CN106443694A - Laser ranging device capable of enhancing measurement range - Google Patents
Laser ranging device capable of enhancing measurement range Download PDFInfo
- Publication number
- CN106443694A CN106443694A CN201610890623.XA CN201610890623A CN106443694A CN 106443694 A CN106443694 A CN 106443694A CN 201610890623 A CN201610890623 A CN 201610890623A CN 106443694 A CN106443694 A CN 106443694A
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- China
- Prior art keywords
- unit
- range
- laser
- light
- light emitters
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention relates to a laser ranging device capable of enhancing the measurement range. The laser ranging device comprises at least two light transmitters and at least one light receiver. Each light transmitter is corresponding to one light receiver. Each group of the light transmitter and the light receiver have the fixed center distance. All groups of the light transmitters and the light receivers are different in center distance. According to the ranging device, the advantages of simple circuit and high adaptation of reflectivity of a triangulation method can be maintained and the measurement range of an object can be expanded so that the situation that the mobile object is unable to operate or is damaged due to the phenomenon of collision of a mobile robot or a vehicle and the object in the walking process can be avoided, and the structure is simple and operation is convenient.
Description
Technical field
The invention belongs to laser ranging field is and in particular to a kind of laser ranging system strengthening measurement range.
Background technology
Mobile robot would generally be encountered in the process of walking and will be solved this problem：Measure surrounding objects in real time
Distance collision free.
Principle of triangulation.Infrared laser emission device according to certain angular emission infrared beam, after running into object,
Light beam can reflect, as shown in Figure 1：After the IR reflecting is detected by CCD-detector, one can be obtained partially
Shifting value L, using triangle relation, is being aware of launch angle β, offset distance L, after central moment X, and the focal length f of filter, is sensing
Device just can be calculated by geometrical relationship to object apart from D.Offset distance L and object are non-linear relations apart from D,
Actual realize, typically using tabling look-up and difference mode obtains measurement distance.
Triangulation mode is less demanding to measuring circuit, simultaneously because employing triangulation, the material of testee
Matter, environment temperature and time of measuring affect very little, more application in medium and small range measurement to certainty of measurement, maintain static
, also have and measure in rotation.Just can be seen that from geometrical principle, when the distance of D is near enough, L value can be quite big,
More than the investigative range of CCD, at this moment although object is close, but sensor be can't see on the contrary, therefore not only has maximum measurement
Distance, also has minimum measurement distance.When object distance D is very big, L value will very little, therefore measure relatively large distance when, in order to
Ensure higher certainty of measurement, central moment X requires to increase, now minimum measurement distance also just becomes big.Therefore one tool
The measurement apparatus having fixed center square X and CCD area size can not accomplish simultaneously larger maximum measurement distance and less
Little measurement distance.
The invention provides the laser triangulation device of measurement range can be strengthened, it maintains triangulation and has electricity
Road is simple and the adaptable advantage of reflectivity, expands measurement range simultaneously.
Content of the invention
For defect present in prior art, the present invention provides a kind of laser ranging system strengthening measurement range,
Ensure that the simple triangulation device of circuit can have bigger measurement range, enable object in the range of detection, it is to avoid move
Mobile robot collides in the process of walking.
For reaching object above, the technical solution used in the present invention is：A kind of Laser Measuring strengthening measurement range is provided
Away from device, including at least two light emitters and at least one light receiver, light emitters correspond to a light
Receiver or multiple light emitters correspond to a light receiver, and each light emitters and corresponding light receiver are formed
One group of range cells, every group of range cells have fixing centre-to-centre spacing, and the centre-to-centre spacing of each group range cells is different.
Further, different according to the centre-to-centre spacing of every group of range cells, setting closely laser triangulation unit and long distance
From laser triangulation unit, closely laser triangulation unit and long distance laser range of triangle unit are using arranged apart
Form, that is, being arranged in one can be at the uniform velocity in the rotating disk of rotation, and this rotating disk is fixed on fixed underpan by rotating shaft, described solid
Determine chassis and be provided with rotation circuit unit, for driving rotating disk uniform rotation.
Further, described rotating disk is provided with angle detection circuitry unit, for detecting rotating disk real time rotation angle.
Further, described rotating disk is additionally provided with result integrated unit, this result integrated unit is used for receiving angle and detects
Object angle information that circuit unit sends and closely laser triangulation unit and long distance laser range of triangle unit are sent out
The object distance information going out, and merge closely laser triangulation unit and long distance laser range of triangle unit range measurement
After a measurement result, finally send object range information and angle information.
Further, described closely laser triangulation unit and each inclusion one of described long distance laser range of triangle unit
Individual light emitters and a light receiver.
Further, the difference according to two groups of light emitters and light receiver centre-to-centre spacing, setting double transmitting laser triangulation
Range cells, this pair of transmitting laser triangulation unit includes two light emitters and a light receiver, two light
Transmitter time-sharing work, corresponds to a light receiver jointly.
Further, described double transmitting laser triangulation unit controls two light transmittings by Time-sharing control integrated unit
Device is in different time transmission signals.
The Advantageous Effects of the present invention are：
(1) present invention passes through to arrange at least two light emitters and at least one light receiver, according to every group of light
The centre-to-centre spacing that transmitter is arranged with light receiver is different, thus covering different finding ranges；Thus, maintaining triangle survey
Amount method has that circuit is simple and while reflectivity strong adaptability advantage, expands measurement range；
(2) present invention passes through to arrange result integrated unit, can swash and at a distance closely laser triangulation unit
The measurement result of light range of triangle unit is fused into a measurement result it is ensured that the accuracy of measurement data；
(3) structure is simple, is easy to operate.
Brief description
Fig. 1 is prior art trigonometry laser distance measuring principle schematic diagram；
Fig. 2 is the structural representation of the embodiment of the present invention 1；
Fig. 3 is the structural representation of the embodiment of the present invention 2.
In figure:
1- fixed underpan, 2- rotating disk, 3- rotating shaft
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in further detail.
The laser ranging system of the strengthened measurement range that the present invention provides, including at least two light emitters with least
One light receiver, the quantity of light emitters and light receiver determines according to actual needs.One light emitters pair
A light receiver or two light emitters are answered to correspond to a light receiver, light emitters and corresponding light
Receiver forms one group of range cells, and every group of range cells have fixing centre-to-centre spacing, and the centre-to-centre spacing of each group range cells is not
Identical.The different measurement range of different central moment correspondences is understood according to principle of triangulation.
Measured using multiple covering different range range cells to be illustrated more clearly that, and by multiple measurement results
It is fused into a measurement result, the invention provides two preferred embodiments, all using two light emitters.
Embodiment 1
As shown in Fig. 2 being the structural representation of the embodiment of the present invention 1.It comprises a fixed underpan 1 and a rotating disk
2, fixed rotating shaft 3 on fixed underpan, rotating disk 2 can around the shaft 3 make with respect to fixed underpan 1 rotary motion.Fixed underpan 1
On comprise a rotation circuit unit, this rotation circuit unit passes through belt or gear and drives rotating disk 2 at the uniform velocity to rotate.
180 degree mode is mutually on rotating disk 2 and is mounted with that closely laser triangulation unit and long distance laser triangle are surveyed
Away from unit, closely laser triangulation unit and long distance laser range of triangle unit each inclusion one light emitters and
Individual light receiver, every group of light emitters are different with the centre-to-centre spacing of light receiver, and the measurement range of covering is also different.Such as
Closely laser triangulation unit measurement 15-120cm, long distance laser range of triangle unit measures 100cm-550cm.
Angle detection circuitry unit and result integrated unit are additionally provided with rotating disk 2.Angle detection circuitry unit, closely
Laser triangulation unit and long distance laser range of triangle unit are connected with result integrated unit respectively.Angle detection circuitry list
Unit's zero degree point and relative deflection angle relatively with fixed underpan 1 by photoelectric sensor real-time detection rotating disk 2, and will be real
Hour offset angle is supplied to result integrated unit.It is poor with closely laser triangulation unit that zero degree point can be set in practice
Positive 90 degree, poor with long distance laser range of triangle unit minus 90 degree.
Closely laser triangulation unit and long distance laser range of triangle unit are also each self-monitoring surrounding objects
Distance provides result integrated unit, and result integrated unit is according to real time offset angle, remote/closely two laser triangulation lists
The setting angle of first Relative Zero angle points, remote/closely two laser triangulation units are relative to the mounting distance of rotating shaft core
Etc. information, two range measurement of remote/closely two laser triangulation unit offers are merged into a measurement result, survey
Amount result comprises object distance and real-time angular information, and real-time angular information is that testee is inclined in real time with respect to zero degree point
Move angle.Concrete fusion calculation method can complete according to plane geometry principle, no longer describes in detail.The measurement of such whole device
Scope expands to 15-550cm.
In rotating disk 2, each circuit unit needs to power, and result integrated unit needs to export final measurement to it
Its device is using.Can be realized using the way of contact or cordless.One of them, can install one 4 in rotating shaft 3
Line conducting slip ring device, 4 lines are respectively positive 5V power supply, ground wire, RS232 serial ports transmission line, RS232 serial ports reception line.With regard to
The detailed technology of conducting slip ring device is not described herein, it is ensured that this 4 lines of UNICOM still can be continued during continuous rotation.
Embodiment 2
As shown in figure 3, being the structural representation of the embodiment of the present invention 2.Difference with embodiment 1 is, it comprises one
Double transmitting laser triangulation units and a Time-sharing control integrated unit, double transmitting laser triangulation units have two
Individual light emitters and a light receiver, two light emitters correspond to a light receiver jointly, and time-sharing work comes
Avoid conflicting, two light emitters are different from the centre-to-centre spacing of light receiver, the different finding range of correspondence, respectively 15-
120cm and 100cm-550cm.Time-sharing control integrated unit controls two light emitters of double transmitting laser triangulation units
Timesharing carrys out work, and calculates range measurement during two light emitters time-sharing works, and merging range measurement is a measurement knot
Really, this measurement result comprises object distance.
A kind of laser ranging system strengthening measurement range of the present invention is not limited to above-mentioned specific embodiment, ability
Field technique personnel's technology according to the present invention scheme draws other embodiments, also belongs to the technological innovation model of the present invention
Enclose.
Claims (7)
1. a kind of laser ranging system strengthening measurement range, is characterized in that：Including at least two light emitters with least
One light receiver, a corresponding light receiver of light emitters or the corresponding light of multiple light emitters connect
Receive device, each light emitters and corresponding light receiver form one group of range cells, every group of range cells have fixing
Centre-to-centre spacing, the centre-to-centre spacing of each group range cells is different.
2. a kind of laser ranging system strengthening measurement range as claimed in claim 1, is characterized in that：Found range according to every group
The centre-to-centre spacing of unit is different, setting closely laser triangulation unit and long distance laser range of triangle unit, closely swashs
Light range of triangle unit and long distance laser range of triangle unit adopt form arranged apart, that is, being arranged in one can at the uniform velocity rotate
Rotating disk (2) on, this rotating disk (2) is fixed on fixed underpan (1) by rotating shaft (3), and described fixed underpan (1) is provided with
Rotation circuit unit, for driving rotating disk (2) uniform rotation.
3. a kind of laser ranging system strengthening measurement range as claimed in claim 2, is characterized in that：Described rotating disk
(2) it is provided with angle detection circuitry unit, for detecting rotating disk (2) real time rotation angle.
4. a kind of laser ranging system strengthening measurement range as claimed in claim 3, is characterized in that：Described rotating disk
(2) it is additionally provided with result integrated unit on, the object angle that this result integrated unit sends for receiving angle testing circuit unit
The object distance information that information and closely laser triangulation unit and long distance laser range of triangle unit send, and merge
Closely laser triangulation unit and long distance laser range of triangle unit range measurement are for, after a measurement result, finally sending out
Go out object distance information and angle information.
5. a kind of laser ranging system strengthening measurement range as described in any one of claim 2 to 4, is characterized in that：Institute
State closely laser triangulation unit and described long distance laser range of triangle unit each inclusion one light emitters and
Individual light receiver.
6. a kind of laser ranging system strengthening measurement range as described in any one of claim 2 to 4, is characterized in that：Root
According to the difference of two groups of light emitters and light receiver centre-to-centre spacing, setting double transmitting laser triangulation unit, this pair of transmitting
Laser triangulation unit includes two light emitters and a light receiver, two light emitters time-sharing works, is total to
With a corresponding light receiver.
7. a kind of laser ranging system strengthening measurement range as claimed in claim 6, is characterized in that：Described double transmitting swashs
Light range of triangle unit controls two light emitters in different time transmission signals by Time-sharing control integrated unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890623.XA CN106443694A (en) | 2016-10-12 | 2016-10-12 | Laser ranging device capable of enhancing measurement range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890623.XA CN106443694A (en) | 2016-10-12 | 2016-10-12 | Laser ranging device capable of enhancing measurement range |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106443694A true CN106443694A (en) | 2017-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610890623.XA Pending CN106443694A (en) | 2016-10-12 | 2016-10-12 | Laser ranging device capable of enhancing measurement range |
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| Country | Link |
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| CN (1) | CN106443694A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023115571A1 (en) * | 2021-12-23 | 2023-06-29 | 探维科技(北京)有限公司 | Distance measurement method and laser radar |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020093638A1 (en) * | 2000-10-13 | 2002-07-18 | Helmut Seifert | Laser range finder for large ranges of measurement with a special receiver |
| CN105143914A (en) * | 2013-04-17 | 2015-12-09 | 梅查理斯系统股份有限公司 | Method for optically measuring distances in the near and far range |
| CN105548988A (en) * | 2016-03-01 | 2016-05-04 | 北醒（北京）光子科技有限公司 | Optical detection and measurement radar with multiple sensors |
| CN105699982A (en) * | 2015-05-25 | 2016-06-22 | 北京雷动云合智能技术有限公司 | Dual laser calibration high-precision camera chip multipoint range finding device and method |
| CN106019293A (en) * | 2016-05-19 | 2016-10-12 | 上海思岚科技有限公司 | Laser scanning range unit |
| CN206147094U (en) * | 2016-10-12 | 2017-05-03 | 北京艾瑞思机器人技术有限公司 | Can strengthen measuring range's laser rangefinder |
-
2016
- 2016-10-12 CN CN201610890623.XA patent/CN106443694A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020093638A1 (en) * | 2000-10-13 | 2002-07-18 | Helmut Seifert | Laser range finder for large ranges of measurement with a special receiver |
| CN105143914A (en) * | 2013-04-17 | 2015-12-09 | 梅查理斯系统股份有限公司 | Method for optically measuring distances in the near and far range |
| CN105699982A (en) * | 2015-05-25 | 2016-06-22 | 北京雷动云合智能技术有限公司 | Dual laser calibration high-precision camera chip multipoint range finding device and method |
| CN105548988A (en) * | 2016-03-01 | 2016-05-04 | 北醒（北京）光子科技有限公司 | Optical detection and measurement radar with multiple sensors |
| CN106019293A (en) * | 2016-05-19 | 2016-10-12 | 上海思岚科技有限公司 | Laser scanning range unit |
| CN206147094U (en) * | 2016-10-12 | 2017-05-03 | 北京艾瑞思机器人技术有限公司 | Can strengthen measuring range's laser rangefinder |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023115571A1 (en) * | 2021-12-23 | 2023-06-29 | 探维科技(北京)有限公司 | Distance measurement method and laser radar |
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