CN116068567B - Ranging system based on laser triangular ranging sensor - Google Patents
Ranging system based on laser triangular ranging sensor Download PDFInfo
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- CN116068567B CN116068567B CN202310363807.0A CN202310363807A CN116068567B CN 116068567 B CN116068567 B CN 116068567B CN 202310363807 A CN202310363807 A CN 202310363807A CN 116068567 B CN116068567 B CN 116068567B
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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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- 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
Abstract
The invention relates to the technical field of optical measurement equipment, and provides a ranging system based on a laser triangular ranging sensor, which comprises: the laser triangle ranging sensor, processor and memory, the sensor includes: a laser transmitter, a first measuring mechanism for measuring objects within a first distance range, a second measuring mechanism for measuring objects within a second distance range, the second distance range not being equal to the first distance range; when the computer program is executed by a processor, the following steps are implemented: s100, if the distance can be acquired according to the first detector, entering S200; otherwise, enter S300; s200, if the acquired distance is not within the first distance range, entering S300; and S300, acquiring the distance by using a second detector, and if the acquired distance is within a second distance range, taking the acquired distance as the output of the distance measuring system. The invention improves the range under the premise of ensuring the range accuracy requirement.
Description
Technical Field
The invention relates to the technical field of optical measurement equipment, in particular to a ranging system based on a laser triangular ranging sensor.
Background
The distance measurement principle of the laser triangle distance measurement sensor is that a laser beam emitted by a laser emitter is irradiated onto an object to be measured, wherein a part of the diffusely reflected laser beam passes through a condensing lens to form a laser spot on a detector, and the distance from the object to be measured to the laser emitter can be obtained according to the position of the laser spot. The existing laser triangular ranging sensor only comprises a condensing lens and a detector, is limited by the position of the detector and the ranging precision requirement, and can only correspond to a relatively small ranging range. However, in some occasions, a laser triangular ranging sensor with a relatively large ranging range is needed by the user to meet the ranging requirement, and how to improve the ranging range on the premise of ensuring the ranging accuracy requirement is a technical problem to be solved.
Disclosure of Invention
The invention aims to provide a ranging system based on a laser triangular ranging sensor, which is used for improving the ranging range on the premise of ensuring the ranging accuracy requirement.
According to the present invention, a ranging system based on a laser triangulation ranging sensor, the ranging system comprising a laser triangulation ranging sensor, a processor and a memory storing a computer program, the laser triangulation ranging sensor comprising: the device comprises a laser emitter, a first measuring mechanism and a second measuring mechanism, wherein the first measuring mechanism is used for measuring an object in a first distance range and comprises a first condensing lens and a first detector; the second measuring mechanism is used for measuring objects in a second distance range, the second distance range is not equal to the first distance range, and the second measuring mechanism comprises a second condensing lens and a second detector; the first included angle of the first measuring mechanism is not equal to the second included angle of the second measuring mechanism, the first included angle is an included angle between a straight line passing through the center point of the first condensing lens and the center point of the first detector and a laser beam emitted by the laser emitter, and the second included angle is an included angle between a straight line passing through the center point of the second condensing lens and the center point of the second detector and the laser beam emitted by the laser emitter; the third included angle of the first measuring mechanism is not equal to the fourth included angle of the second measuring mechanism, the third included angle is an included angle between the first detector and the horizontal plane, and the fourth included angle is an included angle between the second detector and the horizontal plane; the first detector and the second detector are both communicatively connected to the processor; when the computer program is executed by the processor, the following steps are implemented:
s100, acquiring the distance between the measured object and the laser transmitter by using the first detector; if the distance between the measured object and the laser emitter can be acquired according to the first detector, the S200 is entered; otherwise, S300 is entered.
S200, if the distance between the measured object and the laser transmitter acquired by the first detector is not in the first distance range, entering S300; otherwise, the distance between the measured object and the laser transmitter acquired by the first detector is used as the output of the distance measuring system.
And S300, if the distance between the measured object acquired by the second detector and the laser transmitter is within the second distance range, taking the distance between the measured object acquired by the second detector and the laser transmitter as the output of a distance measuring system.
The invention has at least the following beneficial effects:
the invention provides a ranging system based on a laser triangular ranging sensor, wherein the laser triangular ranging sensor comprises two sets of measuring mechanisms, and each set of measuring mechanism comprises a condensing lens and a detector; the setting angles of the condensing lens and the detector in the two sets of measuring mechanisms are different, corresponding to different ranging ranges, and the ranging precision of each measuring mechanism is higher in the corresponding measuring range; according to the invention, the first set of measuring mechanism is used for measurement, if the first set of measuring mechanism cannot measure the distance between the measured object and the laser emitter (corresponding to the situation that the laser beam reflected by the measured object does not form a laser spot on the detector) or the distance between the measured object and the laser emitter measured by the first set of measuring mechanism exceeds the self ranging range (corresponding to the situation that the laser beam reflected by the measured object does not accurately measure the distance between the measured object and the laser emitter according to the laser spot although the laser spot is formed on the detector), the second set of measuring mechanism is used for measurement, and if the measured distance between the measured object and the laser emitter is within the ranging range corresponding to the second set of measuring mechanism, the corresponding measuring distance of the second measuring mechanism is output; therefore, the invention achieves the purpose of improving the range under the premise of ensuring the range finding precision requirement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a first measurement mechanism according to an embodiment of the present invention;
FIG. 2 is a flowchart of a computer program executed by a ranging system based on a laser triangulation ranging sensor according to an embodiment of the present invention;
wherein the reference numerals indicate: 1-laser emitter, 2-first condensing lens, 3-first detector, 4-first measuring mechanism.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
According to the present invention, there is provided a ranging system based on a laser triangulation ranging sensor, the ranging system comprising a laser triangulation ranging sensor, a processor and a memory storing a computer program, the laser triangulation ranging sensor comprising: the device comprises a laser emitter 1, a first measuring mechanism 4 and a second measuring mechanism, wherein the first measuring mechanism 4 is used for measuring objects within a first distance range, and the first measuring mechanism 4 comprises a first condensing lens 2 and a first detector 3 as shown in fig. 1; the second measuring mechanism is used for measuring objects in a second distance range, the second distance range is not equal to the first distance range, and the second measuring mechanism comprises a second condensing lens and a second detector; the first included angle f of the first measuring mechanism is not equal to the second included angle f of the second measuring mechanism, the first included angle f is an included angle between a straight line passing through the center point of the first condensing lens 2 and the center point of the first detector 3 and the laser beam emitted by the laser emitter 1, and the second included angle is an included angle between a straight line passing through the center point of the second condensing lens and the center point of the second detector and the laser beam emitted by the laser emitter; the third included angle e of the first measuring mechanism is not equal to the fourth included angle of the second measuring mechanism, the third included angle e is an included angle between the first detector 3 and the horizontal plane, and the fourth included angle is an included angle between the second detector and the horizontal plane; the first detector 3 and the second detector are both communicatively connected to the processor.
Optionally, the first detector 3 and the second detector are CMOS sensors. Those skilled in the art will appreciate that any type of detector known in the art falls within the scope of the present invention.
According to the invention, the laser transmitter 1 is operative to transmit a laser beam perpendicular to the surface of an object to be measured; those skilled in the art will appreciate that any laser transmitter configuration known in the art falls within the scope of the present invention.
As shown in fig. 1, the first included angle f and the third included angle e in the first measuring mechanism have a corresponding relation with the first distance range, and under the first included angle f and the third included angle e, when the distance between the measured object and the laser emitter 1 is in the first distance range, the laser light spot formed on the first detector 3 is smaller and has larger energy, so that the distance between the measured object and the laser emitter 1 can be conveniently and accurately obtained; the second angle and the fourth angle in the second measuring mechanism (not shown in fig. 1) have a corresponding relationship with the second distance range, and under the second angle and the fourth angle, when the distance between the measured object and the laser emitter 1 is within the second distance range, the laser spot formed on the second detector is smaller and has larger energy, so that the distance between the measured object and the laser emitter can be accurately acquired. In the present invention, the first distance range is not equal to the second distance range, so the first included angle f is not equal to the second included angle, and the third included angle e is not equal to the fourth included angle. The ranging principle of the laser triangular ranging sensor is the prior art, the angle setting corresponding to the single ranging range is also the prior art, and the process of acquiring the angles corresponding to the first measuring mechanism 4 (namely, the first included angle f and the third included angle e) and the process of acquiring the angles corresponding to the second measuring mechanism (namely, the second angle and the fourth angle) are not repeated.
It should be understood that the actual distance between the measured object and the laser transmitter during the measurement is a fixed value, but the distance between the measured object and the laser transmitter measured by using different measuring mechanisms may be different, and the closer the measured distance is to the actual distance, the higher the measurement accuracy of the corresponding measuring mechanism is.
According to the invention, the first measuring means 4 are used for measuring objects in a first distance range and the second measuring means are used for measuring objects in a second distance range. It should be understood that when the distance between the measured object and the laser emitter 1 is smaller than the first distance range, a laser spot still forms on the first detector 3, the first detector 3 still feeds back an electric signal to the processor, but the error of the distance between the measured object and the laser emitter 1 measured based on the electric signal is larger, which cannot meet the requirement of distance measurement precision; when the distance between the measured object and the laser emitter 1 exceeds the first distance range by a large margin, the distance is limited by the position of the first detector 3, no laser spot is formed on the first detector 3, and the first detector 3 does not feed back an electric signal to the processor, so that the distance between the measured object and the laser emitter 1 cannot be acquired according to the first detector 3.
As an embodiment, the first distance range corresponding to the first detector 3 is 40-160mm (the distance range is calibrated in the production process of the sensor), and for the measured object 40-160mm away from the laser emitter, the distance between the measured object measured based on the electric signal fed back to the processor by the first detector 3 and the laser emitter 1 is more accurate, so that the distance measurement precision requirement can be met; for the measured object 160-180mm away from the laser emitter, a laser spot is still formed on the first detector 3, the first detector 3 still feeds back an electric signal to the processor, but the error of the distance between the measured object and the laser emitter 1, which is measured based on the electric signal, is larger, so that the distance measurement precision requirement cannot be met; for the measured object which is more than 180mm away from the laser emitter 1, the position of the first detector 3 is limited, a laser spot is not formed on the first detector 3 any more, and the first detector 3 cannot feed back an electric signal to the processor, so that the distance between the measured object and the laser emitter cannot be acquired according to the first detector 3. The second distance range corresponding to the second detector is 160-650mm (the distance range is calibrated in the production process of the sensor), and for the measured object 160-650mm away from the laser emitter, the distance between the measured object and the laser emitter 1, which is measured based on the electric signal fed back to the processor by the second detector, is accurate, so that the distance measurement precision requirement can be met.
According to the present invention, there is no intersection between the first measurement distance range and the second measurement distance range and the maximum measurement distance that the first measurement distance range can measure is continuous with the minimum measurement distance of the second measurement distance range (the second measurement distance range includes a measurement distance that is greater than the measurement distance that the first measurement distance range includes), whereby the measurement range of the laser triangulation ranging sensor becomes: the purpose of enlarging the distance measuring range is achieved by the minimum measuring distance of the first measuring distance range and the maximum measuring distance of the second measuring distance range.
As shown in fig. 2, the computer program, when executed by the processor, performs the steps of:
s100, acquiring the distance between the measured object and the laser transmitter by using the first detector; if the distance between the measured object and the laser emitter can be acquired according to the first detector, the S200 is entered; otherwise, S300 is entered.
S200, if the distance between the measured object and the laser transmitter acquired by the first detector is not in the first distance range, entering S300; otherwise, the distance between the measured object and the laser transmitter acquired by the first detector is used as the output of the distance measuring system.
According to the invention, if the distance between the measured object obtained by the first detector and the laser emitter is within the first distance range, the distance between the measured object obtained by the first detector and the laser emitter can be used as the output of the distance measuring system.
According to the present invention, the first detector 3 has the highest distance measurement accuracy when the distance between the object to be measured and the laser emitter 1 is the corresponding center distance, and the distance measurement accuracy also satisfies the accuracy requirement when the distance is the other non-center distance within the first distance range, but the distance measurement accuracy is reduced. For example, the first detector 3 corresponds to a first distance range of 40 to 160mm (i.e., 100±60 mm), 100mm is the center distance, the first detector 3 has the highest ranging accuracy when the distance between the object to be measured and the laser emitter 1 is 100mm, and the ranging accuracy is lowered when the distance is not 100mm in the first distance range. In order to improve the distance measurement accuracy when the distance between the measured object and the laser emitter 1 is the distance between the measured object and other non-center distances within the first distance range, preferably, the first measuring mechanism 4 further comprises a first motor for adjusting the distance between the first condensing lens 2 and the first detector 3; the first motor is in communication connection with the processor; the method for acquiring the distance between the measured object and the laser emitter according to the first detector comprises the following steps:
s210, acquiring the initial distance between the measured object and the laser emitter according to the first detector.
According to the present invention, the initial distance is the distance between the measured object and the laser emitter 1 obtained by the first measurement by the first detector 3, and the center distance corresponding to the first detector 3 is likely not the distance between the measured object and the laser emitter 1. According to the present invention, if the distance between the object to be measured and the laser emitter 1 is not the center distance, the distance measurement accuracy corresponding to the initial distance is still further improved although the distance measurement accuracy requirement can be satisfied.
S220, matching the initial distance in a first preset database B to obtain the distance between the matched first condensing lens and the first detector; b= { B 1 ,b 2 ,…,b n ,…b N }，b n For the nth first preset relation, the value range of N is 1 to N, N is the first included in BPreset relation quantity, b n =(b n,1 ,b n,2 )，b n,1 B is n Distance between corresponding measured object and laser transmitter, b n,2 B is n The distance between the corresponding first condensing lens and the first detector.
According to the present invention, when the distance between the first condensing lens 2 and the first detector 3 is b n,2 The first detector 3 corresponds to a center distance b n,1 If the distance between the measured object and the laser transmitter 1 is b n,1 Then the ranging accuracy is highest.
According to the present invention, the matching of the initial distance in the first preset database B to obtain the distance between the matched first condensing lens and the first detector includes:
s221, traversing B to obtain B n,1 Absolute value of the difference from the initial distance.
S222, b with the minimum absolute value of the difference value from the initial distance n,1 Corresponding b n,2 As a matching distance of the first condenser lens from the first detector.
And S230, adjusting the distance between the first condensing lens and the first detector in the current first measuring mechanism to be the distance between the matched first condensing lens and the first detector.
Those skilled in the art will appreciate that any method of varying the distance between the laser lens and the detector known in the art falls within the scope of the present invention. However, the present invention also proposes a method of changing the distance between the laser lens and the detector, the first condenser lens 2 comprising: the device comprises a first annular gasket, a second annular gasket, a first elastic film arranged on one side of the first annular gasket close to the second annular gasket, and a second elastic film arranged on one side of the second annular gasket close to the first annular gasket; the first annular gasket and the second annular gasket are identical in shape, the first annular gasket and the second annular gasket are arranged on the same central axis, a side wall is arranged between the first elastic film and the second elastic film, and the first elastic film and the second elastic film are connected with the side wall to form a cavity; the side wall is provided with a hole for injecting or extracting liquid into or from the cavity; the first motor is used for controlling the amount of liquid injected into or extracted from the cavity to adjust the distance between the first condensing lens and the first detector. The position on the side wall corresponding to the hole is connected with a pipeline, one end of the pipeline, which is far away from the hole, is provided with a syringe, and the first motor controls the amount of liquid injected into or pumped out of the cavity by controlling the movement of a piston of the syringe. Optionally, the liquid is water or other highly transmissive liquid.
Further, adjusting the distance between the first condensing lens and the first detector in the current first measuring mechanism to be the distance between the matched first condensing lens and the first detector includes:
s231, matching the distance between the matched first condensing lens and the first detector in a second preset database C to obtain the matched liquid amount in the cavity; c= { C 1 ,c 2 ,…,c m ,…c M }，c m For the M second preset relation, the value range of M is 1 to M, M is the number of the second preset relation included by C, and C m =(c m,1 ,c m,2 )，c m,1 C is m Distance between the corresponding first condensing lens and the first detector, c m,2 C is m Corresponding to the amount of liquid in the chamber.
According to the invention, when the liquid amounts in the cavities are different, the degrees of the bulges of the first elastic film and the second elastic film corresponding to the different liquid amounts are different, and the thicknesses of the first condensing lenses are different, so that the distances between the first condensing lenses and the first detectors are different because the positions of the detectors are unchanged; and when the liquid amount in the cavity is c m,2 When the distance between the first condensing lens and the first detector is c m,1 . The second preset database C may be constructed experimentally.
S232, acquiring a liquid volume difference value between the matched liquid volume in the cavity and the current liquid volume in the cavity.
S233, generating a control command for the first motor according to the liquid quantity difference value, so that the liquid quantity in the cavity after the first motor executes the control command is the matched liquid quantity in the cavity.
It should be appreciated that if the difference between the amount of liquid in the matched chamber and the amount of liquid in the current chamber is less than 0, i.e., the amount of liquid in the matched chamber is less than the amount of liquid in the current chamber, the first motor is required to draw liquid in the chamber, and the amount of liquid drawn is the difference between the amount of liquid in the current chamber and the amount of liquid in the matched chamber. If the difference between the liquid amount in the matched cavity and the liquid amount in the current cavity is larger than 0, that is, the liquid amount in the matched cavity is larger than the liquid amount in the current cavity, the first motor needs to inject liquid into the cavity, and the injected liquid amount is the difference between the liquid amount in the matched cavity and the liquid amount in the current cavity.
S240, obtaining a first adjustment distance between the measured object and the laser transmitter according to the adjusted first measurement mechanism.
S250, taking the first adjustment distance as the distance between the measured object acquired by the first detector and the laser transmitter; or repeating the matching and adjusting processes according to the first adjusting distance, and taking the second adjusting distance between the measured object obtained by the adjusted first measuring mechanism and the laser transmitter as the distance between the measured object obtained by the first detector and the laser transmitter; or repeating the matching and adjusting process according to the first adjusting distance, acquiring a second adjusting distance between the measured object and the laser transmitter according to the adjusted first measuring mechanism, repeating the matching and adjusting process according to the second adjusting distance, and taking a third adjusting distance between the measured object and the laser transmitter acquired by the adjusted first measuring mechanism as the distance between the measured object and the laser transmitter acquired by the first detector.
According to the invention, the accuracy of the distance between the measured object and the laser transmitter, which is obtained within 3 times of repeated adjustment, is high. The specific adjustment times are set in advance by a user.
And S300, if the distance between the measured object acquired by the second detector and the laser transmitter is within the second distance range, taking the distance between the measured object acquired by the second detector and the laser transmitter as the output of a distance measuring system.
According to the invention, if the distance between the measured object and the laser emitter cannot be acquired according to the second detector or the distance between the measured object and the laser emitter acquired according to the second detector is not in the second distance range, prompt information for indicating that the distance between the measured object and the laser emitter is beyond the measurement range is output.
Optionally, the second detector starts the second measuring mechanism to measure the distance between the measured object and the laser emitter after determining that the distance between the measured object and the laser emitter cannot be acquired according to the first detector or determining that the distance between the measured object and the laser emitter acquired according to the first detector is not within the first distance range; or, the first measuring mechanism and the second measuring mechanism are started to measure the distance between the measured object and the laser emitter at the same time, and the measurement result of the second measuring mechanism is considered only after the first detector is judged to be incapable of acquiring the distance between the measured object and the laser emitter or the first detector is judged to be not in the first distance range.
Preferably, the second measuring mechanism further comprises a second motor for adjusting the distance between the second condenser lens and the second detector; the second motor is in communication connection with the processor. The adjusting process of the second motor to the distance between the second condensing lens and the second detector is the same as the adjusting process of the first motor to the distance between the first condensing lens and the first detector, and will not be repeated here.
When the first measuring mechanism can not measure the distance between the measured object and the laser transmitter or the distance between the measured object and the laser transmitter measured by the first measuring mechanism exceeds the self ranging range, the second measuring mechanism is used for measuring, and if the measured distance between the measured object and the laser transmitter is in the ranging range corresponding to the second measuring mechanism, the measuring distance corresponding to the second measuring mechanism is output; therefore, the invention achieves the purpose of improving the range under the premise of ensuring the range finding precision requirement.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (6)
1. A ranging system based on a laser triangulation ranging sensor, the ranging system comprising a laser triangulation ranging sensor, a processor and a memory storing a computer program, the laser triangulation ranging sensor comprising: the device comprises a laser emitter, a first measuring mechanism and a second measuring mechanism, wherein the first measuring mechanism is used for measuring an object in a first distance range and comprises a first condensing lens and a first detector; the second measuring mechanism is used for measuring objects in a second distance range, the second distance range is not equal to the first distance range, and the second measuring mechanism comprises a second condensing lens and a second detector; the first included angle of the first measuring mechanism is not equal to the second included angle of the second measuring mechanism, the first included angle is an included angle between a straight line passing through the center point of the first condensing lens and the center point of the first detector and a laser beam emitted by the laser emitter, and the second included angle is an included angle between a straight line passing through the center point of the second condensing lens and the center point of the second detector and the laser beam emitted by the laser emitter; the third included angle of the first measuring mechanism is not equal to the fourth included angle of the second measuring mechanism, the third included angle is an included angle between the first detector and the horizontal plane, and the fourth included angle is an included angle between the second detector and the horizontal plane; the first detector and the second detector are both communicatively connected to the processor; when the computer program is executed by the processor, the following steps are implemented:
s100, acquiring the distance between the measured object and the laser transmitter by using the first detector; if the distance between the measured object and the laser emitter can be acquired according to the first detector, the S200 is entered; otherwise, enter S300;
s200, if the distance between the measured object and the laser transmitter acquired by the first detector is not in the first distance range, entering S300; otherwise, the distance between the measured object and the laser transmitter acquired by the first detector is used as the output of a distance measuring system;
s300, if the distance between the measured object and the laser transmitter acquired by the second detector is within the second distance range, taking the distance between the measured object and the laser transmitter acquired by the second detector as the output of a distance measuring system;
the first measuring mechanism further comprises a first motor, wherein the first motor is used for adjusting the distance between the first condensing lens and the first detector; the first motor is in communication connection with the processor; the method for acquiring the distance between the measured object and the laser emitter according to the first detector in S200 includes:
s210, acquiring an initial distance between a measured object and a laser emitter according to the first detector;
s220, matching the initial distance in a first preset database B to obtain the distance between the matched first condensing lens and the first detector; b= { B 1 ,b 2 ,…,b n ,…b N }，b n For the nth first preset relation, the value range of N is 1 to N, N is the first preset relation quantity included by B, B n =(b n,1 ,b n,2 )，b n,1 B is n Distance between corresponding measured object and laser transmitter, b n,2 B is n The distance between the corresponding first condensing lens and the first detector;
s230, adjusting the distance between the first condensing lens and the first detector in the current first measuring mechanism to be the distance between the matched first condensing lens and the first detector;
s240, acquiring a first adjustment distance between the measured object and the laser transmitter according to the adjusted first measurement mechanism;
s250, taking the first adjustment distance as the distance between the measured object acquired by the first detector and the laser transmitter; or repeating the matching and adjusting processes according to the first adjusting distance, and taking the second adjusting distance between the measured object obtained by the adjusted first measuring mechanism and the laser transmitter as the distance between the measured object obtained by the first detector and the laser transmitter; or repeating the matching and adjusting process according to the first adjusting distance, acquiring a second adjusting distance between the measured object and the laser transmitter according to the adjusted first measuring mechanism, repeating the matching and adjusting process according to the second adjusting distance, and taking a third adjusting distance between the measured object and the laser transmitter acquired by the adjusted first measuring mechanism as the distance between the measured object and the laser transmitter acquired by the first detector.
2. The ranging system based on the laser triangulation ranging sensor according to claim 1, wherein in S220, the initial distance is matched in a first preset database B, so as to obtain a distance between the matched first condensing lens and the first detector, which comprises:
s221, traversing B to obtain B n,1 An absolute value of a difference from the initial distance;
s222, b with the minimum absolute value of the difference value from the initial distance n,1 Corresponding b n,2 As a matching distance of the first condenser lens from the first detector.
3. The laser triangulation ranging sensor based ranging system as claimed in claim 1, wherein the first condensing lens comprises: the device comprises a first annular gasket, a second annular gasket, a first elastic film arranged on one side of the first annular gasket close to the second annular gasket, and a second elastic film arranged on one side of the second annular gasket close to the first annular gasket; the first annular gasket and the second annular gasket are identical in shape, the first annular gasket and the second annular gasket are arranged on the same central axis, a side wall is arranged between the first elastic film and the second elastic film, and the first elastic film and the second elastic film are connected with the side wall to form a cavity; the side wall is provided with a hole for injecting or extracting liquid into or from the cavity; the first motor is used for controlling the amount of liquid injected into or pumped out of the cavity to adjust the distance between the first condensing lens and the first detector.
4. A ranging system based on a laser triangulation ranging sensor according to claim 3, wherein adjusting the distance between the first condensing lens and the first detector in the current first measuring mechanism to the matched distance between the first condensing lens and the first detector in S230 comprises:
s231, matching the distance between the matched first condensing lens and the first detector in a second preset database C to obtain the matched liquid amount in the cavity; c= { C 1 ,c 2 ,…,c m ,…c M }，c m For the M second preset relation, the value range of M is 1 to M, M is the number of the second preset relation included by C, and C m =(c m,1 ,c m,2 )，c m,1 C is m Distance between the corresponding first condensing lens and the first detector, c m,2 C is m A corresponding amount of liquid within the chamber;
s232, acquiring a liquid quantity difference value between the matched liquid quantity in the cavity and the current liquid quantity in the cavity;
s233, generating a control command for the first motor according to the liquid quantity difference value, so that the liquid quantity in the cavity after the first motor executes the control command is the matched liquid quantity in the cavity.
5. The laser triangulation ranging sensor based ranging system as claimed in claim 1, wherein S300 further comprises: and outputting prompt information for indicating that the distance between the measured object and the laser emitter exceeds the measurement range if the distance between the measured object and the laser emitter cannot be acquired according to the second detector or the distance between the measured object and the laser emitter acquired according to the second detector is not in the second distance range.
6. The laser triangulation ranging sensor based ranging system of claim 1, wherein the first detector and the second detector are CMOS sensors.
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| CN202310363807.0A CN116068567B (en) | 2023-04-07 | 2023-04-07 | Ranging system based on laser triangular ranging sensor |
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