CN103235302A - Device and method for distance and speed measurement based on laser scanning and dual detector - Google Patents
Device and method for distance and speed measurement based on laser scanning and dual detector Download PDFInfo
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- CN103235302A CN103235302A CN2013100651277A CN201310065127A CN103235302A CN 103235302 A CN103235302 A CN 103235302A CN 2013100651277 A CN2013100651277 A CN 2013100651277A CN 201310065127 A CN201310065127 A CN 201310065127A CN 103235302 A CN103235302 A CN 103235302A
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Abstract
The invention provides a device and a method for distance and speed measurement adopting scanning laser signals and a dual detector. The device comprises a transmitting unit and a receiving unit. The transmitting unit is mounted on an object A; and the receiving unit is mounted on an object B. The relative distance and the relative speed between the object A and the object B can be measured. The transmitting unit comprises a laser linear source, an N prism with a principle section of an N-sided polygon and a motor which can drive the N prism to rotate; and the receiving unit comprises at least two photoelectric detectors and a single-chip microcontroller. The N prism is driven to rotate by the motor; and laser transmitted from the laser source is reflected by lateral sides of the N prism to the receiving unit, and is received by the photoelectric detectors successively. Back waves are not required on the technical scheme which can be applicable to objects in relative motions; tracking measurement and continuous measurement can be performed; and the device can further be applicable to objects moving at low speed, and is wide in application.
Description
Technical field
The present invention relates to a kind of distance between the two articles and method of relative velocity measured, relate in particular to a kind of method of utilizing laser scanning and two laser detectors to calculate, belong to the Photoelectric Detection field.
Background technology
The common method of measuring distance between the macro object mainly contains following several: tacheometry, electromagnetic distance measurement method.Wherein, the electromagnetic distance measurement method is divided phase place telemetry and pulse ranging method by measuring principle; By the different branch of carrier band laser ranging (as seen), infrared distance measurement and tellurometer survey.
The tacheometry utilization has the surveying instrument of sighting distance device, presses optics and trigonometry principle and measures distance between two points, transit, surveyor's table, spirit-leveling instrument commonly used and the scale testing of delineation is arranged.By telescopical two stadia lines, observe its scale value on the scale that stands vertically, calculate distance, be applicable to the range observation between the stationary object.
Electromagnetic wave phase ranging method is earlier electromagnetic wave to be carried out intensity modulated, and utilization is installed in the phase place identification device comparison transmitted wave of transmitting terminal and the phase differential between the echo calculates distance.The electromagnetic impulse telemetry is to return the used time from object and calculate distance from being issued to by measuring pulse.Wherein, the pulse ranging method is suitable for the measurement of long distance, and utilizes the phase ranging method of surveying the chi group not to be subjected to distance limit, and precision wants high than the pulse ranging method.But no matter adopt impulse method or phase method, also no matter which kind of wave source carrier wave adopts, and all needs to utilize echoed signal to measure.According to the target object of accepting electromagnetic signal whether electrooptical device has been installed, object has been divided into cooperative target (catoptron has been installed) and noncooperative target (catoptron is not installed).To noncooperative target, measure in can moving, but because what accept is to overflow the emission echo, emissive power and the detector sensitivity of wave source there is higher requirement.To cooperative target, generally can only carry out static measurement, and aim at and echo acquirement in order to carry out signal, generally need survey crew that instrument is adjusted and operated.
The common method of measuring the macro object movement velocity mainly contains following several: phototimer velocimetry (two photoelectricity door method), ultrasound wave velocimetry (utilizing echo), laser velocimetry (utilizing echo), Doppler effect velocimetry, laser speckle velocimetry.
Phototimer tests the speed and need use two light sources and two detectors, and when between object and the detector transverse movement taking place, object successively is in the light to two detectors, by measuring the movement velocity of this mistiming calculating object.The spatial dimension that the method is measured is little, can not measure and continuous coverage same object tracking.
The ultrasound wave velocimetry requires twice pair of object of knotmeter priority to send ultrasound wave, gathers two corresponding echoed signals then, calculates the speed of object according to four moment point sending and accept.Utilize the method to test the speed and require the position of knotmeter to fix, otherwise can't record object with respect to distance and the movement velocity of detector.
Laser (echo) velocimetry is the extension of front laser ranging method, can calculate object speed by constantly object (noncooperative target) distance being measured in difference, but as noted earlier, because what receive is the casual emission echo that noncooperative target reflects, emissive power and the detector sensitivity of light source there is higher requirement.
The Doppler effect velocimetry utilizes when between object and the knotmeter relative motion taking place, and the frequency displacement of the echoed signal that knotmeter detects is tested the speed.According to Doppler effect, the frequency that frequency shift amount equals to transmit multiply by object about the speed of related movement of knotmeter and the ratio of the light velocity.When emission electromagnetic wave when being radiowave, the method is applicable to the measurement of high-speed moving object, when the object low-speed motion, will increase the measuring error of frequency shift amount.When launching electromagnetic wave for light wave, can be used for measuring the low speed object, but owing to need to detect the optical wavelength side-play amount, detect cost and also increase substantially thereupon.
The speckle that the laser speckle velocimetry utilizes the rough surface of diffuse reflection object to produce under laser lighting tests the speed, same speckle is received by two close photoelectric diodes, when object and detector close, and take place when laterally mobile, will postpone by time of origin between the signal that two detectors receive, two signals that receive are carried out relevant treatment, can and calculate the movement velocity of object in the hope of time delay.Test the speed similarly with phototimer, the spatial dimension of measurement is little, can not measure and continuous coverage same object tracking.
In sum, present two kinds of distance measurement methods commonly used, tacheometry is applicable to the measurement of stationary object, the electromagnetic distance measurement method is owing to need to survey echo, when object is cooperative target, generally be requirement it is fixed, when the noncooperative target of object for motion, then power and the detector sensitivity to transmitted wave has higher requirement.
Present several speed measurement methods commonly used, the spatial dimension of phototimer method and laser speckle photography method mensuration is little, can not measure and continuous coverage same object tracking.The ultrasound wave rule that tests the speed must be fixed on surveying instrument a certain place, can only carry out the measurement of absolute velocity, can not make relative velocity and measure.Laser (echo) velocimetry has higher requirement to emissive power and the detector sensitivity of light source.The Doppler effect rule that tests the speed generally is suitable for the measurement of high-speed moving object.
Summary of the invention
At existing deficiency in the above-mentioned prior art, the present invention proposes a kind of device and method that utilizes scan laser signal and double detector to carry out distance and velocity survey.This method does not need to utilize echo, can be applied to the object of motion mutually, and can carry out tracking measurement and continuous coverage, can also be applied in the object of low-speed motion simultaneously, and its scope of application is extensive.
Realize that the technical scheme that above-mentioned purpose of the present invention adopts is:
A kind of distance and velocity measuring device based on laser scanning and double detector, formed by transmitter unit and receiving element, transmitter unit is installed on the object A, receiving element is installed on the object B, relative distance between object A and the object B and relative velocity are for treating measured value, transmitter unit comprises LASER Light Source, the principal section is the N prism of n-shaped and can drives the motor that the N prism rotates, N 〉=3 wherein, the N prism is coaxially installed on the rotation axis of motor, the side of N prism is reflecting surface, LASER Light Source is towards N prism emission laser, laser via the offside reflection of N prism to receiving element; Receiving element comprises two photodetectors and single-chip microcomputer at least, wherein the reception of photodetector induction window is towards the LASER Light Source direction, two photodetectors are positioned on the same surface level, and formed line is perpendicular to the line that forms between object A and the object B between both mounting points, photodetector is electrically connected with single-chip microcomputer, photodetector transfers to single-chip microcomputer after the light signal that receives is converted into voltage signal, thereby single-chip microcomputer calculates according to the signal that receives and obtains result of calculation.
Be coated with reflectance coating on the side of N prism, and the Wavelength of Laser that the reflection peak of reflectance coating and LASER Light Source are launched is complementary.
Photodetector is made up of photo-sensitive cell and detection circuit, and photo-sensitive cell is photodiode, and detection circuit comprises current/voltage modular converter, active power filtering module and back level signal amplification module.
Also be provided with peripheral circuit in the receiving element, peripheral circuit comprises display element and alarm element, display element and alarm element all are electrically connected with single-chip microcomputer, result of calculation in the single-chip microcomputer transfers on the display original set and shows, alarm element is reported to the police when the result of calculation of single-chip microcomputer exceeds setting value.
LASER Light Source is pointolite or line source, the long axis direction that the laser that line source is launched is reflected onto the oblong hot spot on the photodetector and two photodetectors mounting points between formed line vertical.
Also provide among the present invention based on the distance of said apparatus and the method for velocity survey, may further comprise the steps:
(1), motor drives the rotation of N prism, the laser that LASER Light Source is launched is received by two photodetectors by the offside reflection of N prism to receiving element and priority, pulse signal that photodetector generates is the external interrupt mouth of corresponding single-chip microcomputer respectively, utilize the Timer of single-chip microcomputer inside calculate the rotational angular velocity ω of N prism;
(2), utilize the Timer of single-chip microcomputer inside to calculate to such an extent that two photodetectors successively receive laser and produce the time interval Δ t of signal;
(3), measure between the reception induction window of two photodetectors apart from s, calculate between object A and the object B apart from l,
(4), when object A and object B do relative motion along both line directions, utilize the Timer of single-chip microcomputer inside to carry out timing, timing is t, once calculate every the t time l that adjusts the distance, with calculate for the i time apart from l
i, with last range finding from l
I-1Subtract each other and obtain shift value Δ l
i, according to shift value Δ l
iAnd timing t namely can be regarded as the instantaneous velocity v between object A and the physics B
i,
v
i=Δl
i/t 。
Because transmitter unit and receiving element are installed on respectively on object A and the object B, do not need to utilize echo to measure in distance provided by the present invention and the velocity measuring device.Because the wave source that adopts in the transmitter unit is laser line light source, and laser beam scans object, so being easy to realize signal aims at, and do relative motion and two articles when shake on the shape hot spot direction along the line takes place at two articles, the aligning of light beam also is easy to realize, therefore the device that uses in the echometric measurement method of device provided by the present invention, it requires the emissive power of light source and detector sensitivity is not very high, the cost of device is lower.
Utilize device provided by the present invention to measure, not only can record the distance between two stationary objects, can measure the object distance in the motion simultaneously; When object A and object B all when both line directions are moved, also can survey the speed of related movement between two things.Utilize method provided by the present invention to measure swiftly passing object, be suitable for equally in the object of low-speed motion.
By technical scheme provided by the present invention further being extended and designing, the present invention can be applied to various needs and carry out in the measurement occasion of distance and speed, practical.
Description of drawings
The structural representation of the measurement mechanism that provides in the embodiment of the invention is provided Fig. 1;
Fig. 2 is the circuit diagram of the photodetector in the embodiment of the invention;
Fig. 3 is the system circuit diagram of the single-chip microcomputer in the embodiment of the invention;
Fig. 4 be in the embodiment of the invention pulse signal and the time main pulse synoptic diagram;
Among Fig. 1: 1-LASER Light Source, 2-N prism, 3-photodetector, 4-single-chip microcomputer, 5-display element, 6-alarm element.
Embodiment
Below in conjunction with specific embodiment the present invention is done detailed specific description.
Provide in the present embodiment based on the structure of the distance of laser scanning and double detector and velocity measuring device as shown in Figure 1, formed by transmitter unit and receiving element, transmitter unit is installed on the object A, receiving element is installed on the object B, and relative distance and relative velocity between object A and the object B are calculated.Wherein transmitter unit comprises LASER Light Source 1, N prism 2 and motor, the principal section of N prism 2 is n-shaped, the side of N prism 2 is reflecting surface, and by reaching the purpose of reflection at its side plating reflectance coating, and the Wavelength of Laser that the reflection peak of reflectance coating and LASER Light Source are launched is complementary.Described LASER Light Source 1 is semiconductor laser diode, can adopt pointolite or line source, adopt line source in the present embodiment, line source emergent light shape of spot after optical system is to be similar to linear oblong, its long axis direction is parallel with the seamed edge of positive N prism, and it is vertical with the line of two photodetectors to be reflected onto the long axis direction of the oblong hot spot on the photodetector.N prism 2 is installed on the rotation axis of motor by the center of its principal section, and N prism 2 drives 2 rotations of N prism with the strict coaxial installation of the rotating shaft of motor, motor.Described motor is by battery-powered, and rotating speed is regulated by the superincumbent potentiometer of series connection.LASER Light Source 1 is towards N prism 2 emission laser, laser via the offside reflection of N prism to receiving element.
Receiving element comprises two photodetectors 3, single-chip microcomputer 4 and peripheral circuit, wherein the reception of photodetector 3 induction window is towards the LASER Light Source direction, two photodetectors 3 are positioned on the same surface level, and formed line is perpendicular to the line between object A and the object B between both mounting points, photodetector 3 is made up of photo-sensitive cell and detection circuit, photo-sensitive cell is photodiode, detection circuit comprises current/voltage modular converter, active power filtering module and back level signal amplification module, as shown in Figure 2.Wherein photodetector 3 links to each other with single-chip microcomputer 4, and photodetector 3 transfers to single-chip microcomputer 4 after the light signal that receives is converted into voltage signal, thereby single-chip microcomputer 4 calculates according to the signal that receives and obtains result of calculation.Employed single-chip microcomputer is AVR single-chip microcomputer atemga16 in the present embodiment, and its circuit system as shown in Figure 3.Above-mentioned peripheral circuit comprises display element 5 and alarm element 6, display element 5 and alarm element 6 all are electrically connected with single-chip microcomputer, result of calculation in the single-chip microcomputer transfers on the display original set 5 and shows, alarm element is reported to the police when the result of calculation of single-chip microcomputer exceeds setting value.Display element 5 is LCD display in the present embodiment, and alarm element 6 is hummer.
As follows with the measuring method of speed to the distance between object A and the object B in the present embodiment: as at first to open motor, motor drives the rotation of N prism, N prism in the present embodiment is eight prisms, the laser that LASER Light Source is launched is received by two photodetectors by the offside reflection of eight prisms to receiving element and priority, the signal that photodetector generates is the external interrupt 0 and external interrupt 1 of corresponding single-chip microcomputer respectively, the Timer of single-chip microcomputer inside is counted the number of times of an inside and outside interruption in second 0, count value is M, owing to have eight sides in eight prisms, therefore the rotating speed f of eight prisms is: f=M/8, try to achieve the rotational angular velocity ω of eight prisms then, the computing formula of ω is: ω=2 π f.
Utilize the Timer of single-chip microcomputer inside to calculate to such an extent that two photodetectors successively receive laser and produce the time interval Δ t of signal, the computing method that adopt in the present embodiment are a kind of algorithm commonly used, namely adopt counter to the time main pulse signal count, as shown in Figure 4, when external interrupt 0 receives pulse signal to counter O reset and begin the counting, send when counting to higher limit 0xFF and overflow interruption, external interrupt 1 receives the pulse signal hour counter and stops counting, and overflowing interruption times is n
1, show on the counter that count value is n
2, the time main pulse signal period be τ, then the time-base signal number N between two external interrupt received pulse signals is: N=n
1* 256+n
2, Δ t is: Δ t=N τ the time interval so.
Calculate behind the Δ t, to measuring apart from s between the reception induction window of two photodetectors, can try to achieve between object A and the object B apart from l,
When object A and object B do relative motion along both line directions, also can record the relative velocity between the two articles, method is as follows: the timer that single-chip microcomputer is provided with carries out timing, timing is t, t=0.5 second in the present embodiment, once calculate every 0.5 second the time l that adjusts the distance, with calculate for the i time apart from l
i, with last range finding from l
I-1Subtract each other and obtain shift value Δ l
i, according to shift value Δ l
iAnd timing t namely can be regarded as the instantaneous velocity v between object A and the physics B
i, v
i=Δ l
i/ 0.5.Getting speed average send on the LCD display and shows; Simultaneously on the hummer speed limit is set, if speed during greater than the speed limit set, drives buzzer warning.
Technical scheme provided by the present invention can be applied to the measurement occasion of various distances and speed, particularly surveys the occasion of instantaneous distance and relative velocity, as vehicle speed measurement and warning system, high ferro speed monitoring etc.
Claims (6)
1. distance and velocity measuring device based on laser scanning and a double detector, formed by transmitter unit and receiving element, transmitter unit is installed on the object A, receiving element is installed on the object B, relative distance between object A and the object B and relative velocity are for treating measured value, it is characterized in that: transmitter unit comprises LASER Light Source, the principal section is the N prism of n-shaped and can drives the motor that the N prism rotates, N 〉=3 wherein, the N prism is coaxially installed on the rotation axis of motor, the side of N prism is reflecting surface, LASER Light Source is towards N prism emission laser, laser via the offside reflection of N prism to receiving element; Receiving element comprises two photodetectors and single-chip microcomputer at least, wherein the reception of photodetector induction window is towards the LASER Light Source direction, two photodetectors are positioned on the same surface level, and formed line is perpendicular to the line that forms between object A and the object B between both mounting points, photodetector is electrically connected with single-chip microcomputer, photodetector transfers to single-chip microcomputer after the light signal that receives is converted into voltage signal, thereby single-chip microcomputer calculates according to the signal that receives and obtains result of calculation.
2. distance and velocity measuring device based on laser scanning and double detector according to claim 1 is characterized in that: be coated with reflectance coating on the side of N prism, and the Wavelength of Laser that the reflection peak of reflectance coating and LASER Light Source are launched is complementary.
3. distance and velocity measuring device based on laser scanning and double detector according to claim 1, it is characterized in that: photodetector is made up of photo-sensitive cell and detection circuit, photo-sensitive cell is photodiode, and detection circuit comprises current/voltage modular converter, active power filtering module and back level signal amplification module.
4. distance and velocity measuring device based on laser scanning and double detector according to claim 1, it is characterized in that: also be provided with peripheral circuit in the receiving element, peripheral circuit comprises display element and alarm element, display element and alarm element all are electrically connected with single-chip microcomputer, result of calculation in the single-chip microcomputer transfers on the display original set and shows, alarm element is reported to the police when the result of calculation of single-chip microcomputer exceeds setting value.
5. distance and velocity measuring device based on laser scanning and double detector according to claim 1, it is characterized in that: LASER Light Source is pointolite or line source, the long axis direction that the laser that line source is launched is reflected onto the oblong hot spot on the photodetector and two photodetectors mounting points between formed line vertical.
6. based on distance and the speed measurement method of any one device among the claim 1-5, it is characterized in that may further comprise the steps: (1), motor drive the rotation of N prism, the laser that LASER Light Source is launched is received by two photodetectors by the offside reflection of N prism to receiving element and priority, pulse signal that photodetector generates is the external interrupt mouth of corresponding single-chip microcomputer respectively, utilize the Timer of single-chip microcomputer inside calculate the rotational angular velocity ω of N prism;
(2), utilize the Timer of single-chip microcomputer inside to calculate to such an extent that two photodetectors successively receive laser and produce the time interval Δ t of signal;
(3), measure between the reception induction window of two photodetectors apart from s, calculate between object A and the object B apart from l,
(4), when object A and object B do relative motion along both line directions, utilize the Timer of single-chip microcomputer inside to carry out timing, timing is t, once calculate every the t time l that adjusts the distance, with calculate for the i time apart from l
i, with last range finding from l
I-1Subtract each other and obtain shift value Δ l
i, according to shift value Δ l
iAnd timing t namely can be regarded as the instantaneous velocity v between object A and the physics B
i,
v
i=Δl
i/t 。
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| CN104035086A (en) * | 2014-06-14 | 2014-09-10 | 哈尔滨工业大学 | Mixed heterodyne type traceable accurate measurement rule He-Ne laser ranging device and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104035086A (en) * | 2014-06-14 | 2014-09-10 | 哈尔滨工业大学 | Mixed heterodyne type traceable accurate measurement rule He-Ne laser ranging device and method |
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| CN106595942A (en) * | 2016-07-25 | 2017-04-26 | 北京卫星环境工程研究所 | Dynamic measuring device of micro force |
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| CN106781883A (en) * | 2017-01-11 | 2017-05-31 | 合肥工业大学 | A kind of Multifunctional portable photoelectric observing and controlling synthesis experiment platform |
| CN109387826A (en) * | 2017-08-04 | 2019-02-26 | 美国西北仪器公司 | Measurement angle, the method for distance, track drafting drawing method and laser ranging system |
| CN109387826B (en) * | 2017-08-04 | 2024-03-19 | 美国西北仪器公司 | Method for measuring angle and distance, method for drawing track diagram and laser ranging system |
| CN108920989A (en) * | 2018-06-29 | 2018-11-30 | 北京润科通用技术有限公司 | A kind of parameter determination method and system |
| CN113740867A (en) * | 2020-05-29 | 2021-12-03 | 辽宁工程技术大学 | Laser ranging device and method |
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