WO2019024729A1 - 距离测定方法及距离测定系统 - Google Patents

距离测定方法及距离测定系统 Download PDF

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Publication number
WO2019024729A1
WO2019024729A1 PCT/CN2018/096944 CN2018096944W WO2019024729A1 WO 2019024729 A1 WO2019024729 A1 WO 2019024729A1 CN 2018096944 W CN2018096944 W CN 2018096944W WO 2019024729 A1 WO2019024729 A1 WO 2019024729A1
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WIPO (PCT)
Prior art keywords
laser
optical detecting
receiving device
distance
distance measuring
Prior art date
Application number
PCT/CN2018/096944
Other languages
English (en)
French (fr)
Inventor
石昕
邢星
Original Assignee
美国西北仪器公司
上海诺司纬光电仪器有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 美国西北仪器公司, 上海诺司纬光电仪器有限公司 filed Critical 美国西北仪器公司
Priority to EP18840198.8A priority Critical patent/EP3663711B1/en
Priority to US16/636,480 priority patent/US11768072B2/en
Publication of WO2019024729A1 publication Critical patent/WO2019024729A1/zh

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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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G01C15/006—Detectors therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details

Definitions

  • the present invention relates to the field of distance measurement and positioning, and more particularly to a distance measuring method and a distance measuring system.
  • the patent publication CN101206113A discloses a range finder and a ranging method thereof.
  • the range finder disclosed in the patent is a rotating light source for providing a light beam having a predetermined rotational speed, and then a receiver. Detecting the time difference when the beam is rotated from the first position of the receiver to the second position, and calculating the distance between the receiver and the rotating light source according to the detected time difference and the distance between the first position and the second position of the receiver .
  • the range finder and the distance measuring method described above can conveniently realize the function of distance measurement in the laser level, thereby improving the construction convenience of the engineer.
  • FIG. 1 shows a schematic diagram of a range finder according to the disclosure of the patent.
  • the range finder 10 in order to improve the profitability of the construction of the engineer, the range finder 10 is constructed on the uniaxial rotating laser level 11 and its receiver 12, so that the uniaxial rotating laser level 11 can not only provide automatic leveling. Rotating the laser beam 13 to project a horizontal reference line on the construction wall can also assist the engineer in measuring the distance required for the construction marking.
  • the receiver 12 may further include a remote control circuit 16 such as a rotating speed of the remote control single-axis rotary laser level 11 to become a remote controller of the remote control single-axis rotary laser level 11 .
  • a remote control circuit 16 such as a rotating speed of the remote control single-axis rotary laser level 11 to become a remote controller of the remote control single-axis rotary laser level 11 .
  • a receiver 12 in addition to using a rotating light source constructed by a single-axis rotary laser level 11 to provide a laser beam 13 that rotates at a predetermined rotational speed, a receiver 12 is further applied to detect the laser beam 13 from the first position 14 of the receiver 12. The time difference between the second position and the second position 15 is rotated to the distance between the first position 14 and the second position 15 to calculate the distance between the receiver 12 and the uniaxial rotating laser level 11.
  • the laser receiving device includes an independent first receiving circuit and a second receiving circuit
  • the first receiving circuit and the second receiving circuit respectively comprise: a light sensor for receiving the The light beam outputs a current signal; the conversion circuit is connected to the photo sensor for converting the current signal into a voltage signal; and the amplifying circuit is coupled to the conversion circuit for amplifying the voltage signal And a comparator connected to the amplifying circuit for comparing the amplified voltage signal with a reference level, and outputting an electrical signal representing the detected beam.
  • each laser receiving device must include at least two sets of light sensors, conversion circuits, amplifying circuits, and comparators, such laser receiving devices being expensive to manufacture and complicated in structure.
  • such a laser receiving device does not ensure that the two sets of light sensors can be vertically disposed, so that the distance between the two points through which the light beam passes through the two sets of light sensors cannot be guaranteed. The linear distance between them is inevitable, so that the calculated distance between the beam emission position and the laser receiving device is inaccurate, and the error is uncontrollable.
  • the present invention provides a distance measuring method, and the distance measuring method includes:
  • the distance measuring method can ensure that the first optical detecting component and the second optical detecting component on the laser receiving device are at least partially in the same vertical plane, thereby ensuring rotation in a vertical plane at the first rotational speed.
  • the distance between the first optical detecting component and the specific position on the second optical detecting component through which the vertical laser beam passes is exactly the first pitch described above, thereby being able to ensure the measured or calculated laser emitting device and The first distance between the laser receiving devices is accurate.
  • the distance determining method further comprises:
  • the laser receiving device is adjusted to be equally divided by the horizontal laser beam by a vertically disposed third optical detecting member on the laser receiving device.
  • the term “equalization” herein does not mean that the horizontal laser beam is located at the center of the laser receiving device, and the third optical detecting component here is to make the vertical laser beam distance from the first.
  • the distance between the optical detecting component and the second optical detecting component is equal, thereby enabling the first laser emitting portion to be formed from the first optical detecting component when the vertical laser beam is swept through the first optical detecting component and the second optical detecting component a triangle formed by the line segment, the line segment formed by the first laser detecting portion from the line segment formed by the second optical detecting component, and the distance between the first optical detecting component and the second optical detecting component is an isosceles triangle, thereby enabling The accuracy of the measured or calculated first distance between the laser emitting device and the laser receiving device is further increased.
  • the laser receiving device achieves a vertical setting by means of a universal joint or a horizontally disposed bearing. In this way, the vertical setting of the laser receiving device can be achieved in a relatively simple manner or in a structure.
  • the laser receiving device achieves a vertical setting by means of an angle sensor and a control motor. In this way, the vertical setting of the laser receiving device can be achieved in a relatively simple manner or in a structure.
  • the angle sensor is constructed as a gyroscope.
  • the gyroscope can quickly and easily find the vertical direction to direct the control motor to control the laser receiving device to thereby achieve vertical setting of the laser receiving device.
  • the angle sensor is constructed as an electronic code wheel or an electronic compass.
  • an electronic code wheel or an electronic compass can easily and quickly find a vertical direction to direct the control motor to control the laser receiving device to thereby achieve vertical setting of the laser receiving device.
  • the present invention also provides a distance measuring system, the system comprising:
  • a laser emitting device comprising a first laser emitting portion configured to emit a vertical laser beam that rotates in a vertical plane at a first rotational speed
  • a laser receiving device comprising a first optical detecting component and a second optical detecting component at least partially in the same vertical plane, wherein the laser receiving device is configured to calculate the vertical laser beam Passing a time difference between the first optical detecting component and the second optical detecting component and a distance between the two optical detecting components is a first pitch;
  • Determining means configured to calculate a first distance between the laser emitting device and the laser receiving device based on the first rotational speed, the first spacing, and the time difference.
  • the laser emitting device further includes a second laser emitting portion configured to emit a horizontal laser beam that rotates in a horizontal plane at a second rotational speed;
  • the laser receiving device further comprises a third optical detecting component configured to adjust the laser receiving device to be evenly divided by the horizontal laser beam.
  • the laser receiving device achieves a vertical setting by means of a universal joint or a horizontally disposed bearing.
  • the laser receiving device achieves a vertical setting by means of an angle sensor and a control motor.
  • the angle sensor is constructed as a gyroscope.
  • the angle sensor is constructed as an electronic code wheel or an electronic compass.
  • the distance measuring method and the distance measuring system according to the present invention can ensure that the first optical detecting component and the second optical detecting component provided on the laser receiving device are at least partially in the same vertical plane, thereby ensuring that the first rotational speed is The distance between the first optical detecting component and the specific position on the second optical detecting component through which the vertical laser beam rotated in the vertical plane passes is exactly the first pitch described above, thereby ensuring that the measured or calculated The first distance between the laser emitting device and the laser receiving device is accurate.
  • Figure 1 shows a schematic view of a range finder 10 according to the prior art
  • Figure 2 shows a flow chart 200 of a distance determination method in accordance with the present invention
  • FIG. 3 shows a schematic diagram of a laser receiving device 300 in accordance with an embodiment of the present invention
  • FIG. 4 shows a schematic diagram of a laser receiving device 400 in accordance with another embodiment of the present invention.
  • FIG. 5 shows a schematic diagram of a laser receiving device 500 in accordance with yet another embodiment of the present invention.
  • FIG. 6 shows a schematic diagram of a laser receiving apparatus 600 in accordance with still another embodiment of the present invention.
  • Figure 7 shows a schematic diagram 700 of one embodiment of a distance determination system in accordance with the present invention.
  • horizontal setting and vertical setting refer to the arrangement of the photosensitive elements contained in the laser receiving device, wherein the term “vertical”
  • the straight setting represents that the photosensitive member such as a strip included in the laser receiving device is disposed substantially perpendicular to the horizontal plane
  • horizontal setting means that the photosensitive members such as strips included in the laser receiving device are substantially at the same horizontal plane.
  • the invention solves the technical problem that the laser receiving device in FIG. 1 can not control the error and perform the precise distance measurement when performing the distance measurement between the laser emitting device and the laser receiving device, and the present invention proposes a distance measuring method, which can be It is seen that the distance determining method 200 comprises the following steps.
  • a first laser emitting portion of the laser emitting device is used to emit a vertical laser beam that rotates in a vertical plane at a first rotational speed;
  • method step 230 according to the first rotational speed, the first spacing, and The time difference calculates a first distance between the laser emitting device and the laser receiving device.
  • the distance measuring method of the present invention by providing the laser receiving device perpendicular to the horizontal plane, it is possible to ensure that the first optical detecting member and the second optical detecting member provided on the laser receiving device can be horizontally disposed, thereby ensuring The distance between the first optical detecting member and the specific position on the second optical detecting member through which the vertical laser beam rotating in a vertical plane is exactly the first pitch described above, thereby ensuring The measured or calculated first distance between the laser emitting device and the laser receiving device is accurate.
  • the distance determining method 200 further includes another step (not shown), that is, the second laser emitting portion of the laser emitting device emits a second rotational speed in a horizontal plane. a horizontally rotating horizontal laser beam; and the laser receiving device is adjusted to be equally divided by the horizontal laser beam by a vertically disposed third optical detecting member on the laser receiving device.
  • the horizontal laser beam rotating in a horizontal plane at the second rotational speed can be adjusted to bisect the laser receiving device in the vertical direction, so that the measured or calculated laser emitting device and the laser receiving can be further improved.
  • the accuracy of the first distance between the devices is, that is, the second laser emitting portion of the laser emitting device emits a second rotational speed in a horizontal plane. a horizontally rotating horizontal laser beam; and the laser receiving device is adjusted to be equally divided by the horizontal laser beam by a vertically disposed third optical detecting member on the laser receiving device.
  • the laser receiving device achieves a vertical setting by means of a universal joint or a horizontally disposed bearing.
  • the vertical setting of the laser receiving device can be achieved in a relatively simple manner or in a structure.
  • the first optical detecting component and the second optical detecting component disposed thereon are in the same vertical plane, and it is understood that the first optical detecting component and the second optical detecting
  • the laser receiving device is not necessarily required to be in a vertical state, depending on the position where the first optical detecting component and the second optical detecting component are disposed on the laser receiving device, and any first optical can be made.
  • the laser receiving device achieves a vertical setting by means of an angle sensor and a control motor.
  • the angle sensor is constructed as a gyroscope.
  • the gyroscope can quickly and easily find the vertical direction to direct the control motor to control the laser receiving device to thereby achieve vertical setting of the laser receiving device.
  • the angle sensor is constructed as an electronic code wheel or an electronic compass. In the era of electronic digitization, an electronic code wheel or an electronic compass can easily and quickly find a vertical direction to direct the control motor to control the laser receiving device to thereby achieve vertical setting of the laser receiving device.
  • FIG. 3 to FIG. 6 The embodiments are merely exemplary and not limiting, and are only used to exemplarily illustrate possible configurations of the laser receiving apparatus according to the present invention, and are not intended to exhaust the laser receiving apparatus according to the present invention. All of the possible structural forms can be modified by those skilled in the art without departing from the spirit of the invention, and the modified modifications are still within the scope of the invention.
  • the laser receiving device 300 proposed in accordance with the present invention includes an optical detecting component 310 that is configured to receive one of the laser emitting devices (not shown) Laser emitted by a laser emitting portion (not shown). Furthermore, the laser receiving apparatus 300 proposed in accordance with the present invention further includes an optical detecting component 320 configured to be disposed substantially perpendicularly to the optical detecting component 310 and the optical detecting component 320 includes a first portion for receiving laser light emitted by a laser emitting portion of the laser emitting device and a second portion for receiving laser light emitted by a laser emitting portion of the laser emitting device, wherein the first portion is The second portion is spaced apart by a first pitch, and those skilled in the art will appreciate that the term "first portion” herein is an implementation of the first optical sensing component, and accordingly, the term "second portion” herein. It is an implementation of the second optical detection component; the explanation herein is equally applicable to the description below.
  • FIG. 4 shows a schematic diagram of a laser receiving device 400 in accordance with another embodiment of the present invention.
  • the laser receiving device 400 proposed in accordance with the present invention includes an optical detecting component 410 that is configured to receive laser light from the laser emitting device (not shown) The laser emitted by the emitting portion (not shown).
  • the laser receiving apparatus 400 proposed in accordance with the present invention further includes an optical detecting component 420 configured to be disposed substantially perpendicularly to the optical detecting component 410 and including the optical detecting component 420 a first portion for receiving laser light emitted by a laser emitting portion of the laser emitting device and a second portion for receiving laser light emitted by a laser emitting portion of the laser emitting device, wherein the first portion is The second portion is separated by a first spacing.
  • FIG. 5 shows a schematic diagram of a laser receiving device 500 in accordance with yet another embodiment of the present invention.
  • the laser receiving device 500 according to the present invention comprises an optical detecting component 510 configured to receive laser light from the laser emitting device (not shown) The laser emitted by the emitting portion (not shown).
  • the laser receiving apparatus 500 proposed in accordance with the present invention further includes an optical detecting component 520 configured to be disposed substantially perpendicularly to the optical detecting component 510 and the optical detecting component 520 includes a first portion for receiving laser light emitted by a laser emitting portion of the laser emitting device and a second portion for receiving laser light emitted by a laser emitting portion of the laser emitting device, wherein the first portion is The second portion is separated by a first spacing.
  • Figure 6 shows a schematic diagram of a laser receiving device 600 in accordance with yet another embodiment of the present invention.
  • the laser receiving device 600 proposed in accordance with the present invention includes an optical detecting component 610 configured to receive laser light from the laser emitting device (not shown) The laser emitted by the emitting portion (not shown).
  • the laser receiving apparatus 600 proposed in accordance with the present invention further includes an optical detecting component 620 configured to be disposed substantially perpendicularly to the optical detecting component 610 and the optical detecting component 620 includes a first portion for receiving laser light emitted by a laser emitting portion of the laser emitting device and a second portion for receiving laser light emitted by a laser emitting portion of the laser emitting device, wherein the first portion is The second portion is separated by a first spacing.
  • the laser receiving apparatus further includes a timing module configured to calculate the first portion and the second portion of the optical detecting components 320, 420, 520, and 620 The time difference between the moments when the lasers are respectively sensed.
  • the laser emitting device and the laser receiving device can be calculated based on the first pitch. the distance between.
  • the first portion and the second portion are configured to be located at two positions opposite to each other on the optical detecting members 320 and 420.
  • the light guiding member 320 is a cylindrical lens, and the other An aspherical lens can also be applied to this embodiment. As shown in FIG.
  • the first and second optical detecting components 320 include a first portion for receiving a light beam and directing the light beam to the photosensitive element (the portion shown in phantom in the figure) and for receiving the light beam and The light beam is directed to a second portion of the photosensitive element, in this embodiment, a first portion for receiving a beam of light and directing the beam to the photosensitive element and a first portion for receiving a beam of light and directing the beam to the photosensitive element
  • the two parts form a pair of measuring points, and each time the laser beam passes through each of a pair of measuring points in sequence.
  • the first portion and the second portion can be located, for example, on either side of the optical detection component 320, such as on a side edge.
  • first portion and the second portion are located on both sides of the optical detecting component 320 are merely exemplary and not limiting, and the first portion and the second portion can also be located at other locations.
  • first portion is configured to first receive the beam and direct the beam to a portion of the photosensitive element
  • second portion configured to finally receive the beam and direct the beam To the portion of the photosensitive element.
  • the portion that first receives the beam and directs the beam to the photosensitive element is, for example, a first portion for receiving a beam of light and directing the beam to the photosensitive element, for example The upper side; and the portion that finally receives the beam and directs the beam to the photosensitive element is, for example, a second portion for receiving a beam of light and directing the beam to the photosensitive element, such as a lower side.
  • the measurement can be performed over the longest measurement distance, that is, the longest measurement time, so that the error can be reduced, thereby improving the measurement accuracy.
  • the laser receiving device 300 is suspended, and at this time, the optical detecting member 310 included in the laser receiving device 300 is also suspended, that is, disposed perpendicular to the horizontal plane.
  • the laser emitting device capable of emitting the horizontal laser can ensure that the horizontal laser surface emitted by the laser emitting device is received by the laser emitting portion of the laser emitting device through a certain adjustment step.
  • the laser emitting portion of the laser receiving device 300 for receiving the laser emitting device a first portion of the emitted laser light and a second portion of the laser receiving device for receiving the laser light emitted by the laser emitting portion of the laser emitting device are respectively equidistant from the laser emitting portion of the laser emitting device, by corresponding It is also possible to indirectly ensure that the first portion of the laser receiving device 300 for receiving the laser light emitted by the laser emitting portion of the laser emitting device and the laser emitting portion of the laser receiving device 300 for receiving the laser emitting portion by the laser emitting device The second part of the emitted laser light is respectively directed to the laser emitting device The distances of the laser emitting portions are equal.
  • the rotational speed of the laser emitting portion of the laser emitting device, the first portion for receiving the laser light emitted by the laser emitting portion of the laser emitting device, and the laser for receiving the laser emitting device a first spacing between the second portions of the laser light emitted by the emitting portion, and a laser passing through a first portion for receiving laser light emitted by the laser emitting portion of the laser emitting device and for receiving by the laser emitting device
  • the second portion of the laser emitted by the laser emitting portion corresponds to the time difference between the moments to determine the precise distance between the laser emitting device and the laser receiving device 300 by a trigonometric relationship. How to calculate the distance between the laser emitting device and the laser receiving device 300 by the trigonometric function relationship is common knowledge of those skilled in the art, and therefore will not be described herein.
  • the laser receiving device 300 further includes a signal processing module (not shown) configured to process the laser light received by the optical detecting component 310 and / or laser light received by the optical detecting component 320.
  • the signal processing module can perform an operation such as analog-to-digital conversion on an electrical signal generated based on laser light received via the optical detecting component 310 and/or laser light received by the optical detecting component 320, thereby improving the electrical signal. Transmitting and anti-interference.
  • the first portion and the second portion of the optical detecting component 320 have the same length and are disposed in parallel with each other. Specifically, in the embodiment shown in FIG. 3, the first portion and the second portion are located on both sides of a semi-cylindrical optical detecting component 320 (eg, a semi-cylindrical cylindrical lens), and accordingly, The first portion and the second portion of the optical detecting member 320 have the same length and are disposed in parallel with each other. In the embodiment shown in FIG.
  • the first portion and the second portion are located on both sides of a spherical mirror-shaped optical detecting member 420 (for example, a cylindrical mirror), and correspondingly, the optical detecting member 420
  • the first portion and the second portion have the same length and are disposed in parallel with each other.
  • the optical detecting member 520 includes a plurality of optical fibers disposed in parallel with each other, the optical fibers being parallel to each other and having the same length, and further, each of the optical fibers is shown on the upper side and the lower side.
  • Each has a fiber optic light guiding head. When the light beam passes, the light beam is guided by the fiber optic light guiding head and transmitted to the corresponding photosensitive element.
  • the six optical fibers shown here are merely exemplary, not limited.
  • the optical detection assembly shown in accordance with the present invention may of course include more or less than six optical fibers.
  • the optical detecting member 620 is composed of two silicon photovoltaic modules that are arranged in parallel and have the same length.
  • the optical detection component can also be configured as a photosensor, which can be an avalanche photodiode (APD), a charge coupled device (CCD), a silicon photocell or a solar cell or other capable of sensing. Made of laser material.
  • the first portion and the second portion of the optical detection components 320, 420, and 620 are separated by the same distance from the optical detection components 310, 410, and 610.
  • the optical detecting members 320, 420, and 620 of Figs. 3 to 5 and Fig. 6 are disposed vertically from the end faces of the optical detecting members 310, 410, and 610, respectively, in use.
  • the optical detecting components 320, 420 and 520 are configured as light guiding members, the first portion of the light guiding member being configured to receive a light beam and direct the light beam to the first A target location and a second portion of the light directing component is configured to receive a beam of light and direct the beam to the first target location.
  • the optical detecting components 320, 420 and 520 are configured as light guiding members, in the embodiment illustrated in Figures 3 to 5, the laser receiving
  • the device 300, 400, 500 further includes a photosensitive element that is disposed at the first target position.
  • the optical detecting component 620 is constructed as two separate silicon photovoltaic modules.
  • the elements that can be used as the optical detecting members 320 and 420 in the concept of the present invention can be configured, for example, as a spherical mirror, a free-form mirror, an aspheric mirror, a light guide, a light guide, a plane mirror, an optical fiber, or a mirror. .
  • optical detecting members 320, 420, and 520 are configured as light guiding members, it is only necessary to provide a set of photosensitive members as compared with the optical detecting member 620 shown in FIG. 6, thereby simplifying the laser receiving device. The structure and correspondingly reduce the cost of the laser receiving device.
  • the laser receiving device further includes an amplifying circuit configured to be coupled to the optical detecting component and the signal processing An electrical signal converted between the modules and used to convert the optical signal originating from the optical detecting component is output to the signal processing module.
  • the laser receiving device further comprises a filter circuit, the filter circuit being configured as a coupling
  • the optical detecting component is configured between the signal processing modules and for converting an electrical signal converted from the optical signal from the optical detecting component to the signal processing module.
  • the distance measuring system 700 includes a laser emitting device 740 including a base 741. Further, the laser emitting device 740 includes a first laser emitting portion 742 configured to emit a vertical laser beam 731 that rotates in a vertical plane at a first rotational speed; The distance measuring system further includes a laser receiving device 720 disposed perpendicular to the horizontal plane and including a first optical detecting component 721 and a second optical detecting component 722, wherein the laser receiving device 720 is configured to calculate the The vertical laser beam 731 passes the time difference between the first optical detecting part 721 and the second optical detecting part 722 and the distance between the two optical detecting parts 721, 722 is the first pitch L. Furthermore, the distance measuring system further includes determining means (not shown) configured to calculate the laser emitting device 740 and based on the first rotational speed, the first spacing, and the time difference The first distance between the laser receiving devices
  • the laser emitting device 740 further includes a second laser emitting portion 743 configured to emit a horizontal laser that rotates in a horizontal plane at a second rotational speed.
  • the laser receiving device achieves a vertical arrangement by means of a universal joint or a horizontally disposed bearing, in such a manner that the laser receiving device 720 can be suspended by gravity directly and quickly. The way is set vertically.
  • the laser receiving device 720 implements a vertical setting by an angle sensor and a control motor, that is, an angle sensor senses the current suspension angle, and then implements the motor by controlling the motor according to the suspension angle. Set vertically.
  • the angle sensor is constructed as a gyroscope.
  • the angle sensor is constructed as an electronic code wheel or an electronic compass.
  • the first laser emitting portion 742 is configured The vertical laser beam 731 that emits in a vertical plane at a first rotational speed is equidistant from the first optical detecting component 721 and the second optical detecting component 722, at which time, if the vertical laser beam 731 passes through
  • the time difference between the first optical detecting component 721 and the second optical detecting component 722 is ⁇ t
  • the time during which the first laser emitting portion 742 is rotated by one is T, between the two optical detecting components 721, 722.
  • the distance is the first pitch L
  • the distance measuring method and the distance measuring system according to the present invention can ensure that the first optical detecting member and the second optical detecting member provided on the laser receiving device can be horizontally disposed by arranging the laser receiving device perpendicular to the horizontal plane, thereby further It is possible to ensure that the distance between the first optical detecting component and the specific position on the second optical detecting component through which the vertical laser beam rotating in a vertical plane at the first rotational speed is exactly the first pitch described above, Thereby it can be ensured that the measured or calculated first distance between the laser emitting device and the laser receiving device is accurate.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
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Abstract

距离测定方法和距离测定系统（700），距离测定方法包括利用激光发射装置（740）的第一激光发射部分（742）发射出以第一转速在一竖直平面内转动的竖直激光束（731）；利用激光接收装置（300，400，500，600，720）上至少部分地处于同一个竖直平面上的第一和第二光学探测部件（320，721，722）计算竖直激光束经过第一和第二光学探测部件之间的时间差，两个光学探测部件之间的距离为第一间距；根据第一转速、第一间距及时间差计算激光发射装置和激光接收装置之间的第一距离。距离测定方法能够确保激光接收装置上设置的第一和第二光学探测部件能够水平地进行设置，进而能够确保竖直激光束所经过的第一和第二光学探测部件上的具体位置之间的距离恰好为第一间距，从而能够确保所测量或计算出的第一距离是准确的。

Description

距离测定方法及距离测定系统 技术领域
本发明涉及距离测量以及定位领域，更为具体地涉及距离测定方法及距离测定系统。
背景技术
在现有技术中，专利公开文献CN101206113A公开了一种测距仪及其测距方法，依据该专利公开的测距仪是以旋转光源来提供具有一定预定转速的光束，然后再以接收器来侦测光束由接收器的第一位置旋转至第二位置时的时间差，并依据侦测的时间差与接收器的第一位置与第二位置之间距，来计算取得接收器至旋转光源间的距离。以上所述的测距仪以及测距方法能够方便地在激光水平仪中实现距离量测的功能，从而增进工程人员的施工便利性。
具体而言，请参考图l所示，图1示出了根据该专利公开内容的一种测距仪的示意图。在图1中，为了增进工程人员施工的使利性，此测距仪10是建构在单轴旋转激光水平仪11及其接收器12上，使单轴旋转激光水平仪11不仅可以提供自动整平的旋转激光束13，以在施工墙面上投射出水平参考线之外，更可协助工程人员量测施工标示所需的距离。其中，接收器12上也可还包括遥控单轴旋转激光水平仪11的如转速等操作的遥控电路16，而成为遥控单轴旋转激光水平仪11的遥控器。在图l中，除了使用单轴旋转激光水平仪11构成的旋转光源，来提供以预定转速旋转的激光束13外，更应用接收器12来侦测激光束13由接收器12的第一位置14旋转至第二位直15时的时间差，以便可以依据时间差与第一位置14与第二位置15之间距，来计算取得接收器12至单轴旋转激光水平仪11间的距离。
从以上论述可知，该激光接收装置包括独立的第一接收电路和第二接收电路，而且所述的第一接收电路与所述的第二接收电路分别包括：光传感器，用以接收所述的光束并输出电流讯号；转换电路，相接所述的光传感器，用以将所述的电流讯号转换为电压讯口；放大电路，耦接所述的转 换电路，用以放大所述的电压讯号；以及比较器，相接所述的放大电路，用以将放大的所述的电压讯号与参考准位作比较，而输出代表侦测到所述的光束的电讯号。
这样一来，每个激光接收装置必须包括至少两套光传感器、转换电路、放大电路以及比较器，这样的激光接收装置制造成本高而且结构复杂。此外，这样的激光接收装置并不能保证这两套光传感器均能够竖直设置，从而不能保证光束经过这两套光传感器时所具体经过的两点之间的距离即为这两套光传感器之间的直线距离，所以必然会使得所计算出的光束发射位置和激光接收装置之间的距离不准确，而且误差不可控。
发明内容
针对上述的技术问题，即现有技术中的无法避免的测距不准确的技术问题，本发明提出了一种距离测定方法，所述距离测定方法包括：
利用激光发射装置的第一激光发射部分发射出以第一转速在一竖直平面内转动的竖直激光束；
利用激光接收装置上至少部分地处于同一个竖直平面上的第一光学探测部件和第二光学探测部件计算所述竖直激光束经过所述第一光学探测部件和所述第二光学探测部件之间的时间差，其中，所述两个光学探测部件之间的距离为第一间距；以及
根据所述第一转速、所述第一间距以及所述时间差计算所述激光发射装置和所述激光接收装置之间的第一距离。
依据本发明的距离测定方法通过将激光接收装置上的第一光学探测部件和第二光学探测部件至少部分地处于同一个竖直平面上，进而能够确保以第一转速在一竖直平面内转动的竖直激光束所经过的所述第一光学探测部件和第二光学探测部件上的具体位置之间的距离恰好为上述的第一间距，从而能够确保所测量或计算出的激光发射装置和所述激光接收装置之间的第一距离是准确的。
在依据本发明的一个实施例中，所述距离测定方法还包括：
利用激光发射装置的第二激光发射部分发射出以第二转速在一水平平 面内转动的水平激光束；以及
利用激光接收装置上的竖直设置的第三光学探测部件将所述激光接收装置调整为被所述水平激光束均分。
本领域的技术人员应当理解，此处的术语"均分"并不代表所述水平激光束位于激光接收装置的正中心，此处的第三光学探测组件是为了使得竖直激光束距离第一光学探测部件和第二光学探测部件的距离相等，由此能够使得竖直激光束扫过第一光学探测组件和第二光学探测组件时，第一激光发射部分距离第一光学探测组件所形成的线段、第一激光发射部分距离第二光学探测组件所形成的线段以及第一光学探测组件和第二光学探测组件之间的距离所形成的线段所共同围成的三角形为等腰三角形，从而能够进一步提高所测量或计算出的激光发射装置和所述激光接收装置之间的第一距离的精确度。
在依据本发明的一个实施例中，所述激光接收装置通过万向节或者水平设置的轴承来实现竖直设置。以这样的方式能够以较为简单的方式或者结构实现激光接收装置的竖直设置。
在依据本发明的一个实施例中，所述激光接收装置通过角度传感器和控制电机来实现竖直设置。以这样的方式能够以较为简单的方式或者结构实现激光接收装置的竖直设置。
在依据本发明的一个实施例中，所述角度传感器被构造为陀螺仪。陀螺仪能够简便快速地找到竖直方向从而指引所述控制电机控制所述激光接收装置进而实现所述激光接收装置的竖直设置。
在依据本发明的一个实施例中，所述角度传感器被构造为电子码盘或者电子罗盘。在电子化数字化的时代，电子码盘或者电子罗盘能够简便快速地找到竖直方向从而指引所述控制电机控制所述激光接收装置进而实现所述激光接收装置的竖直设置。
此外，本发明还提出了一种距离测定系统，所述系统包括：
激光发射装置，所述激光发射装置包括第一激光发射部分，所述第一激光发射部分被构造用于发射以第一转速在一竖直平面内转动的竖直激光束；
激光接收装置，所述激光接收装置包括至少部分地处于同一个竖直平面上的第一光学探测部件和第二光学探测部件，其中，所述激光接收装置被构造为计算所述竖直激光束经过所述第一光学探测部件和所述第二光学探测部件之间的时间差并且所述两个光学探测部件之间的距离为第一间距；以及
确定装置，所述确定装置被构造为根据所述第一转速、所述第一间距以及所述时间差计算所述激光发射装置和所述激光接收装置之间的第一距离。
在依据本发明的一个实施例中，所述激光发射装置还包括第二激光发射部分，所述第二激光发射部分被构造为发射出以第二转速在一水平平面内转动的水平激光束；其中，所述激光接收装置还包括第三光学探测部件，所述第三光学探测部件被构造用于将所述激光接收装置调整为被所述水平激光束均分。
在依据本发明的一个实施例中，所述激光接收装置通过万向节或者水平设置的轴承来实现竖直设置。
在依据本发明的一个实施例中，所述激光接收装置通过角度传感器和控制电机来实现竖直设置。
在依据本发明的一个实施例中，所述角度传感器被构造为陀螺仪。
在依据本发明的一个实施例中，所述角度传感器被构造为电子码盘或者电子罗盘。
依据本发明的距离测定方法和距离测定系统通过将激光接收装置上设置的第一光学探测部件和第二光学探测部件至少部分地处于同一个竖直平面上，进而能够确保以第一转速在一竖直平面内转动的竖直激光束所经过的所述第一光学探测部件和第二光学探测部件上的具体位置之间的距离恰好为上述的第一间距，从而能够确保所测量或计算出的激光发射装置和所述激光接收装置之间的第一距离是准确的。
附图说明
参考附图示出并阐明实施例。这些附图用于阐明基本原理，从而仅仅 示出了对于理解基本原理必要的方面。这些附图不是按比例的。在附图中，相同的附图标记表示相似的特征。
图1示出了一种根据现有技术的测距仪10的示意图；
图2示出了依据本发明的距离测定方法的流程图200；
图3示出了依据本发明的一个实施例的激光接收装置300的示意图；
图4示出了依据本发明的另一个实施例的激光接收装置400的示意图；
图5示出了依据本发明的又一个实施例的激光接收装置500的示意图；
图6示出了依据本发明的再一个实施例的激光接收装置600的示意图；以及
图7示出了依据本发明的距离测定系统的一个实施例的示意图700。
本发明的其它特征、特点、优点和益处通过以下结合附图的详细描述将变得更加显而易见。
具体实施方式
在以下优选的实施例的具体描述中，将参考构成本发明一部分的所附的附图。所附的附图通过示例的方式示出了能够实现本发明的特定的实施例。示例的实施例并不旨在穷尽根据本发明的所有实施例。可以理解，在不偏离本发明的范围的前提下，可以利用其他实施例，也可以进行结构性或者逻辑性的修改。因此，以下的具体描述并非限制性的，且本发明的范围由所附的权利要求所限定。
在此本申请的申请人希望明确，本申请上下文中所提及的术语"水平设置"和"竖直设置"均是指激光接收装置中所包含的感光元件的排列布置方式，其中术语"竖直设置"表示激光接收装置中所包含的诸如条状的感光元件大体上垂直于水平面设置，而术语"水平设置"则表示激光接收装置中所包含的诸如条状的感光元件大体上在同一水平面上设置。
针对图1中的激光接收装置在进行激光发射装置和激光接收装置之间的距离测量时无法控制误差进而进行精准距离测量这一技术问题，本发明提出了一种距离测定方法，由图2可以看出，所述距离测定方法200包括以下步骤，首先，在方法步骤210中利用激光发射装置的第一激光发射部 分发射出以第一转速在一竖直平面内转动的竖直激光束；接下来，在方法步骤220中利用激光接收装置上至少部分地处于同一个竖直平面上的第一光学探测部件和第二光学探测部件计算所述竖直激光束经过所述第一光学探测部件和所述第二光学探测部件之间的时间差，其中，所述两个光学探测部件之间的距离为第一间距；以及最后在方法步骤230中根据所述第一转速、所述第一间距以及所述时间差计算所述激光发射装置和所述激光接收装置之间的第一距离。依据本发明的距离测定方法通过将激光接收装置垂直于水平面设置，从而能够确保所述激光接收装置上设置的第一光学探测部件和第二光学探测部件能够水平地进行设置，进而能够确保以第一转速在一竖直平面内转动的竖直激光束所经过的所述第一光学探测部件和第二光学探测部件上的具体位置之间的距离恰好为上述的第一间距，从而能够确保所测量或计算出的激光发射装置和所述激光接收装置之间的第一距离是准确的。
在依据本发明的一个实施例中，所述距离测定方法200还包括另一步骤(图中未示出)，即利用激光发射装置的第二激光发射部分发射出以第二转速在一水平平面内转动的水平激光束；以及利用激光接收装置上的竖直设置的第三光学探测部件将所述激光接收装置调整为被所述水平激光束均分。由此能够将以第二转速在一水平平面内转动的水平激光束调整为在竖直方向上平分所述激光接收装置，从而能够进一步提高所测量或计算出的激光发射装置和所述激光接收装置之间的第一距离的精确度。
在依据本发明的一个实施例中，所述激光接收装置通过万向节或者水平设置的轴承来实现竖直设置。以这样的方式能够以较为简单的方式或者结构实现激光接收装置的竖直设置。本实施例中的激光接收装置竖直时，设置在其上的第一光学探测部件和第二光学探测部件处于同一个竖直平面上，可以理解地，第一光学探测部件和第二光学探测部件处于同一个竖直平面上时不一定需要激光接收装置也呈竖直状态，这取决于第一光学探测部件和第二光学探测部件设置在激光接收装置上的位置，任何可以使第一光学探测部件和第二光学探测部件至少部分地处于同一个竖直平面上的竖直调节方法都应该在本发明的保护范围内。在依据本发明的一个实施例中， 所述激光接收装置通过角度传感器和控制电机来实现竖直设置。以这样的方式能够以较为简单的方式或者结构实现激光接收装置的竖直设置。在依据本发明的一个实施例中，所述角度传感器被构造为陀螺仪。陀螺仪能够简便快速地找到竖直方向从而指引所述控制电机控制所述激光接收装置进而实现所述激光接收装置的竖直设置。在依据本发明的一个实施例中，所述角度传感器被构造为电子码盘或者电子罗盘。在电子化数字化的时代，电子码盘或者电子罗盘能够简便快速地找到竖直方向从而指引所述控制电机控制所述激光接收装置进而实现所述激光接收装置的竖直设置。
以下将结合图3至图6所示的新型的激光接收装置的结构来分别介绍依据本发明所公开的激光接收装置的每个实施例，但是本领域的技术人员应当了解，图3至图6的实施例仅仅是示例性的，而非限制性的，其仅用于示例性地示出依据本发明的激光接收装置的可能的结构形式，而不旨在穷尽依据本发明的激光接收装置的所有可能的结构形式，本领域的技术人员能够在此技术之上在不超出本发明的构思的情况下对这些实施例作出改动，而改动后的变型形式仍然处于本发明的保护范围之内。
从图3中可以看出，依据本发明所提出的激光接收装置300包括光学探测部件310，所述光学探测部件310被构造用于接收由所述激光发射装置(图中未示出)的一个激光发射部分(图中未示出)所发出的激光。此外，该依据本发明所提出的激光接收装置300还包括光学探测部件320，所述光学探测部件320被构造为与所述光学探测部件310大体上垂直地进行设置并且所述光学探测部件320包括用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分，其中，所述第一部分与所述第二部分相隔第一间距，本领域的技术人员应当理解，此处的术语"第一部分"是第一光学探测部件的一种实现形式，相应地，此处的术语"第二部分"是第二光学探测部件的一种实现形式；此处解释也同样适用于下文的描述。
图4示出了依据本发明的另一个实施例的激光接收装置400的示意图。从图4中可以看出，依据本发明所提出的激光接收装置400包括光学探测部件410，所述光学探测部件410被构造用于接收由所述激光发射装置(图 中未示出)的激光发射部分(图中未示出)所发出的激光。此外，该依据本发明所提出的激光接收装置400还包括光学探测部件420，所述光学探测部件420被构造为与所述光学探测部件410大体上垂直地进行设置并且所述光学探测部件420包括用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分，其中，所述第一部分与所述第二部分相隔第一间距。
图5示出了依据本发明的又一个实施例的激光接收装置500的示意图。从图5中可以看出，依据本发明所提出的激光接收装置500包括光学探测部件510，所述光学探测部件510被构造用于接收由所述激光发射装置(图中未示出)的激光发射部分(图中未示出)所发出的激光。此外，该依据本发明所提出的激光接收装置500还包括光学探测部件520，所述光学探测部件520被构造为与所述光学探测部件510大体上垂直地进行设置并且所述光学探测部件520包括用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分，其中，所述第一部分与所述第二部分相隔第一间距。
最后，图6示出了依据本发明的再一个实施例的激光接收装置600的示意图。从图6中可以看出，依据本发明所提出的激光接收装置600包括光学探测部件610，所述光学探测部件610被构造用于接收由所述激光发射装置(图中未示出)的激光发射部分(图中未示出)所发出的激光。此外，该依据本发明所提出的激光接收装置600还包括光学探测部件620，所述光学探测部件620被构造为与所述光学探测部件610大体上垂直地进行设置并且所述光学探测部件620包括用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分，其中，所述第一部分与所述第二部分相隔第一间距。
在依据本发明的一个实施例中，所述激光接收装置还包括计时模块，所述计时模块被构造为计算所述光学探测部件320、420、520和620的所 述第一部分和所述第二部分分别感测到激光的时刻之间的时间差。此时，在知道激光扫平移的激光发射部分的激光扫描速度以及该激光经过第一部分和第二部分之间的时间差的情况下，可以根据该第一间距来计算激光发射装置与该激光接收装置之间的距离。
所述第一部分和所述第二部分被构造为位于所述光学探测部件320和420上彼此相对的两个位置，在图3所示的实施例中，导光部件320为柱面透镜，其他非球面透镜也可以应用到本实施例中。如图3所示，该第一和第二光学探测部件320包括用于接收光束并将光束导向至所述感光元件(图中以虚线示出的部分)的第一部分以及用于接收光束并将光束导向至所述感光元件的第二部分，在该实施例中，用于接收光束并将光束导向至所述感光元件的第一部分和用于接收光束并将光束导向至所述感光元件的第二部分构成一对测量点，在每次测量时，激光光束会依次经过一对测量点中的每个部分。在图3所示出的实施例中，所述第一部分和所述第二部分例如能够位于光学探测部件320的两侧，例如位于侧边之上。当然，所述第一部分和所述第二部分位于光学探测部件320的两侧仅仅是示例性的而非限制性的，所述第一部分和所述第二部分也能够位于其他位置。举例来说，所述第一部分被构造为最先接收所述光束并将所述光束导向至所述感光元件的部分，所述第二部分被构造为最后接收所述光束并将所述光束导向至所述感光元件的部分。在图3所示的实施例中，该最先接收所述光束并将所述光束导向至所述感光元件的部分例如为用于接收光束并将光束导向至所述感光元件的第一部分，例如上侧边；而最后接收所述光束并将所述光束导向至所述感光元件的部分例如为用于接收光束并将光束导向至所述感光元件的第二部分，例如下侧边。以这样的实施方式能够在最长的测量距离即最长的测量时间上进行测量，从而能够降低误差，进而提高测量精度。
如此一来，在使用时，依据本发明所提出的激光接收装置300被悬直设置，此时，该激光接收装置300所包括的光学探测部件310也被悬直设置，即垂直于水平面设置。如此一来，借助于能够发射出水平面激光的激光发射装置便能够通过一定的调整步骤来保证激光发射装置所发射出的水平激光面处于用于接收由所述激光发射装置的激光发射部分所发出的激光 的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分中间，从而能够保证激光接收装置300的用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和激光接收装置的用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分分别至激光发射装置的激光发射部分的距离相等，通过相对应的设置，也能够间接保证激光接收装置300的用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和激光接收装置300的用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分分别至激光发射装置的激光发射部分的距离相等。如此一来，通过所述激光发射装置的激光发射部分的旋转速度、用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分之间的第一间距、以及激光经过用于接收由所述激光发射装置的激光发射部分所发出的激光的第一部分和用于接收由所述激光发射装置的激光发射部分所发出的激光的第二部分对应时刻之间的时间差便能够通过三角函数关系来确定激光发射装置与激光接收装置300之间的精确距离。而如何通过三角函数关系来计算激光发射装置与激光接收装置300之间的距离属于本领域技术人员的公知常识，故在此不再赘述。
在依据本发明的一个实施例中，所述激光接收装置300还包括信号处理模块(图中未示出)，所述信号处理模块被构造用于处理所述光学探测部件310所接收的激光和/或所述光学探测部件320所接收的激光。例如，该信号处理模块能够对根据经由所述光学探测部件310所接收的激光和/或所述光学探测部件320所接收的激光产生的电学信号进行诸如模数转换等操作，从而提高该电学信号的可传输性以及抗干扰性。
在依据本发明的一个实施例中，所述光学探测部件320的所述第一部分和所述第二部分具有相同的长度并且彼此平行地进行设置。具体而言，在图3所示的实施例中，所述第一部分和所述第二部分位于半圆柱形的光学探测部件320(例如半圆柱形的柱面透镜)的两侧，相应地，所述光学探测部件320的所述第一部分和所述第二部分具有相同的长度并且彼此平行地进行设置。而在图4所示的实施例中，所述第一部分和所述第二部分位 于球面镜形状的光学探测部件420(例如柱面反射镜)的两侧，相应地，所述光学探测部件420的所述第一部分和所述第二部分具有相同的长度并且彼此平行地进行设置。而在图5所示的实施例中，光学探测部件520包括多根相互平行地进行设置的光纤，这些光纤相互平行而且具有相同的长度，此外，每根光纤在图示的上侧和下侧分别具有光纤导光头，当光束经过时，光束由光纤导光头导入并传输至对应的感光元件上，本领域的技术人员应当了解，此处示出的六根光纤仅仅是示例性的，而非限制性的，依据本实用新型所示的光学探测组件当然可以包括多于或者少于六根光纤。相应地，在图6所示的实施例中，光学探测部件620由两根平行地进行设置并且长度一致的硅光电池模组组成。本领域的技术人员应当了解，所述光学探测部件也能够被构造为光电感应器，可以为雪崩光电二极管(APD)、电荷耦合元件(CCD)、硅光电池组或者太阳能电池组或其他能够感测激光的材料制成。
在依据本发明的一个实施例中，所述光学探测部件320、420以及620的所述第一部分和所述第二部分离所述光学探测部件310、410以及610的距离相同。换句话说，就是需要图3至图5以及图6中的光学探测部件320、420以及620分别离光学探测部件310、410和610的端面在使用时是竖直地进行设置的。
在依据本发明的一个实施例中，所述光学探测部件320、420以及520被构造为导光部件，所述导光部件的第一部分被构造用于接收光束并将所述光束导向至第一目标位置并且所述导光部件的第二部分被构造用于接收光束并将所述光束导向至所述第一目标位置。在图2至图4中所示出的实施例中，所述光学探测部件320、420以及520被构造为导光部件，在图3至图5所示出的实施例中，所述激光接收装置300、400、500还包括感光元件，所述感光元件被设置在所述第一目标位置处。而在图6所示出的实施例中，所述光学探测部件620被构造分立的两根硅光电池模组。
由以上实施例可知，能够在本发明的构思中用作光学探测部件320和420的元件例如能够被构造为球面镜、自由曲面镜、非球面镜、导光柱、导光面、平面镜、光纤或反射镜。
当所述光学探测部件320、420和520被构造为导光部件时，相较于图6所示的光学探测部件620来看，仅需要配备一组感光元件便可，从而能够简化激光接收装置的结构并且相应地降低激光接收装置的成本。
为了进一步提高该电学信号的处理精度，在依据本发明的一个实施例中，所述激光接收装置还包括放大电路，所述放大电路被构造为耦接在所述光学探测部件与所述信号处理模块之间并且用于对源自所述光学探测部件的所述光学信号所转换而成的电学信号进行放大并输出给所述信号处理模块。
为了提高依据本发明所提出的激光接收装置中的电学信号的抗干扰性，在依据本发明的一个实施例中，所述激光接收装置还包括滤波电路，所述滤波电路被构造为耦接所述光学探测部件所述信号处理模块之间并且用于对源自所述光学探测部件的所述光学信号所转换而成的电学信号进行滤波并输出给所述信号处理模块。
以下将结合图7来描述依据本发明所提出的距离测定系统，从图7中可以看出，依据本发明所提出的距离测定系统700包括：激光发射装置740，该激光发射装置740包括底座741，此外，该激光发射装置740包括第一激光发射部分742，所述第一激光发射部分742被构造用于发射以第一转速在一竖直平面内转动的竖直激光束731；此外，该距离测定系统还包括激光接收装置720，所述激光接收装置720垂直于水平面设置并且包括第一光学探测部件721和第二光学探测部件722，其中，所述激光接收装置720被构造为计算所述竖直激光束731经过所述第一光学探测部件721和所述第二光学探测部件722之间的时间差并且所述两个光学探测部件721、722之间的距离为第一间距L。再者，该距离测定系统还包括确定装置(图中未示出)，所述确定装置被构造为根据所述第一转速、所述第一间距以及所述时间差计算所述激光发射装置740和所述激光接收装置720之间的第一距离。
此外，从图中还可以看出，该激光发射装置740还包括第二激光发射部分743，所述第二激光发射部分743被构造为发射出以第二转速在一水平平面内转动的水平激光束732；其中，所述激光接收装置720还包括第三光学探测部件710，所述第三光学探测部件710被构造用于将所述激光接收装 置720调整为被所述水平激光束732均分。在依据本发明的一个实施例中，所述激光接收装置通过万向节或者水平设置的轴承来实现竖直设置，以这样的方式能够简便快速地通过重力的作用将激光接收装置720通过悬直方式而竖直设置。在依据本发明的一个实施例中，所述激光接收装置720通过角度传感器和控制电机来实现竖直设置，即通过角度传感器来感应当前的悬挂角度，然后根据该悬挂角度通过控制电机来实现其竖直设置。在依据本发明的一个实施例中，所述角度传感器被构造为陀螺仪。在依据本发明的一个实施例中，所述角度传感器被构造为电子码盘或者电子罗盘。
在图7所示的实施例中，由于第三光学探测部件710被构造用于将所述激光接收装置720调整为被所述水平激光束732均分，所以第一激光发射部分742被构造用于发射以第一转速在一竖直平面内转动的竖直激光束731离第一光学探测部件721和第二光学探测部件722的距离相等，此时，如果所述竖直激光束731经过所述第一光学探测部件721和所述第二光学探测部件722之间的时间差为Δt，而第一激光发射部分742旋转一周的时间为T，所述两个光学探测部件721、722之间的距离为第一间距L，则所述激光发射装置740和所述激光接收装置720之间的第一距离为D＝L/2/tan(Δt/T*180°)。
依据本发明的距离测定方法和距离测定系统通过将激光接收装置垂直于水平面设置，从而能够确保所述激光接收装置上设置的第一光学探测部件和第二光学探测部件能够水平地进行设置，进而能够确保以第一转速在一竖直平面内转动的竖直激光束所经过的所述第一光学探测部件和第二光学探测部件上的具体位置之间的距离恰好为上述的第一间距，从而能够确保所测量或计算出的激光发射装置和所述激光接收装置之间的第一距离是准确的。
本领域技术人员应当理解，上面公开的各个实施例可以在不偏离发明实质的情况下做出各种变形和修改。因此，本发明的保护范围应当由所附的权利要求书来限定。
尽管已经描述了本发明的不同示例性的实施例，但对于本领域技术人员而言显而易见的是，能够进行不同的改变和修改，其能够在并未背离本 发明的精神和范畴的情况下实现本发明的优点中的一个或一些优点。对于那些在本领域技术中相当熟练的技术人员来说，执行相同功能的其他部件可以适当地被替换。应当了解，在此参考特定的附图解释的特征可以与其他附图的特征组合，即使是在那些没有明确提及此的情况中。此外，可以或者在所有使用恰当的处理器指令的软件实现方式中或者在利用硬件逻辑和软件逻辑组合来获得同样结果的混合实现方式中实现本发明的方法。这样的对根据本发明的方案的修改旨在被所附权利要求所覆盖。

Claims (12)

  1. 一种距离测定方法，所述方法包括：
    利用激光发射装置的第一激光发射部分发射出以第一转速在一竖直平面内转动的竖直激光束；
    利用激光接收装置上至少部分地处于同一个竖直平面上的第一光学探测部件和第二光学探测部件计算所述竖直激光束经过所述第一光学探测部件和所述第二光学探测部件之间的时间差，其中，所述两个光学探测部件之间的距离为第一间距；以及
    根据所述第一转速、所述第一间距以及所述时间差计算所述激光发射装置和所述激光接收装置之间的第一距离。
  2. 根据权利要求1所述的距离测定方法，所述距离测定方法还包括：
    利用激光发射装置的第二激光发射部分发射出以第二转速在一水平平面内转动的水平激光束；以及
    利用激光接收装置上的竖直设置的第三光学探测部件将所述激光接收装置调整为被所述水平激光束均分。
  3. 根据权利要求1所述的距离测定方法，其中，所述第一光学探测部件和第二光学探测部件通过万向节或者水平设置的轴承来实现竖直设置。
  4. 根据权利要求1所述的距离测定方法，其中，所述第一光学探测部件和第二光学探测部件通过角度传感器和控制电机来实现竖直设置。
  5. 根据权利要求4所述的距离测定方法，其中，所述角度传感器被构造为陀螺仪。
  6. 根据权利要求4所述的距离测定方法，其中，所述角度传感器被构造为电子码盘或者电子罗盘。
  7. 一种距离测定系统，所述系统包括：
    激光发射装置，所述激光发射装置包括第一激光发射部分，所述第一激光发射部分被构造用于发射以第一转速在一竖直平面内转动的竖直激光束；
    激光接收装置，包括至少部分地处于同一个竖直平面上的第一光学探测部件和第二光学探测部件，其中，所述激光接收装置被构造为计算所述竖直激光束经过所述第一光学探测部件和所述第二光学探测部件之间的时 间差，其中，所述两个光学探测部件之间的距离为第一间距；以及
    确定装置，所述确定装置被构造为根据所述第一转速、所述第一间距以及所述时间差计算所述激光发射装置和所述激光接收装置之间的第一距离。
  8. 根据权利要求7所述的距离测定系统，其特征在于，所述激光发射装置还包括第二激光发射部分，所述第二激光发射部分被构造为发射出以第二转速在一水平平面内转动的水平激光束；其中，所述激光接收装置还包括第三光学探测部件，所述第三光学探测部件被构造用于将所述激光接收装置调整为被所述水平激光束均分。
  9. 根据权利要求7所述的距离测定系统，其中，所述第一光学探测部件和第二光学探测部件通过万向节或者水平设置的轴承来实现竖直设置。
  10. 根据权利要求7所述的距离测定系统，其中，所述第一光学探测部件和第二光学探测部件通过角度传感器和控制电机来实现竖直设置。
  11. 根据权利要求10所述的距离测定系统，其中，所述角度传感器被构造为陀螺仪。
  12. 根据权利要求10所述的距离测定系统，其中，所述角度传感器被构造为电子码盘或者电子罗盘。
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