WO2019033270A1 - 一种激光测距装置及其使用方法 - Google Patents

一种激光测距装置及其使用方法 Download PDF

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Publication number
WO2019033270A1
WO2019033270A1 PCT/CN2017/097516 CN2017097516W WO2019033270A1 WO 2019033270 A1 WO2019033270 A1 WO 2019033270A1 CN 2017097516 W CN2017097516 W CN 2017097516W WO 2019033270 A1 WO2019033270 A1 WO 2019033270A1
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WIPO (PCT)
Prior art keywords
signal
receiving unit
receiving
beam splitter
lens
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PCT/CN2017/097516
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English (en)
French (fr)
Inventor
张瓯
朱亚平
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杭州欧镭激光技术有限公司
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Priority to EP17922032.2A priority Critical patent/EP3671275A4/en
Priority to US16/639,162 priority patent/US11662466B2/en
Priority to JP2020508374A priority patent/JP2020530572A/ja
Publication of WO2019033270A1 publication Critical patent/WO2019033270A1/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
    • 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
    • G01S17/46—Indirect determination of position data
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
    • 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
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present invention relates to the field of laser ranging, and in particular to a laser ranging device and a method of using the same.
  • the laser ranging device emits an optical signal and is reflected back after reaching the target.
  • the distance between the measured object and the laser ranging device is far, and when the laser ranging device processes the optical signal reflected by the closely-measured target, the optical signal energy is strong, so that the photoelectric receiving device converts the When the optical signal is a pulse signal, it is saturated, so that the true distance cannot be measured.
  • the optical signal reflected by the closely-measured target is attenuated and continuously fed back in such a manner as to gradually adjust the emission intensity of the laser ranging device until the receiving device can collect data within the effective measurement range, thereby achieving close proximity Measurement of the target being measured.
  • the traditional laser ranging device workflow is to emit laser light from a laser emitting device, pass through a transmitting lens, and then reflect back to the laser ranging device after passing through the measuring object, through the receiving lens group, and then through the filter and the collecting mirror.
  • the filter will filter out the external stray light emitted by the laser ranging device, and the condensing mirror converts the received light into approximately parallel light, and finally converts it into an electrical signal for processing by the photoelectric conversion element.
  • the laser emitting device of the laser ranging device adjusts the transmission power, reduces the energy of the laser, and tests again until the photoelectric conversion element is converted.
  • the electrical signal conforms to the measurement range.
  • an object of the present invention is to provide a laser ranging device and a method for using the same, which are based on the use of a beam splitter to split an optical signal, and simultaneously receive and screen multiple optical signals to achieve a fast measurement technique. .
  • the invention discloses a laser ranging device, comprising a transmitting unit, a mirror, a transmitting lens, a receiving lens and a receiving unit, the laser ranging device further comprising: at least one beam splitter, disposed on the receiving lens and the Between the receiving units, each of the beamsplitters is sequentially disposed on the same optical propagation path; at least one of the spectral receiving units is disposed in one-to-one correspondence with the beam splitter; the transmitting unit emits an optical signal, and the optical signal is The mirror is reflected and passed through the emitting lens to reach a measured target; the measured target reflects the optical signal to form a return optical signal, and the return optical signal passes through the receiving lens, and is separated by the distance
  • the beam splitter closest to the receiving lens is divided into a transmitted light signal transmitted through the beam splitter and a reflected light signal reflected by the beam splitter according to a splitting ratio; the transmitted light signal sequentially passes through other beam splitters along the optical propagation path.
  • Each passing through a beam splitter generates a reflected light signal; each of the reflected light signals is corresponding to a mirror that generates the reflected light signal
  • Light receiving means receiving; after the transmission of the received optical signal transmitted through the beam splitter lens farthest from the receiving unit.
  • the beam splitters are at least two, forming a beam splitting array; the optical propagation path through the beam splitter is a straight line; and when the return light signal passes through the beam splitting array, the transmitted light transmitted through each beam splitter The energy of the signal is gradually attenuated according to the splitting ratio of each beam splitter.
  • the laser ranging device comprises three of the beam splitters and three of the beam splitting receiving units; each beam splitter has a splitting ratio of 1:4.
  • the spectroscope has a spectral ratio of 1:1 to 1:10.
  • the receiving unit and the spectroscopic receiving unit are photoelectric conversion elements that convert the received optical signal into an electrical signal, and the magnitude of the electrical signal reflects the magnitude of the energy of the optical signal.
  • the laser ranging device further includes an analyzing unit connected to the receiving unit and the spectroscopic receiving unit, and an amplitude threshold is set therein, and the amplitude and the amplitude of the electrical signal converted by the receiving unit and the spectroscopic receiving unit are compared. The size of the threshold.
  • the optical signal emitted by the transmitting unit is a pulse signal.
  • the invention also discloses a method for using a laser distance measuring device, comprising the following steps:
  • Step S1 controlling a transmitting unit of the laser ranging device to emit an optical signal, the optical signal being reflected by the mirror and passing through the transmitting lens to reach a measured target;
  • Step S2 the measured object reflects the optical signal to form a return light signal, and after the return light signal passes through the receiving lens, the light splitting mirror closest to the receiving lens is divided into a transmitting light according to a light splitting ratio. a transmitted light signal of the spectroscope and a reflected light signal reflected by the spectroscope;
  • Step S3 the transmitted optical signal sequentially passes through the other beam splitting mirrors along the optical propagation path, and each of the light splitting mirrors generates a reflected light signal.
  • Step S4 each of the reflected light signals is received by a spectroscopic receiving unit corresponding to a mirror that generates the reflected optical signal and converted into an electrical signal;
  • Step S5 the transmitted light signal is transmitted through the beam splitter farthest from the receiving lens, and then received by the receiving unit and converted into an electrical signal;
  • Step S6 The analyzing unit sequentially determines whether the amplitude of the electrical signal converted by the spectral receiving unit and the receiving unit is less than a magnitude threshold;
  • Step S7 If the amplitude of at least one of the electrical signals converted by the spectral receiving unit and the receiving unit is less than the amplitude threshold, selecting an electrical signal having the largest amplitude among the electrical signals smaller than the amplitude threshold is used as the measurement. data.
  • the measuring range is wide, adapting to the measured target at different distances
  • the measurement data acquisition can be completed in a short time, saving working time.
  • FIG. 1 is a schematic structural view of a laser distance measuring device in accordance with a preferred embodiment of the present invention
  • FIG. 2 is a flow chart showing a method of using a laser distance measuring device in accordance with a preferred embodiment of the present invention.
  • the laser distance measuring device includes a transmitting unit 4, a mirror 3, an emitting lens 2, a receiving lens 1, a filter unit 5, a collecting lens 6, a beam splitter 7, a receiving unit 8, and a beam splitting receiving unit 9.
  • the transmitting unit 4 is capable of emitting a pulsed optical signal, which may be a laser transmitter, and may adjust the transmission power to change the energy of the emitted optical signal.
  • the mirror 3 has a total reflection mirror that reflects the light signal emitted by the emission unit 4 to the emission lens 2.
  • the optical signal passes through the transmitting lens 2 and reaches a measured
  • the target the measured target reflects the optical signal to form a return optical signal. Returning the light signal to the position where the laser ranging device is located, passing through the receiving lens 1.
  • the receiving lens 1 has two, and they are used together to make the returning optical signal easy to receive. The state, for example, converges the reflected light signals, and the energy is more concentrated.
  • the return light signal passing through the receiving lens 1 passes through the filter unit 5, and the filter unit 5 may be a filter that filters out external stray light emitted by the laser ranging device.
  • the return light signal passing through the filter unit 5 continues through the concentrating lens 6, which is a convex lens that converts the received return light signal into parallel or nearly parallel reflected light signals.
  • the filter unit 5 and the concentrating lens 6 are not essential components for the implementation of the invention, and their application in this embodiment enables the return optical signal to be better received.
  • the laser ranging device includes three beam splitters disposed between the collecting lens 6 and the receiving unit 8 to form a light splitting array; the returning optical signal passes through an optical propagation path.
  • the spectroscopic array is then received by the receiving unit 8, and the optical propagation path is a straight line, that is, a beam of light can pass through all of the beam splitters 7 in the spectroscopic array without changing the direction of propagation.
  • the arrangement direction of the beam splitter 7 in the spectroscopic array is adjusted, and the optical propagation path may also be a fold line, that is, when the light beam passes through each of the beam splitters 7, it is refracted through the beam splitter 7 at a certain angle.
  • the beam splitter 7 is provided with a light splitting function for dividing the return light signal passing through the beam splitter 7 into a transmitted light signal transmitted through the beam splitter 7 and a reflected light signal reflected by the beam splitter 7 in accordance with a light splitting ratio. That is, after receiving the return light signal, the beam splitter 7 allows both the received return light signal to pass and the partial returned light signal to be reflected.
  • the splitting ratio is the ratio of the energy of the transmitted light signal transmitted through the beam splitter 7 to the energy of the reflected light signal reflected by the beam splitter 7; each split in this embodiment
  • the split ratio of the mirror 7 is the same, and the split ratio is 1:4.
  • the return light signal from the collecting lens 6 first passes through a beam splitter 7 closest to the collecting lens 6 in the beam splitting array, and the returning light signal is divided into the beam splitter 7 a transmitted light signal passing through the beam splitter 7 and a reflected light signal reflected by the beam splitter 7, the transmitted light signal maintaining the propagation direction of the return light signal, continuing through the next beam splitter 7, and continuing to be Splitting, the same is true for the last beam splitter 7.
  • the spectroscopic array receives the return optical signal from the collecting lens 6, a total of four sets of optical signals are generated, wherein three sets of reflected optical signals are respectively reflected by three of the spectroscopic mirrors, and the last one
  • the group transmitted light signal is a return light signal remaining after the return light signal is continuously attenuated by the three beam splitters 7 in stages.
  • the transmitted optical signal transmitted through the beam splitter 7 farthest from the condenser head 6 in the spectroscopic array is finally received by the receiving unit 8, which is a photoelectric conversion element such as an avalanche photodiode (APD). And converting the received optical signal into an electrical signal for subsequent processing.
  • APD avalanche photodiode
  • the laser ranging device further includes three splitting receiving units 9, the splitting receiving unit 9 and the beam splitter 7 One-to-one correspondence.
  • Each of the split light receiving units 9 is disposed on a propagation path of the reflected light signal reflected by the corresponding beam splitter 7 to receive the reflected light signal.
  • the spectroscopic receiving unit 9 is also a photoelectric conversion element.
  • the splitting ratio is 1:4, that is, for one beam splitter 7, 20% of the received return light signal is transmitted, and 80% of the energy is reflected. Therefore, the energy ratio of the reflected light signal received by the receiving unit 8 and each of the spectral receiving units can be calculated. Assuming that the energy of the returning light signal from the collecting lens 6 is 100%, regardless of other forms of energy loss, when the returning light signal passes through the first beam splitter 7, 80% of the energy is received by its corresponding splitting light. Unit 9 receives 20% of the energy transmitted through the beam splitter 7 and to the second beam splitter 7.
  • the second beam splitter 7 reflects 80% of the received 20% of the energy, that is, 16% of the total proportion is reflected to its corresponding splitting receiving unit 9, and the remaining 4% passes through the second splitting
  • the mirror 7 reaches the third beam splitter 7.
  • the energy ratio of the third beam splitter 7 is 3.2%, and only 0.8% of the energy is received by the receiving unit 8 through the third beam splitter. Therefore, the three spectral receiving units 9 and the receiving unit 8 constitute a hierarchical energy receiving ratio, and the laser ranging device can determine which spectral receiving unit 9 or the receiving unit 8 to use measurement data according to actual use conditions. In order to obtain more accurate measurement data in a shorter measurement time.
  • the energy of the optical signal received by the splitting receiving unit 9 or the receiving unit 8 is preferably within a certain range to ensure that the measured data is accurate. If the optical signal energy is too high or too low, the accuracy of the measured data may be affected.
  • the distance between the measured target and the laser ranging device may change frequently. When the measured target is closer to the laser ranging device, the energy of the returned light signal formed by the measured target is compared. Therefore, the energy of each of the reflected light signal and the transmitted light signal formed by the light-receiving array is also large, and the receiving unit 8 or the light-splitting receiving unit 9 is saturated in order to avoid the energy of the optical signal being too strong.
  • the state may be selected from the spectral receiving unit 9 having a lower energy ratio or the electrical signal converted by the receiving unit 8.
  • the energy of each of the reflected light signal and the transmitted light signal formed by the return light signal through the light splitting array is also small, preferably using a distance.
  • the optical signal received by the nearest beam splitter 7 of the collecting lens 6 maximizes the energy of the returning optical signal to ensure accurate measurement data.
  • the laser ranging device in the embodiment further includes an analyzing unit, which is connected to the receiving unit 8 and the spectroscopic receiving unit 9, and has an amplitude threshold, and compares the electrical signals converted by the receiving unit 8 and the spectroscopic receiving unit 9. The magnitude and magnitude of the amplitude threshold.
  • the electrical signals converted by the receiving unit 8 and the spectroscopic receiving unit 9 are analog quantities having a voltage amplitude, and the amplitude of the electrical signals is affected by the energy intensity of the optical signals received by the receiving unit 8 and the spectroscopic receiving unit 9. The greater the energy intensity of the optical signal, the greater the voltage amplitude of the electrical signal converted by the receiving unit 8 and the spectroscopic receiving unit 9.
  • the analysis unit is an electrical component, not shown in FIG.
  • the distance measuring device is specially integrated into the box of the electrical components to reduce interference from the outside.
  • the analyzing unit may include a plurality of sets of analog-to-digital conversion circuits electrically connected to the receiving unit 8 and the spectroscopic receiving unit 9, respectively converting the electrical signals converted by the receiving unit 8 and the spectroscopic receiving unit 9 into digital quantities, so that The single-chip microcomputer in the analysis unit collects the digital quantity and performs operation analysis.
  • the analyzing unit may also be a single-chip microcomputer having an analog sampling function, and the electrical signals converted by the receiving unit 8 and the spectroscopic receiving unit 9 are converted into voltage ranges receivable by the single-chip microcomputer, and then connected to the The analog input interface of the microcontroller.
  • the amplitude threshold is stored in the single chip, and the amplitude threshold may be set according to an experimental or practical application effect, and the purpose is to set an effective limit of the amplitude of the electrical signal.
  • the amplitude of the electrical signal is less than the amplitude threshold, it means that the electrical signal is within this effective limit and can be used as measurement data.
  • the amplitude of the electrical signal is greater than or equal to the amplitude threshold, it means that the electrical signal exceeds this effective limit and is not suitable for use as measurement data.
  • the optical signal may also be an optical band such as infrared light or visible light.
  • the number of the beam splitter 7 and the spectroscopic receiving unit 9 can be adjusted according to the application requirements.
  • the splitting ratio of the beam splitter 7 can also be adjusted according to requirements, and the adjustment range is 1:1 to 1:10, and the splitting of the different beam splitters 7 is performed. The ratio can also be different.
  • the splitting mode of the beam splitter 7 can also be a single light-transmitting attenuation splitting mode, without a reflection mode, or a single reflection mode, or a combination of a refracting light transmission mode and a reflection mode.
  • FIG. 2 is a schematic flow chart of a method for using a laser distance measuring device according to a preferred embodiment of the present invention.
  • the method for using the laser distance measuring device according to the present invention includes the following steps:
  • Step S1 The transmitting unit 4 of the laser ranging device is controlled to emit an optical signal, and the optical signal is reflected by the mirror 3 and passes through the transmitting lens 2 to reach a measured target.
  • This step completes the emission of the optical signal, and the transmitting unit 4 of the laser ranging device emits an optical signal, which may be a pulse signal.
  • the light signal emitted by the transmitting unit 4 is not directly directed to the direction of the object to be measured, but also needs to be reflected by the mirror 3 toward the direction of the object to be measured, and then adjusted by the transmitting lens 2 to reach the station. Describe the target being measured.
  • Step S2 the measured object reflects the optical signal to form a return light signal. After the return light signal passes through the receiving lens 1, the light splitting mirror 7 closest to the receiving lens 1 is divided into a light splitting ratio. a transmitted light signal transmitted through the beam splitter 7 and a reflected light signal reflected by the beam splitter 7.
  • This step describes the propagation path of the return optical signal.
  • the light signal is reflected by the object to be measured to form the return light signal, and the propagation path of the return light signal faces the laser ranging device, and passes through the receiving lens 1 to be used by the beam splitter 7 Splitting light.
  • the return light signal is divided into a transmitted light signal transmitted through the beam splitter 7 and a reflected light signal reflected by the beam splitter 7.
  • the beam splitter 7 splits light according to a splitting ratio, and the splitting The ratio is the ratio of the energy of the optical signal transmitted through the beam splitter 7 to the energy of the optical signal reflected by the beam splitter 7.
  • a filter unit 5 and a collecting lens 6 may be disposed between the receiving lens 1 and the beam splitter 7.
  • Step S3 The transmitted light signal sequentially passes through the other beam splitters 7 along the optical propagation path, and each of the light splitters generates a reflected light signal.
  • This step describes the propagation path of the transmitted optical signal, that is, the return optical signal from the receiving lens 1 generates a transmitted optical signal after passing through the beam splitter 7 closest to the receiving lens 1, and the transmitted optical signal maintains a straight line.
  • the propagation path continues through the other beam splitters 7 disposed on the propagation path, and each of the beamsplitters 7 generates a reflected light signal and a next transmitted light signal.
  • Step S4 Each of the reflected light signals is received by the spectroscopic receiving unit 9 corresponding to the mirror 7 that generates the reflected light signal and converted into an electrical signal.
  • the reflected light signals generated by each of the beam splitters 7 in this step are received by the spectral receiving unit 9 corresponding to the beam splitter 7.
  • the number of the spectral receiving units 9 is in one-to-one correspondence with the beam splitter 7, ensuring that each reflected light signal can be received.
  • the spectro-light receiving unit 9 converts the received optical signal into an electrical signal for subsequent processing.
  • Step S5 The transmitted light signal is transmitted through the beam splitter 7 farthest from the receiving lens 1 and then received by the receiving unit 8 and converted into an electrical signal.
  • the beam splitter 7 farthest from the receiving lens 1 is also the last beam splitter 7 passing through the propagation path of the transmitted light signal.
  • the transmitted light signal passes through the plurality of beam splitters 7, and its energy has been gradually attenuated according to the splitting ratio, and finally received by the receiving unit 8.
  • Step S6 The analyzing unit sequentially determines whether the amplitude of the electrical signal converted by the spectral receiving unit 9 and the receiving unit 8 is less than a magnitude threshold.
  • the analyzing unit determines the amplitude of the electrical signal converted by the spectral receiving unit 9 and the receiving unit 8, and compares with an amplitude threshold.
  • the purpose of this step is to find an electrical signal having an amplitude less than the amplitude threshold.
  • Step S7 If the amplitude of at least one of the electrical signals converted by the spectral receiving unit 9 and the receiving unit 8 is less than the amplitude threshold, select one of the electrical signals having the largest amplitude among the electrical signals smaller than the amplitude threshold. As measurement data.
  • step S6 determines whether there is at least one electrical signal whose amplitude is smaller than the amplitude threshold. If there is at least one electrical signal whose amplitude is smaller than the amplitude threshold, this step is performed. In this step, one of the electrical signals corresponding to the condition is selected as the measurement data. Because the amplitude of the electrical signal is larger when the amplitude threshold is satisfied, the measurement error and the range of values are more readable, which is beneficial to obtain the most accurate measurement result.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种激光测距装置及其使用方法，激光测距装置包括发射单元(4)、反射镜(3)、发射透镜(2)、接收透镜(1)及接收单元(8)，激光测距装置还包括：至少一个分光镜(7)，设于接收透镜(1)与接收单元(8)之间，每一分光镜(7)依次布设于同一光学传播路径上；至少一个分光接收单元(9)，与分光镜(7)一一对应布设。本技术方案测量范围较宽，适应不同距离的被测目标；无需多次反馈调节，可在短时间内完成测量数据获取，节约工作时间。

Description

一种激光测距装置及其使用方法 技术领域
本发明涉及激光测距领域，尤其涉及一种激光测距装置及其使用方法。
背景技术
如今，现有的脉冲测距技术中，激光测距装置发射一路光信号到达被测目标后被反射回来。所述被测目标与激光测距装置的距离有远有近，当激光测距装置处理由近距离被测目标反射回来的光信号时，该光信号能量较强，使得光电接收器件转化所述光信号为脉冲信号时处于饱和状态，这样就无法测得其真正的距离。
现有技术采用对近距离被测目标反射的光信号进行衰减并不断反馈这类方式来逐步调节激光测距装置的发射强度，直至接收器件能在有效测量范围内采集数据，从而实现对近距离被测目标的测量。举例来说，传统的激光测距装置工作流程是从激光发射装置发射出激光，经过发射透镜，遇到测量物后反射回激光测距装置，透过接收透镜组，然后通过滤光片和聚光镜，滤光片将滤除非激光测距装置发射的外界杂光，聚光镜将接收到的光转化为近似平行光，最后通过光电转换元件将其转换为电信号进行处理。若所述光电转换元件转换的电信号不符合测量范围时，则所述激光测距装置的激光发射装置调整发射功率，减小激光的能量，再一次进行测试，直到所述光电转换元件转换的电信号符合测量范围。
然而，现有技术的主要缺陷是耗时较长，响应较慢，需要用几个甚至几十个脉冲才能达到有效测量范围。这一缺陷导致了现有技术的激光测距装置无法进行高速高精度的测量工作。
因此需要设计一种不需要多次测量反馈即可实现有效测量范围内对被测目标进行测距的激光测距装置。
发明内容
为了克服上述技术缺陷，本发明的目的在于提供一种激光测距装置及其使用方法，基于使用分光镜对光信号进行分光，同时对多路光信号进行接收并筛选，实现快速测量的技术效果。
本发明公开了一种激光测距装置，包括发射单元、反射镜、发射透镜、接收透镜及接收单元，所述激光测距装置还包括：至少一个分光镜，设于所述接收透镜与所述接收单元之间，每一所述分光镜依次布设于同一光学传播路径上；至少一个分光接收单元，与所述分光镜一一对应布设；所述发射单元发射一光信号，所述光信号经所述反射镜反射后通过所述发射透镜，到达一被测量目标；所述被测量目标反射所述光信号形成一返回光信号，所述返回光信号通过所述接收透镜后，被距离所述接收透镜最近的分光镜按照一分光比例分为透过所述分光镜的透射光信号和被所述分光镜反射的反射光信号；所述透射光信号沿所述光学传播路径依次通过其他分光镜，每通过一分光镜时，均产生一反射光信号；每一所述反射光信号被产生该反射光信号的反光镜对应的分光接收单元接收；所述透射光信号透过距离所述接收透镜最远的分光镜后被所述接收单元接收。
优选地，所述分光镜至少为两个，构成一分光阵列；通过所述分光镜的光学传播路径为直线；当所述返回光信号通过所述分光阵列时，透过各个分光镜的透射光信号的能量按照各个分光镜的分光比例逐级衰减。
优选地，所述激光测距装置包括3个所述分光镜及3个所述分光接收单元；各分光镜的分光比例为1∶4。
优选地，所述分光镜的分光比例为1∶1至1∶10。
优选地，所述接收单元和分光接收单元为光电转换元件，将接收的光信号转换为电信号，所述电信号的幅度大小反映所述光信号的能量大小。
优选地，所述激光测距装置还包括分析单元，与所述接受单元和分光接受单元连接，内设一幅度阈值，比较所述接收单元及分光接收单元转换的电信号的幅度与所述幅度阈值的大小。
优选地，所述发射单元发射的光信号为脉冲信号。
本发明还公开了一种激光测距装置的使用方法，包括以下步骤：
步骤S1：控制所述激光测距装置的发射单元发射一光信号，所述光信号经所述反射镜反射后通过所述发射透镜，到达一被测量目标；
步骤S2：所述被测量目标反射所述光信号形成一返回光信号，所述返回光信号通过所述接收透镜后，被距离所述接收透镜最近的分光镜按照一分光比例分为透过所述分光镜的透射光信号和被所述分光镜反射的反射光信号；
步骤S3：所述透射光信号沿所述光学传播路径依次通过其他分光镜，每通过一分光镜时，均产生一反射光信号；
步骤S4：每一所述反射光信号被产生该反射光信号的反光镜对应的分光接收单元接收并转换为电信号；
步骤S5：所述透射光信号透过距离所述接收透镜最远的分光镜后被所述接收单元接收并转换为电信号；
步骤S6：所述分析单元依次判断所述分光接收单元及所述接收单元转换的电信号的幅度是否小于一幅度阈值；
步骤S7：若所述分光接收单元及所述接收单元转换的电信号中至少一个电信号的幅度小于所述幅度阈值，则选择小于所述幅度阈值的电信号中幅度最大的一路电信号作为测量数据。
采用了上述技术方案后，与现有技术相比，具有以下有益效果：
1.测量范围较宽，适应不同距离的被测目标；
2.无需多次反馈调节，可在短时间内完成测量数据获取，节约工作时间。
附图说明
图1为符合本发明一优选实施例中激光测距装置的结构示意图；
图2为符合本发明一优选实施例中激光测距装置的使用方法流程示意图。
附图标记：
1-接收透镜、2-发射透镜、3-反射镜、4-发射单元、5-滤光单元、6-聚光透镜、7-分光镜、8-接收单元、9-分光接收单元。
具体实施方式
以下结合附图与具体实施例进一步阐述本发明的优点。
参阅图1，为符合本发明一优选实施例中激光测距装置的结构示意图。所述激光测距装置包括发射单元4、反射镜3、发射透镜2、接收透镜1、滤光单元5、聚光透镜6、分光镜7、接收单元8以及分光接收单元9。
所述发射单元4能够发出脉冲式的光信号，可以是激光发射器，并且可以调节发射功率，改变所发出的光信号的能量。所述反射镜3具有全反射镜面，将所述发射单元4所发出的光信号反射至所述发射透镜2。所述光信号通过所述发射透镜2后到达一被测量 目标，所述被测量目标反射所述光信号，形成返回光信号。所述返回光信号返回所述激光测距装置所在的位置，穿过所述接收透镜1，本实施例中，所述接收透镜1有两个，他们搭配使用使得所述返回光信号处于易于接收的状态，例如使所述反射光信号汇聚，能量更加集中。穿过所述接收透镜1的返回光信号之后穿过所述滤光单元5，所述滤光单元5可以是滤光片，滤除非激光测距装置发射的外界杂光。穿过所述滤光单元5的返回光信号继续穿过所述聚光透镜6，所述聚光透镜6为凸透镜，将接收到的返回光信号转化为平行或近似平行的反射光信号。所述滤光单元5和聚光透镜6并不是本发明实施所必须的部件，本实施例中它们的应用能够使所述返回光信号更好地被接收。
本实施例中，所述激光测距装置包括3个分光镜，设于所述聚光透镜6和所述接收单元8之间，组成一分光阵列；所述返回光信号按照一光学传播路径通过所述分光阵列后被所述接收单元8接收，所述光学传播路径是直线，即一束光可以透过所述分光阵列中的所有分光镜7，不改变传播方向。调整所述分光阵列中所述分光镜7的排布方向，所述光学传播路径也可以是折线，即所述光束通过每一分光镜7时，按照一定角度折射穿透所述分光镜7。所述分光镜7具备分光功能，按照一分光比例将通过所述分光镜7的返回光信号分为透过所述分光镜7的透射光信号和被所述分光镜7反射的反射光信号。即所述分光镜7接收到返回光信号后，既允许部分所接收的返回光信号通过，又反射部分所接收的返回光信号。对于单个分光镜7而言，所述分光比例为透过所述分光镜7的透射光信号的能量和被所述分光镜7反射的反射光信号的能量的比值；本实施例中每个分光镜7的分光比例相同，所述分光比例为1∶4。
本实施例中，来自所述聚光透镜6的返回光信号首先通过所述分光阵列中距离所述聚光透镜6最近的一个分光镜7，所述返回光信号被该分光镜7分为透过该分光镜7的透射光信号和被该分光镜7反射的反射光信号，所述透射光信号保持所述返回光信号的传播方向，继续通过下一个分光镜7，在此基础上继续被分光，最后一个分光镜7亦是如此。整体来看，所述分光阵列接收来自所述聚光透镜6的返回光信号后，共产生了4组光信号，其中3组反射光信号分别由3个所述分光镜反射而成，最后一组透射光信号为所述返回光信号连续透过3个分光镜7逐级衰减后所剩余的返回光信号。透过所述分光阵列中距离所述聚光头颈6最远的分光镜7的透射光信号最终被所述接收单元8接收，所述接收单元8为光电转换元件，例如雪崩光电二极管(APD)，将所接收的光信号转换为电信号，以便后续处理。
所述激光测距装置还包括3个分光接收单元9，所述分光接收单元9与所述分光镜7 一一对应布设。每一分光接收单元9设于其对应的分光镜7所反射的反射光信号的传播路径上，接收所述反射光信号。所述分光接收单元9也是光电转换元件。
本实施例中，所述分光比例为1∶4，即对于一个分光镜7，所接收的返回光信号中20％的能量透过去了，80％的能量被反射。因此，所述接收单元8以及各个分光接收单元所收到的反射光信号的能量比例是可以计算的。假设来自所述聚光透镜6的返回光信号的能量为100％，不考虑其他形式的能量损失，所述返回光信号通过第一个分光镜7时，80％的能量被其对应的分光接收单元9接收，20％的能量透过该分光镜7并到达第二个分光镜7。所述第二个分光镜7将接收的20％的能量中的80％反射，也就是总比例的16％反射至其对应的分光接收单元9，剩余的4％透过所述第二个分光镜7，到达第三个分光镜7。所述第三个分光镜7反射的能量比例为3.2％，而只有0.8％的能量透过所述第三个分光镜被所述接收单元8接收。因此，3个分光接收单元9以及所述接收单元8构成了有层次的能量接收比例，所述激光测距装置可以根据实际使用情况来决定采用哪个分光接收单元9或接收单元8的测量数据，以实现在较短的测量时间内得到较为准确的测量数据。所述分光接收单元9或接收单元8所接收的光信号的能量最好在一定范围内，才能确保其测量数据准确，若光信号能量过高或过低都会影响测量数据的准确性。所述被测量目标与所述激光测距装置的距离会经常变化，当所述被测量目标与所述激光测距装置距离较近时，所述被测量目标反射形成的返回光信号的能量较大，因而所述返回光信号通过所述分光阵列形成的各反射光信号及透射光信号的能量也较大，为了避免光信号能量太强导致所述接收单元8或分光接收单元9处于饱和工作状态，可以选用能量比例较低的分光接收单元9或者是所述接收单元8所转换的电信号。相反地，当所述被测量目标与所述激光测距装置距离较远时，所述返回光信号通过所述分光阵列形成的各反射光信号及透射光信号的能量也较小，优选采用距离所述聚光透镜6最近的分光镜7所接收的光信号，最大限度地利用返回光信号的能量，保证测量数据准确。所述激光测距装置对所述分光接收单元9或接收单元8的选择实现手段及方法流程在下文阐述。
本实施例中所述激光测距装置还包括分析单元，与所述接受单元8和分光接受单元9连接，内设一幅度阈值，比较所述接收单元8及分光接收单元9转换的电信号的幅度与所述幅度阈值的大小。所述接受单元8和分光接受单元9所转换的电信号为具有电压幅度的模拟量，所述电信号的幅度受所述接受单元8和分光接受单元9所接收的光信号的能量强度影响，光信号能量强度越大，所述接受单元8和分光接受单元9转换的电信号的电压幅度也就越大。所述分析单元为电学部件，并未在图1中标出，可设于所述激光 测距装置专门集成电学部件的箱体内，减少被外界的干扰。所述分析单元可以包括多组模数转换电路，与所述接受单元8和分光接受单元9电连接，分别将所述接受单元8和分光接受单元9所转换的电信号转换为数字量，以便所述分析单元内的单片机采集所述数字量并进行运算分析。所述分析单元也可以是具备模拟量采样功能的单片机，所述接受单元8和分光接受单元9所转换的电信号经过调压后转换为所述单片机可接收的电压范围，再接入所述单片机的模拟量输入接口。所述单片机内存储有幅度阈值，所述幅度阈值可根据实验或实际应用的效果设定，目的是设定一个所述电信号幅度的有效界限。当所述电信号的幅度小于所述幅度阈值时，意味着所述电信号在此有效界限之内，可以作为测量数据采用。当所述电信号的幅度大于等于所述幅度阈值时，意味着所述电信号超过了此有效界限，不适合作为测量数据使用。
在本发明的其他实施例中，所述光信号还可以是红外线、可见光等光学波段。所述分光镜7和分光接收单元9的数量可以根据应用需求调整，所述分光镜7的分光比例也可以根据需求调整，调整范围为1∶1至1∶10，且不同分光镜7的分光比例也可以不同。所述分光镜7的分光方式还可以是单一的透光衰减分光方式，不含反射方式，或者是单一的反射方式，再或者是折射透光方式与反射方式的组合。
参阅图2，为符合本发明一优选实施例中激光测距装置的使用方法流程示意图，所述使用方法用于本发明涉及的激光测距装置，包括以下步骤：
步骤S1：控制所述激光测距装置的发射单元4发射一光信号，所述光信号经所述反射镜3反射后通过所述发射透镜2，到达一被测量目标。
本步骤完成光信号的发射，所述激光测距装置的发射单元4发射一光信号，所述光信号可以是脉冲信号。所述发射单元4发射的光信号并不直接朝着被测量目标的方向，还需经所述反射镜3反射为朝着被测量目标的方向，而后再通过所述发射透镜2调整后到达所述被测量目标。
步骤S2：所述被测量目标反射所述光信号形成一返回光信号，所述返回光信号通过所述接收透镜1后，被距离所述接收透镜1最近的分光镜7按照一分光比例分为透过所述分光镜7的透射光信号和被所述分光镜7反射的反射光信号。
本步骤描述所述返回光信号的传播路径。所述光信号被所述被测量目标反射后形成所述返回光信号，所述返回光信号的传播路径朝向所述激光测距装置，穿过所述接收透镜1后，被所述分光镜7分光。所述返回光信号被分为透过所述分光镜7的透射光信号和被所述分光镜7反射的反射光信号。所述分光镜7分光时按照一分光比例，所述分光 比例即透过所述分光镜7的光信号的能量和被所述分光镜7反射的光信号的能量之比。在本发明其他实施例中，所述接收透镜1和所述分光镜7之间还可设有滤光单元5和聚光透镜6。
步骤S3：所述透射光信号沿所述光学传播路径依次通过其他分光镜7，每通过一分光镜时，均产生一反射光信号。
本步骤描述了所述透射光信号的传播路径，即来自所述接收透镜1的返回光信号通过距离所述接收透镜1最近的分光镜7后产生一透射光信号，所述透射光信号保持直线传播路径，继续通过设于该传播路径上的其他分光镜7，每通过一个分光镜7，均会产生一反射光信号和下一个透射光信号。
步骤S4：每一所述反射光信号被产生该反射光信号的反光镜7对应的分光接收单元9接收并转换为电信号。
本步骤中每一分光镜7产生的反射光信号均被与该分光镜7对应的分光接收单元9接收。所述分光接收单元9的数量与所述分光镜7一一对应，确保每一反射光信号均可被接收。所述分光接收单元9将接收的光信号转换为电信号，以便后续处理。
步骤S5：所述透射光信号透过距离所述接收透镜1最远的分光镜7后被所述接收单元8接收并转换为电信号。
本步骤中，距离所述接收透镜1最远的分光镜7也就是所述透射光信号的传播路径上最后一个通过的分光镜7。此时所述透射光信号经过多个分光镜7，其能量已按照分光比例逐级衰减，最终被所述接收单元8接收。
步骤S6：所述分析单元依次判断所述分光接收单元9及所述接收单元8转换的电信号的幅度是否小于一幅度阈值。
本步骤中，所述分析单元对所述分光接收单元9及所述接收单元8转换的电信号的幅度进行判断，与一幅度阈值进行比较。本步骤的目的是找出幅度小于所述幅度阈值的电信号。
步骤S7：若所述分光接收单元9及所述接收单元8转换的电信号中至少一个电信号的幅度小于所述幅度阈值，则选择小于所述幅度阈值的电信号中幅度最大的一路电信号作为测量数据。
当步骤S6的判断条件满足时，存在至少一个电信号的幅度小于所述幅度阈值，则执行本步骤。本步骤中，选取符合条件的各路电信号中幅度最大的一路电信号作为测量数据。因为在满足幅度阈值的情况下，所述电信号的幅度越大，其测量误差及数值范围可读性就越好，有利于得到最准确的测量结果。
应当注意的是，本发明的实施例有较佳的实施性，且并非对本发明作任何形式的限制，任何熟悉该领域的技术人员可能利用上述揭示的技术内容变更或修饰为等同的有效实施例，但凡未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何修改或等同变化及修饰，均仍属于本发明技术方案的范围内。

Claims (8)

  1. 一种激光测距装置，包括发射单元、反射镜、发射透镜、接收透镜及接收单元，其特征在于，所述激光测距装置还包括：
    至少一个分光镜，设于所述接收透镜与所述接收单元之间，每一所述分光镜依次布设于同一光学传播路径上；
    至少一个分光接收单元，与所述分光镜一一对应布设；
    所述发射单元发射一光信号，所述光信号经所述反射镜反射后通过所述发射透镜，到达一被测量目标；
    所述被测量目标反射所述光信号形成一返回光信号，所述返回光信号通过所述接收透镜后，被距离所述接收透镜最近的分光镜按照一分光比例分为透过所述分光镜的透射光信号和被所述分光镜反射的反射光信号；
    所述透射光信号沿所述光学传播路径依次通过其他分光镜，每通过一分光镜时，均产生一反射光信号；
    每一所述反射光信号被产生该反射光信号的反光镜对应的分光接收单元接收；
    所述透射光信号透过距离所述接收透镜最远的分光镜后被所述接收单元接收。
  2. 如权利要求1所述的激光测距装置，其特征在于，
    所述分光镜至少为两个，构成一分光阵列；
    通过所述分光镜的光学传播路径为直线；
    当所述返回光信号通过所述分光阵列时，透过各个分光镜的透射光信号的能量按照各个分光镜的分光比例逐级衰减。
  3. 如权利要求2所述的激光测距装置，其特征在于，
    所述激光测距装置包括3个所述分光镜及3个所述分光接收单元；
    各分光镜的分光比例为1∶4。
  4. 如权利要求1或2所述的激光测距装置，其特征在于，
    所述分光镜的分光比例为1∶1至1∶10。
  5. 如权利要求1-3任一项所述的激光测距装置，其特征在于，
    所述接收单元和分光接收单元为光电转换元件，将接收的光信号转换为电信号，所述电信号的幅度大小反映所述光信号的能量大小。
  6. 如权利要求1-3任一项所述的激光测距装置，其特征在于，
    所述激光测距装置还包括分析单元，与所述接受单元和分光接受单元连接，内设一幅度阈值，比较所述接收单元及分光接收单元转换的电信号的幅度与所述幅度阈值的大小。
  7. 如权利要求1-3任一项所述的激光测距装置，其特征在于，
    所述发射单元发射的光信号为脉冲信号。
  8. 一种激光测距装置的使用方法，其特征在于，包括以下步骤：
    步骤S1：控制所述激光测距装置的发射单元发射一光信号，所述光信号经所述反射镜反射后通过所述发射透镜，到达一被测量目标；
    步骤S2：所述被测量目标反射所述光信号形成一返回光信号，所述返回光信号通过所述接收透镜后，被距离所述接收透镜最近的分光镜按照一分光比例分为透过所述分光镜的透射光信号和被所述分光镜反射的反射光信号；
    步骤S3：所述透射光信号沿所述光学传播路径依次通过其他分光镜，每通过一分光镜时，均产生一反射光信号；
    步骤S4：每一所述反射光信号被产生该反射光信号的反光镜对应的分光接收单元接收并转换为电信号；
    步骤S5：所述透射光信号透过距离所述接收透镜最远的分光镜后被所述接收单元接收并转换为电信号；
    步骤S6：所述分析单元依次判断所述分光接收单元及所述接收单元转换的电信号的幅度是否小于一幅度阈值；
    步骤S7：若所述分光接收单元及所述接收单元转换的电信号中至少一个电信号的幅度小于所述幅度阈值，则选择小于所述幅度阈值的电信号中幅度最大的一路电信号作为测量数据。
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