CN108802744A - A kind of method and apparatus of remote laser ranging - Google Patents
A kind of method and apparatus of remote laser ranging Download PDFInfo
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- CN108802744A CN108802744A CN201710307433.5A CN201710307433A CN108802744A CN 108802744 A CN108802744 A CN 108802744A CN 201710307433 A CN201710307433 A CN 201710307433A CN 108802744 A CN108802744 A CN 108802744A
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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
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of methods and apparatus of remote laser ranging, including：Laser ranging control device controls laser beam emitting device and sends laser pulse to object to be measured, while generating timing initial signal；The laser pulse by atmospheric channel reach object to be measured so that the object to be measured equipment can reflected laser pulse, reflected laser pulse by atmospheric channel reach small field of view laser receiver；After laser pick-off receives the laser pulse of reflection, by space filtering, time filtering and spectral filtering, the photodetector of high sensitivity is reached, light echo electric pulse is generated through detector opto-electronic conversion, as timer expiration signal；Laser ranging control device is based on timing starting and termination signal dress changes range information into.The technical solution provided through the invention, for solving laser pulse ranging method in the prior art, there are the relatively low technical problems of ranging.
Description
Technical field
The present invention relates to range measurement field, more particularly to a kind of long-distance ranging method and apparatus.
Background technology
Currently, the distance of the passive detection equipment in photoelectric detecting system is much larger compared to the ranging of laser ranging, in this way
It has led to having lacked distance dimension information when long-range target acquisition.The detection range of laser ranging is badly in need of improving.
To improve laser ranging distance, the method that may be used is improved atmospheric transmittance, improves the output of laser
Energy, increases the bore that receives of laser receiving set, improve Laser emission, receiving device optical efficiency, improve photodetection
The means such as the sensitivity of device.
Wherein, atmospheric transmittance is determined by external condition, can not determined by Laser Distance Measuring Equipment；It improves and swashs
Light emitting energy is limited by the present art, and volume, weight and power consumption will sharply increase, while be limited to application platform light
Learn the damage threshold of element；Unacceptable volume, weight will equally be paid by increasing the optics Receiver aperture of laser receiver
Cost, the cost of optical elements of large caliber will appear the increase of geometry magnitude；Laser emission, receiving device optical efficiency carry
Height is limited by physical principle, and increase rate is very limited；It it is the generation that may be used at present using highly sensitive photodetector
The technology path of valence minimum.
The detection range of laser ranging can be increased substantially using highly sensitive photodetector, but it can be brought
His the problem of, the atmospheric background light and laser backscatter can cause detector to be highly prone to interfere, and noise is by laser echo signal
It falls into oblivion.
As it can be seen that there are the excessively close technical problems of detection range for Laser Distance Measuring Equipment in the prior art.
Invention content
A kind of long-range distance measurement method of offer of the embodiment of the present invention and equipment, for solving range measurement in the prior art
There are the excessively close technical problems of detection range for process, to reach the technique effect for improving range measurement ranging.
The embodiment of the present application provides a kind of distance measurement method, is applied to distance measuring equipment, includes the following steps：
Laser ranging control device controls laser beam emitting device and sends laser pulse to object to be measured, while generating timing starting letter
Number；The laser pulse by atmospheric channel reach object to be measured so that the object to be measured equipment can reflected laser pulse,
Its reflected laser pulse reaches small field of view laser receiver by atmospheric channel；Laser pick-off receives the laser pulse of reflection
Afterwards, by space filtering, time filtering and spectral filtering, the photodetector of high sensitivity is reached, is turned through detector photoelectricity
It changes and generates light echo electric pulse, as timer expiration signal；Laser ranging control device is based on timing starting and termination signal dress changes
At range information.
Above-mentioned technical proposal in the embodiment of the present application, at least has the following technical effect that：
Due to the technical solution in the embodiment of the present application, swashed as laser ranging system using the high photodetector of sensitivity
The electrooptical device of optical echo.Wherein, the high photodetector of the sensitivity is single-photon detector, i.e. a photon
Incidence can export a voltage pulse that can be detected.The high photodetector of sensitivity is easy by external sun background
The interference of light, the stray light of cabinet inside and laser backscatter light, in order to enable detector to play the advantage of high sensitivity,
Avoid the shortcomings that being easily disturbed, combination is needed to realize system design objective using multiple means, wherein being connect using compression laser
The field angle mode of optical system is received to inhibit sun background stray light；Spectral filtering is realized using spike filter, filters out and removes
The sun bias light of other wavelength outside laser wavelength range；It is filtered out in cabinet using time filtering, i.e. rangerate-gate technique
The interference of the stray light and laser backscatter light in portion.Based on the technical solution, ranging is carried out to distant object.I.e. not
It can be as that in the prior art, due to being limited by weight, volume, power consumption, cost and technical merit, cannot use and increase laser pulse
Energy, increase optics receive bore, improve the modes such as optical system efficiency, so, laser ranging distance and other detection means
Detection range compared to greatly reducing.And in the technical scheme, using the high photodetector of sensitivity as Laser Measuring
Electrooptical device away from system laser echo inhibits interference noise using multiple means, allows for photoelectric detecting system in this way
The cost for paying weight, volume, power consumption, cost and technical merit can not be had to, using the various advantages of laser technology, to improve
Laser ranging distance.Thus it is possible to effectively solve the closer technical problem of the distance of laser ranging in the prior art, and then reaches and carry
Technique effect of the high electro-optical system to the three-dimensional detection distance of target.
Description of the drawings
Nothing.
Specific implementation mode
Technical solution provided by the embodiments of the present application, for solving, there are detection ranges for laser ranging process in the prior art
Closer technical problem, to reach the technique effect for improving electro-optical system detection range.
Technical solution in the embodiment of the present application, in order to solve the above technical problems, general thought is as follows：
Electrooptical device using the high photodetector of sensitivity as laser ranging system return laser beam.Wherein, institute
It is single-photon detector to state the high photodetector of sensitivity.Simultaneously need that detector is enable to play the excellent of high sensitivity
Gesture avoids the shortcomings that being easily disturbed, system design objective is realized using multiple means.Wherein, using compression laser pick-off light
The field angle mode of system inhibits sun background stray light；Spectral filtering is realized using spike filter, is filtered out except laser
The sun bias light of other wavelength outside wave-length coverage；Cabinet inside is filtered out using time filtering, i.e. rangerate-gate technique
Stray light and laser backscatter light interference.
The various advantages that single-photon detecting survey technology can thus be utilized, can effectively solve the problem that other technologies in the prior art
The technology and cost problem that means cannot achieve, and then the technique effect that the detection range for reaching laser ranging improves.
It in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below will be in the embodiment of the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Embodiment
For a kind of distance measurement method provided by the embodiments of the present application, it is applied to Laser Distance Measuring Equipment, including：
A kind of method and apparatus of remote laser range measurement is applied to remote linear measure longimetry field, the method includes：
In the embodiment of the present application, Laser Distance Measuring Equipment specifically includes：Laser beam emitting device, laser receiver, laser ranging
Control device and opto-electronic conversion detector.
The main function of laser beam emitting device is that pulsed laser energy is projected to the target for needing to carry out range measurement.
Laser ranging control device controls laser beam emitting device and sends laser pulse to object to be measured, while generating timing and rising
Beginning signal；The laser pulse reaches object to be measured by atmospheric channel, and reflected laser pulse reaches small by atmospheric channel
Visual field laser receiver；
After laser receiver receives the laser pulse of reflection, by space filtering, time filtering and spectral filtering, pole is reached
Highly sensitive single-photon detector；Light echo electric pulse is generated through detector opto-electronic conversion, as timer expiration signal；
Laser ranging control device is based on timing starting and termination signal, calculates pulse time-of-flight and obtains target range information.
Spatial filtering method is used to reduce the influence of the atmospheric background radiation after receiving target echo pulse, including：
The field angle of laser receiver is less than or equal to the field angle of laser beam emitting device.
Time filtering method is used to reduce the influence of laser pulse back scattering after receiving target echo pulse, is wrapped
It includes：
Laser pulse, while the echo-peak of recording laser reception device first are emitted to target proximity spatial domain, by echo-peak pair
The distance answered is as range hole；
Laser receiver works in reception state after laser pulse emission；
The short range pulse echo data received are removed according to range hole before, distance measurement value later be just used as target away from
From actual value.
Spectral filtering method is used to reduce the influence of the atmospheric background radiation after receiving target echo pulse, including：
The light path design of laser receiver has one section of parallel light path at centre；
Spike filter is positioned in parallel light path, to completely cut off the clutter of other spectral coverages in addition to return laser beam.
The single-photon detector with high sensitivity is used after receiving target echo pulse, including：
Using the response wave band photodetector consistent with laser emission band；
The detector sensitivity reaches single photon magnitude, that is, the electric arteries and veins that can be detected can be generated by receiving a photon
Punching output.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
Usable storage medium（Including but not limited to magnetic disk storage, CD-ROM, optical memory etc.）The computer program of upper implementation produces
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, equipment（System）And computer program product description.
These computer program instructions can be provided to all-purpose computer, special purpose computer, Embedded Processor or other programmable datas
The processor of processing equipment is to generate a machine so that passes through computer or the processor of other programmable data processing devices
The instruction of execution generates the device for realizing specified function.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
The manufacture of device is enabled, which realizes specified function.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices provides the step of for realizing specified function.
Claims (5)
1. a kind of method and apparatus of remote laser ranging is applied to telemeasurement field, the method includes：
Laser ranging control device controls laser beam emitting device and sends laser pulse to object to be measured, while generating timing starting letter
Number；The laser pulse reaches object to be measured by atmospheric channel, and reflected laser pulse reaches small field of view by atmospheric channel
Laser receiver；
After laser pick-off receives the laser pulse of reflection, by space filtering, time filtering and spectral filtering, high spirit is reached
The single-photon detector of sensitivity；Light echo electric pulse is generated through detector opto-electronic conversion, as timer expiration signal；
Laser ranging control device is based on timing starting and termination signal, calculates pulse time-of-flight and obtains target range information.
2. the method as described in claim 1, which is characterized in that receive use after target echo pulse spatial filtering method with
The influence of the atmospheric background radiation is reduced, including：
The field angle of laser receiver is less than or equal to the field angle of laser beam emitting device.
3. the method as described in claim 1, which is characterized in that receive use after target echo pulse time filtering method with
The influence of laser pulse back scattering is reduced, including：
Laser pulse, while the echo-peak of recording laser reception device first are emitted to target proximity spatial domain, by echo-peak pair
The distance answered is as range hole；
Laser receiver works in reception state after laser pulse emission；
The short range pulse echo data received are removed according to range hole before, distance measurement value later be just used as target away from
From actual value.
4. the method as described in claim 1, which is characterized in that receive use after target echo pulse spectral filtering method with
The influence of the atmospheric background radiation is reduced, including：
The light path design of laser receiver has one section of parallel light path at centre；
Spike filter is positioned in parallel light path, to completely cut off the clutter of other spectral coverages in addition to return laser beam.
5. the method as described in claim 1, which is characterized in that used with high sensitivity after receiving target echo pulse
Single-photon detector, including：
Using the response wave band photodetector consistent with laser emission band；
The detector sensitivity reaches single photon magnitude, that is, the electric arteries and veins that can be detected can be generated by receiving a photon
Punching output.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710307433.5A CN108802744A (en) | 2017-05-04 | 2017-05-04 | A kind of method and apparatus of remote laser ranging |
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| CN201710307433.5A CN108802744A (en) | 2017-05-04 | 2017-05-04 | A kind of method and apparatus of remote laser ranging |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109741271A (en) * | 2018-12-14 | 2019-05-10 | 陕西高速公路工程试验检测有限公司 | A kind of detection method and system |
| CN110471076A (en) * | 2019-09-25 | 2019-11-19 | 浙江缔科新技术发展有限公司 | A kind of light quantum range-finding telescope and distance measuring method |
| CN110988898A (en) * | 2019-12-02 | 2020-04-10 | 北京石头世纪科技股份有限公司 | Laser rangefinder and robot |
| CN112433222A (en) * | 2020-11-24 | 2021-03-02 | 长春理工大学 | Haze-penetrating laser distance measuring system and method |
| WO2021179158A1 (en) * | 2020-03-10 | 2021-09-16 | 深圳市速腾聚创科技有限公司 | Laser receiving device, laser receiving method and lidar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109741271A (en) * | 2018-12-14 | 2019-05-10 | 陕西高速公路工程试验检测有限公司 | A kind of detection method and system |
| CN109741271B (en) * | 2018-12-14 | 2021-11-19 | 陕西高速公路工程试验检测有限公司 | Detection method and system |
| CN110471076A (en) * | 2019-09-25 | 2019-11-19 | 浙江缔科新技术发展有限公司 | A kind of light quantum range-finding telescope and distance measuring method |
| CN110471076B (en) * | 2019-09-25 | 2023-09-05 | 浙江缔科新技术发展有限公司 | Light quantum ranging telescope and ranging method |
| CN110988898A (en) * | 2019-12-02 | 2020-04-10 | 北京石头世纪科技股份有限公司 | Laser rangefinder and robot |
| WO2021179158A1 (en) * | 2020-03-10 | 2021-09-16 | 深圳市速腾聚创科技有限公司 | Laser receiving device, laser receiving method and lidar |
| CN113748358A (en) * | 2020-03-10 | 2021-12-03 | 深圳市速腾聚创科技有限公司 | Laser receiving device, laser receiving method and laser radar |
| CN113748358B (en) * | 2020-03-10 | 2024-04-26 | 深圳市速腾聚创科技有限公司 | Laser receiving device, laser receiving method and laser radar |
| CN112433222A (en) * | 2020-11-24 | 2021-03-02 | 长春理工大学 | Haze-penetrating laser distance measuring system and method |
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