CN116879911A - Device for improving laser ranging distance and implementation method thereof - Google Patents
Device for improving laser ranging distance and implementation method thereof Download PDFInfo
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- CN116879911A CN116879911A CN202311141349.2A CN202311141349A CN116879911A CN 116879911 A CN116879911 A CN 116879911A CN 202311141349 A CN202311141349 A CN 202311141349A CN 116879911 A CN116879911 A CN 116879911A
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of laser ranging, in particular to a device for improving the laser ranging distance and an implementation method thereof. According to the invention, the laser single-shot multi-receiver array is arranged, and the airspace signal processing module is introduced, so that the signal-to-noise ratio is improved, and the receiving sensitivity is improved. The invention also provides an implementation method of the device for improving the laser ranging distance, which improves the received signal quality and improves the measuring distance under the condition of emitting the laser with the same power.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a device for improving the laser ranging distance and an implementation method thereof.
Background
The conventional method for improving the distance measurement by using the laser distance measuring instrument generally has several conditions, namely, improving the laser emission power and improving the reflecting surface condition, but has some limitations. The method for improving the laser emission power is limited by the limitation of the eye safety power, can not be improved infinitely, and meanwhile, the improvement of the emission power has higher requirements on the laser, a drive circuit of the laser inevitably adopts a higher-power driver, the power is inevitably increased, and the service life of the laser is also influenced; the method for improving the reflecting surface needs to specially customize a reflecting surface, and meanwhile, for long-distance measurement, the reflecting surface needs to be accurately adjusted by means of equipment, so that laser can be accurately reflected back to a receiver for measurement, and the measurement efficiency is reduced.
The invention provides a device for improving the distance between laser ranging and an implementation method thereof, which at least solves the technical problems of the part.
Disclosure of Invention
The invention aims to solve the technical problems that: a device for improving the distance between laser and distance measurement and its implementation method are provided to solve at least some of the above technical problems.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an improve device of laser range finding distance, includes laser single shot multi-receiver array, loop signal module, receives array signal module, phase calculation module and airspace signal processing module, and loop signal module and receiving array signal module are connected to laser single shot multi-receiver array, and receiving array signal module connects airspace signal processing module, and loop signal module and airspace signal processing module connect phase calculation module respectively, and receiving array signal module has one set or parallel multiunit.
Further, the laser single-shot multi-receiver array comprises a plurality of lasers, an array receiving sensor, an internal light path reflector and an internal light loop back receiving sensor, wherein the array receiving sensor takes the lasers as the center and is circularly or rectangularly arranged around the lasers in an array mode, the internal light path reflector is opposite to an emitting port of the lasers, and the internal light loop back receiving sensor is connected with the internal light path reflector.
Further, the loop signal module comprises a first weak signal amplifier, a first analog-to-digital converter and a first memory which are sequentially connected, wherein the first weak signal amplifier is connected with the inner light loop back receiving sensor, and the first memory is connected with the phase calculation module.
Further, the receiving array signal module comprises a second weak signal amplifier, a second analog-to-digital converter and a second memory which are sequentially connected, wherein the second weak signal amplifier is connected with the array receiving sensor, and the second memory is connected with the phase calculation module.
Further, the number of parallel groups of the receiving array signal modules is consistent with the number of the array receiving sensors, and the second weak signal amplifier is connected with the array receiving sensors in a one-to-one mode.
The invention also provides an implementation method of the device for improving the laser ranging distance, which comprises the following steps:
step 1, a laser single-shot multi-receiver array emits laser, the laser is diffusely reflected on the surface of a measured object, and the diffusely reflected laser is received by the laser single-shot multi-receiver array and is sent to a receiving array signal module to be converted into a processing signal; meanwhile, the laser internally reflects in the laser single-shot multi-receiver array, and the internally reflected laser is received by the laser single-shot multi-receiver array and is sent to a receiving loop signal module to convert a reference signal;
step 2, the processed signals are sent to a spatial domain signal processing module to obtain enhanced signals with enhanced signal-to-noise ratio;
and step 3, transmitting the enhanced signal with enhanced signal-to-noise ratio and the reference signal to a phase calculation module to obtain a phase difference, and calculating to obtain a distance measurement distance.
Further, in the step 1, the laser emitted by the laser device generates diffuse reflection on the surface of the measured object, and the laser reflected by the diffuse reflection is synchronously received by a plurality of array receiving sensors, so as to obtain multiple paths of identical first receiving signals; the multiple first received signals are sent to the receiving array signal module for amplification and conversion into multiple processed signals.
Further, in the step 1, laser emitted by the laser is internally reflected by the internal light path reflector, and the internally reflected laser is received by the internal light loop receiving sensor to obtain a path of second receiving signal; the second received signal is sent to the loop signal module for amplification and conversion into a reference signal.
Further, in the step 2, the multipath processed signals are sent to a spatial domain signal processing module, and are processed and compensated and combined into an enhanced signal with one path of signal to noise ratio enhancement.
Further, before said step 1, it is necessary to correct the consistency of the array receiving sensor channels.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the laser single-shot multi-receiver array is arranged, and the airspace signal processing module is introduced, so that the signal to noise ratio is improved, the receiving sensitivity is improved, the received signal quality is improved under the condition of emitting the laser with the same power, and the measuring distance is further improved.
Drawings
Fig. 1 is a block diagram of the structure of the present invention.
Fig. 2 is a block diagram of a laser single-shot multi-receiver array according to the present invention (an example is an array receiving sensor distributed in a circular array).
FIG. 3 is a first array distribution pattern of the array receiving sensor of the present invention.
FIG. 4 is a second array distribution pattern of the array receiving sensor of the present invention.
FIG. 5 is a third array profile of an array receiving sensor of the present invention.
FIG. 6 is a fourth array profile of the array-receiving sensor of the present invention.
Wherein, the names corresponding to the reference numerals are:
the system comprises a 1-laser single-shot multi-receiver array, a 2-loop signal module, a 3-receiving array signal module, a 4-phase calculation module, a 5-space domain signal processing module, a 11-laser, a 12-array receiving sensor, a 13-internal light path reflector, a 14-internal light loop back receiving sensor, a 21-first weak signal amplifier, a 22-first analog-to-digital converter, a 23-first memory, a 31-second weak signal amplifier, a 32-second analog-to-digital converter and a 33-second memory.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. 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 be within the scope of the invention.
As shown in fig. 1, the device for improving the distance between laser ranging provided by the invention comprises a laser single-shot multi-receiver array, a loop signal module, a receiving array signal module, a phase calculation module and a space domain signal processing module, wherein the laser single-shot multi-receiver array is connected with the loop signal module and the receiving array signal module, the receiving array signal module is connected with the space domain signal processing module, the loop signal module and the space domain signal processing module are respectively connected with the phase calculation module, and the receiving array signal module is provided with one group or a plurality of groups in parallel.
The invention also provides an implementation method of the device for improving the laser ranging distance, which comprises the following steps:
step 1, a laser single-shot multi-receiver array emits laser, the laser is diffusely reflected on the surface of a measured object, and the diffusely reflected laser is received by the laser single-shot multi-receiver array and is sent to a receiving array signal module to be converted into a processing signal; meanwhile, the laser internally reflects in the laser single-shot multi-receiver array, and the internally reflected laser is received by the laser single-shot multi-receiver array and is sent to a receiving loop signal module to convert a reference signal;
step 2, the processed signals are sent to a spatial domain signal processing module to obtain enhanced signals with enhanced signal-to-noise ratio;
and step 3, transmitting the enhanced signal with enhanced signal-to-noise ratio and the reference signal to a phase calculation module to obtain a phase difference, and calculating to obtain a distance measurement distance.
In some embodiments, as shown in FIG. 2, the laser single-shot multiple-receiver array includes a laser, an array receiving sensor, an internal optical path mirror, and an internal optical ring tiebackThe sensor and the circuit module required by the normal operation of each module. The array receiving sensors are distributed around the lasers in a circular or rectangular array mode by taking the lasers as the center, the internal light path reflecting mirror is opposite to the emitting port of the lasers, and the internal light loop receiving sensor is connected with the internal light path reflecting mirror. Preferably, the array receiving sensor and the inner light ring receiving sensor may be conventional laser sensors such as PD, APD, SAPD and SiPM. Preferably, the plurality of array receiving sensors are arranged in an array pattern, such as the four circular array of FIG. 3, the eight circular array of FIG. 4, the eight circular array of FIG. 5Square array or +.>Square array. In particular, the array receiving sensors must not be arranged at intervals exceeding the wavelength of the frequency of the transmitted measurement signals.
In the step 1, the laser emitted by the laser device generates diffuse reflection on the surface of the measured object, and the diffusely reflected laser is synchronously received by a plurality of array receiving sensors to obtain a plurality of paths of identical first receiving signals, wherein the diffusely reflected laser is approximately received by the plurality of array receiving sensors in parallel light; the multiple first received signals are sent to the receiving array signal module for amplification and conversion into multiple processed signals. The number of parallel groups of the receiving array signal modules is consistent with the number of the array receiving sensors, the second weak signal amplifier is connected with the array receiving sensors one by one, each receiving array signal module receives and processes one first receiving signal one by one, and then outputs one processing signal.
In some embodiments, the loop signal module includes a first weak signal amplifier, a first analog-to-digital converter, and a first memory, which are sequentially connected, where the first weak signal amplifier is connected to the inner optical loop receiving sensor, and the first memory is connected to the phase calculation module.
In the step 1, laser emitted by the laser device is internally reflected by the internal light path reflector at the same time, and the internally reflected laser is received by the internal light ring receiving sensor to obtain a path of second receiving signal; the second received signal is sent to the loop signal module for amplification and conversion into a reference signal.
In the step 2, the multipath processing signals are sent to a spatial domain signal processing module and are processed and combined into a signal-to-noise ratio enhanced enhancement signal. The airspace signal processing module compensates each path of signal firstly, and then adopts a mature wave beam domain transformation algorithm, and the algorithm can be simplified into direct summation of compensated multipath processing signals considering that the invention only receives signals vertical to an array surface. The processing and compensation mainly comprises amplitude phase compensation, an adder and a divider, the multipath processing signals are respectively accumulated and summed after passing through the compensation modules of all paths of the spatial domain signal processing module and divided by the channel number, and finally are combined into one channel. The simplified derivation is as follows:
...
...
formula 1;
wherein S1, S2..sk,..sn is the compensated processed signal, a1, a2,..ak,..an is the signal amplitude of each channel, w is the angular frequency of the laser emission signal, t is time, n1, n2,..nk,..nn is noise;
considering that amplitude phase compensation has been performed, a1=a2=.i. = an=.i. = a, and noise is incoherent, so n1, n2, nN is also approximately equal to n, summing expression 1:
formula 2;
the signal-to-noise ratio is as follows:formula 3;
the signal-to-noise ratio is as follows:formula 4;
equation 4 minus equation 3 yields an enhancement in signal-to-noise ratioThe signal to noise ratio is obviously improved, and theoretically, the more the receiving number is improved, the larger the receiving number is.
In the step 3, the processed enhanced signal and the reference signal are simultaneously sent to a phase calculation module to obtain a phase difference, and finally the distance is calculated, and a calculation method of the phase calculation module is such as an FFT algorithm.
Before said step 1, it is necessary to correct the consistency of the array receiving sensor channels. Before measurement, correction is needed, each channel is guaranteed to be consistent as much as possible on hardware, and channel consistency is calibrated on the basis. Calibration is required by a passive module calibration element which reflects laser light emitted by the laser to the individual array receiving sensors.
Finally, it should be noted that: the above embodiments are merely preferred embodiments of the present invention for illustrating the technical solution of the present invention, but not limiting the scope of the present invention; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions; that is, even though the main design concept and spirit of the present invention is modified or finished in an insubstantial manner, the technical problem solved by the present invention is still consistent with the present invention, and all the technical problems are included in the protection scope of the present invention; in addition, the technical scheme of the invention is directly or indirectly applied to other related technical fields, and the technical scheme is included in the scope of the invention.
Claims (10)
1. The utility model provides an improve device of laser range finding distance, a serial communication port, including laser single shot multi-receiver array (1), loop signal module (2), receive array signal module (3), phase computation module (4) and airspace signal processing module (5), loop signal module (2) and receive array signal module (3) are connected to laser single shot multi-receiver array (1), airspace signal processing module (5) are connected to receive array signal module (3), phase computation module (4) are connected respectively to loop signal module (2) and airspace signal processing module (5), receive array signal module (3) have a set of or parallel multiunit.
2. The device for improving the distance measurement of laser light according to claim 1, wherein the laser light single-shot multi-receiver array (1) comprises a laser (11), an array receiving sensor (12), an internal light path reflecting mirror (13) and an internal light loop back receiving sensor (14), the array receiving sensor (12) is a plurality of and is circularly or rectangularly arrayed around the laser (11) with the laser (11) as a center, the internal light path reflecting mirror (13) is opposite to an emitting port of the laser (11), and the internal light loop back receiving sensor (14) is connected with the internal light path reflecting mirror (13).
3. The device for improving the distance between laser ranging according to claim 2, wherein the loop signal module (2) comprises a first weak signal amplifier (21), a first analog-to-digital converter (22) and a first memory (23) which are sequentially connected, the first weak signal amplifier (21) is connected with the inner light loop back receiving sensor (14), and the first memory (23) is connected with the phase calculating module (4).
4. A device for increasing the distance of laser ranging according to claim 2, characterized in that the receiving array signal module (3) comprises a second weak signal amplifier (31), a second analog-to-digital converter (32) and a second memory (33) connected in sequence, the second weak signal amplifier (31) being connected to the array receiving sensor (12), the second memory (33) being connected to the phase calculation module (4).
5. The device for increasing the distance of laser ranging according to claim 4, wherein the number of parallel groups of the array receiving signal modules (3) is identical to the number of the array receiving sensors (12), and the second weak signal amplifier (31) is connected one-to-one with the array receiving sensors (12).
6. The implementation method of the device for improving the distance between laser ranging according to any one of claims 1 to 5, comprising the following steps:
step 1, a laser single-shot multi-receiver array emits laser, the laser is diffusely reflected on the surface of a measured object, and the diffusely reflected laser is received by the laser single-shot multi-receiver array and is sent to a receiving array signal module to be converted into a processing signal; meanwhile, the laser internally reflects in the laser single-shot multi-receiver array, and the internally reflected laser is received by the laser single-shot multi-receiver array and is sent to a receiving loop signal module to convert a reference signal;
step 2, the processed signals are sent to a spatial domain signal processing module to obtain enhanced signals with enhanced signal-to-noise ratio;
and step 3, transmitting the enhanced signal with enhanced signal-to-noise ratio and the reference signal to a phase calculation module to obtain a phase difference, and calculating to obtain a distance measurement distance.
7. The method for implementing the device for improving the distance between laser ranging according to claim 6, wherein in the step 1, laser emitted by a laser device is diffusely reflected on the surface of an object to be measured, and the diffusely reflected laser is synchronously received by a plurality of array receiving sensors, so as to obtain multiple identical first receiving signals; the multiple first received signals are sent to the receiving array signal module for amplification and conversion into multiple processed signals.
8. The method for implementing the device for improving distance measurement of laser light according to claim 6, wherein in the step 1, laser light emitted by the laser device is internally reflected by the internal light path reflector, and the internally reflected laser light is received by the inner light ring receiving sensor to obtain a second receiving signal; the second received signal is sent to the loop signal module for amplification and conversion into a reference signal.
9. The method for implementing an apparatus for increasing distance between laser ranging according to claim 7, wherein in said step 2, the multiple processing signals are sent to a spatial signal processing module, processed and compensated, and combined into an enhanced signal with enhanced signal-to-noise ratio.
10. The method for implementing an apparatus for increasing distance of laser ranging according to claim 6, wherein before said step 1, the consistency of the channels of the array receiving sensors needs to be corrected.
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