes low storage, high speed and high precision ranging.

[0018] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0020] Figure 1 is a principle block diagram of a self-triggering pulse laser ranging circuit according to an exemplary embodiment;

[0021] Figure 2 is an electrical pin diagram of an MCU main control circuit module according to an exemplary embodiment;

[0022] Figure 3 is an electrical pin diagram of an optical sampling circuit and a signal processing circuit according to an exemplary embodiment;

[0023] Figure 4is a high-precision timing circuit module electrical pin diagram shown according to an exemplary embodiment;

[0024] Figure 1 MCU master control circuit module 1, 2-high precision timing circuit module, 3-signal processing circuit, 4-transmitting circuit module, 5-optical sampling circuit, 6-detector receiving circuit module, 7-spectroscope, 8-mirror. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0026] Please refer to Figure 1 , Figure 1 is a self-triggering pulse laser ranging circuit principle diagram shown according to an exemplary embodiment, as Figure 1 shown, the self-triggering pulse laser ranging circuit comprises: MCU master control circuit module 1, high-precision timing circuit module 2, signal processing circuit 3, transmitting circuit module 4, optical device, optical sampling circuit 5 and detector receiving circuit module 6.

[0027] The MCU master control circuit module 1 is connected with the high-precision timing circuit module 2, and the output end of the MCU master control circuit module 1 is connected with the input end of the transmitting circuit module 4.

[0028] The input end of the signal processing circuit 3 is connected with the optical sampling circuit 5, and the output end of the signal processing circuit 3 is connected with the high-precision timing circuit module 2 and the MCU master control circuit module 1; the output end of the detector receiving circuit module 6 is connected with the high-precision timing circuit module 2 and the MCU master control circuit module 1 respectively.

[0029] The laser (i.e. laser pulse signal) emitted by the transmitting circuit module 4 is split by the optical device, one way of laser is identified by the optical sampling circuit 5 after being reflected, and the other way of laser is shot to the measured target and identified by the detector receiving circuit module 6 after being reflected by the measured target. In some embodiments of the present application, the transmitting circuit module 4 can adopt pulse laser emitter, high-speed pulse laser generator, pulse fiber laser and other laser emitting devices, and the specific selection can be made according to the actual measurement requirement, which is not limited here.

[0030] Please refer to Figure 2In the scheme, the MCU main control circuit module 1 is internally provided with a main control chip, which is mainly used for driving the emission circuit module 4 to emit laser, and detecting whether the number of laser cyclic ranging meets the preset value, and stopping driving the emission circuit module 4 to work when the preset value is met.

[0031] Further, in one embodiment, after the MCU main control circuit module 1 and the high-precision timing circuit module detect the signal output by the signal processing circuit 3, the MCU main control circuit module 1 performs laser ranging logic for cyclic laser ranging, and sends a door closing signal to the high-precision timing circuit module to end the laser ranging after the laser ranging logic ends.

[0032] The laser ranging logic is specifically: when the MCU main control circuit module 1 and the high-precision timing circuit module detect the signal output by the signal processing circuit 3, the high-precision timing circuit module starts timing, and at the same time, the MCU main control circuit module 1 cyclically drives the emission circuit module 4 to emit laser according to the preset cyclic ranging number N, and identifies and detects the echo pulse signal reflected by the measured target through the detector receiving circuit module 6; when the number of echo pulse signals detected by the MCU main control circuit module 1 is equal to N, the number of door closing signals set by the high-precision timing circuit module 2 is met, the MCU main control circuit module 1 stops driving the emission circuit module 4, and the detector receiving circuit module 6 sends the last echo pulse signal to the high-precision timing circuit module 2 as the final door closing signal to drive the high-precision timing circuit module to stop timing, and one laser ranging ends. The MCU main control circuit module 1 and the high-precision timing circuit module are in communication, when the number of echo pulse signals detected by the MCU main control circuit module 1 meets the preset value, i.e. the number of door closing signals set by the high-precision timing circuit module 2 is met, the MCU main control circuit sends the detection result to the high-precision timing circuit module, at this time, the high-precision timing circuit module receives the last echo pulse signal sent by the detector receiving circuit module 6 as the final door closing signal, and stops timing.

[0033] Further, in one embodiment, the detector receiving circuit module 6 is used for photoelectric conversion, signal amplification and denoising processing of the echo pulse signal reflected by the measured target, and the processed echo pulse signal is sent to the MCU main control circuit module 1 and the high-precision timing circuit module 2 respectively.

[0034] Further, in one embodiment, the probe receiving circuit module 6 specifically comprises a photoelectric converter, a signal amplifier and a filter connected in sequence; the output end of the filter is connected to the STOP pin of the MCU main control circuit module 1 and the high-precision timing circuit module 2 respectively. Under this electrical structure, the probe receiving circuit module 6 converts the laser pulse signal emitted by the optical device into an electric signal through the photoelectric converter, then amplifies the converted electric signal, and then sends the amplified signal to the filter for noise reduction processing, and finally sends the processed signal to the MCU main control circuit module 1 and the high-precision timing circuit module 2 respectively, which is used by the MCU main control circuit module 1 to determine whether the measurement times reach the preset cycle ranging times N, so as to cyclically drive the emission circuit module 4 to emit laser; on the other hand, the signal is connected to the high-precision timing circuit module 2 STOP pin as a timing end closing signal.

[0035] Further, in one embodiment, the optical device is a beam splitter 7 and a mirror 8, the beam splitter 7 is used for splitting the laser emitted by the emission circuit module 4, and the mirror 8 is used for reflecting one way signal split out to the light sampling circuit 5 for identification.

[0036] Further, the light sampling circuit 5 is used for receiving the identified laser as a light sampling trigger signal, and performing shaping processing on the light sampling trigger signal, and outputting the shaped light sampling trigger signal to the signal processing circuit 3.

[0037] Further, in one embodiment, the signal processing circuit 3 is used for error correction on the signal output by the light sampling circuit 5, and outputs the error corrected signal to the high-precision timing circuit module and the MCU main control circuit module 1 respectively.

[0038] Please refer to Figure 3 , Figure 3 for the electrical pin structure of the light sampling circuit 5 and the signal processing circuit 3. It should be noted that Figure 3 SIGNAL in the above is the light sampling trigger signal received by the light sampling circuit 5, which is received by the signal processing circuit 3 after shaping processing. The signal processing circuit 3 is mainly composed of logic gate circuits, which is used to reduce the error caused by the delay of discrete element circuit, so the circuit design needs to be simple and reliable. The START signal output by the signal processing circuit 3 is connected to the START pin of the high-precision timing circuit module 2 as a timing trigger opening signal.

[0039] Please refer to Figure 4 , Figure 4The electrical pin diagram of the high-precision timing circuit module 2 is shown, wherein the START pin and the STOP pin are arranged in the high-precision timing circuit module 2, the START pin is connected to the output end of the signal processing circuit 3, and the STOP pin is connected to the detector receiving circuit module 6.

[0040] Specifically, the main working process of the self-triggered pulse laser ranging circuit provided in the application scheme is as follows:

[0041] First, the laser emitting circuit module 4 is driven by the MCU main control circuit module 1 to emit laser to the measured target; part of the laser is split and reflected by the beam splitter 7, is recognized by the light sampling circuit 5, and is processed by the signal processing circuit 3 to serve as an opening signal of the high-precision timing circuit module 2.

[0042] Another part of the laser is emitted to the measured target, is recognized and processed by the detector receiving circuit module 6 after being reflected by the measured target.

[0043] The output signal of the signal processing circuit 3 after shaping is detected by the MCU main control circuit module 1 and the high-precision timing circuit module 2, if the preset number of times logic value of the system is N, the emitting circuit module 4 is driven to continue emitting laser pulse signals to the measured target, and the laser emission is repeatedly performed.

[0044] When the number of target echo signals detected by the MCU main control circuit module 1 is equal to N, the closing signal number set by the high-precision timing circuit module 2 is satisfied, the emitting circuit module 4 is stopped from working, and the last echo pulse signal is sent to the high-precision timing circuit module 2 as a closing signal, and one ranging is ended.

[0045] In the self-triggered pulse laser ranging process, the high-precision timing circuit module 2 of the application scheme only needs to perform time interval measurement once, while in the traditional single measurement average method, the timing circuit module needs to perform N times of time interval measurement, each measurement will bring error, and the error of the final measurement result is large.

[0046] The self-triggered pulse laser ranging circuit provided in the application scheme improves the laser ranging precision, can also shorten the total time of one measurement, saves data storage space, realizes low-storage high-speed high-precision ranging, and the measurement precision can reach millimeter level.

[0047] It can be understood that the same or similar parts in the above embodiments can be mutually referred to, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0048] It should be noted that, in the description of the present application, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise stated, the meaning of "a plurality of" or "multiple" is at least two.

[0049] It should be understood that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or a middle element can be present at the same time; when an element is referred to as "connected" to another element, it can be directly connected to the other element or a middle element can be present at the same time, in addition, "connected" used herein can include wireless connection; the phrase "and / or" used includes any unit and all combinations of one or more associated listed items.

[0050] Any process or method descriptions in flow charts or described herein otherwise can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) in the process, and the various embodiments of the application can include additional or fewer steps performing the described functions in the illustrated or another order, including using functions in a substantially simultaneous manner, or in reverse order, depending on the functionality involved, as will be understood by those having ordinary skill in the art.

[0051] It should be understood that parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) and the like.

[0052] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by program instructions to the relevant hardware, and the program can be stored in a computer readable storage medium, which includes one or a combination of the steps of the method embodiments when executed.

[0053] In addition, each of the function units in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware, or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0054] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0055] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A self-triggered pulsed laser ranging circuit, characterized by, The application relates to a laser ranging device, which comprises an MCU master control circuit module, a high-precision timing circuit module, a signal processing circuit, a transmitting circuit module, an optical device, a light sampling circuit and a detector receiving circuit module. The MCU master control circuit module is connected with the high-precision timing circuit module, and the output end of the MCU master control circuit module is connected with the input end of the transmitting circuit module. The input end of the signal processing circuit is connected with the light sampling circuit, the output end of the signal processing circuit is connected with the high-precision timing circuit module and the MCU master control circuit module, and the output end of the detector receiving circuit module is connected with the high-precision timing circuit module and the MCU master control circuit module respectively. The laser emitted by the transmitting circuit module is split by the optical device, one way of the laser is recognized by the light sampling circuit through reflection, and the other way of the laser is shot to a measured target and recognized by the detector receiving circuit module after being reflected by the measured target. The signal processing circuit is used for correcting errors of the signal output by the light sampling circuit and outputting the error-corrected signal to the high-precision timing circuit module and the MCU master control circuit module respectively. After detecting the signal output by the signal processing circuit, the MCU master control circuit module and the high-precision timing circuit module execute laser ranging logic for cyclic laser ranging, and send a door closing signal to the high-precision timing circuit module to end the laser ranging after the laser ranging logic ends. The laser ranging logic is specifically as follows: when the MCU master control circuit module and the high-precision timing circuit module detect the signal output by the signal processing circuit, the high-precision timing circuit module starts timing, and the MCU master control circuit module cyclically drives the transmitting circuit module to emit laser according to a preset cyclic ranging number N and recognizes and detects the echo pulse signal reflected by the measured target through the detector receiving circuit module. When the number of the echo pulse signal detected by the MCU master control circuit module is equal to N and the number of the door closing signal set by the high-precision timing circuit module is met, the MCU master control circuit module stops driving the transmitting circuit module, the detector receiving circuit module sends the last echo pulse signal to the high-precision timing circuit module as the final door closing signal, the high-precision timing circuit module stops timing, and one-time laser ranging ends. The detector receiving circuit module is used for photoelectric conversion, signal amplification and denoising processing of the echo pulse signal reflected by the measured target, and the processed echo pulse signal is sent to the MCU master control circuit module and the high-precision timing circuit module respectively.

2. A self-triggered pulsed laser ranging circuit according to claim 1, wherein, The optical device is a beam splitter and a reflector, the beam splitter is used for splitting the laser emitted by the transmitting circuit module, and the reflector is used for reflecting one way of the split signal to the light sampling circuit.

3. A self-triggered pulsed laser ranging circuit according to claim 1, wherein, The light sampling circuit is used for taking the received and recognized laser as a light sampling trigger signal, shaping the light sampling trigger signal and outputting the shaped light sampling trigger signal to the signal processing circuit.

4. A self-triggered pulsed laser ranging circuit according to claim 1, wherein, ​ 5. A self-triggered pulsed laser ranging circuit according to claim 2, wherein, The detector receiving circuit module specifically comprises, in sequence, a photoelectric converter, a signal amplifier and a filter; the output end of the filter is connected with the STOP pin of the MCU main control circuit module and the high-precision timing circuit module respectively.

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