CN103235302B - Device and method for distance and speed measurement based on laser scanning and dual detector - Google Patents
Device and method for distance and speed measurement based on laser scanning and dual detector Download PDFInfo
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- CN103235302B CN103235302B CN201310065127.7A CN201310065127A CN103235302B CN 103235302 B CN103235302 B CN 103235302B CN 201310065127 A CN201310065127 A CN 201310065127A CN 103235302 B CN103235302 B CN 103235302B
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Abstract
The invention provides a device and a method for distance and speed measurement adopting scanning laser signals and a dual detector. The device comprises a transmitting unit and a receiving unit. The transmitting unit is mounted on an object A; and the receiving unit is mounted on an object B. The relative distance and the relative speed between the object A and the object B can be measured. The transmitting unit comprises a laser linear source, an N prism with a principle section of an N-sided polygon and a motor which can drive the N prism to rotate; and the receiving unit comprises at least two photoelectric detectors and a single-chip microcontroller. The N prism is driven to rotate by the motor; and laser transmitted from the laser source is reflected by lateral sides of the N prism to the receiving unit, and is received by the photoelectric detectors successively. Back waves are not required on the technical scheme which can be applicable to objects in relative motions; tracking measurement and continuous measurement can be performed; and the device can further be applicable to objects moving at low speed, and is wide in application.
Description
Technical field
The present invention relates to a kind of distance between two articles and method of relative velocity measured, relate in particular to a kind of method of utilizing laser scanning and two laser detectors to calculate, belong to Photoelectric Detection field.
Background technology
The common method of measuring distance between macro object mainly contains several as follows: tacheometry, electromagnetic distance measurement method.Wherein, electromagnetic distance measurement method is divided phase place telemetry and pulse ranging method by measuring principle; By carrier band different point laser ranging (visible), infrared distance measurement and tellurometer surveys.
Tacheometry utilization has the surveying instrument of sighting distance device, measures distance between two points by optics and trigonometry principle, conventional transit, surveyor's table, spirit-leveling instrument and have the scale testing of delineation.By telescopical two stadia lines, observe its scale value on the scale standing vertically, calculate distance, be applicable to the range observation between stationary object.
Running safety method is first electromagnetic wave to be carried out to intensity modulated, utilizes the phase differential between phase place identification device comparison transmitted wave and the echo that is arranged on transmitting terminal to calculate distance.Electromagnetic impulse telemetry is to be returned to the time used from object and calculate distance from being issued to by ranging pulse.Wherein, pulse ranging method is suitable for the measurement of long distance, and utilizes the phase ranging method of surveying chi group not to be subject to distance limit, and precision wants high compared with pulse ranging method.But no matter adopt impulse method or phase method, also no matter which kind of wave source carrier wave adopts, and all needs to utilize echoed signal to measure.According to the target object of accepting electromagnetic signal, whether electrooptical device is installed, object has been divided into cooperative target (catoptron has been installed) and noncooperative target (catoptron is not installed).To noncooperative target, in can moving, to measure, but be unrestrained transmitting echo due to what accept, the emissive power to wave source and detector sensitivity have higher requirement.To cooperative target, generally can only carry out static measurement, and in order to carry out signal aligning and echo acquirement, generally need survey crew that instrument is adjusted and operated.
The common method of measuring macro object movement velocity mainly contains several as follows: phototimer velocimetry (double photoelectric door method), the ultrasound wave method (utilizing echo) that tests the speed, laser velocimetry (utilizing echo), Doppler effect velocimetry, laser speckle velocimetry.
Phototimer tests the speed and need to use two light sources and two detectors, and in the time there is transverse movement between object and detector, object is successively in the light to two detectors, calculates the movement velocity of object by measuring this mistiming.The spatial dimension that the method is measured is little, can not measure and continuous coverage same object tracking.
The ultrasound wave method that tests the speed requires twice pair of object of knotmeter priority to send ultrasound wave, then gathers two corresponding echoed signals, calculates the speed of object according to four moment point sending and accept.Utilize the method to test the speed and require the position of knotmeter to fix, otherwise cannot record distance and the movement velocity of object with respect to detector.
Laser (echo) velocimetry is the extension of laser ranging method above, by in the same time object (noncooperative target) distance not being measured and can calculated object speed, but as noted earlier, be the unrestrained transmitting echo that noncooperative target reflects due to what receive, the emissive power to light source and detector sensitivity have higher requirement.
When Doppler effect velocimetry utilizes, between object and knotmeter, relative motion occurs, the frequency displacement of the echoed signal that knotmeter detects is tested the speed.According to Doppler effect, the frequency that frequency shift amount equals to transmit is multiplied by object about the speed of related movement of knotmeter and the ratio of the light velocity.In the time that emitting electromagnetic wave is radiowave, the method is applicable to the measurement of high-speed moving object, in the time of object low-speed motion, will increase the measuring error of frequency shift amount.In the time that emitting electromagnetic wave is light wave, can be used for measuring low speed object, but because needs detect optical wavelength side-play amount, testing cost also increases substantially thereupon.
The speckle that laser speckle velocimetry utilizes the rough surface of diffuse reflection object to produce under laser lighting tests the speed, same speckle is received by two close photoelectric diodes, when object and detector close, and while there is transverse shifting, between the signal that two detectors receive, will postpone by time of origin, receive two signals are carried out to relevant treatment, can and calculate the movement velocity of object in the hope of time delay.Test the speed similarly with phototimer, the spatial dimension of measurement is little, can not measure and continuous coverage same object tracking.
In sum, two kinds of conventional distance measurement methods at present, tacheometry is applicable to the measurement of stationary object, electromagnetic distance measurement method is because needs are surveyed echo, in the time that object is cooperative target, be generally requirement it is fixed, when object is the noncooperative target of motion, the power to transmitted wave and detector sensitivity have higher requirement.
Conventional several speed measurement methods at present, the spatial dimension of phototimer method and laser speckle photography method mensuration is little, can not measure and continuous coverage same object tracking.The ultrasound wave rule that tests the speed must be fixed on surveying instrument a certain place, can only carry out the measurement of absolute velocity, can not make relative velocity and measure.Emissive power and the detector sensitivity of laser (echo) velocimetry to light source has higher requirement.The Doppler effect rule that tests the speed is generally suitable for the measurement of high-speed moving object.
Summary of the invention
For existing deficiency in above-mentioned prior art, the present invention proposes a kind of device and method that utilizes scan laser signal and double detector to carry out distance and velocity survey.The method does not need to utilize echo, can be applied to the object of mutual motion, and can carry out tracking measurement and continuous coverage, can also be applied in the object of low-speed motion simultaneously, and it is applied widely.
Realizing the technical scheme that above-mentioned purpose of the present invention adopts is:
A kind of distance and velocity measuring device based on laser scanning and double detector, formed by transmitter unit and receiving element, transmitter unit is installed on object A, receiving element is installed on object B, relative distance between object A and object B and relative velocity are for treating measured value, transmitter unit comprises LASER Light Source, principal section is the N prism of n-shaped and the motor that can drive the rotation of N prism, wherein N >=3, N prism is coaxially installed on the rotation axis of motor, the side of N prism is reflecting surface, LASER Light Source is towards N prism Emission Lasers, laser via the offside reflection of N prism to receiving element, receiving element at least comprises two photodetectors and single-chip microcomputer, wherein the reception of photodetector induction window is towards LASER Light Source direction, two photodetectors are positioned in same level, and the line forming between both mounting points is perpendicular to the line forming between object A and object B, photodetector is electrically connected with single-chip microcomputer, photodetector transfers to single-chip microcomputer after the light signal receiving is converted into voltage signal, thereby single-chip microcomputer calculates and obtains result of calculation according to the signal receiving.
On the side of N prism, be coated with reflectance coating, and the sharp light wavelength that the reflection peak of reflectance coating and LASER Light Source are launched matches.
Photodetector is made up of photo-sensitive cell and detection circuit, and photo-sensitive cell is photodiode, and detection circuit comprises current/voltage modular converter, active power filtering module and rear class signal amplification module.
In receiving element, be also provided with peripheral circuit, peripheral circuit comprises display element and alarm element, display element and alarm element are all electrically connected with single-chip microcomputer, result of calculation in single-chip microcomputer transfers on display original set and shows, reports to the police when the result of calculation of single-chip microcomputer exceeds setting value alarm element.
LASER Light Source is pointolite or line source, the long axis direction that the laser that line source is launched is reflected onto the oblong hot spot on photodetector and two photodetectors mounting points between the line that forms vertical.
Distance based on said apparatus and the method for velocity survey are also provided in the present invention, have comprised the following steps:
(1), motor driving N prism rotation, the laser that LASER Light Source is launched is received by two photodetectors by the offside reflection of N prism to receiving element priority, pulse signal that photodetector generates is the external interrupt mouth of corresponding single-chip microcomputer respectively, utilizes the Timer/Counter of single-chip microcomputer inside to calculate to obtain the rotational angular velocity ω of N prism;
(2), utilize the Timer/Counter of single-chip microcomputer inside to calculate to such an extent that two photodetectors successively receive laser and produce the time interval Δ t of signal;
(3), measure the distance s between the reception induction window of two photodetectors, calculate the distance l between object A and object B,
(4), in the time that object A and object B do relative motion along both line directions, utilize the Timer/Counter of single-chip microcomputer inside to carry out timing, timing is t, once calculates, by the distance l calculating for the i time every the t time l that adjusts the distance
i, with last range finding from l
i-1subtract each other and obtain shift value Δ l
i, according to shift value Δ l
iand timing t can be regarded as to obtain the relative velocity v between object A and object B
i,
v
i＝Δl
i/t 。
In distance provided by the present invention and velocity measuring device, due to transmitter unit with receiving element is installed on respectively object A and object B is upper, do not need to utilize echo to measure.Because the wave source adopting in transmitter unit is laser line light source, and laser beam scans object, so being easy to realize signal aims at, and do relative motion and when two articles occurs along shake in line spot direction at two articles, the aligning of light beam is also easy to realize, therefore device provided by the present invention is than the device using in echometric measurement method, and it is not very high that its emissive power to light source and detector sensitivity require, and the cost of device is lower.
Utilize device provided by the present invention to measure, not only can record the distance between two stationary objects, can measure the object distance in motion simultaneously; In the time that object A and object B all move upward in both line sides, also can survey the speed of related movement between two things.Utilize method provided by the present invention to measure swiftly passing object, be suitable for equally in the object of low-speed motion.
By technical scheme provided by the present invention is further extended and designed, the present invention can be applied in the measurement occasion that various needs carry out distance and speed, practical.
Brief description of the drawings
The structural representation that Fig. 1 is the measurement mechanism that provides in the embodiment of the present invention;
Fig. 2 is the circuit diagram of the photodetector in the embodiment of the present invention;
Fig. 3 is the system circuit diagram of the single-chip microcomputer in the embodiment of the present invention;
Fig. 4 be pulse signal in the embodiment of the present invention and time main pulse schematic diagram;
In Fig. 1: 1-LASER Light Source, 2-N prism, 3-photodetector, 4-single-chip microcomputer, 5-display element, 6-alarm element.
Embodiment
Below in conjunction with specific embodiment, the present invention is done to detailed specific description.
The distance based on laser scanning and double detector providing in the present embodiment and the structure of velocity measuring device are as shown in Figure 1, formed by transmitter unit and receiving element, transmitter unit is installed on object A, it is upper that receiving element is installed on object B, and relative distance and relative velocity between object A and object B are calculated.Wherein transmitter unit comprises LASER Light Source 1, N prism 2 and motor, the principal section of N prism 2 is n-shaped, the side of N prism 2 is reflecting surface, reaches the object of reflection by plate reflectance coating on its side, and the sharp light wavelength that the reflection peak of reflectance coating and LASER Light Source are launched matches.Described LASER Light Source 1 is semiconductor laser diode, can adopt pointolite or line source, adopt in the present embodiment line source, line source emergent light shape of spot after optical system is to be similar to linear oblong, its long axis direction is parallel with the seamed edge of positive N prism, and it is vertical with the line of two photodetectors to be reflected onto the long axis direction of the oblong hot spot on photodetector.N prism 2 is installed on by the center of its principal section on the rotation axis of motor, the strict coaxial installation of rotating shaft of N prism 2 and motor, and motor driving N prism 2 rotates.Described motor is by battery-powered, and rotating speed is regulated by the superincumbent potentiometer of connecting.LASER Light Source 1 is towards N prism 2 Emission Lasers, laser via the offside reflection of N prism to receiving element.
Receiving element comprises two photodetectors 3, single-chip microcomputer 4 and peripheral circuit, wherein the reception of photodetector 3 induction window is towards LASER Light Source direction, two photodetectors 3 are positioned in same level, and the line forming between both mounting points is perpendicular to the line between object A and object B, photodetector 3 is made up of photo-sensitive cell and detection circuit, photo-sensitive cell is photodiode, detection circuit comprises current/voltage modular converter, active power filtering module and rear class signal amplification module, as shown in Figure 2.Wherein photodetector 3 is connected with single-chip microcomputer 4, and photodetector 3 transfers to single-chip microcomputer 4 after the light signal receiving is converted into voltage signal, thereby single-chip microcomputer 4 calculates and obtains result of calculation according to the signal receiving.The single-chip microcomputer using in the present embodiment is AVR single-chip microcomputer atemga16, and its circuit system as shown in Figure 3.Above-mentioned peripheral circuit comprises display element 5 and alarm element 6, display element 5 and alarm element 6 are all electrically connected with single-chip microcomputer, result of calculation in single-chip microcomputer transfers on display original set 5 and shows, reports to the police when the result of calculation of single-chip microcomputer exceeds setting value alarm element.In the present embodiment, display element 5 is LCD display, and alarm element 6 is hummer.
As follows to the measuring method of the distance between object A and object B and speed in the present embodiment: first to open motor, the rotation of motor driving N prism, N prism in the present embodiment is eight prisms, the laser that LASER Light Source is launched is received by two photodetectors by the offside reflection of eight prisms to receiving element priority, the signal that photodetector generates is the external interrupt 0 and external interrupt 1 of corresponding single-chip microcomputer respectively, the Timer/Counter of single-chip microcomputer inside is counted the number of times of an inside and outside interruption in second 0, count value is M, owing to thering are eight sides in eight prisms, therefore the rotating speed f of eight prisms is: f=M/8, then try to achieve the rotational angular velocity ω of eight prisms, the computing formula of ω is: ω=2 π f.
Utilize the Timer/Counter of single-chip microcomputer inside to calculate to such an extent that two photodetectors successively receive laser and produce the time interval Δ t of signal, the computing method that adopt in the present embodiment are a kind of algorithm of commonly using, adopt counter to time main pulse signal count, as shown in Figure 4, in the time that external interrupt 0 receives pulse signal to counter O reset and start counting, while counting to higher limit 0xFF, send and overflow interruption, external interrupt 1 receives pulse signal hour counter and stops counting, and overflowing interruption times is n
1, on counter, show that count value is n
2, time the main pulse signal period be τ, the time-base signal number N between two external interrupt return pulse signals is: N=n
1× 256+n
2, Δ t is: Δ t=N τ the time interval so.
Calculate after Δ t, the distance s between the reception induction window of two photodetectors is measured, can try to achieve the distance l between object A and object B,
In the time that object A and object B do relative motion along both line directions, also can record the relative velocity between two articles, method is as follows: the timer that single-chip microcomputer is provided with carries out timing, timing is t, t=0.5 second in the present embodiment, once calculate every the time of the 0.5 second l that adjusts the distance, by the distance l calculating for the i time
i, with last range finding from l
i-1subtract each other and obtain shift value Δ l
i, according to shift value Δ l
iand timing t can be regarded as to obtain the relative velocity v between object A and object B
i, v
i=Δ l
i/ 0.5.Getting speed average send in LCD display and shows; On hummer, a speed limit is set simultaneously, if when speed is greater than the speed limit of setting, drives buzzer warning.
Technical scheme provided by the present invention can be applied to the measurement occasion of various distances and speed, particularly surveys the occasion of instantaneous distance and relative velocity, as vehicle speed measurement and warning system, high ferro speed monitoring etc.
Claims (6)
1. distance and the velocity measuring device based on laser scanning and double detector, formed by transmitter unit and receiving element, transmitter unit is installed on object A, receiving element is installed on object B, relative distance between object A and object B and relative velocity are for treating measured value, it is characterized in that: transmitter unit comprises LASER Light Source, principal section is the N prism of n-shaped and the motor that can drive the rotation of N prism, wherein N >=3, N prism is coaxially installed on the rotation axis of motor, the side of N prism is reflecting surface, LASER Light Source is towards N prism Emission Lasers, laser via the offside reflection of N prism to receiving element, receiving element at least comprises two photodetectors and single-chip microcomputer, wherein the reception of photodetector induction window is towards LASER Light Source direction, two photodetectors are positioned in same level, and the line forming between both mounting points is perpendicular to the line forming between object A and object B, photodetector is electrically connected with single-chip microcomputer, photodetector transfers to single-chip microcomputer after the light signal receiving is converted into voltage signal, thereby single-chip microcomputer calculates and obtains result of calculation according to the signal receiving.
2. distance and the velocity measuring device based on laser scanning and double detector according to claim 1, is characterized in that: on the side of N prism, be coated with reflectance coating, and the sharp light wavelength that the reflection peak of reflectance coating and LASER Light Source are launched matches.
3. distance and the velocity measuring device based on laser scanning and double detector according to claim 1, it is characterized in that: photodetector is made up of photo-sensitive cell and detection circuit, photo-sensitive cell is photodiode, and detection circuit comprises current/voltage modular converter, active power filtering module and rear class signal amplification module.
4. distance and the velocity measuring device based on laser scanning and double detector according to claim 1, it is characterized in that: in receiving element, be also provided with peripheral circuit, peripheral circuit comprises display element and alarm element, display element and alarm element are all electrically connected with single-chip microcomputer, result of calculation in single-chip microcomputer transfers on display element and shows, reports to the police when the result of calculation of single-chip microcomputer exceeds setting value alarm element.
5. distance and the velocity measuring device based on laser scanning and double detector according to claim 1, it is characterized in that: LASER Light Source is pointolite or line source, the long axis direction that the laser that line source is launched is reflected onto the oblong hot spot on photodetector and two photodetectors mounting points between the line that forms vertical.
6. distance and the speed measurement method based on any one device in claim 1-5, it is characterized in that comprising the following steps: the rotation of (1), motor driving N prism, the laser that LASER Light Source is launched is received by two photodetectors by the offside reflection of N prism to receiving element priority, pulse signal that photodetector generates is the external interrupt mouth of corresponding single-chip microcomputer respectively, utilizes the Timer/Counter of single-chip microcomputer inside to calculate to obtain the rotational angular velocity ω of N prism;
(2), utilize the Timer/Counter of single-chip microcomputer inside to calculate to such an extent that two photodetectors successively receive laser and produce the time interval Δ t of signal;
(3), measure the distance s between the reception induction window of two photodetectors, calculate the distance l between object A and object B,
(4), in the time that object A and object B do relative motion along both line directions, utilize the Timer/Counter of single-chip microcomputer inside to carry out timing, timing is t, once calculates, by the distance l calculating for the i time every the t time l that adjusts the distance
i, with last range finding from l
i-1subtract each other and obtain shift value Δ l
i, according to shift value Δ l
iand timing t can be regarded as to obtain the relative velocity v between object A and object B
i,
v
i＝Δl
i/t 。
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| CN201310065127.7A CN103235302B (en) | 2013-02-28 | 2013-02-28 | Device and method for distance and speed measurement based on laser scanning and dual detector |
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| CN103235302B true CN103235302B (en) | 2014-10-15 |
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| CN104035086B (en) * | 2014-06-14 | 2016-07-06 | 哈尔滨工业大学 | Mixing heterodyne system can be traced to the source accurate measurement chi He-Ne laser ranging system and method |
| CN105698749A (en) * | 2015-02-13 | 2016-06-22 | 北京雷动云合智能技术有限公司 | Laser distance measuring sensor |
| CN106595942B (en) * | 2016-07-25 | 2019-06-07 | 北京卫星环境工程研究所 | The dynamic measurement device of small power |
| CN106353525A (en) * | 2016-08-31 | 2017-01-25 | 白蝉恒 | Speed measuring system and speed measuring method |
| CN106781883A (en) * | 2017-01-11 | 2017-05-31 | 合肥工业大学 | A kind of Multifunctional portable photoelectric observing and controlling synthesis experiment platform |
| CN109387826B (en) * | 2017-08-04 | 2024-03-19 | 美国西北仪器公司 | Method for measuring angle and distance, method for drawing track diagram and laser ranging system |
| CN108920989B (en) * | 2018-06-29 | 2022-03-08 | 北京润科通用技术有限公司 | Parameter determination method and system |
| CN113740867A (en) * | 2020-05-29 | 2021-12-03 | 辽宁工程技术大学 | Laser ranging device and method |
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| CN1448728A (en) * | 2002-03-29 | 2003-10-15 | 蔡成 | Laser range finding method and apparatus |
| CN100340869C (en) * | 2005-01-26 | 2007-10-03 | 中国科学院上海光学精密机械研究所 | Electro-optic double modulation polarized light laser distance measuring method and its device |
| DE112008003912B8 (en) * | 2008-06-19 | 2019-08-01 | Trimble Navigation Ltd. | Positioning device and method for detecting a laser beam |
| DE102009040837A1 (en) * | 2009-09-10 | 2011-03-17 | Carl Zeiss Ag | Devices and methods for position determination and surface measurement |
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