CN204989468U - Multichannel transmission little " blind area " laser rangefinder - Google Patents
Multichannel transmission little " blind area " laser rangefinder Download PDFInfo
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- CN204989468U CN204989468U CN201520560897.3U CN201520560897U CN204989468U CN 204989468 U CN204989468 U CN 204989468U CN 201520560897 U CN201520560897 U CN 201520560897U CN 204989468 U CN204989468 U CN 204989468U
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Abstract
The utility model discloses a multichannel transmission little " blind area " laser rangefinder relates to the laser rangefinder application. The device includes multichannel laser emission collimation unit, receives amplifying unit, timing and data processing unit. The laser angle of divergence diverse of multichannel laser emission unit measures the not emission unit of the different angles of divergence of measured object use of same distance to select the strongest emission unit of echo signal as effective emission unit. Use the emission unit of the big angle of divergence to closely measured object, increase the echo signal in " blind area ", emission unit to the remote little angle of divergence of measured object use increases remote echo signal. The utility model discloses reduced laser rangefinder " blind area ", strengthened the range finding ability, improved the range accuracy.
Description
Technical field
The utility model belongs to laser ranging applied technical field, is specifically related to a kind of multichannel and launches little " blind area " laser ranging system.
Background technology
Laser ranging technique is the non-contact measurement new and high technology of high speed development in recent years, and measuring speed is fast, installation is simple, accuracy rate is high, and this technology is widely applied to every field.There is a determining deviation with reception optical axis in Laser emission optical axis, when causing closely finding range, measured object energy of reflection light can not converge on the photoelectric conversion device of receiving element, forms range finding " blind area ".Current solution " blind area " problem mainly contains following several method: one increases the light sensation face area of photoelectric conversion device, and the method existence can introduce the defect of much noise signal; Its two increases exiting light beam intensity, the method can cause laser ranging system cannot meet eye-safe requirement; Its three be measure time move photoelectric conversion device photosurface position, but for the receiving element after focusing on, photoelectric conversion device photosurface position difference is that micron order is just very large on the backward energy impact received, and the method mobile accuracy is high, difficulty is large; It four is increase reflection unit to be introduced by backward energy on light sensation face, the method to the machining accuracy of reflection unit require high, difficulty is large.
Utility model content
The utility model, for the deficiency of above-mentioned laser ranging system, provides that a kind of structure is simple, easy for installation, stable performance, measures the laser ranging system that " blind area " is little.
A kind of multichannel is launched little " blind area " laser ranging system and is comprised, multi-path laser collimated emission unit, reception amplifying unit, timing and data processing unit, its preferred feature is, the angle of divergence of multi-path laser transmitter unit is different, and the angle of divergence size of every road transmitter unit becomes equal difference to distribute, select transmitter unit that echoed signal is the strongest as effective transmitter unit according to the distance of measured object, complete the measurement of measured object;
Described multi-path laser collimated emission unit has the laser of the different angle of divergence for generation of multichannel, the size of every road laser beam divergence becomes equal difference to distribute;
The laser echo signal that described reception amplifying unit returns for receiving measured object diffuse reflection, and carry out amplification shaping;
Described timing and data processing unit, for measuring the laser pulse flight time and converting distance to, select transmitter unit that echoed signal is the strongest as effective transmitter unit according to the distance of measured object.
Concrete, the size of the angle of divergence of described multi-path laser collimated emission unit becomes equal difference to distribute, and the minimum angle of divergence is less than the field of view of receiver angle of receiving element.
Concrete, the transmitting optical axis of described multi-path laser collimated emission unit is equal with receiving optical axis distance and be parallel to each other.
A kind of multichannel launches little " blind area " laser ranging system, and different according to the distance of measured object in full finding range, the laser emission element selecting echoed signal the strongest is effective transmitter unit.Required transmitter unit quantity is relevant with the field of view of receiver angle size of every road angle of divergence interval angles and receiving element.Setting field of view of receiver angle is θ
1, it is Δ θ that angle of divergence interval angles is launched on every road, then required transmitter unit quantity N=(90-θ
1)/Δ θ, as (90-θ
1n=(90-θ when)/Δ θ remainder is greater than 0
1)/Δ θ+1.Receiving element receives the echoed signal of launching on every road and is transferred to timing and data processing unit, timing and data processing unit detect the pulse width of every road transmitter unit echoed signal, and (echoed signal is stronger, pulse width is wider), and using echoed signal the widest for echoed signal pulse width as effective echoed signal, using the luminous moment of this road laser emission element as initial time T
1, receiving element receives the moment of this road transmitter unit echoed signal as end time T
2, calculate the distance S=C* (T of measured object
2-T
1)/2, wherein C is the light velocity.
The beneficial effects of the utility model are as follows:
The utility model utilizes the laser emission element angle of divergence in laser ranging different, measure the principle that " blind area " is different, adopt the multichannel collimated emission unit with the different angle of divergence, timing and data processing unit select laser emission element that echoed signal is the strongest as effective transmitter unit all the time, reduce greatly " blind area " of laser ranging, distance accuracy is high, scope is wide.
Accompanying drawing explanation
Fig. 1 is the utility model embodiment schematic diagram;
Wherein 1 for timing and data processing module, and 2 for receiving and amplifying unit, and 3 be field of view of receiver angle, and 4,5,6,7 is the laser emission element of the different angle of divergence, and 8 is that each transmitter unit angle of divergence contrasts.
Fig. 2 is this angle of divergence and " blind area " relation schematic diagram;
Wherein 1 is field of view of receiver footmark timberline, and 2 is angle of divergence marking line, and 3 is angle of divergence marking line after the adjustment angle of divergence.
Fig. 3 is different distance measured object backward energy schematic diagram;
Wherein 1 is remote measured object, and 2 is closely measured object, and 3 is receiving element, and 4 is transmitter unit, and 5 indicate for transmitter unit angle of divergence when measuring remote object, and 6 indicate for transmitter unit angle of divergence when measuring closer object, and 7 is receiving element field of view of receiver angle.
Embodiment
By reference to the accompanying drawings embodiment of the present utility model and principle are described further.Following examples only for more clearly the technical solution of the utility model being described, and can not limit protection domain of the present utility model with this.
Be illustrated in figure 1 laser ranging system of the present utility model.The wherein field of view of receiver angle θ of receiving element
1be 10 degree, every road angle of divergence interval θ
2be 20 degree, then transmitter unit quantity N is 4, and the angle of divergence that 4 tunnels are launched is respectively 10 degree, 30 degree, 50 degree, 70 degree, and the transmitting optical axis of every road transmitter unit is equal with the reception optical axis distance of receiving element.When utilizing this device to carry out measured object range observation, multi-path laser transmitter unit is luminous successively, timing and data processing unit add up the pulse width of the luminous echoed signal in every road and the maximum echoed signal of strobe pulse width, according to the luminous initial time T of this road laser emission element
1with the end time T receiving echoed signal
2, according to formula S=C* (T
2-T
1)/2 calculate the distance of testee.Enhance the echo signal intensity in laser ranging system " blind area ", reduce " blind area ".
As shown in Figure 2, when laser alignment focus is positioned at laser tube inside, as Fig. 2 (upper left), the margin line of the Laser emission angle of divergence is crossing with the margin line at field of view of receiver angle, when measured object distance is between intersection point to receiving system, increase the angle of divergence, Laser emission angle of divergence margin line and field of view of receiver angle margin line intersection point become near, the echoed signal obtained in same distance measured object situation strengthens, and " blind area " reduces; When the focus of laser alignment be positioned at laser tube outer and outside the field of view of receiver angle of receiving element time principle the same, as Fig. 2 (upper right); When the focus of laser tube collimation be positioned at laser tube outside and at field of view of receiver angle time, as Fig. 2 (under), increase the angle of divergence, the margin line of the Laser emission angle of divergence and the margin line intersection point at field of view of receiver angle become far away, " blind area " increases, and the echoed signal obtained in same distance measured object situation weakens; In sum when the focus of laser alignment changes according to the angle of divergence, by changing to outside field of view of receiver angle in field of view of receiver angle, finally in the process in laser tube, along with the increase of the Laser emission angle of divergence, " blind area " of laser ranging system first increases, rear reduction, and the echoed signal that receiving element receives in same distance measured object situation first weakens and strengthens afterwards.For the measured object of same distance, to have and the echoed signal only having that riches all the way and penetrate unit to obtain is the strongest.
As shown in Figure 3, to remote measured object 1, the transmitter unit of the small divergence angle hot spot on measured object surface is all in the field of view of receiver angle of receiving system, the transmitter unit at Vernonia parishii Hook. F. angle has portion of energy not in the field of view of receiver angle of receiving system, can not converge on the photoelectric conversion device of receiving element.The transmitter unit backward energy of small divergence angle is strong, and the transmitter unit backward energy at Vernonia parishii Hook. F. angle is weak, and timing and data processing unit select the divergence unit of small divergence angle to find range; For closely measured object 2, the transmitter unit of the small divergence angle hot spot on measured object surface is not in the field of view of receiver angle of receiving system, receiving element does not receive the echoed signal of small divergence angle transmitter unit, the divergence unit at Vernonia parishii Hook. F. angle has portion of energy can converge on the photoelectric conversion device of receiving element, can receive echoed signal, therefore timing and data processing unit select the transmitter unit at Vernonia parishii Hook. F. angle to find range.
The above is only preferred implementation of the present utility model, and not getting rid of person skilled can make improvement according to know-why of the present utility model, and these improvement also should be considered as protection domain of the present utility model.
Claims (3)
1. multichannel transmitting little " blind area " laser ranging system comprises, multi-path laser collimated emission unit, reception amplifying unit, timing and data processing unit, it is characterized in that, the angle of divergence of multi-path laser transmitter unit is different, and the angle of divergence size of every road transmitter unit becomes equal difference to distribute, select transmitter unit that echoed signal is the strongest as effective transmitter unit according to the distance of measured object, complete the measurement of measured object;
Described multi-path laser collimated emission unit has the laser of the different angle of divergence for generation of multichannel, the size of every road laser beam divergence becomes equal difference to distribute;
The laser echo signal that described reception amplifying unit returns for receiving measured object diffuse reflection, and carry out amplification shaping;
Described timing and data processing unit, for measuring the laser pulse flight time and converting distance to, select transmitter unit that echoed signal is the strongest as effective transmitter unit according to the distance of measured object.
2. as right 1 require as described in multichannel launch little " blind area " laser ranging system, it is characterized in that, the size of the angle of divergence of described multi-path laser collimated emission unit becomes equal difference to distribute, and the minimum angle of divergence is less than the field of view of receiver angle of receiving element.
3. as right 1 require as described in multichannel launch little " blind area " laser ranging system, it is characterized in that, the transmitting optical axis of described multi-path laser collimated emission unit is equal with receiving optical axis distance and be parallel to each other.
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| CN201520560897.3U CN204989468U (en) | 2015-07-29 | 2015-07-29 | Multichannel transmission little " blind area " laser rangefinder |
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| CN201520560897.3U CN204989468U (en) | 2015-07-29 | 2015-07-29 | Multichannel transmission little " blind area " laser rangefinder |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974401A (en) * | 2016-04-13 | 2016-09-28 | 上海物景智能科技有限公司 | Radar system capable of exploring multiple planes simultaneously and exploring method thereof |
| WO2019157632A1 (en) * | 2018-02-13 | 2019-08-22 | 深圳市大疆创新科技有限公司 | Ranging system, automation device and ranging method |
| CN110988898A (en) * | 2019-12-02 | 2020-04-10 | 北京石头世纪科技股份有限公司 | Laser rangefinder and robot |
| CN111060917A (en) * | 2019-12-27 | 2020-04-24 | 广东博智林机器人有限公司 | Laser ranging device and construction robot |
| WO2020258933A1 (en) * | 2019-06-28 | 2020-12-30 | Suteng Innovation Technology Co., Ltd. | Lidarreceiving apparatus, lidar system and laser ranging method |
| CN117368886A (en) * | 2022-06-30 | 2024-01-09 | 深圳市速腾聚创科技有限公司 | Laser emission module and laser radar |
-
2015
- 2015-07-29 CN CN201520560897.3U patent/CN204989468U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974401A (en) * | 2016-04-13 | 2016-09-28 | 上海物景智能科技有限公司 | Radar system capable of exploring multiple planes simultaneously and exploring method thereof |
| CN105974401B (en) * | 2016-04-13 | 2019-03-08 | 上海物景智能科技有限公司 | A kind of radar system and its detection method of multi-panel detection simultaneously |
| WO2019157632A1 (en) * | 2018-02-13 | 2019-08-22 | 深圳市大疆创新科技有限公司 | Ranging system, automation device and ranging method |
| CN110383105A (en) * | 2018-02-13 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Range-measurement system, automation equipment and distance measuring method |
| WO2020258933A1 (en) * | 2019-06-28 | 2020-12-30 | Suteng Innovation Technology Co., Ltd. | Lidarreceiving apparatus, lidar system and laser ranging method |
| US11768278B2 (en) | 2019-06-28 | 2023-09-26 | Suteng Innovation Technology Co., Ltd. | Lidar receiving apparatus, lidar system and laser ranging method |
| CN110988898A (en) * | 2019-12-02 | 2020-04-10 | 北京石头世纪科技股份有限公司 | Laser rangefinder and robot |
| CN111060917A (en) * | 2019-12-27 | 2020-04-24 | 广东博智林机器人有限公司 | Laser ranging device and construction robot |
| CN111060917B (en) * | 2019-12-27 | 2023-08-01 | 广东博智林机器人有限公司 | Laser ranging device and construction robot |
| CN117368886A (en) * | 2022-06-30 | 2024-01-09 | 深圳市速腾聚创科技有限公司 | Laser emission module and laser radar |
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