CN105300348A - Laser range finding apparatus - Google Patents
Laser range finding apparatus Download PDFInfo
- Publication number
- CN105300348A CN105300348A CN201510797155.7A CN201510797155A CN105300348A CN 105300348 A CN105300348 A CN 105300348A CN 201510797155 A CN201510797155 A CN 201510797155A CN 105300348 A CN105300348 A CN 105300348A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a laser range finding apparatus. The laser range finding apparatus comprises a circuit device for modulating and measuring light beam, a laser light source, a collimating mirror, a reception object lens, a photoelectric receiver, a reception calculating unit and a display unit, the reception object lens comprises at least one diffraction optical element or combination of at least one diffraction optical element and one or more refraction focusing lens, a plurality of microstructures are placed on one face or two faces of the diffraction optical element, and a longitudinal height or a lateral size of the microstructure is 0.1 to 100 times of a wavelength of visible light. According to the invention, a novel technology such as diffraction is employed so that reflected light with different distances can penetrate into a photoelectric receiver, energy magnitude in the photoelectric receiver is constant, and does not change by following with the distance. According to the laser range finding apparatus, traditional geometric optical imaging limitation can be avoided by the reception object lens designed according to thinking and a principle, and thereby the contradiction of small photosensitive surface of the high performance photoelectric receiver of the laser range finding apparatus and the restrained focusing of the reception object lens due to geometrical optics can be solved from energy focusing thinking.
Description
Technical field
The present invention relates to a kind of distance measuring equipment, particularly a kind of laser ranging system utilizing diffraction optical element.
Background technology
General Laser Distance Measuring Equipment, as Fig. 1, comprises the circuit arrangement 10 of a semiconductor laser 5, modulation measuring beam, a collimator objective 2, receiving objective 3 or 11, one photelectric receiver 8 (as snowslide pipe APD), one receives computing unit 6, display unit 7.When measuring distance is far away, the measuring beam that semiconductor laser 5 produces arrives the measurement point 9 on testee surface 1, the light reflected is parallel with utilizing emitted light approx, because photelectric receiver 8 is arranged on the optical axis 4 of receiving objective 3, reflected light can be focused to photelectric receiver 8 place by Refractive focusing lens.What receiving objective 3 generally adopted is Refractive focusing lens; Or cylindrical lens; Or short focal length lens.
But the focal length of each Refractive focusing lens is certain, for in-plant measurement, reflected light can not well focus to above photelectric receiver 8 by Refractive focusing lens, causes closely cannot measuring.
If photelectric receiver is arranged on the optical axis of receiving objective, consequent problem is, the light that closer object diffuse reflection is returned can not enter photelectric receiver, therefore need to arrange an extra optical element 3 ', the light that closer object diffuse reflection is returned deflection enters photelectric receiver.
On the other hand, if photelectric receiver to be arranged on the focal beam spot place of the light that closer object diffuse reflection is returned, testee can be approximately the set of the irreflexive pointolite of numerous lambert by us, the light intensity that each pointolite produces at photelectric receiver photosurface place square being inversely proportional to of Sihe distance nearly.Consequent problem is, the closer object diffuse reflection light of returning overflows being better than remote object far away the light fired back, so the size of the energy variation and distance of gathering focal plane by receiver lens has very large relation, the energy entering photelectric receiver also has huge change, this for photelectric receiver for very unfavorable Signal reception.
For above problem, publication number is that the Chinese patent application of CN2779424Y proposes a kind of distance measuring equipment, although propose can by the sub-fraction of receiving objective is made cylindrical lens formed a special compound lens realize closely with the measurement of remote object distance, but it is only the scattering principle that make use of cylindrical lens, emission measurement light scattering is become to have the covering of the fan light of very large angle, the remitted its fury of the light of arrival photelectric receiver can be made like this, cause close-in measurement less than.
Summary of the invention
Goal of the invention: the object of the invention is to solve above the deficiencies in the prior art, a kind of laser ranging system is provided, patent of the present invention considers that new technologies such as adopting diffraction makes the reflected light of far and near different distance can enter photelectric receiver, and enter the energy constant magnitude of opto-electronic receiver light, substantially do not change with the change of distance.The receiving objective gone out according to this thinking and principle design avoids the constraint of conventional geometric optical imagery, solves the little and receiving objective of Laser Distance Measuring Equipment high-performance photelectric receiver photosurface focus on contradiction by geometrical optics constraint from the thinking of Voice segment.
Technical scheme: laser ranging system of the present invention, its objective is and like this to realize, a kind of laser ranging system, comprise the circuit arrangement of modulation measuring beam, LASER Light Source, collimating mirror, receiving objective, photelectric receiver, receive computing unit, display unit, it is characterized in that, described receiving objective comprises at least one diffraction optical element, described diffraction optical element is by being provided with multiple microstructure at its one or both sides, longitudinally height or the lateral dimension of described microstructure are 0.1 to 100 times of visible wavelength, or by changing lateral attitude refractive index everywhere, thus make described diffraction optical element have the phase place of change incident light and the function of wavefront distribution.The present invention enters photelectric receiver and arranges special diffraction optical element in order to the light making appropriate closer object diffuse reflection and return.But when the focal length of diffraction optical element is shorter, due to the restriction of manufacturing accuracy, the diffraction optical element that focal length can be adopted longer coordinates the mode of Refractive focusing lens, namely the part of diffraction optical element or main focusing function are born by Refractive focusing lens.
As a kind of preferred version of technique scheme, described diffraction optical element is a kind of special-shaped Fresnel Lenses corresponding with refractor, with a short focal length lens or refracting prisms or a cylindrical lens around this special-shaped Fresnel Lenses center, or the diffraction optical element of their combination correspondence replace after the new diffraction optical element that obtains.
As the another kind of preferred version of technique scheme, described diffraction optical element is a kind of special-shaped Fresnel Lenses corresponding with refractor, the new diffraction optical element obtained after replacing with the diffraction optical element that multiple short focal length lens, refracting prisms or cylindrical lens are corresponding around this special-shaped Fresnel Lenses center.
When selecting special-shaped Fresnel Lenses, the pericentral multiple short focal length lens of described special-shaped Fresnel Lenses, more away from the center of special-shaped Fresnel Lenses, the area shared by short focal length lens is less, and the focal length of short focal length lens is shorter; The closer to the center of special-shaped Fresnel Lenses, the area shared by short focal length lens is larger, and the focal length of short focal length lens is longer.
Longitudinal height dimension of described microstructure or lateral dimension are 0.5 to 20 times of visible wavelength.
Longitudinal height dimension of described microstructure is 0.3 to 2 times of visible wavelength.
The lateral dimension of described microstructure is 0.3 to 10 times of visible wavelength.
Distance between described receiving objective and photelectric receiver is 1 to 60mm.
Described receiver lens and the distance between point distance measurement are 0.01 meter to 500 meters.
The microstructure of described diffraction optical element is two steps, multiple stage rank, or continuous structure.
Beneficial effect: laser ranging system of the present invention, adopt the new technologies such as diffraction to make the reflected light of far and near different distance can enter photelectric receiver, and the energy constant magnitude entering opto-electronic receiver light does not change with the change of distance.The receiving objective gone out according to this thinking and principle design avoids the constraint of conventional geometric optical imagery, solves the little and receiving objective of Laser Distance Measuring Equipment high-performance photelectric receiver photosurface focus on contradiction by geometrical optics constraint from the thinking of Voice segment.
Accompanying drawing explanation
Fig. 1 is the structural representation of common Laser Distance Measuring Equipment in background technology;
Fig. 2 is structural representation of the present invention;
Fig. 3-1 is that in the present invention, receiving objective is the composed diffraction element central position phasor along the y-axis direction that main lens and auxiliary prism are formed;
Fig. 3-2 carries out the position phasor after two-value discrete processes mutually to the position in Fig. 3-1;
Fig. 4-1 is that in the present invention, receiving objective is the composed diffraction element central position phasor along the y-axis direction that main lens and reinforcing post lens are formed;
Fig. 4-2 carries out the position phasor after two-value discrete processes mutually to the position in Fig. 4-1;
Fig. 5-1 is that in the present invention, receiving objective is the composed diffraction element central position phasor along the y-axis direction that main lens and an auxiliary short focal length lens are formed;
Fig. 5-2 carries out the position phasor after two-value discrete processes mutually to the position in Fig. 5-1;
Fig. 6-1 is that in the present invention, receiving objective is the gamut composed diffraction element central position phasor along the y-axis direction that main lens and multiple auxiliary short focal length lens are formed;
Fig. 6-2 carries out the position phasor after two-value discrete processes mutually to the position of Fig. 6-1 gamut composed diffraction element.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment and accompanying drawing, the invention will be further described, and this embodiment only for explaining the present invention, does not form limiting the scope of the present invention.
Shown in Figure 2, a kind of laser ranging system, comprise the circuit arrangement 10 of modulation measuring beam, LASER Light Source 5, collimating mirror 2, receiving objective 11, photelectric receiver 8, receive computing unit 6, display unit 7, when the measuring beam that LASER Light Source 5 sends arrives object 1 surface, fire back at laser beam reflection point 9 place on object 1 surface, enter receiving objective 11, photelectric receiver 8 is arrived by receiving objective 11, after photelectric receiver 8 receives reflected light signal, receive computing unit and calculate range data, and display on the display unit 7, photelectric receiver 8 is arranged on the optical axis 4 of receiving objective 11.
The receiving objective of general airborne laser range finder is all adopt Refractive focusing lens to receive reflected light, and the receiving objective 11 of this device comprises the combination of a diffraction optical element and refracting prisms.The two sides of described diffraction optical element is provided with multiple microstructure, shown in Fig. 3-1 and Fig. 3-2, longitudinally height or the lateral dimension of microstructure are 0.1 to 100 times of visible wavelength, and the present invention arranges special diffraction optical element in order to the light making appropriate closer object diffuse reflection and return enters photelectric receiver.But, when the focal length of diffraction optical element is shorter, due to the restriction of manufacturing accuracy, the diffraction optical element that focal length can be adopted longer coordinates the mode of Refractive focusing lens, namely the part of diffraction optical element or main focusing function are born, shown in Fig. 4-1 and Fig. 4-2 by Refractive focusing lens.
Consider that new technologies such as adopting diffraction makes the reflected light of far and near different distance can enter photelectric receiver, and enter the energy constant magnitude of opto-electronic receiver light, substantially do not have large change with the change of distance.The receiving objective gone out according to this thinking and principle design avoids the constraint of conventional geometric optical imagery, solves the little and receiving objective of Laser Distance Measuring Equipment high-performance photelectric receiver photosurface focus on contradiction by geometrical optics constraint from the thinking of Voice segment.
As a kind of preferred version of technique scheme, described diffraction optical element is a kind of special-shaped Fresnel Lenses corresponding with refractor, with a short focal length lens around this special-shaped Fresnel Lenses center, or refracting prisms, or a cylindrical lens, or the new diffraction optical element that the diffraction optical element of their combination correspondence obtains after replacing, Fig. 5-1 is that in the present invention, receiving objective is the position phasor of composed diffraction element central along y circumferential direction of main lens and an auxiliary short focal length lens formation, Fig. 5-2 carries out the position phasor after two-value discrete processes mutually to the position in Fig. 5-1, Fig. 6-1 is that in the present invention, receiving objective is the position phasor of gamut composed diffraction element central along y circumferential direction of main lens and multiple auxiliary short focal length lens formation, and Fig. 6-2 carries out the position phasor after two-value discrete processes mutually to the position of Fig. 6-1 gamut composed diffraction element.
As the another kind of preferred version of technique scheme, described diffraction optical element is a kind of special-shaped Fresnel Lenses corresponding with refractor, the new diffraction optical element obtained after replacing with the diffraction optical element that multiple short focal length lens, refracting prisms or cylindrical lens are corresponding around this special-shaped Fresnel Lenses center.
When selecting special-shaped Fresnel Lenses, the pericentral multiple short focal length lens of described special-shaped Fresnel Lenses, more away from the center of special-shaped Fresnel Lenses, the area shared by short focal length lens is less, and the focal length of short focal length lens is shorter; The closer to the center of special-shaped Fresnel Lenses, the area shared by short focal length lens is larger, and the focal length of short focal length lens is longer.
When selecting special-shaped Fresnel Lenses, longitudinal height dimension of described microstructure is 1 to 5 times of visible wavelength.
Distance between described receiving objective and photelectric receiver is 1 to 60mm; Described receiver lens and the distance between point distance measurement are 0.01 meter to 500 meters.
The energy approximation entering photelectric receiver in order to the light making the diffuse reflection of different distance object return is equal, we design the lens of different focal respectively to the object of different distance, these lens replace the lens component for receiving remote object, and merge into a diffraction optical element.Adjusting the distance is after 50,53,56...1000 millimeter place object designs the auxiliary short focal length lens of dozens of respectively, then forms new diffraction optical element after merging with main lens.The pericentral auxiliary short focal length lens of Fresnel Lenses, more away from the center of Fresnel Lenses, the area shared by short focal length lens is less, and the focal length of short focal length lens is shorter; The closer to the center of Fresnel Lenses, area shared by short focal length lens is larger, the focal length of short focal length lens is longer, thus ensures that the light that this diffraction optical element can make the diffuse reflection of different distance object return can enter photelectric receiver, and the energy approximation entering photelectric receiver is equal.
The microstructure of described diffraction optical element is two steps, multiple stage rank, or continuous relief structure Fresnel lens structure, and its thickness function can be obtain thickness according to spherical lens function, also can be the thickness obtained according to aberrationless non-spherical lens function.Obtaining thickness function according to spherical lens function is:
In formula: t (x, y) is lens Spatial transmission expression formula, when showing complex amplitude scioptics, the bit phase delay that lens each point occurs; π is circular constant; X and y is the position of diffraction optical element; λ is the wavelength of laser beam; F is focal length.
Arranging the shorter diffraction element of at least one or more focal length in center around this diffraction optical element, has:
……
Wherein f
2< f
1, f
3< f
1...
Adopt optimization method, realize gamut focus on by accurate Calculation, it is mild even close to the equal and diffraction optical element of optimal design that the light that the object diffuse reflection at different distance place is returned enters photelectric receiver change.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a laser ranging system, comprise the circuit arrangement of modulation measuring beam, LASER Light Source, collimating mirror, receiving objective, photelectric receiver, receive computing unit, display unit, it is characterized in that, described receiving objective comprises at least one diffraction optical element, described diffraction optical element is by being provided with multiple microstructure at its one or both sides, longitudinally height or the lateral dimension of described microstructure are 0.1 to 100 times of visible wavelength, or by changing lateral attitude refractive index everywhere, thus make described diffraction optical element have the phase place of change incident light and the function of wavefront distribution.
2. laser ranging system according to claim 1, it is characterized in that, described diffraction optical element is a kind of special-shaped Fresnel Lenses, be provided with around this special-shaped Fresnel Lenses center and a short focal length lens or refracting prisms or a cylindrical lens, or the diffraction phase distribution of their combination equivalence.
3. laser ranging system according to claim 1, it is characterized in that, described diffraction optical element is a kind of special-shaped Fresnel Lenses, be provided with around this special-shaped Fresnel Lenses center and multiple short focal length lens or multiple refracting prisms or multiple cylindrical lens, or the diffraction phase distribution of their combination equivalence.
4. the laser ranging system according to Claims 2 or 3, it is characterized in that, described special-shaped Fresnel Lenses multiple diffraction phases that are pericentral and multiple short focal length lens equivalence distribute, more away from the center of special-shaped Fresnel Lenses, less with the area shared by the diffraction phase of this short focal length lens equivalence, the focal length of short focal length lens is shorter; The closer to the center of special-shaped Fresnel Lenses, and area shared by the diffraction phase of this short focal length lens equivalence is larger, and the focal length of short focal length lens is longer.
5. laser ranging system according to claim 1, is characterized in that, longitudinally height or the lateral dimension of described microstructure are 0.5 to 20 times of visible wavelength.
6. laser ranging system according to claim 2, is characterized in that, the longitudinal direction of described microstructure is highly 0.3 to 2 times of visible wavelength.
7. laser ranging system according to claim 2, is characterized in that, the lateral dimension of described microstructure is 0.3 to 10 times of visible wavelength.
8. according to the laser ranging system in claim 1-4 described in any one, it is characterized in that, the distance between described receiving objective and photelectric receiver is 1 to 60mm.
9. laser ranging system according to claim 5, is characterized in that, the distance between described receiver lens and point distance measurement is 0.01 meter to 500 meters.
10. laser ranging system according to claim 1, is characterized in that, the microstructure of described diffraction optical element is two steps, multiple stage rank, or continuous structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510797155.7A CN105300348B (en) | 2015-11-18 | 2015-11-18 | A kind of laser ranging system |
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| CN201510797155.7A CN105300348B (en) | 2015-11-18 | 2015-11-18 | A kind of laser ranging system |
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| CN105300348A true CN105300348A (en) | 2016-02-03 |
| CN105300348B CN105300348B (en) | 2018-01-19 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107436439A (en) * | 2016-05-27 | 2017-12-05 | 科沃斯机器人股份有限公司 | The installation method of laser ranging system and its sensitive chip |
| CN108896007A (en) * | 2018-07-16 | 2018-11-27 | 信利光电股份有限公司 | A kind of optical distance measurement apparatus and method |
| CN111240009A (en) * | 2019-12-31 | 2020-06-05 | 嘉兴驭光光电科技有限公司 | Diffractive optical element capable of projecting oblique lines, projection device and design method thereof |
| WO2020207412A1 (en) * | 2019-04-09 | 2020-10-15 | 深圳市道通智能航空技术有限公司 | Range detection device, and aircraft |
| CN113092805A (en) * | 2021-04-25 | 2021-07-09 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | High-uniformity sheet light device for particle image speed measurement and speed measurement system |
| CN113204001A (en) * | 2020-01-30 | 2021-08-03 | 西克股份公司 | Photoelectric sensor and method for detecting object |
| CN114217456A (en) * | 2021-12-31 | 2022-03-22 | 浙江全视通科技有限公司 | 3D imaging system |
| CN116412893A (en) * | 2023-06-07 | 2023-07-11 | 江苏汇力智能科技有限公司 | Belt scale calibrating device with high accuracy |
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| CN1123573A (en) * | 1993-05-15 | 1996-05-29 | 莱卡公开股份有限公司 | Device for measuring distance |
| US6281968B1 (en) * | 1998-12-28 | 2001-08-28 | Jenoptik Aktiengesellschaft | Laser distance-measuring instrument for large measuring ranges |
| CN2779424Y (en) * | 2005-03-24 | 2006-05-10 | 南京德朔实业有限公司 | Distance measurer |
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2015
- 2015-11-18 CN CN201510797155.7A patent/CN105300348B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1123573A (en) * | 1993-05-15 | 1996-05-29 | 莱卡公开股份有限公司 | Device for measuring distance |
| US6281968B1 (en) * | 1998-12-28 | 2001-08-28 | Jenoptik Aktiengesellschaft | Laser distance-measuring instrument for large measuring ranges |
| CN2779424Y (en) * | 2005-03-24 | 2006-05-10 | 南京德朔实业有限公司 | Distance measurer |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107436439A (en) * | 2016-05-27 | 2017-12-05 | 科沃斯机器人股份有限公司 | The installation method of laser ranging system and its sensitive chip |
| CN108896007A (en) * | 2018-07-16 | 2018-11-27 | 信利光电股份有限公司 | A kind of optical distance measurement apparatus and method |
| WO2020207412A1 (en) * | 2019-04-09 | 2020-10-15 | 深圳市道通智能航空技术有限公司 | Range detection device, and aircraft |
| CN111240009A (en) * | 2019-12-31 | 2020-06-05 | 嘉兴驭光光电科技有限公司 | Diffractive optical element capable of projecting oblique lines, projection device and design method thereof |
| CN111240009B (en) * | 2019-12-31 | 2020-12-29 | 嘉兴驭光光电科技有限公司 | Diffractive optical element capable of projecting oblique lines, projection device and design method thereof |
| CN113204001A (en) * | 2020-01-30 | 2021-08-03 | 西克股份公司 | Photoelectric sensor and method for detecting object |
| CN113204001B (en) * | 2020-01-30 | 2024-05-14 | 西克股份公司 | Photoelectric sensor and method for detecting object |
| CN113092805A (en) * | 2021-04-25 | 2021-07-09 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | High-uniformity sheet light device for particle image speed measurement and speed measurement system |
| CN114217456A (en) * | 2021-12-31 | 2022-03-22 | 浙江全视通科技有限公司 | 3D imaging system |
| CN114217456B (en) * | 2021-12-31 | 2024-04-12 | 浙江全视通科技有限公司 | 3D imaging system |
| CN116412893A (en) * | 2023-06-07 | 2023-07-11 | 江苏汇力智能科技有限公司 | Belt scale calibrating device with high accuracy |
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| CN105300348B (en) | 2018-01-19 |
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