CN112346070A - Laser ranging method under underground complex terrain condition - Google Patents

Laser ranging method under underground complex terrain condition Download PDF

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Publication number
CN112346070A
CN112346070A CN202011244005.0A CN202011244005A CN112346070A CN 112346070 A CN112346070 A CN 112346070A CN 202011244005 A CN202011244005 A CN 202011244005A CN 112346070 A CN112346070 A CN 112346070A
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CN
China
Prior art keywords
laser
optical component
method under
ranging method
infrared
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Pending
Application number
CN202011244005.0A
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Chinese (zh)
Inventor
曾鹏
易观胜
赵奎
曾华福
江津
宋林
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Jiangxi University of Science and Technology
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Jiangxi University of Science and Technology
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Application filed by Jiangxi University of Science and Technology filed Critical Jiangxi University of Science and Technology
Priority to CN202011244005.0A priority Critical patent/CN112346070A/en
Publication of CN112346070A publication Critical patent/CN112346070A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements

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

Abstract

The invention discloses a laser ranging method under the condition of complex underground terrain, and compared with the traditional handheld laser range finder, the improved laser range finder comprises a machine body, an LED display screen, two five-section batteries, a flat cable, a key, a controller and a range finder optical component, and a telescopic rod, an LED image display screen, a camera, a steering engine, a processor and the like are additionally arranged. The invention can manually extend for 1-2 m in situ, can extend the optical component of the laser range finder head to the orifice and the ore chute mouth of the dangerous area without carrying a platform, and meanwhile, the end part is provided with a camera with automatic rotation control for observing the surrounding environment of the extended end part, so that the infrared laser reflected by the optical component is emitted in the designated direction, thereby being portable, convenient and simple to operate.

Description

Laser ranging method under underground complex terrain condition
Technical Field
The invention belongs to the technical field of laser ranging, and particularly relates to a laser ranging method under an underground complex terrain condition.
Background
A laser rangefinder is an instrument that accurately measures the distance to a target using a parameter of modulated laser light. The measurement distance of the handheld laser range finder with the widest application range is generally within 200 meters, and the precision is about 2 mm. Laser range finders are widely used for topographic survey, battlefield survey, ranging of targets by tanks, airplanes, naval vessels and artillery, measurement of heights of cloud layers, airplanes, missiles and artificial satellites, and the like. Meanwhile, the device is also widely applied to the field of mines, and is very necessary for testing the depth and the length of underground shafts, blast holes, exhaust pipes and the like. However, due to the complex geological conditions underground, certain potential risk factors exist in the areas, and the arms and the height of a person are limited, so that the measurement needs to be carried out by means of auxiliary equipment such as a ladder and a building platform. The drawbacks of hand-held laser rangefinders have gradually emerged. The conventional laser range finder is a handheld laser range finder which is small in size, light in weight, convenient to carry and high in test precision and is widely applied underground, and a portable laser range finder which is suitable for underground complex geological conditions and has safety does not exist.
The distance measuring principle of the handheld laser distance measuring instrument has two types: pulsed laser ranging and continuous wave phased laser ranging. The pulse laser distance meter emits a pulse laser beam or a series of short pulse laser beams to a target when in work, the laser beam reflected by the target is received by a photoelectric element, and the time from the emission to the reception of the laser beam is measured by a timer so as to calculate the distance from the distance meter to the target. The phase method laser ranging is to convert the distance of a measured object by using the phase change generated in the reciprocating process of a continuously modulated laser beam. The distance measurement principle can be basically summarized as measuring the time required by the light to travel to and from the target, and then calculating the distance D through the speed of light c being 299792458m/s and the atmospheric refractive index n.
Traditional hand-held type laser range finder is inseparable with the arm is close when measuring, the too high platform that need be built to the assigned position of roadway section is measured, one row of arranging blast holes of arranging on the big section and when the roof is beaten to the rock drilling hole, the arm can not be close the drill way, and at some not confined swift current mine, when the degree of depth of swift current well needs to be surveyed, the people is close to the swift current well mouth and causes the incident easily, to most these underground structure, hand-held type laser range finder can not measure work by safe efficient.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a laser ranging method under the condition of underground complex terrain.
The specific technical scheme of the invention is as follows:
the invention innovatively designs a laser ranging method under the condition of complex underground terrain,
the portable laser range finder suitable for underground complex terrain conditions is adopted and comprises a shell and a telescopic rod, a controller is arranged in the shell, one end of the telescopic rod is installed on the back of the shell, the other end of the telescopic rod is connected with an observation shell through a rotating hemisphere, an infrared distance measuring optical component and a camera are installed on the observation shell, a steering engine used for controlling the rotation of the rotating hemisphere is arranged in the observation shell, the steering engine is in signal connection with the controller, the infrared distance measuring optical component and the camera are in signal connection with the controller, the controller is in signal connection with an input display module, the input display module is installed on the shell, and a power supply is arranged in the shell;
the laser ranging method comprises the following steps:
step 1, rotating a telescopic rod in situ to extend the telescopic rod of the laser range finder;
step 2, aligning the end part of the telescopic rod to a measured target, and enabling the infrared distance measurement optical component and the camera to be close to a measured point;
step 3, controlling a steering engine through a controller, wherein the steering engine drives a rotating hemisphere to rotate;
step 4, the input display module displays the image information of the surrounding environment of the target position transmitted by the camera, and after the infrared distance measurement optical component is aligned with the position of the measured range, the steering engine is controlled to stop through the controller;
step 5, starting the infrared distance measurement optical component to enable the infrared distance measurement optical component to emit infrared laser, and meanwhile, receiving reflected light by the infrared distance measurement optical component;
step 6, displaying the distance between the measuring point and the measured target through the input display module, and finishing the measurement;
and 7, closing the electric device, withdrawing the telescopic rod and resetting the instrument.
As a preferred technical scheme, the power supply is two batteries with five batteries.
As an optimized technical scheme, the telescopic rod comprises a plurality of circular truncated cone rod pieces which are sequentially sleeved in an inner-outer concentric mode.
As a preferable technical solution, the infrared distance measurement optical component includes:
the infrared laser generating unit is used for emitting infrared laser;
the reflected light receiving unit is used for receiving the reflected light of the infrared laser emitted by the infrared laser generating unit after reaching the measured end point;
and the processor is used for calculating the distance of the measured target.
As a preferred technical solution, the input display module includes a display and a control key, the control key is connected to the controller through a wire, and the controller is connected to the display through a wire.
Preferably, the display is embedded in the front surface of the housing.
As a preferred technical solution, the control key is installed below the display.
As a preferred technical scheme, the display is an LED display screen.
As a preferred technical solution, the input display module is a touch input display.
Preferably, the touch input display is embedded in the front surface of the housing.
Has the advantages that:
1. the improved laser range finder designed by the invention adopts infrared laser ranging, and has high ranging precision and strong directivity
2. The telescopic device and the end part rotating device designed by the invention avoid complicated test preparation work, do not need to build a platform, and save test time
3. The invention has compact integral structure, compact volume and convenient carrying, and is suitable for being carried along during underground ranging
4. The distance measuring function designed by the invention is suitable for the test work of dangerous areas, and the safety of testers is guaranteed.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a perspective view of a portable laser rangefinder for use in complex subsurface terrain conditions in accordance with an embodiment of the present invention;
FIG. 2 is a bottom view of a portable laser rangefinder for use in complex subsurface terrain conditions, in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an extension state of an extension rod of the portable laser range finder suitable for complex underground terrain conditions in the embodiment of the invention;
FIG. 4 is a partial block diagram of a portable laser rangefinder for use in complex subsurface terrain conditions in accordance with an embodiment of the present invention;
FIG. 5 is a control schematic block diagram in an embodiment of the invention;
FIG. 6 is a functional block diagram of infrared ranging optics in an embodiment of the present invention.
In the figure, 1, a housing; 2. a control key; 3. a display; 4. a telescopic rod; 5. a power source; 6. a controller; 7. observing the shell; 8. a steering engine; 9. a camera; 10. rotating the hemisphere; 11. an infrared ranging optical component; 11-1, an infrared laser generating unit; 11-2, a reflected light receiving unit; 11-3 processors.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention will now be further described with reference to the accompanying drawings.
Referring to fig. 1 to 5, an embodiment of the present invention is a laser ranging method under complex underground terrain conditions,
the portable laser range finder suitable for the underground complex terrain condition is adopted and comprises a shell 1 and an expansion link 4, a controller 6 is arranged in the shell 1, one end of the expansion link 4 is installed on the back of the shell 1, the other end of the expansion link 4 is connected with an observation shell 7 through a rotating hemispheroid 10, an infrared distance measurement optical component 11 and a camera 9 are installed on the observation shell 7, a steering engine 8 for controlling the rotation of the rotating hemispheroid 10 is arranged in the observation shell 7, the steering engine 8 is in signal connection with the controller 6, the infrared distance measurement optical component 11 and the camera 9 are in signal connection with the controller 6, the controller 6 is in signal connection with an input display module 12, the input display module 12 is installed on the shell 1, and the input display module comprises a display 3 and a control key 2, the control key 2 is connected with the controller 6 through a wire, and the controller 6 is connected with the display 3 through a wire; the display 3 is embedded and mounted on the front surface of the shell; the control key 2 is arranged below the display; a power supply 5 is arranged in the shell 1;
the laser ranging method comprises the following steps:
step 1, rotating a telescopic rod 4 in situ to extend the telescopic rod 4 of the laser range finder;
step 2, aligning the end part of the telescopic rod 4 to a measured target, and enabling the infrared distance measurement optical component 11 and the camera 9 to be close to a measured point;
step 3, controlling a steering engine 8 through a controller 6, wherein the steering engine 8 drives a rotating hemisphere 10 to rotate; the steering engine 8 can drive the rotating hemispheroid 10 to rotate in a gear transmission mode;
step 4, the input display module 12 displays the image information of the surrounding environment of the target position transmitted by the camera 9, and after the infrared distance measurement optical component 11 is aligned with the position of the measured range, the steering engine 8 is controlled to stop through the controller 6;
step 5, starting the infrared distance measurement optical component 11 to enable the infrared distance measurement optical component to emit infrared laser, and meanwhile, receiving reflected light by the infrared distance measurement optical component;
step 6, displaying the distance between the measuring point and the measured target through the input display module 12, and finishing the measurement;
and 7, closing the electric device, withdrawing the telescopic rod and resetting the instrument.
Regarding the principle of the telescopic device, the embodiment provides a way, please refer to fig. 3, the outer circles of the inner rod and the outer rod are concentric, the two parts do not rotate together with the eccentric shaft due to the large friction force of the outer circles when rotating, so as to form a static state, the eccentric shaft rotates to extrude the small parts to form pressure, the more the torsion is, the larger the compression force is, so as to achieve the fixing effect.
Regarding the infrared distance measurement principle: the optical component emits infrared light and then receives a reflected signal after reaching a measured end point, and the processor feeds back the calculation time to calculate the distance of a measured target. With continued reference to fig. 6, the infrared distance measuring optical component includes:
an infrared laser generating unit 11-1 for emitting infrared laser;
the reflected light receiving unit 11-2 is used for receiving the reflected light of the infrared laser emitted by the infrared laser generating unit after reaching the measured end point;
and the processor 11-3 is used for calculating the distance of the measured target.
To sum up, the improved laser range finder provided by the invention is provided with a telescopic device, the laser range finder can be manually extended in situ for a distance of 1-2 m, an optical component at the head of the laser range finder can be stretched to an orifice and an ore chute in a dangerous area without carrying a platform, meanwhile, the end part is provided with a camera with automatic rotation control and is used for observing the surrounding environment of the extended end part, infrared laser reflected by the optical component is emitted in a designated direction, the handheld part is not much different from the traditional laser range finder, and the improved laser range finder also has a test data display screen and keys with different functions, and the display screen can simultaneously display image information of the end part in real time. The improved laser range finder has the advantages that the technical problems are effectively solved, the volume of the improved laser range finder is slightly increased compared with that of a traditional handheld laser range finder, the improved laser range finder is simple to operate and convenient to carry, and the improved laser range finder is suitable for measurement in underground complex geological environments.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (10)

1. A laser ranging method under the condition of underground complex terrain is characterized by comprising the following steps:
the portable laser range finder suitable for underground complex terrain conditions is adopted and comprises a shell and a telescopic rod, a controller is arranged in the shell, one end of the telescopic rod is installed on the back of the shell, the other end of the telescopic rod is connected with an observation shell through a rotating hemisphere, an infrared distance measuring optical component and a camera are installed on the observation shell, a steering engine used for controlling the rotation of the rotating hemisphere is arranged in the observation shell, the steering engine is in signal connection with the controller, the infrared distance measuring optical component and the camera are in signal connection with the controller, the controller is in signal connection with an input display module, the input display module is installed on the shell, and a power supply is arranged in the shell;
the laser ranging method comprises the following steps:
step 1, rotating a telescopic rod in situ to extend the telescopic rod of the laser range finder;
step 2, aligning the end part of the telescopic rod to a measured target, and enabling the infrared distance measurement optical component and the camera to be close to a measured point;
step 3, controlling a steering engine through a controller, wherein the steering engine drives a rotating hemisphere to rotate;
step 4, the input display module displays the image information of the surrounding environment of the target position transmitted by the camera, and after the infrared distance measurement optical component is aligned with the position of the measured range, the steering engine is controlled to stop through the controller;
step 5, starting the infrared distance measurement optical component to enable the infrared distance measurement optical component to emit infrared laser, and meanwhile, receiving reflected light by the infrared distance measurement optical component;
step 6, displaying the distance between the measuring point and the measured target through the input display module, and finishing the measurement;
and 7, closing the electric device, withdrawing the telescopic rod and resetting the instrument.
2. The laser ranging method under the condition of complex terrain underground according to claim 1, characterized in that: the power supply is two batteries with five batteries.
3. The laser ranging method under the condition of complex terrain underground according to claim 1, characterized in that: the telescopic rod comprises a plurality of round platform rod pieces which are sequentially sleeved with one another concentrically.
4. The laser ranging method under the condition of complex terrain underground according to claim 1, characterized in that: the infrared ranging optical component includes:
the infrared laser generating unit is used for emitting infrared laser;
the reflected light receiving unit is used for receiving the reflected light of the infrared laser emitted by the infrared laser generating unit after reaching the measured end point;
and the processor is used for calculating the distance of the measured target.
5. The laser ranging method under the condition of complex terrain underground according to claim 1, characterized in that: the input display module comprises a display and a control key, the control key is connected with the controller through a wire, and the controller is connected with the display through a wire.
6. The laser ranging method under the condition of the underground complex terrain as claimed in claim 5, wherein: the display is embedded in the front face of the shell.
7. The laser ranging method under the condition of the underground complex terrain as claimed in claim 6, wherein: the control key is arranged below the display.
8. The laser ranging method under the condition of the underground complex terrain as claimed in claim 5, wherein: the display is an LED display screen.
9. The laser ranging method under the downhole complex terrain condition of claim 8, wherein: the input display module is a touch input display.
10. The laser ranging method under the downhole complex terrain condition of claim 9, wherein: the touch input display is mounted embedded in the front face of the housing.
CN202011244005.0A 2020-11-10 2020-11-10 Laser ranging method under underground complex terrain condition Pending CN112346070A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011244005.0A CN112346070A (en) 2020-11-10 2020-11-10 Laser ranging method under underground complex terrain condition

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011244005.0A CN112346070A (en) 2020-11-10 2020-11-10 Laser ranging method under underground complex terrain condition

Publications (1)

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Country Status (1)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104730534A (en) * 2015-04-03 2015-06-24 中煤科工集团重庆研究院有限公司 Mining intrinsic safety type laser range finder
CN110412605A (en) * 2019-08-02 2019-11-05 成都昊图新创科技有限公司 A kind of auxiliary aiming laser rangefinder and auxiliary aim at distance measuring method
CN211318746U (en) * 2019-12-31 2020-08-21 山西大同大学 Novel portable laser range finder

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104730534A (en) * 2015-04-03 2015-06-24 中煤科工集团重庆研究院有限公司 Mining intrinsic safety type laser range finder
CN110412605A (en) * 2019-08-02 2019-11-05 成都昊图新创科技有限公司 A kind of auxiliary aiming laser rangefinder and auxiliary aim at distance measuring method
CN211318746U (en) * 2019-12-31 2020-08-21 山西大同大学 Novel portable laser range finder

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