CN109633672A - Pulse type laser range-measurement system and its distance measuring method - Google Patents
Pulse type laser range-measurement system and its distance measuring method Download PDFInfo
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- CN109633672A CN109633672A CN201910042403.5A CN201910042403A CN109633672A CN 109633672 A CN109633672 A CN 109633672A CN 201910042403 A CN201910042403 A CN 201910042403A CN 109633672 A CN109633672 A CN 109633672A
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- gaussian pulse
- pulse signal
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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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)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of pulse type laser distance measuring methods, it is characterised in that: optical signal used in laser ranging is Gaussian pulse signal.Pulse type laser distance measuring method of the invention is issued to echo by the time difference between receiving by measurement light wave to measure distance by Gaussian pulse signal that is continuous in emitter transmitting time domain, being superimposed on frequency domain for laser ranging.It the use of Gaussian pulse signal that is continuous in time domain, being superimposed on frequency domain is ranging lightwave signal, echo-signal in interior optical path and outer optical path is sequentially received in the same reception device, it can reduce ranging cost and design complexities under the premise of ensuring range accuracy and accuracy with this, pulse is sent, the received mode of pulse can reduce the difficulty to parts selection.
Description
Technical field
The present invention relates to electro-optical distance measurement fields, and in particular to a kind of pulse type laser range-measurement system and a kind of pulsed
Laser distance measurement method.
Background technique
Phase laser distance measurement is the laser beam irradiation measured target object with modulation, and laser beam is anti-through measured target object
It turns back after penetrating, the phase change generated in laser beam two-way process is converted into the distance of measured target object, the standard of measurement
True property and precision are influenced by ranging internal system component characteristics, such as fever, ambient temperature and humidity and the photoelectricity of photoelectric device
Influence of the aging of device to photoelectric device performance causes device to generate phase drift etc. in turn.In order to solve phase type Laser Measuring
The technical issues of aging and ambient temperature and humidity away from middle photoelectric device influence the measuring precision and accuracy, Chinese patent is public
It accuses in number patent document for being CN204044355U, CN102540170B and discloses the inside and outside optical path of laser ranging, emitter
The light wave of transmitting is received device through interior optical path by light path switching device switching rear portion and receives, and another part is through tested mesh
It turns back after mark object reflection and is received device second and receives, the time difference of reception device receives echo-signal twice has excluded system
The influence of error, the aging of photoelectric device and ambient temperature and humidity to system.The light wave as used in phase laser distance measurement is
Sine wave, so that reception device must configure two, is respectively used to receive interior optical path since sine wave cannot be superimposed in frequency
Echo-signal and outer optical path echo-signal, and so on photoelectric conversion device must also configure two, form single-emission and double-receiving
Or double double range-measurement systems received of hair, structure is complicated, it is at high cost to build, on the other hand, the consistency of two reception devices, two photoelectricity
The consistency of conversion equipment is required to very high, could eliminate because of inherent parameters difference bring common mode phase error, to device
Type selecting put forward higher requirements again.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of pulse type laser distance measuring methods, are ensuring range accuracy and standard
It can reduce ranging cost and design complexities under the premise of exactness, pulse is sent, the received mode of pulse can reduce
To the difficulty of parts selection.
In order to solve the above-mentioned technical problems, the present invention provides a kind of pulse type laser distance measuring method, laser ranging is made
Optical signal is Gaussian pulse signal.
In a preferred embodiment of the present invention, further comprise the laser ranging specifically includes the following steps:
(1) emitter emits Gaussian pulse signal to object；
(2) be arranged in the optical routing device between the emitter and object to the Gaussian pulse at
Reason, so that the portion of energy of single Gaussian pulse signal enters interior optical path, portion of energy enters outer optical path；
(3) reception device successively receives first echo signal and Gaussian pulse signal of the Gaussian pulse signal in interior optical path
Second echo signal after being reflected in outer optical path by object；
(4) testing distance is calculated according to the time difference that reception device receives first echo signal and second echo signal.
It further comprise that time set record from Gaussian pulse signal is emitted to first in a preferred embodiment of the present invention
Time interval T1 that echo-signal is received, the time interval that second echo signal is received is emitted to from Gaussian pulse signal
T2；
Testing distance D is calculated according to formula one:
Wherein, C is the light velocity.
In a preferred embodiment of the present invention, further comprise the optical routing device be half-reflecting half mirror.
In a preferred embodiment of the present invention, further comprise the emitter be pulse type laser diode.
In order to solve the above-mentioned technical problems, the present invention provides a kind of pulse type laser range-measurement system, including emitter,
The emitter is used to be used for the Gaussian pulse signal of laser ranging to object transmitting.
It further comprise that the system also includes reception devices, optical routing device in a preferred embodiment of the present invention
And data processing equipment, the optical routing device are arranged between emitter and object；
The optical routing device is for handling the Gaussian pulse signal that emitter emits, so that single Gauss
The portion of energy of pulse signal enters interior optical path, portion of energy enters outer optical path；
First echo signal and the Gaussian pulse letter that the reception device is used to receive Gaussian pulse signal in interior optical path
Second echo signal after number being reflected in outer optical path by object；
The data processing equipment is used to be calculated according to the time difference for receiving first echo signal and second echo signal
Testing distance.
It further comprise the time set the system also includes time set in a preferred embodiment of the present invention
For recording time interval T1 that first echo signal is received is emitted to from Gaussian pulse signal and sends out from Gaussian pulse signal
It is mapped to the time interval T2 that second echo signal is received；
The data processing equipment calculates testing distance D according to formula one:
Wherein, C is the light velocity.
In a preferred embodiment of the present invention, further comprise the optical routing device be half-reflecting half mirror.
In a preferred embodiment of the present invention, further comprise the emitter be pulse type laser diode.
Pulse type laser distance measuring method of the invention, by what can continuously, on frequency domain be superimposed in emitter transmitting time domain
Gaussian pulse signal is used for laser ranging, is issued to echo by the time difference between receiving by measurement light wave to measure distance.
It the use of Gaussian pulse signal that is continuous in time domain, being superimposed on frequency domain is ranging lightwave signal, so that interior optical path and outer optical path
On echo-signal can sequentially be received in the same reception device, with this in the premise for ensuring range accuracy and accuracy
Under can reduce ranging cost and design complexities, pulse is sent, the received mode of pulse can reduce to parts selection
Difficulty.
Pulse type laser range-measurement system of the invention, by what can continuously, on frequency domain be superimposed in emitter transmitting time domain
Gaussian pulse signal is used for laser ranging, is issued to echo by the time difference between receiving by measurement light wave to measure distance.
It the use of Gaussian pulse signal that is continuous in time domain, being superimposed on frequency domain is ranging lightwave signal, so that interior optical path and outer optical path
On echo-signal can sequentially be received in the same reception device, with this in the premise for ensuring range accuracy and accuracy
Under can reduce ranging cost and design complexities, pulse is sent, the received mode of pulse can reduce to parts selection
Difficulty.
Detailed description of the invention
Fig. 1 is the structural block diagram of pulsed laser ranging system in the preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the Gaussian pulse signal for laser ranging.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Embodiment one
As shown in Figure 1, present embodiment discloses a kind of pulse type laser range-measurement system, including emitter, reception device,
Optical routing device, data processing equipment and time set, optical routing device setting emitter and measured target object it
Between.In the present embodiment technical solution, it is preferable to use pulse type laser diode, pulse type laser diodes to exist for above-mentioned emitter
Emit Gaussian pulse signal as shown in Figure 2 under the driving of laser driver；Above-mentioned reception device it is preferable to use photodiode,
Converted electrical number after reception optical signal.It is preferable to use half-reflecting half mirrors for above-mentioned optical routing device, expose on half-reflecting half mirror
Signal portions expose to measured target object through mirror surface, device reception is received after being partially specularly reflected.
Above-mentioned emitter emits Gaussian pulse signal as shown in Figure 2, the height of emitter transmitting to measured target object
This pulse signal has the characteristic that can continuously, on frequency domain be superimposed in time domain.
The Gauss that the optical routing device being arranged between above-mentioned emitter and measured target object emits emitter
Pulse signal is handled, so that Gaussian pulse signal section enters interior optical path, partially enters outer optical path；Herein it should be noted that
It is that optical routing device handles Gaussian pulse signal, so that the portion of energy of single Gaussian pulse signal is selected by optical path
It selects device and is reflected into interior optical path, portion of energy enters outer optical path through optical routing device.
Above-mentioned reception device receives first echo signal and Gaussian pulse signal of the Gaussian pulse signal in interior optical path and exists
Second echo signal after being reflected in outer optical path by object；
Above-mentioned time set record is emitted to first echo signal from Gaussian pulse signal and is received the device received time
It is spaced T1 and is emitted to second echo signal from Gaussian pulse signal and be received the received time interval T2 of device.
Above-mentioned data processing equipment calculates testing distance D according to formula one:
Wherein, C is the light velocity.
Portion of energy is received device into interior optical path and receives for the first time after single Gaussian pulse signal issues, portion of energy
Measured target object is exposed into outer optical path, second of device is received after the reflection of measured target object and is received, time set note
The time difference Δ t (=T2-T1) for recording reception device first time receives echo-signal and second of receives echo-signal, according to formulaCalculate the distance of measured target object.
In the present embodiment technical solution, by optical path and outer optical path in designing, systematic error, photoelectric device can be excluded
The influence of aging and ambient temperature and humidity to range-measurement system, it is ensured that the range accuracy and accuracy of laser ranging.
On the other hand, use Gaussian pulse signal as the lightwave signal of laser ranging, Gaussian pulse signal is in the time domain
The characteristic that can be superimposed with continuity, on frequency domain, so that pulse type laser range-measurement system is the range-measurement system that single-shot list is received,
Compared to conventional phase formula laser ranging system, can reduce under the premise of ensuring precision of laser ranging and accuracy ranging at
This and design complexities, pulse transmission, the received mode of pulse can reduce the difficulty to parts selection.
Embodiment two
Present embodiment discloses a kind of pulse type laser distance measuring methods, specifically includes the following steps:
(1) the Gaussian pulse signal that emitter is continuous in object transmitting time domain, can be superimposed on frequency domain；This implementation
In example technical solution, above-mentioned emitter is pulse type laser diode, drive of the pulse type laser diode in laser driver
Dynamic lower transmitting Gaussian pulse signal.
(2) be arranged in the optical routing device between above-mentioned emitter and object to above-mentioned Gaussian pulse at
Reason, so that the portion of energy of single Gaussian pulse signal enters interior optical path, portion of energy enters outer optical path；The present embodiment technical side
In case, it is preferable to use half-reflecting half mirrors for above-mentioned optical routing device, and the portion of energy of single Gaussian pulse signal is by half-reflection and half-transmission
Enter interior optical path after mirror reflection, portion of energy is irradiated into outer optical path after penetrating half-reflecting half mirror.
(3) reception device successively receives first echo signal and Gaussian pulse signal of the Gaussian pulse signal in interior optical path
Second echo signal after being reflected in outer optical path by object；Specifically, portion of energy after single Gaussian pulse signal sending
It is received device into interior optical path to receive for the first time, portion of energy enters outer optical path and exposes to measured target object, through measured target
Second of device is received after object reflection to receive.
(4) time difference of time set record reception device first time receives echo-signal and second of receives echo-signal
Δt；Δ t=T2-T1, wherein T1 is that Gaussian pulse signal issues the time interval being received to first echo signal；T2 is height
This pulse signal is issued to the received time interval of second echo signal.
(5) data processor is according to the distance D for calculating measured target object according to formula one:
Wherein, C is the light velocity.
Portion of energy is received device into interior optical path and receives for the first time after single Gaussian pulse signal issues, portion of energy
Measured target object is exposed into outer optical path, second of device is received after the reflection of measured target object and is received, time set note
The time difference Δ t (=T2-T1) for recording reception device first time receives echo-signal and second of receives echo-signal, according to formulaCalculate the distance of measured target object.
In the present embodiment technical solution, by optical path and outer optical path in designing, systematic error, photoelectric device can be excluded
The influence of aging and ambient temperature and humidity to range-measurement system, it is ensured that the range accuracy and accuracy of laser ranging.
On the other hand, use Gaussian pulse signal as the lightwave signal of laser ranging, Gaussian pulse signal is in the time domain
The characteristic that can be superimposed with continuity, on frequency domain, so that pulse type laser range-measurement system is the range-measurement system that single-shot list is received,
Compared to conventional phase formula laser ranging system, can reduce under the premise of ensuring precision of laser ranging and accuracy ranging at
This and design complexities, pulse transmission, the received mode of pulse can reduce the difficulty to parts selection.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of pulse type laser distance measuring method, it is characterised in that: optical signal used in laser ranging is Gaussian pulse signal.
2. pulse type laser distance measuring method as described in claim 1, it is characterised in that: the laser ranging specifically includes following
Step:
(1) emitter emits Gaussian pulse signal to object；
(2) optical routing device being arranged between the emitter and object handles the Gaussian pulse, makes
The portion of energy for obtaining single Gaussian pulse signal enters interior optical path, portion of energy enters outer optical path；
(3) reception device successively receives first echo signal and Gaussian pulse signal of the Gaussian pulse signal in interior optical path outside
Second echo signal after being reflected in optical path by object；
(4) testing distance is calculated according to the time difference that reception device receives first echo signal and second echo signal.
3. pulse type laser distance measuring method as claimed in claim 2, it is characterised in that:
Time set record is emitted to the time interval T1 that first echo signal is received from Gaussian pulse signal, from Gaussian pulse
Signal is emitted to the time interval T2 that second echo signal is received；
Testing distance D is calculated according to formula one:
Wherein, C is the light velocity.
4. pulse type laser distance measuring method as claimed in claim 2, it is characterised in that: the optical routing device is half anti-half
Lens.
5. pulse type laser distance measuring method as claimed in claim 1 or 2, it is characterised in that: the emitter is pulsed
Laser diode.
6. a kind of pulse type laser range-measurement system, including emitter, it is characterised in that: the emitter is used for object
Transmitting is used for the Gaussian pulse signal of laser ranging.
7. pulse type laser range-measurement system as claimed in claim 6, it is characterised in that: the system also includes reception device,
Optical routing device and data processing equipment, the optical routing device are arranged between emitter and object；
The optical routing device is for handling the Gaussian pulse signal that emitter emits, so that single Gaussian pulse
The portion of energy of signal enters interior optical path, portion of energy enters outer optical path；
The reception device exists for receiving first echo signal and Gaussian pulse signal of the Gaussian pulse signal in interior optical path
Second echo signal after being reflected in outer optical path by object；
The data processing equipment is used to be calculated according to the time difference for receiving first echo signal and second echo signal to be measured
Distance.
8. pulse type laser range-measurement system as claimed in claim 7, it is characterised in that: the system also includes time set,
The time set, which is used to record, is emitted to time interval T1 that first echo signal is received from Gaussian pulse signal and from height
This pulse signal is emitted to the time interval T2 that second echo signal is received；
The data processing equipment calculates testing distance D according to formula one:
Wherein, C is the light velocity.
9. pulse type laser range-measurement system as claimed in claim 7, it is characterised in that: the optical routing device is half anti-half
Lens.
10. pulse type laser range-measurement system as claimed in claims 6 or 7, it is characterised in that: the emitter is pulsed
Laser diode.
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| CN201910042403.5A CN109633672B (en) | 2019-01-17 | 2019-01-17 | Pulse laser ranging system and ranging method thereof |
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| CN201910042403.5A CN109633672B (en) | 2019-01-17 | 2019-01-17 | Pulse laser ranging system and ranging method thereof |
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| CN116752956A (en) * | 2023-06-15 | 2023-09-15 | 上海勘测设计研究院有限公司 | Drilling depth measuring device and method in core drilling |
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