CN112711005B - Distance measuring device based on laser and control method - Google Patents
Distance measuring device based on laser and control method Download PDFInfo
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- CN112711005B CN112711005B CN202011613159.2A CN202011613159A CN112711005B CN 112711005 B CN112711005 B CN 112711005B CN 202011613159 A CN202011613159 A CN 202011613159A CN 112711005 B CN112711005 B CN 112711005B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000004806 packaging method and process Methods 0.000 description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 239000013535 sea water Substances 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 239000003792 electrolyte Substances 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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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
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to the technical field of lasers, and particularly relates to a distance measuring device based on a laser and a control method. The distance measuring device includes: the laser emergent direction of the first laser range finder is perpendicular to the plane where the first reflecting plate is located and the plane where the second reflecting plate is located, and the first reflecting plate and the second reflecting plate are parallel and are separated by a first preset distance; the first laser range finder measures the distance between a first reflecting plate and a second reflecting plate in the current medium to acquire first distance information; the second laser distance measuring instrument measures the distance between the object to be measured and the second laser distance measuring instrument, and second distance information is obtained; the main controller generates a first compensation coefficient according to the first distance information and a first preset distance, corrects the second distance information according to the first compensation coefficient, and obtains the space distance between the object to be measured and the second laser range finder. According to the distance measuring device, the measured distance information is optimized according to the preset distance, and the distance measuring accuracy is improved.
Description
Technical Field
The invention relates to the technical field of lasers, in particular to a distance measuring device based on a laser and a control method.
Background
At present, the distance measurement of a laser mainly comprises the steps of obtaining a time difference between the moment of transmitting a pulse wave by laser and the moment of receiving a reflected pulse wave, and calculating the obtained distance based on the time difference; however, in the implementation, due to the diversity of measurement environments (in liquid, in haze weather, etc.), a medium affecting light propagation may exist in the laser ranging process, so that the ranging result is inaccurate.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a distance measuring device based on a laser and a control method, and aims to solve the technical problem that a distance measuring result of laser distance measuring equipment in the prior art is inaccurate in a complex environment.
To achieve the above object, the present invention provides a laser-based ranging apparatus comprising: the device comprises a first laser range finder, a second laser range finder, a first reflecting plate, a second reflecting plate and a main controller; the laser emergent direction of the first laser range finder is perpendicular to the plane where the first reflecting plate is located and the plane where the second reflecting plate is located; the plane of the first reflecting plate is positioned between the first laser range finder and the second reflecting plate, and a first preset distance is reserved between the plane of the first reflecting plate and the plane of the second reflecting plate;
the first laser range finder is used for measuring the distance between the first reflecting plate and the second reflecting plate in the current medium to obtain first distance information, and sending the first distance information to the main controller;
the main controller is used for generating a first compensation coefficient according to the first distance information and the first preset distance;
the second laser range finder is used for measuring the distance between an object to be measured and the second laser range finder to obtain second distance information, and sending the second distance information to the main controller;
And the main controller is also used for correcting the second distance information according to the first compensation coefficient so as to acquire the space distance between the object to be measured and the second laser range finder.
Optionally, the distance measuring device further comprises a stepping motor, a distance measuring platform and a track; the first laser range finder, the second reflecting plate and the track are arranged on the range finding platform; the track is parallel to the plane where the second reflecting plate is located and is spaced by a first preset distance, and the first reflecting plate is slidably arranged on the track; the control end of the stepping motor is connected with the control end of the main controller, and the control end of the stepping motor is connected with the first reflecting plate;
the stepping motor is used for receiving a first control instruction of the main controller and moving the first reflecting plate to a first position of the track according to the first control instruction;
The first laser range finder is used for measuring first current distance information between the first reflecting plate and the first laser range finder when the first reflecting plate is located at a first position;
when the first reflecting plate is positioned at a first position, laser emitted by the first laser range finder irradiates on the first reflecting plate.
Optionally, the stepper motor is configured to receive a second control instruction of the main controller, and move the first reflecting plate to a second position of the track according to the second control instruction;
The first laser range finder is used for measuring second current distance information between the second reflecting plate and the first laser range finder when the first reflecting plate is positioned at a second position;
When the first reflecting plate is positioned at the second position, the laser emitted by the first laser range finder irradiates on the second reflecting plate.
Optionally, the first laser range finder is further configured to determine first distance information according to the first current distance information and the second current distance information, and send the first distance information to the main controller.
Optionally, the ranging device further comprises a packaging box, the ranging platform is arranged on the packaging box, the second laser range finder is rotatably arranged outside the packaging box, and the main controller is arranged inside the packaging box.
Optionally, the ranging device further comprises a wireless communication module, wherein one end of the wireless communication module is connected with the output end of the main controller;
the wireless communication module is used for sending the spatial distance to the wireless receiving module.
Optionally, the distance measuring device further comprises a power supply, wherein the power supply is arranged in the packaging box, and the output end of the power supply is connected with one input end of the main controller.
In addition, in order to achieve the above object, the present invention also proposes a control method of a laser-based ranging apparatus, the control method being based on the laser-based ranging apparatus as described above, the control method comprising:
The first laser range finder measures the distance between the first reflecting plate and the second reflecting plate in the current medium to obtain first distance information, and sends the first distance information to the main controller;
the main controller generates a first compensation coefficient according to the first distance information and the first preset distance;
The second laser distance meter measures the distance between the object to be measured and the second laser distance meter to acquire second distance information, and sends the second distance information to the main controller;
and the main controller corrects the second distance information according to the first compensation coefficient so as to acquire the space distance between the object to be measured and the second laser range finder.
Optionally, the distance measuring device further comprises a stepping motor, a distance measuring platform and a track; the first laser range finder, the second reflecting plate and the track are arranged on the range finding platform; the track is parallel to the plane where the second reflecting plate is located and is spaced by a first preset distance, and the first reflecting plate is slidably arranged on the track; the control end of the stepping motor is connected with the control end of the main controller, and the control end of the stepping motor is connected with the first reflecting plate;
The control method further includes:
The stepping motor receives a first control instruction of the main controller and moves the first reflecting plate to a first position of the track according to the first control instruction;
the first laser range finder measures first current distance information between the first reflecting plate and the first laser range finder when the first reflecting plate is positioned at a first position;
When the first reflecting plate is positioned at a first position, the laser emitted by the first laser range finder irradiates the first reflecting plate;
The stepping motor receives a second control instruction of the main controller and moves the first reflecting plate to a second position of the track according to the second control instruction;
the first laser range finder measures second current distance information between the second reflecting plate and the first laser range finder when the first reflecting plate is positioned at a second position;
When the first reflecting plate is positioned at the second position, the laser emitted by the first laser range finder irradiates on the second reflecting plate.
Optionally, the step of measuring, by the first laser rangefinder, a distance between the first reflecting plate and the second reflecting plate in the current medium to obtain first distance information, and sending the first distance information to the main controller specifically includes:
the first laser range finder determines first distance information according to the first current distance information and the second current distance information, and sends the first distance information to the main controller.
The invention provides a distance measuring device based on a laser, which comprises: the device comprises a first laser range finder, a second laser range finder, a first reflecting plate, a second reflecting plate and a main controller; the plane where the first reflecting plate is located between the first laser range finder and the second reflecting plate, the laser emergent direction of the first laser range finder is perpendicular to the plane where the first reflecting plate is located and the plane where the second reflecting plate is located, and the plane where the first reflecting plate is located is parallel to the plane where the second reflecting plate is located and is separated by a first preset distance; the first laser range finder is used for measuring the distance between the first reflecting plate and the second reflecting plate in the current medium to obtain first distance information, and sending the first distance information to the main controller; the main controller is used for generating a first compensation coefficient according to the first distance information and the first preset distance; the second laser range finder is used for measuring the distance between an object to be measured and the second laser range finder to obtain second distance information, and sending the second distance information to the main controller; and the main controller is also used for correcting the second distance information according to the first compensation coefficient so as to acquire the space distance between the object to be measured and the second laser range finder. According to the distance measuring device, the measured distance information is optimized according to the preset distance, the distance measuring accuracy is improved, and the influence of the external environment on laser distance measurement is prevented.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a first embodiment of a laser-based ranging apparatus according to the present invention;
FIG. 2 is a schematic diagram of a second configuration of a first embodiment of a laser-based ranging device of the present invention;
FIG. 3 is a schematic diagram of a second embodiment of a laser-based ranging device of the present invention;
Fig. 4 is a flowchart of a first embodiment of a control method of a distance measuring device based on a laser according to the present invention.
Reference numerals illustrate:
| Reference numerals | Name of the name | Reference numerals | Name of the name |
| 1 | First laser range finder | 7 | Distance measuring platform |
| 2 | Second laser range finder | 8 | Rail track |
| 3 | First reflecting plate | 9 | Packaging box |
| 4 | Second reflecting plate | 10 | Wireless communication module |
| 5 | Main controller | 11 | Power supply |
| 6 | Stepping motor |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination does not exist and is not within the scope of protection claimed by the present invention.
The embodiment of the invention provides a distance measuring device based on a laser, and reference is made to fig. 1 and 2; FIG. 1 is a schematic view of a first embodiment of a laser-based ranging apparatus according to the present invention; fig. 2 is a schematic diagram of a second structure of a first embodiment of the laser-based ranging device of the present invention.
In this embodiment, the ranging apparatus includes: the device comprises a first laser range finder 1, a second laser range finder 2, a first reflecting plate 3, a second reflecting plate 4 and a main controller 5; the plane where the first reflecting plate 3 is located between the first laser range finder 1 and the second reflecting plate 4, the laser emitting direction of the first laser range finder 1 is perpendicular to the plane where the first reflecting plate 3 is located and the plane where the second reflecting plate 4 is located, and the plane where the first reflecting plate 3 is located is parallel to the plane where the second reflecting plate 4 is located and is separated by a first preset distance L1.
Referring to fig. 1, in a side view of the ranging apparatus shown in fig. 1, a laser emission direction of the first laser ranging apparatus 1 is perpendicular to a plane where the first reflecting plate 3 and the second reflecting plate 4 are located, the first reflecting plate 3 is movable, when the first reflecting plate 3 moves between the first laser ranging apparatus 1 and the second reflecting plate 4, the first reflecting plate 3 shields the second reflecting plate 4 in the laser emission direction, and the laser emitted by the first laser ranging apparatus 1 irradiates on the first reflecting plate 3, so that the time of the laser going back and forth to the first reflecting plate 3 and the laser emission port of the first laser ranging apparatus 1 under the current medium can be measured. When the first reflecting plate 3 is moved between the first laser range finder 1 and the second reflecting plate 4, the laser emitted by the first laser range finder 1 irradiates on the second reflecting plate 3, so that the time of laser going back and forth between the second reflecting plate 4 and the laser emission port of the first laser range finder 1 under the current medium can be measured.
The first laser range finder 1 is configured to measure a distance between the first reflecting plate 3 and the second reflecting plate 4 in a current medium to obtain first distance information, and send the first distance information to the main controller 5.
It should be noted that the current medium may be air, haze air, water or other liquids; for example, the current medium is seawater, and the refractive index is difficult to determine due to the fact that seawater contains rich electrolyte. The distance information is the time required for the laser to traverse between certain distances under the current medium. The first distance information is the difference between the distance information between the second reflecting plate 4 and the laser transmitting end, which is measured by the first laser range finder 1 in the current medium, and the distance information between the first reflecting plate 3 and the laser transmitting end.
The first preset distance L1 is a fixed, non-variable distance, and is a spatial distance between the first reflecting plate 3 and the second reflecting plate 4; because the light rays have loss in the medium, the refractive indexes of different media are also different, and therefore, the propagation speeds of the light rays in different media are different; the propagation time required by the same distance is different in different media, and because the laser range finder is determined according to the round trip time of laser between the laser transmitting end and the target to be measured, the propagation time in the current medium is different from the time under an ideal state, and therefore the obtained first distance information needs to be corrected according to the actual space distance.
Referring to fig. 1 and 2, fig. 2 is a plan view of the distance measuring device. The distance measuring device further comprises a stepping motor 6, a distance measuring platform 7 and a track 8; the first laser range finder 1, the second reflecting plate 4 and the track 8 are arranged on the range platform 7; the track 8 is parallel to the plane where the second reflecting plate 4 is located and is spaced by a first preset distance L1, and the first reflecting plate 3 is slidably arranged on the track; the controlled end of the stepping motor 6 is connected with the control end of the main controller 5, and the control end of the stepping motor 6 is connected with the first reflecting plate 3.
In fig. 2, the point A1 is the center of the first position, and when the center point of the first reflecting plate 3 is located above the point A1 in the vertical direction, the first reflecting plate 3 is located at the first position. The point A2 is the center of the second position, and when the center point of the first reflecting plate 3 is located above the point A2 in the vertical direction, the first reflecting plate 3 is located at the second position. The broken line led out by the first laser range finder 1 is the propagation direction of the laser emitted by the first laser range finder 1, when the first reflecting plate 3 is located at the first position, the laser can be irradiated on the first reflecting plate 3, and when the first reflecting plate 3 is located at the second position, the laser can be irradiated on the second reflecting plate 4.
The stepper motor 6 is configured to receive a first control instruction from the main controller 5, and move the first reflecting plate 3 to a first position of the track 8 according to the first control instruction; the first laser range finder 1 is configured to measure first current distance information between the first reflecting plate 3 and the first laser range finder 1 when the first reflecting plate 3 is located at a first position; when the first reflecting plate is positioned at a first position, laser emitted by the first laser range finder irradiates on the first reflecting plate.
The stepper motor 6 is configured to receive a second control instruction from the main controller 5, and move the first reflecting plate 3 to a second position of the track 8 according to the second control instruction; the first laser range finder 1 is configured to measure second current distance information between the second reflecting plate 4 and the first laser range finder 1 when the first reflecting plate 3 is located at the second position; wherein, when the first reflecting plate 3 is positioned at the second position, the laser emitted by the first laser range finder 1 irradiates on the second reflecting plate 4.
It is easy to understand that the first reflecting plate 3 is configured to slide along the track, and the stepper motor may drive the first reflecting plate 3 to slide.
The first laser range finder 1 is further configured to determine first distance information according to the first current distance information and the second current distance information, and send the first distance information to the main controller 5.
The main controller 5 is configured to generate a first compensation coefficient according to the first distance information and the first preset distance L1.
It should be noted that, according to the first preset distance L1, preset time information required by the light to travel to and from the first preset distance L1 in the ideal medium can be obtained, and according to the first distance information, current time information required by the light to travel to and from the current medium is obtained; and obtaining the refractive index of the current medium and the propagation speed of light in the current medium according to the current time information and the preset time information, and taking the refractive index and the propagation speed as a first compensation coefficient.
The second laser distance meter 2 is configured to measure a distance between an object to be measured and the second laser distance meter 2, so as to obtain second distance information, and send the second distance information to the main controller 5.
The second distance information corresponds to time information required for optical round trip between the object to be measured in the current medium and the second laser range finder.
The main controller 5 is further configured to correct the second distance information according to the first compensation coefficient, so as to obtain a spatial distance between the object to be measured and the second laser range finder 2.
It is easy to understand that the spatial distance is the actual distance between the second laser rangefinder 2 and the object to be measured in space, and the second distance information is compensated by the refractive index and the light propagation speed of the current medium, so as to obtain the spatial distance by calculation.
According to the embodiment of the invention, through the distance measuring device, the measured distance information is optimized according to the preset distance, the distance measuring accuracy is improved, and the influence of the external environment on the laser distance measuring accuracy is prevented.
Based on the first embodiment of the present invention, a second embodiment of the laser-based ranging device of the present invention is proposed, and referring to fig. 3, fig. 3 is a schematic structural diagram of the second embodiment of the laser-based ranging device of the present invention.
The distance measuring device further comprises a packaging box 9, the distance measuring platform 7 is arranged on the packaging box 9, the second laser distance measuring instrument 2 is rotatably arranged outside the packaging box 9, and the main controller 5 is arranged inside the packaging box 9.
It should be noted that, due to the complexity of the ranging environment, for example: in-water ranging and overcast and rainy weather ranging, a packaging box is arranged to package the devices in order to prevent the devices such as the main controller, the stepping motor and the like from water inflow.
The distance measuring device further comprises a wireless communication module 10, and one end of the wireless communication module 10 is connected with the output end of the main controller 5. The wireless communication module 10 is configured to send the spatial distance to a wireless receiving module.
It should be noted that, the wireless receiving module may be a wireless receiving module of an upper computer or a server, and the ranging environment is complex, for example: underwater ranging, it is difficult to arrange a cable, so the ranging device is prevented from being underwater, the ranging result is transmitted to an upper computer on water through the wireless communication module 10, and the upper computer can also remotely control the ranging device through the wireless communication module 10, for example: and the upper computer sends a control instruction to enable the main controller 5 to control the second laser range finder 2 to adjust the range finding direction.
The distance measuring device further comprises a power supply 11, the power supply 11 is arranged in the packaging box 9, and the output end of the power supply 11 is connected with one input end of the main controller 5.
It should be noted that, the power supply may be a built-in battery, and the built-in battery supplies power to the ranging device, so that an external power supply is not required to be connected, and the ranging device may not need to be provided with an additional cable, thereby realizing remote operation.
According to the embodiment, through the arrangement, the distance measuring device can adapt to a complex distance measuring environment, popularization and application of the distance measuring device are facilitated, distance measuring accuracy is improved, and influence of the external environment on laser distance measurement is prevented.
In addition, in order to achieve the above purpose, the invention further provides a control method of the ranging device based on the laser based on the ranging device based on the laser. Fig. 4 is a flowchart of a first embodiment of a control method of a distance measuring device based on a laser according to the present invention.
In this embodiment, the ranging apparatus includes: the device comprises a first laser range finder 1, a second laser range finder 2, a first reflecting plate 3, a second reflecting plate 4 and a main controller 5; the plane where the first reflecting plate 3 is located between the first laser range finder 1 and the second reflecting plate 4, the laser emitting direction of the first laser range finder 1 is perpendicular to the plane where the first reflecting plate 3 is located and the plane where the second reflecting plate 4 is located, and the plane where the first reflecting plate 3 is located is parallel to the plane where the second reflecting plate 4 is located and is separated by a first preset distance L1.
Referring to fig. 1, in a side view of the ranging apparatus shown in fig. 1, a laser emission direction of the first laser ranging apparatus 1 is perpendicular to a plane where the first reflecting plate 3 and the second reflecting plate 4 are located, the first reflecting plate 3 is movable, when the first reflecting plate 3 moves between the first laser ranging apparatus 1 and the second reflecting plate 4, the first reflecting plate 3 shields the second reflecting plate 4 in the laser emission direction, and the laser emitted by the first laser ranging apparatus 1 irradiates on the first reflecting plate 3, so that the time of the laser going back and forth to the first reflecting plate 3 and the laser emission port of the first laser ranging apparatus 1 under the current medium can be measured. When the first reflecting plate 3 is moved between the first laser range finder 1 and the second reflecting plate 4, the laser emitted by the first laser range finder 1 irradiates on the second reflecting plate 3, so that the time of laser going back and forth between the second reflecting plate 4 and the laser emission port of the first laser range finder 1 under the current medium can be measured.
Step S10: the first laser range finder measures the distance between the first reflecting plate and the second reflecting plate in the current medium to acquire first distance information, and sends the first distance information to the main controller.
It should be noted that the current medium may be air, haze air, water or other liquids; for example, the current medium is seawater, and the refractive index is difficult to determine due to the fact that seawater contains rich electrolyte. The distance information is the time required for the laser to traverse between certain distances under the current medium. The first distance information is the difference between the distance information between the second reflecting plate 4 and the laser transmitting end, which is measured by the first laser range finder 1 in the current medium, and the distance information between the first reflecting plate 3 and the laser transmitting end.
The first preset distance L1 is a fixed, non-variable distance, and is a spatial distance between the first reflecting plate 3 and the second reflecting plate 4; because the light rays have loss in the medium, the refractive indexes of different media are also different, and therefore, the propagation speeds of the light rays in different media are different; the propagation time required by the same distance is different in different media, and because the laser range finder is determined according to the round trip time of laser between the laser transmitting end and the target to be measured, the propagation time in the current medium is different from the time under an ideal state, and therefore the obtained first distance information needs to be corrected according to the actual space distance.
Referring to fig. 1 and 2, fig. 2 is a plan view of the distance measuring device. The distance measuring device further comprises a stepping motor 6, a distance measuring platform 7 and a track 8; the first laser range finder 1, the second reflecting plate 4 and the track 8 are arranged on the range platform 7; the track 8 is parallel to the plane where the second reflecting plate 4 is located and is spaced by a first preset distance L1, and the first reflecting plate 3 is slidably arranged on the track; the controlled end of the stepping motor 6 is connected with the control end of the main controller 5, and the control end of the stepping motor 6 is connected with the first reflecting plate 3.
In fig. 2, the point A1 is the center of the first position, and when the center point of the first reflecting plate 3 is located above the point A1 in the vertical direction, the first reflecting plate 3 is located at the first position. The point A2 is the center of the second position, and when the center point of the first reflecting plate 3 is located above the point A2 in the vertical direction, the first reflecting plate 3 is located at the second position. The broken line led out by the first laser range finder 1 is the propagation direction of the laser emitted by the first laser range finder 1, when the first reflecting plate 3 is located at the first position, the laser can be irradiated on the first reflecting plate 3, and when the first reflecting plate 3 is located at the second position, the laser can be irradiated on the second reflecting plate 4.
The stepper motor 6 is configured to receive a first control instruction from the main controller 5, and move the first reflecting plate 3 to a first position of the track 8 according to the first control instruction; the first laser range finder 1 is configured to measure first current distance information between the first reflecting plate 3 and the first laser range finder 1 when the first reflecting plate 3 is located at a first position; when the first reflecting plate is positioned at a first position, laser emitted by the first laser range finder irradiates on the first reflecting plate.
The stepper motor 6 is configured to receive a second control instruction from the main controller 5, and move the first reflecting plate 3 to a second position of the track 8 according to the second control instruction; the first laser range finder 1 is configured to measure second current distance information between the second reflecting plate 4 and the first laser range finder 1 when the first reflecting plate 3 is located at the second position; wherein, when the first reflecting plate 3 is positioned at the second position, the laser emitted by the first laser range finder 1 irradiates on the second reflecting plate 4.
It is easy to understand that the first reflecting plate 3 is configured to slide along the track, and the stepper motor may drive the first reflecting plate 3 to slide.
The first laser range finder 1 is further configured to determine first distance information according to the first current distance information and the second current distance information, and send the first distance information to the main controller 5.
Step S20: and the main controller generates a first compensation coefficient according to the first distance information and the first preset distance.
It should be noted that, according to the first preset distance L1, preset time information required by the light to travel to and from the first preset distance L1 in the ideal medium can be obtained, and according to the first distance information, current time information required by the light to travel to and from the current medium is obtained; and obtaining the refractive index of the current medium and the propagation speed of light in the current medium according to the current time information and the preset time information, and taking the refractive index and the propagation speed as a first compensation coefficient.
Step S30: the second laser distance meter is used for measuring the distance between the object to be measured and the second laser distance meter so as to acquire second distance information, and the second distance information is sent to the main controller.
The second distance information corresponds to time information required for optical round trip between the object to be measured in the current medium and the second laser range finder.
Step S40: and the main controller corrects the second distance information according to the first compensation coefficient so as to acquire the space distance between the object to be measured and the second laser range finder.
It is easy to understand that the spatial distance is the actual distance between the second laser rangefinder 2 and the object to be measured in space, and the second distance information is compensated by the refractive index and the light propagation speed of the current medium, so as to obtain the spatial distance by calculation.
According to the embodiment of the invention, through the distance measuring device, the measured distance information is optimized according to the preset distance, the distance measuring accuracy is improved, and the influence of the external environment on the laser distance measuring accuracy is prevented.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details that are not described in detail in this embodiment may be referred to the laser-based ranging device provided in any embodiment of the present invention, and are not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. A laser-based ranging device, the ranging device comprising: the device comprises a first laser range finder, a second laser range finder, a first reflecting plate, a second reflecting plate and a main controller; the plane where the first reflecting plate is located between the first laser range finder and the second reflecting plate, the laser emergent direction of the first laser range finder is perpendicular to the plane where the first reflecting plate is located and the plane where the second reflecting plate is located, and the plane where the first reflecting plate is located is parallel to the plane where the second reflecting plate is located and is separated by a first preset distance;
The distance measuring device further comprises a stepping motor, a distance measuring platform and a track; the first laser range finder, the second reflecting plate and the track are arranged on the range finding platform; the track is parallel to the plane where the second reflecting plate is located and is spaced by a first preset distance, and the first reflecting plate is slidably arranged on the track; the control end of the stepping motor is connected with the control end of the main controller, and the control end of the stepping motor is connected with the first reflecting plate;
the first laser range finder is used for measuring the distance between the first reflecting plate and the second reflecting plate in the current medium to obtain first distance information, and sending the first distance information to the main controller;
the main controller is used for generating a first compensation coefficient according to the first distance information and the first preset distance;
The second laser range finder is used for measuring the distance between the object to be measured and the second laser range finder to obtain second distance information, and sending the second distance information to the main controller, wherein the second distance information is determined by time information required by light round trip between the object to be measured and the second laser range finder in the current medium;
The main controller is further configured to correct the second distance information according to the first compensation coefficient, so as to obtain a spatial distance between the object to be measured and the second laser range finder;
The main controller is further configured to determine preset time information required for light to travel the first preset distance in an ideal medium, determine current time information required for light to travel the first distance information in a current medium, determine a refractive index of the current medium and a propagation speed of light in the current medium according to the current time information and the preset time information, and use the refractive index and the propagation speed as a first compensation coefficient;
the main controller is further configured to compensate the second distance information through the refractive index and the propagation speed in the first compensation coefficient, so as to obtain a spatial distance between an object to be measured and the second laser range finder;
the stepping motor is used for receiving a first control instruction of the main controller and moving the first reflecting plate to a first position of the track according to the first control instruction;
The first laser range finder is used for measuring first current distance information between the first reflecting plate and the first laser range finder when the first reflecting plate is located at a first position;
When the first reflecting plate is positioned at a first position, the laser emitted by the first laser range finder irradiates the first reflecting plate;
The stepping motor is used for receiving a second control instruction of the main controller and moving the first reflecting plate to a second position of the track according to the second control instruction;
The first laser range finder is used for measuring second current distance information between the second reflecting plate and the first laser range finder when the first reflecting plate is positioned at a second position;
When the first reflecting plate is positioned at the second position, the laser emitted by the first laser range finder irradiates the second reflecting plate;
the first laser range finder is further configured to determine first distance information according to the first current distance information and the second current distance information, and send the first distance information to the main controller.
2. The laser based ranging device of claim 1, further comprising an enclosure on which the ranging platform is disposed, wherein the second laser rangefinder is rotatably disposed outside the enclosure, and wherein the master controller is disposed inside the enclosure.
3. The laser based ranging device of claim 2, further comprising a wireless communication module having one end connected to an output of the master controller;
the wireless communication module is used for sending the spatial distance to the wireless receiving module.
4. A laser based ranging apparatus according to claim 3, further comprising a power source disposed within said enclosure, an output of said power source being connected to an input of said main controller.
5. A laser-based distance measuring device control method, characterized in that the control method is based on a laser-based distance measuring device according to any one of claims 1 to 4, the control method comprising:
The first laser range finder measures the distance between the first reflecting plate and the second reflecting plate in the current medium to obtain first distance information, and sends the first distance information to the main controller;
the main controller generates a first compensation coefficient according to the first distance information and the first preset distance;
The second laser range finder measures the distance between the object to be measured and the second laser range finder to obtain second distance information, and sends the second distance information to the main controller, wherein the second distance information is determined by time information required by optical round trip between the object to be measured and the second laser range finder in the current medium;
the main controller corrects the second distance information according to the first compensation coefficient to obtain the space distance between the object to be measured and the second laser range finder;
The main controller determines preset time information required by light to travel the first preset distance in an ideal medium, determines current time information required by light to travel the first distance information in a current medium, determines the refractive index of the current medium and the propagation speed of the light in the current medium according to the current time information and the preset time information, and takes the refractive index and the propagation speed as a first compensation coefficient;
The main controller compensates the second distance information through the refractive index and the propagation speed in the first compensation coefficient so as to obtain the space distance between the object to be measured and the second laser range finder.
6. The method of claim 5, wherein the ranging device further comprises a stepper motor, a ranging platform, and a track; the first laser range finder, the second reflecting plate and the track are arranged on the range finding platform; the track is parallel to the plane where the second reflecting plate is located and is spaced by a first preset distance, and the first reflecting plate is slidably arranged on the track; the control end of the stepping motor is connected with the control end of the main controller, and the control end of the stepping motor is connected with the first reflecting plate;
The control method further includes:
The stepping motor receives a first control instruction of the main controller and moves the first reflecting plate to a first position of the track according to the first control instruction;
the first laser range finder measures first current distance information between the first reflecting plate and the first laser range finder when the first reflecting plate is positioned at a first position;
When the first reflecting plate is positioned at a first position, the laser emitted by the first laser range finder irradiates the first reflecting plate;
The stepping motor receives a second control instruction of the main controller and moves the first reflecting plate to a second position of the track according to the second control instruction;
the first laser range finder measures second current distance information between the second reflecting plate and the first laser range finder when the first reflecting plate is positioned at a second position;
When the first reflecting plate is positioned at the second position, the laser emitted by the first laser range finder irradiates on the second reflecting plate.
7. The method of claim 6, wherein the first laser rangefinder measures a distance between the first reflecting plate and the second reflecting plate in a current medium to obtain first distance information, and the step of transmitting the first distance information to the main controller, specifically comprises:
the first laser range finder determines first distance information according to the first current distance information and the second current distance information, and sends the first distance information to the main controller.
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| CN115047480B (en) * | 2022-08-15 | 2023-01-10 | 中交天津港湾工程研究院有限公司 | Underwater laser ranging system for turbid water area |
| CN115061147B (en) * | 2022-08-16 | 2023-01-20 | 中交天津港湾工程研究院有限公司 | Underwater laser ranging device for turbid water area |
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