基于激光三角法的室内测距系统研究

发布时间：2018-05-17 09:52

本文选题：激光三角法 + FPGA　；参考：《杭州电子科技大学》2017年硕士论文

【摘要】：激光测距是一项新兴的技术,它的出现使得工业测量领域有了更好的发展。与传统的工业测量技术相比,激光测距技术具有非接触、高精度、高速度等特点,因此在工业测量领域中得到了非常广泛的应用,例如地形测量、汽车定位等,但是目前激光测距技术存在精度与测量范围之间难以兼顾的矛盾。本文基于激光三角法测距技术,对适用于室内测量的激光测距系统进行了改进和实现,使得该系统在兼顾大量程的基础上,依然具有高精度。本文主要工作如下:(1)提出了基于激光三角法测距技术的改进型室内激光测距系统。该系统针对室内测距高精度、大量程的需求,提出了具有双CCD的分段测距技术,以克服传统的激光三角测距技术无法兼顾精度与量程的局限性。(2)设计激光测距系统的硬件模块及驱动时序。硬件电路部分主要包括:FPGA电路模块、CCD光电转换模块和AD采样模块等,并利用Altium Designer绘制硬件电路板。利用Verilog语言设计CCD芯片以及AD芯片的驱动程序,配置了AD芯片的工作模式,并使用Modelsim仿真软件验证驱动时序的正确性。(3)对采用重心法的激光光斑质心位置算法进行了实现。对比各种激光光斑质心位置算法,采用受外界干扰最小的重心法。配置Nios II软核处理器,对CCD信号进行重心法处理得到光斑质心的位置,从而计算得出测量距离。(4)基于改进型室内激光测距系统的软硬件平台,对该系统展开实验测试,对测量的实验数据进行误差分析,并提出相应的改进措施。通过测量分析,该系统在没有精密机械加工的情况下,精度达到了厘米级,量程达到了2米。与传统的激光三角法测距系统相比,改进型室内激光测距系统在不损失精度的前提下,将量程进行了扩展,以满足室内测距的需求。
[Abstract]:Laser ranging is a new technology, which has made better development in the field of industrial measurement. Compared with the traditional industrial measurement technology, the laser ranging technology has the characteristics of non-contact, high precision, high speed and so on, so it has been widely used in the field of industrial measurement, such as topographic survey, automobile positioning and so on. However, there is a contradiction between precision and measurement range in laser ranging technology. Based on the laser triangulation technique, the laser ranging system suitable for indoor measurement is improved and implemented in this paper, which makes the system still have high precision on the basis of taking into account a large number of ranges. The main work of this paper is as follows: (1) an improved indoor laser ranging system based on laser triangulation is proposed. In order to meet the need of high precision and large range in indoor ranging system, a segmented ranging technology with double CCD is proposed. The hardware module and driving timing of laser ranging system are designed to overcome the limitation of traditional laser triangulation ranging technology. The hardware circuit mainly includes the Altium Designer circuit module, CCD photoelectric conversion module, AD sampling module and so on, and draws the hardware circuit board with Altium Designer. The CCD chip and the driver program of AD chip are designed by Verilog language, and the working mode of AD chip is configured. The correctness of driving timing is verified by Modelsim simulation software. The algorithm of laser spot centroid position using center of gravity method is implemented. The centroid position of laser spot is compared with the barycenter method which is minimized by external interference. With the Nios II soft core processor, the center of gravity of the CCD signal is processed to get the position of the spot centroid, and the measuring distance is calculated. 4) based on the software and hardware platform of the improved indoor laser ranging system, the system is tested experimentally. The error of the experimental data is analyzed and the corresponding improvement measures are put forward. The measurement and analysis show that the precision of the system reaches centimeter level and the measuring range reaches 2 meters without precision machining. Compared with the traditional laser triangulation ranging system, the improved indoor laser ranging system expands the measurement range without losing the precision to meet the indoor ranging needs.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN249

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