WO2021062658A1

WO2021062658A1 - Range measurement method and system for laser rangefinder, and storage medium

Info

Publication number: WO2021062658A1
Application number: PCT/CN2019/109512
Authority: WO
Inventors: 李涛; 水泳; 陈涵; 王闯
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-08
Also published as: CN112888959A

Abstract

A measurement method and a measurement system (100). The measurement method comprises: a laser rangefinder (10) emitting laser light to a calibration target (200) from a predetermined distance; the laser rangefinder (10) receiving back-reflected light and converting the received back-reflected light into an electrical signal; calculating a detection probability according to the electrical signal and an electrical signal threshold; and acquiring the maximum range according to the predetermined distance, first light radiation energy and second light radiation energy.

Description

激光测距机的量程的测量方法及***和存储介质Measuring method, system and storage medium of range of laser rangefinder

技术领域Technical field

本申请涉及激光探测领域，特别涉及一种激光测距机的量程的测量方法、激光测距机的量程的测量***和非易失性计算机可读存储介质。This application relates to the field of laser detection, in particular to a method for measuring the range of a laser rangefinder, a measurement system for the range of a laser rangefinder, and a non-volatile computer-readable storage medium.

背景技术Background technique

目前，在对激光测距机的最大探测距离(也即最大量程)进行测试时，一般采用消光法，即，在激光测距机前加一个衰减器，激光经过衰减器后射向测试靶，通过改变衰减器的衰减率，直至激光测距机达到测距的临界状态(测试靶处于衰减后的激光测距机的最大探测距离处)，根据此时的衰减率即可确定激光测距机的最大量程。不同的衰减器具有不同的衰减率，在通过更换衰减器而更改一次衰减率后，可能仍由于激光测距机和测试靶的距离过远从而使得激光测距机无法达到临界状态，此时，则需要花费时间改变激光测距机和测试靶之间的距离才能使得激光测距机达到临界状态，在整个测量过程中，既要执行更换衰减器的操作，又要执行改变激光测距机与测试靶之间距离的操作，导致测试效率较低。At present, when testing the maximum detection distance (that is, the maximum range) of a laser rangefinder, the extinction method is generally used, that is, an attenuator is added in front of the laser rangefinder, and the laser passes through the attenuator and is directed to the test target. By changing the attenuation rate of the attenuator, until the laser rangefinder reaches the critical state of ranging (the test target is at the maximum detection distance of the attenuated laser rangefinder), the laser rangefinder can be determined according to the attenuation rate at this time The maximum range. Different attenuators have different attenuation rates. After changing the attenuation rate once by changing the attenuator, the distance between the laser rangefinder and the test target may still be too far, so that the laser rangefinder cannot reach the critical state. At this time, It takes time to change the distance between the laser rangefinder and the test target to make the laser rangefinder reach a critical state. During the entire measurement process, it is necessary to perform the operation of replacing the attenuator and change the distance between the laser rangefinder and the test target. The operation of the distance between the test targets results in lower test efficiency.

发明内容Summary of the invention

本申请的实施方式提供一种激光测距机的量程的测量方法、激光测距机的量程的测量***和非易失性计算机可读存储介质。The embodiments of the present application provide a method for measuring the range of a laser rangefinder, a system for measuring the range of a laser rangefinder, and a non-volatile computer-readable storage medium.

本申请实施方式提供一种激光测距机的量程的测量方法，所述测量方法包括：所述激光测距机向预定距离处的标定靶标发射激光；所述激光测距机接收回光并将接收到的实际回光转换为实际电信号；根据所述实际电信号与电信号阈值计算探测概率，所述电信号阈值包括预设电信号阈值及极限电信号阈值，所述预设电信号阈值为所述激光测距机最低可探测的回光的光能量所转换的电信号，所述极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号；及根据所述预定距离、第一光辐射能量、和第二光辐射能量获取所述最大量程，其中，第一光辐射能量为转换为所述预设电信号阈值时所需的回光的光辐射能量，所述第二光辐射能量为探测概率为预设探测概率时，转换为所述极限电信号阈值时所需的回光的光辐射能量。The embodiment of the present application provides a method for measuring the range of a laser rangefinder. The measurement method includes: the laser rangefinder emits laser light to a calibration target at a predetermined distance; the laser rangefinder receives the return light and The received actual return light is converted into an actual electrical signal; the detection probability is calculated according to the actual electrical signal and the electrical signal threshold, the electrical signal threshold includes a preset electrical signal threshold and a limit electrical signal threshold, the preset electrical signal threshold Is the electrical signal converted from the light energy of the lowest detectable return light of the laser rangefinder, and the limit electrical signal threshold is the electrical signal converted into the required return light when the detection probability is a preset detection probability; and The maximum range is obtained according to the predetermined distance, the first optical radiation energy, and the second optical radiation energy, wherein the first optical radiation energy is the optical radiation of the return light required for conversion to the preset electrical signal threshold Energy, the second optical radiation energy is the optical radiation energy of the return light required when the detection probability is a preset detection probability and converted into the limit electrical signal threshold.

本申请实施方式还提供一种激光测距机的量程的测量***，所述测量***包括激光测距机和数据处理设备。所述激光测距机用于向预定距离处的标定靶标发射激光、及接收回光并将接收到的实际回光转换为实际电信号。所述数据处理设备用于：根据所述实际电信号与电信号阈值计算探测概率，所述电信号阈值包括预设电信号阈值及极限电信号阈值，所述预设电信号阈值为所述激光测距机最低可探测的回光的光能量所转换的电信号，所述极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号；及根据所述预定距离、第一光辐射能量、和第二光辐射能量获取所述最大量程，其中，第一光辐射能量为转换为所述预设电信号阈值时所需的回光的光辐射能量，所述第二光辐射能量为探测概率为预设探测概率时，转换为所述极限电信号阈值时所需的回光的光辐射能量。The embodiment of the present application also provides a measurement system for the range of a laser rangefinder. The measurement system includes a laser rangefinder and a data processing device. The laser rangefinder is used to emit laser light to a calibration target at a predetermined distance, receive return light, and convert the received actual return light into an actual electrical signal. The data processing device is used to calculate the detection probability according to the actual electrical signal and the electrical signal threshold, the electrical signal threshold includes a preset electrical signal threshold and a limit electrical signal threshold, and the preset electrical signal threshold is the laser The electrical signal converted by the light energy of the lowest detectable return light of the rangefinder, where the limit electrical signal threshold is the electrical signal converted into the required return light when the detection probability is a preset detection probability; and according to the predetermined The distance, the first light radiation energy, and the second light radiation energy obtain the maximum range, wherein the first light radiation energy is the light radiation energy of the return light required when converting into the preset electrical signal threshold, and the The second optical radiation energy is the optical radiation energy of the return light required when the detection probability is the preset detection probability and converted into the limit electrical signal threshold.

本申请实施方式还提供一种包含计算机可执行指令的非易失性计算机可读存储介质。当所述计算机可执行指令被一个或多个处理器执行时，使得所述处理器执行上述实施方式的测量方法。The embodiments of the present application also provide a non-volatile computer-readable storage medium containing computer-executable instructions. When the computer-executable instruction is executed by one or more processors, the processor is caused to execute the measurement method of the foregoing embodiment.

本申请实施方式的激光测距机的量程的测量方法、激光测距机的量程的测量***和计算机可读存储介质中，激光测距机接收标定靶标反射的激光并将接收到的实际回光转换为实际电信号，然后根据实际电信号和电信号阈值计算探测概率，最后数据处理设备根据激光测距机和标定靶标之间的预定距离、和预设电信号阈值对应的第一光辐射能量及第二光辐射能量确定激光测距机的最大量程，其中，第二光辐射能量为探测概率为预设探测概率时，转换为所述极限电信号阈值时所需的回光的光辐射能量，此时的激光测距机达到临界状态，预定距离即为激光测距机以极限电信号进行测距时能探测到的最大距离。在测量过程中，无需改变激光测距机和标定靶标之间的距离，只需改变电信号阈值以确定极限电信号阈值即可，之后根据激光测距机和标定靶标之间的预定距离、第一光辐射能量及第二光辐射能量完成最大量程的测量，测试效率较高且无需设置衰减器。In the method for measuring the range of the laser rangefinder, the system for measuring the range of the laser rangefinder, and the computer-readable storage medium according to the embodiments of the present application, the laser rangefinder receives the laser light reflected by the calibration target and receives the actual return light Converted into an actual electrical signal, and then calculate the detection probability based on the actual electrical signal and the electrical signal threshold. Finally, the data processing equipment is based on the predetermined distance between the laser rangefinder and the calibration target and the first optical radiation energy corresponding to the preset electrical signal threshold. And the second optical radiation energy determine the maximum range of the laser rangefinder, where the second optical radiation energy is the optical radiation energy of the return light required when the detection probability is the preset detection probability and converted into the limit electrical signal threshold At this time, the laser rangefinder reaches a critical state, and the predetermined distance is the maximum distance that the laser rangefinder can detect when the laser rangefinder uses the limit electrical signal to perform distance measurement. During the measurement process, there is no need to change the distance between the laser rangefinder and the calibration target, just change the electrical signal threshold to determine the limit electrical signal threshold, and then according to the predetermined distance between the laser rangefinder and the calibration target, the first The first light radiation energy and the second light radiation energy complete the measurement of the maximum range, the test efficiency is high and there is no need to set an attenuator.

本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the embodiments of the present application.

附图说明Description of the drawings

本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

图1是本申请某些实施方式的激光测距机的量程的测量***和标定靶标的结构示意图。FIG. 1 is a schematic structural diagram of a measurement system and a calibration target of a range measurement system of a laser rangefinder according to some embodiments of the present application.

图2和图3是本申请某些实施方式的激光测距机的量程的测量方法的流程示意图；2 and 3 are schematic flow diagrams of a method for measuring the range of a laser rangefinder according to some embodiments of the present application;

图4和图5是本申请某些实施方式的激光测距机的量程的测量方法的原理示意图。4 and 5 are schematic diagrams of the measurement method of the range of the laser rangefinder according to some embodiments of the present application.

图6至图8是本申请某些实施方式的激光测距机的量程的测量方法的流程示意图。6 to 8 are schematic flowcharts of a method for measuring the range of a laser rangefinder according to some embodiments of the present application.

图9是本申请某些实施方式的激光测距机中的光检测器的平面示意图。Fig. 9 is a schematic plan view of a photodetector in a laser rangefinder according to some embodiments of the present application.

图10是本申请某些实施方式的处理器和计算机可读存储介质的连接示意图。FIG. 10 is a schematic diagram of the connection between a processor and a computer-readable storage medium in some embodiments of the present application.

具体实施方式Detailed ways

下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the present application, and should not be understood as a limitation to the present application.

在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of this application, it should be understood that the terms “first” and “second” are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality of" means two or more than two, unless otherwise specifically defined.

在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

请参阅图1和图2，本申请实施方式提供一种激光测距机10的量程的测量方法，该测量方法包括：1 and 2, an embodiment of the present application provides a method for measuring the range of a laser rangefinder 10, and the measurement method includes:

011：激光测距机10向预定距离处的标定靶标200发射激光；011: The laser rangefinder 10 emits laser light to the calibration target 200 at a predetermined distance;

012：激光测距机10接收回光并将接收到的实际回光转换为实际电信号；012: The laser rangefinder 10 receives the return light and converts the received actual return light into an actual electrical signal;

013：根据实际电信号与电信号阈值计算探测概率，电信号阈值包括预设电信号阈值及极限电信号阈值，预设电信号阈值为激光测距机10最低可探测的回光的光能量所转换的电信号，极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号；及013: Calculate the detection probability according to the actual electrical signal and electrical signal threshold. The electrical signal threshold includes the preset electrical signal threshold and the limit electrical signal threshold. The preset electrical signal threshold is the lowest detectable light energy of the laser rangefinder 10 For the converted electrical signal, the limit electrical signal threshold is the electrical signal that the required return light is converted into when the detection probability is the preset detection probability; and

014：根据预定距离、第一光辐射能量、和第二光辐射能量获取最大量程，其中，第一光辐射能量为转换为预设电信号阈值时所需的回光的光辐射能量，第二光辐射能量为探测概率为预设探测概率时，转换为极限电信号阈值时所需的回光的光辐射能量。014: Obtain the maximum range according to the predetermined distance, the first light radiation energy, and the second light radiation energy, where the first light radiation energy is the light radiation energy of the return light required for conversion to the preset electrical signal threshold, and the second The optical radiation energy is the optical radiation energy of the return light required when the detection probability is the preset detection probability and converted into the limit electrical signal threshold.

本申请实施方式还提供一种激光测距机10的量程的测量***100，该测量***100包括激光测距机10和数据处理设备20。激光测距机10和数据处理设备20连接。激光测距机10用于向预定距离处的标定靶标200发射激光、及接收回光并将接收到的实际回光转换为实际电信号，数据处理设备20用于根据实际电信号与电信号阈值计算探测概率，电信号阈值包括预设电信号阈值及极限电信号阈值，预设电信号阈值为激光测距机10最低可探测的回光的光能量所转换的电信号，极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号；及根据预定距离、第一光辐射能量、和第二光辐射能量获取最大量程，其中，第一光辐射能量为转换为预设电信号阈值时所需的回光的光辐射能量，第二光辐射能量为探测概率为预设探测概率时，转换为极限电信号阈值时所需的回光的光辐射能量。The embodiment of the present application also provides a measuring system 100 for measuring the range of the laser distance measuring machine 10, and the measuring system 100 includes the laser distance measuring machine 10 and a data processing device 20. The laser rangefinder 10 is connected to the data processing device 20. The laser rangefinder 10 is used to emit laser light to the calibration target 200 at a predetermined distance, and to receive the return light and convert the received actual return light into an actual electrical signal. The data processing device 20 is used to determine the actual electrical signal and the electrical signal threshold. Calculate the probability of detection. The electrical signal threshold includes the preset electrical signal threshold and the limit electrical signal threshold. The preset electrical signal threshold is the electrical signal converted by the lowest detectable return light energy of the laser rangefinder 10, and the limit electrical signal threshold is When the detection probability is the preset detection probability, the required return light is converted into the electrical signal; and the maximum range is obtained according to the predetermined distance, the first optical radiation energy, and the second optical radiation energy, where the first optical radiation energy is converted It is the optical radiation energy of the return light required when the electrical signal threshold is preset, and the second optical radiation energy is the optical radiation energy of the return light required when the detection probability is the preset detection probability and converted into the limit electrical signal threshold.

也即是说，步骤011和步骤012可以由激光测距机10实现。步骤013和步骤014可以由数据处理设备20实现。数据处理设备20可以是一个或多个能实现数据处理的通用或者专用处理器。In other words, step 011 and step 012 can be implemented by the laser rangefinder 10. Step 013 and step 014 can be implemented by the data processing device 20. The data processing device 20 may be one or more general-purpose or special-purpose processors capable of realizing data processing.

具体地，在对激光测距机10的最大量程进行测量时，激光测距机10向预定距离处的标定靶标200发射激光，一般的，激光需要垂直入射标定靶标200，保证激光被反射后能够进入激光测距机10，激光测距机10内还设置有光检测器40，用于将接收到的实际回光(即，标定靶标200反射回的激光)转换为相应的实际电信号，每个实际电信号对应接收到的每个实际回光的光辐射能量。其中，实际电信号可以是电压或电流，即，光检测器40根据接收到的实际回光及预设的光电转换系数将实际回光的光辐射能量转化为实际电压信号或实际电流信号，同样的，得到任意电信号(包括实际电信号、预设电信号阈值、极限电压阈值等)后，也可根据光电转换系数计算得到与电信号对应的光辐射能量。Specifically, when measuring the maximum range of the laser distance meter 10, the laser distance meter 10 emits laser light to the calibration target 200 at a predetermined distance. Generally, the laser light needs to be incident on the calibration target 200 perpendicularly to ensure that the laser light can be reflected. Entering the laser rangefinder 10, the laser rangefinder 10 is also provided with a photodetector 40, which is used to convert the received actual return light (ie, the laser reflected back by the calibration target 200) into a corresponding actual electrical signal. Each actual electrical signal corresponds to the received light radiation energy of each actual return light. Wherein, the actual electrical signal may be voltage or current, that is, the photodetector 40 converts the light radiation energy of the actual return light into an actual voltage signal or an actual current signal according to the received actual return light and a preset photoelectric conversion coefficient. After obtaining any electrical signal (including the actual electrical signal, the preset electrical signal threshold, the limit voltage threshold, etc.), the optical radiation energy corresponding to the electrical signal can also be calculated according to the photoelectric conversion coefficient.

其中，数据处理设备20可调节激光测距机10的光检测器40接收回光的电信号阈值，随着电信号阈值的增加，实际回光中转换的实际电信号低于电信号阈值的激光被当作噪声处理，使得探测概率逐渐减小。Among them, the data processing device 20 can adjust the electrical signal threshold of the light detector 40 of the laser rangefinder 10 to receive the return light. As the electrical signal threshold increases, the actual electrical signal converted in the actual return light is lower than the laser's electrical signal threshold. Treated as noise, so that the probability of detection gradually decreases.

电信号阈值包括预设电信号阈值及极限电信号阈值，预设电信号阈值为激光测距机10最低可探测的回光的光辐射能量所转换的电信号，极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号。当激光测距机10以极限电信号接收回光时，此时激光测距机10达到当前电信号阈值(即，极限电信号阈值)下可探测的最大距离，也即是说，此时的激光测距机10和标定靶标200之间的预定距离即为激光测距机10以极限电信号阈值接收回光时的最大可探测距离(即极限电信号阈值下的最大量程)。The electrical signal threshold includes a preset electrical signal threshold and a limit electrical signal threshold. The preset electrical signal threshold is the electrical signal converted by the lowest detectable optical radiation energy of the laser rangefinder 10, and the limit electrical signal threshold is the detection probability of When the detection probability is preset, the required return light is converted into an electrical signal. When the laser rangefinder 10 receives the return light with the limit electric signal, the laser rangefinder 10 reaches the maximum detectable distance under the current electric signal threshold (ie, the limit electric signal threshold), that is to say, at this time The predetermined distance between the laser rangefinder 10 and the calibration target 200 is the maximum detectable distance when the laser rangefinder 10 receives the return light at the limit electrical signal threshold (ie, the maximum range under the limit electrical signal threshold).

探测概率P可根据激光测距机10以当前电信号阈值接收回光的回光能量Er和发出的激光的出光能量Ep的比值来表征，即P＝Er/Ep，其中，出光能量Ep为发出的激光的光辐射能量，回光能量Er为标定靶标200反射回来的回光的光辐射能量。具体地，出光能量Ep可根据激光测距机10的发射参数(如发射功率等)确定，数据处理设备20比对实际回光转换的实际电信号和电信号阈值，然后将小于电信号阈值的实际电信号当作噪声，不计算入回光能量Er中，而将所有大于或等于电信号阈值的实际电信号对应的光辐射能量之和作为回光能量Er，从而根据P＝Er/Ep，计算得到当前电信号阈值对应的探测概率P。The detection probability P can be characterized by the ratio of the return light energy Er received by the laser rangefinder 10 with the current electrical signal threshold and the light output energy Ep of the emitted laser light, that is, P=Er/Ep, where the light energy Ep is the emitted light energy. The light radiation energy of the laser light, the return light energy Er is the light radiation energy of the return light reflected back by the calibration target 200. Specifically, the light output energy Ep can be determined according to the emission parameters (such as emission power, etc.) of the laser rangefinder 10, and the data processing device 20 compares the actual electrical signal converted from the light back to the electrical signal threshold, and then will be less than the electrical signal threshold. The actual electrical signal is regarded as noise and is not calculated into the return light energy Er. Instead, the sum of the light radiation energy corresponding to all actual electrical signals greater than or equal to the electrical signal threshold is used as the return light energy Er, so according to P=Er/Ep, The detection probability P corresponding to the current electrical signal threshold is calculated.

数据处理设备20每调节一次电信号阈值，就根据实际电信号和当前的电信号阈值重新计算一次回光的探测概率P，可以是：激光测距机10持续发射激光，数据处理设备20在每调节一次电信号阈值后，根据当前接收的实际回光对应的实际电信号和当前的电信号阈值重新计算一次探测概率P；也可以是：激光测距机10以激光脉冲形式发射激光，数据处理设备20每调节一次电信号阈值，激光测距机10发射一次激光脉冲并接收该次激光脉冲，数据处理设备20根据当前接收的实际回光对应的实际电信号和当前的电信号阈值重新计算一次探测概率P，如此，激光测距机10无需一直开启；还可以是：激光测距机10仅发射一次激光脉冲，然后激光测距机10接收实际回光以得到实际电信号，后续数据处理设备20每调节一次电信号阈值，都根据该实际电信号和当前的电信号阈值重新计算一次探测概率P，如此，激光测距机10无需频繁发射激光。Each time the data processing device 20 adjusts the electrical signal threshold, it recalculates the detection probability P of the return light according to the actual electrical signal and the current electrical signal threshold. It can be: the laser rangefinder 10 continuously emits laser light, and the data processing device 20 After adjusting the electrical signal threshold once, the detection probability P is recalculated according to the actual electrical signal corresponding to the actual return light currently received and the current electrical signal threshold; it can also be: the laser rangefinder 10 emits laser in the form of laser pulses, and the data is processed Each time the device 20 adjusts the electrical signal threshold, the laser rangefinder 10 emits a laser pulse and receives the laser pulse, and the data processing device 20 recalculates the current electrical signal threshold according to the actual electrical signal corresponding to the actual return light currently received Detection probability P. In this way, the laser rangefinder 10 does not need to be turned on all the time; it can also be: the laser rangefinder 10 emits laser pulses only once, and then the laser rangefinder 10 receives the actual return light to obtain the actual electrical signal, and the subsequent data processing equipment 20 Each time the electrical signal threshold is adjusted, the detection probability P is recalculated according to the actual electrical signal and the current electrical signal threshold. In this way, the laser rangefinder 10 does not need to emit laser frequently.

当数据处理设备20调节一次或多次电信号阈值后，探测概率P达到预设探测概率时，此时的电信号阈值即为极限电信号阈值，表示当前激光测距机10和标定靶标200之间的预定距离达到了当前电信号阈值下的最大量程，例如预设探测概率一般为50％，当然，预设探测概率也可以是其他数值，例如可设置的较大，为52％、60％、65％、70％、75％、80％等，也可以设置的较小，为10％、20％、30％、40％、45％等，可根据不同的激光测距机10本身的参数去设定。When the data processing device 20 adjusts the electrical signal threshold value one or more times, and the detection probability P reaches the preset detection probability, the electrical signal threshold value at this time is the limit electrical signal threshold value, which represents the difference between the current laser rangefinder 10 and the calibration target 200 The predetermined distance between the two reaches the maximum range under the current electrical signal threshold. For example, the preset detection probability is generally 50%. Of course, the preset detection probability can also be other values, for example, it can be set to be larger, 52%, 60% , 65%, 70%, 75%, 80%, etc., can also be set to a smaller value, such as 10%, 20%, 30%, 40%, 45%, etc., depending on the parameters of the laser rangefinder 10 itself Go to set.

数据处理设备20可根据预定距离、第一光辐射能量和第二光辐射能量来获取最大量程，其中，第一光辐射能量为转换为预设电信号阈值时所需的回光的光辐射能量，第二光辐射能量为探测概率P为预设探测概率时，转换为极限电信号阈值时所需的回光的光辐射能量，预设电信号阈值一般为出厂时设置的一个初始阈值，该阈值对应的是最低可探测光能量。The data processing device 20 can obtain the maximum range according to the predetermined distance, the first light radiation energy, and the second light radiation energy, where the first light radiation energy is the light radiation energy of the return light required for conversion to a preset electrical signal threshold. , The second optical radiation energy is the optical radiation energy of the return light required when the detection probability P is the preset detection probability and converted to the limit electrical signal threshold. The preset electrical signal threshold is generally an initial threshold set at the factory. The threshold corresponds to the lowest detectable light energy.

具体地，激光测距机10的最大量程可根据如下公式计算得到：

其中，Y为激光测距机10的最大量程，X为激光测距机10和标定靶标200之间的预设距离，EH为第一光辐射能量，EL为第二光辐射能量。如此，数据处理设备20可根据上述公式快速计算得到激光测距机10的最大量程Y。 Specifically, the maximum range of the laser rangefinder 10 can be calculated according to the following formula:

Among them, Y is the maximum range of the laser rangefinder 10, X is the preset distance between the laser rangefinder 10 and the calibration target 200, EH is the first light radiation energy, and EL is the second light radiation energy. In this way, the data processing device 20 can quickly calculate the maximum range Y of the laser rangefinder 10 according to the above formula.

本申请的测量方法中，激光测距机10接收标定靶标200反射的激光并将接收到的实际回光转换为实际电信号，然后根据实际电信号和电信号阈值计算探测概率P，最后数据处理设备20根据激光测距机10和标定靶标200之间的预定距离X、和预设电信号阈值对应的第一光辐射能量EL及第二光辐射能量EH确定激光测距机10的最大量程Y，其中，第二光辐射能量EH为探测概率P为预设探测概率时，转换为极限电信号阈值时所需的回光的光辐射能量，此时的激光测距机10达到临界状态，预定距离X即为激光测距机10以极限电信号进行测距时能探测到的最大距离。在测量过程中，无需改变激光测距机10和标定靶标200的距离，只需改变电信号阈值以确定极限电信号阈值即可，之后根据激光测距机10和标定靶标200之间的预定距离、第一光辐射能量EL及第二光辐射能量EH完成最大量程Y的测量，测试效率较高且无需设置衰减器。In the measurement method of the present application, the laser rangefinder 10 receives the laser light reflected by the calibration target 200 and converts the received actual return light into an actual electrical signal, and then calculates the detection probability P according to the actual electrical signal and the electrical signal threshold, and finally data processing The device 20 determines the maximum range Y of the laser rangefinder 10 according to the predetermined distance X between the laser rangefinder 10 and the calibration target 200, and the first optical radiation energy EL and the second optical radiation energy EH corresponding to the preset electrical signal threshold. , Where the second optical radiation energy EH is the optical radiation energy of the return light required when the detection probability P is the preset detection probability and converted into the limit electrical signal threshold. At this time, the laser rangefinder 10 reaches the critical state, and the predetermined The distance X is the maximum distance that the laser rangefinder 10 can detect when the distance measurement is performed with the limit electric signal. During the measurement process, there is no need to change the distance between the laser rangefinder 10 and the calibration target 200, just change the electrical signal threshold to determine the limit electrical signal threshold, and then according to the predetermined distance between the laser rangefinder 10 and the calibration target 200 , The first light radiation energy EL and the second light radiation energy EH complete the measurement of the maximum range Y, the test efficiency is high and no attenuator is required.

请参阅图1和3，在某些实施方式中，测量方法还包括：Please refer to Figures 1 and 3. In some embodiments, the measurement method further includes:

015：激光测距机10向预定距离处的标定靶标200发射测试激光；015: The laser rangefinder 10 emits a test laser to the calibration target 200 at a predetermined distance;

016：激光测距机10接收测试回光并将接收到的测试回光转换为测试电信号；016: The laser rangefinder 10 receives the test return light and converts the received test return light into a test electrical signal;

017：根据接收到的测试回光的光辐射能量与接收到的测试回光转换成的测试电信号阈值生成函数关系式；017: Generate a functional relationship based on the optical radiation energy of the received test return light and the test electrical signal threshold converted from the received test return light;

018：根据函数关系式获取与预设电信号阈值对应的第一光辐射能量；及018: Obtain the first light radiation energy corresponding to the preset electrical signal threshold according to the functional relationship; and

019：根据函数关系式获取与极限电信号阈值对应的第二光辐射能量。019: Obtain the second optical radiation energy corresponding to the limit electrical signal threshold according to the functional relationship.

在某些实施方式中，激光测距机10还用于向预定距离处的标定靶标200发射测试激光、及接收测试回光并将接收到的测试回光转换为测试电信号；数据处理设备20还用于根据接收到的测试回光的光辐射能量与接收到的测试回光转换成的测试电信号阈值生成函数关系式；根据函数关系式获取与预设电信号阈值对应的第一光辐射能量；及根据函数关系式获取与极限电信号阈值对应的第二光辐射能量。也即是说，步骤015和步骤016可以由激光测距机10实现，步骤017、步骤018和步骤019可以由数据处理设备20实现。In some embodiments, the laser rangefinder 10 is also used to emit a test laser to the calibration target 200 at a predetermined distance, and to receive the test return light and convert the received test return light into a test electrical signal; the data processing device 20 It is also used to generate a functional relational expression based on the optical radiation energy of the received test return light and the test electrical signal threshold converted from the received test return light; and obtain the first optical radiation corresponding to the preset electrical signal threshold according to the functional relational expression Energy; and obtaining the second light radiation energy corresponding to the limit electrical signal threshold according to the functional relationship. In other words, step 015 and step 016 can be implemented by the laser rangefinder 10, and step 017, step 018, and step 019 can be implemented by the data processing device 20.

具体地，请结合图4和图5，在激光测距机10出厂时，一般需要测定激光测距机10的光电转换系数K，一般通过激光测距机10向标定靶标200发射测试激光，然后接收测试回光并转换为测试电信号，通过调节测试激光的强度，可得到N组关于测试回光的光辐射能量E和测试电信号的信号值M的测试数据，例如，(E1，M1)、(E2，M2)、(E3，M3)、(E4，M4)…..(En，Mn)等，其中，N和n均为正整数。然后数据处理设备20可以对N组测试数据进行拟合，以信号值M为横轴，以光辐射能量E为纵轴，从而得到关于测试回光的光辐射能量E和测试电信号的信号值M的拟合曲线Q。Specifically, please refer to Figures 4 and 5. When the laser rangefinder 10 is shipped from the factory, it is generally necessary to determine the photoelectric conversion coefficient K of the laser rangefinder 10. Generally, the laser rangefinder 10 emits a test laser to the calibration target 200, and then Receive the test return light and convert it into a test electrical signal. By adjusting the intensity of the test laser, N groups of test data about the optical radiation energy E of the test return light and the signal value M of the test electrical signal can be obtained, for example, (E1, M1) , (E2, M2), (E3, M3), (E4, M4)... (En, Mn), etc., where N and n are both positive integers. Then the data processing device 20 can fit the N sets of test data, taking the signal value M as the horizontal axis and the optical radiation energy E as the vertical axis, so as to obtain the signal value of the optical radiation energy E of the test return light and the test electrical signal. M’s fitting curve Q.

在得到拟合曲线Q，数据处理设备20即可根据拟合曲线Q确定测试回光的光辐射能量E和测试电信号的信号值M的函数关系式。例如，请参阅图4，当激光测距机10为线性激光测距机10时，拟合曲线Q为一条直线，直线的斜率即为激光测距机10的光电转换系数K，从而得到测试回光的光辐射能量E和测试电信号的信号值M的一次函数关系式：E＝K*M。再例如，请参阅图5，当激光测距机10为非线性激光测距机10时，拟合曲线Q为一条曲线，此时的光辐射能量E和信号值M不再是简单的一次函数，需要经过复杂的计算才能得到光电转换系数K，具体计算方式目前业界已经较为成熟，在此不再赘述。After obtaining the fitting curve Q, the data processing device 20 can determine the functional relationship between the optical radiation energy E of the test return light and the signal value M of the test electrical signal according to the fitting curve Q. For example, referring to Figure 4, when the laser rangefinder 10 is a linear laser rangefinder 10, the fitting curve Q is a straight line, and the slope of the straight line is the photoelectric conversion coefficient K of the laser rangefinder 10, thereby obtaining the test response The linear function relationship between the light radiation energy E of the light and the signal value M of the test electrical signal: E=K*M. For another example, please refer to Fig. 5. When the laser rangefinder 10 is a nonlinear laser rangefinder 10, the fitting curve Q is a curve. At this time, the light radiation energy E and the signal value M are no longer simple linear functions. , It needs to go through complicated calculations to get the photoelectric conversion coefficient K. The specific calculation method is relatively mature in the industry, so I won’t repeat it here.

在得到光辐射能量E和信号值M的函数关系式后，根据函数关系式即可获取与预设电信号阈值对应的第一光辐射能量、及与极限电信号阈值对应的第二光辐射能量。如此，在确定极限电信号阈值后，可快速计算与电信号阈值对应的光辐射能量。After obtaining the functional relationship between the optical radiation energy E and the signal value M, according to the functional relationship, the first optical radiation energy corresponding to the preset electrical signal threshold and the second optical radiation energy corresponding to the limit electrical signal threshold can be obtained. . In this way, after determining the limit electrical signal threshold, the light radiation energy corresponding to the electrical signal threshold can be quickly calculated.

请参阅图1和图6，在某些实施方式中，电信号阈值包括调节电信号阈值，测量方法还包括：1 and 6, in some embodiments, the electrical signal threshold includes adjusting the electrical signal threshold, and the measurement method further includes:

020：按预定步长增加预设电信号阈值以生成一个或多个调节电信号阈值；020: Increase the preset electrical signal threshold by a predetermined step to generate one or more adjusted electrical signal thresholds;

步骤013包括：0131：根据实际电信号与调节电信号阈值获取与每个调节电信号阈值对应的测试探测概率；Step 013 includes: 0131: Obtain a test detection probability corresponding to each adjusted electrical signal threshold according to the actual electrical signal and the adjusted electrical signal threshold;

021：根据测试探测概率、预设探测概率、及调节电信号阈值确定极限电信号阈值。021: Determine the limit electrical signal threshold according to the test detection probability, the preset detection probability, and the adjustment of the electrical signal threshold.

在某些实施方式中，数据处理设备20还用于按预定步长增加预设电信号阈值以生成一个或多个调节电信号阈值、根据实际电信号与调节电信号阈值获取与每个调节电信号阈值对应的测试探测概率、及根据测试探测概率、预设探测概率、及调节电信号阈值确定极限电信号阈值。也即是说，步骤020、步骤0131和步骤021可以由数据处理设备20实现。In some embodiments, the data processing device 20 is further configured to increase a preset electrical signal threshold value by a predetermined step size to generate one or more adjusted electrical signal threshold values, and obtain data related to each adjusted electrical signal threshold value according to the actual electrical signal and the adjusted electrical signal threshold. The test detection probability corresponding to the signal threshold, and the limit electrical signal threshold is determined according to the test detection probability, the preset detection probability, and the adjusted electrical signal threshold. In other words, step 020, step 0131, and step 021 can be implemented by the data processing device 20.

具体地，数据处理设备20可调节激光测距机10的光检测器40的接收实际回光时的电信号阈值，数据处理设备20按预定步长增加该电信号阈值以生成一个或多个调节电信号阈值。Specifically, the data processing device 20 can adjust the electrical signal threshold value of the photodetector 40 of the laser rangefinder 10 when receiving actual return light, and the data processing device 20 increases the electrical signal threshold value by a predetermined step to generate one or more adjustments. Electrical signal threshold.

下面以激光测距机10仅发射一次激光脉冲为例进行说明。激光测距机10持续发射激光，或者，激光测距机10在每次调节电信号阈值后均发射一次激光脉冲时基本类似，在此不再赘述。本实施例中，电信号为电压。在其他实施方式中，电信号可为电流，电信号为电流时的测量原理和电信号为电压时的测量原理基本类似，在此不再赘述。In the following description, the laser rangefinder 10 emits only one laser pulse as an example. The laser rangefinder 10 continuously emits laser light, or the laser rangefinder 10 emits a laser pulse every time after adjusting the electrical signal threshold, which is basically similar, and will not be repeated here. In this embodiment, the electrical signal is a voltage. In other embodiments, the electrical signal may be a current, and the measurement principle when the electrical signal is a current is basically similar to the measurement principle when the electrical signal is a voltage, and will not be repeated here.

其中，预定步长为一个或多个，例如激光测距机10在初始时发射激光并以预设电压阈值(如110毫伏(mv))接收实际回光，并将实际回光转换为实际电信号，然后数据处理设备20在预设电压阈值的基础上，增加预定步长(如30mv)后得到调节电压阈值，以实际电信号和调节电压阈值(即，140mv)计算测试探测概率，若测试探测概率刚好达到了预设探测概率，此时，预定步长即为一个且为固定值(即，30mv)；预定步长还可以为多个，请参阅图4，例如，激光测距机10为线性激光测距机10，线性激光测距机10接收的实际回光的光辐射能量E和实际电压U呈线性关系，此时，预定步长构成的集合为等差数列(如预定步长为4个，构成的集合为(15，30，45，60))，数据处理设备20以构成等差数列的多个预定步长依次增加电压阈值，以得到多个调节电压阈值(如4个，分别为125mv、140mv、155mv和170mv)，由于激光测距机10为线性激光测距机10，多个调节电压阈值分别所需回光的多个光辐射能量也呈等差数列(如分别为100焦耳(J)、200J、300J和400J)，然后数据处理设备20依次以125mv、140mv、155mv和170mv和实际电信号分别计算对应每个调节电压阈值对应的测试探测概率；再例如，请参阅图5，激光测距机10为非线性激光测距机10，非线性激光测距机10接收的实际回光和实际电信号呈非线性关系，为了使得多个调节电压阈值分别所需回光的多个光辐射能量也呈等差数列，此时，根据图5中的二次曲线，确定多个呈等差数列的光辐射能量分别对应的电压阈值，从而确定对应的预定步长，如多个调节电压阈值为4个，分别为125mv、145mv、169mv和202mv，则预定步长为4个，构成的集合为(15，35，59，92)。数据处理设备20以该集合内的多个预定步长依次增加电压阈值以得到上述4个调节电压阈值，最后数据处理设备20依次以125mv、145mv、169mv和202mv和实际电信号分别计算对应每个调节电压阈值对应的测试探测概率。Wherein, the predetermined step length is one or more. For example, the laser rangefinder 10 initially emits laser light and receives the actual return light at a preset voltage threshold (such as 110 millivolts (mv)), and converts the actual return light into actual return light. Then the data processing device 20 increases the predetermined step size (such as 30mv) on the basis of the preset voltage threshold to obtain the adjusted voltage threshold, and calculates the test detection probability based on the actual electrical signal and the adjusted voltage threshold (ie, 140mv). The test detection probability has just reached the preset detection probability. At this time, the predetermined step length is one and a fixed value (ie, 30mv); the predetermined step length can also be multiple, please refer to Figure 4, for example, a laser rangefinder 10 is a linear laser rangefinder 10. The actual return light received by the linear laser rangefinder 10 has a linear relationship with the actual voltage U. At this time, the set of predetermined steps is an arithmetic sequence (such as a predetermined step The length is 4, and the constituted set is (15, 30, 45, 60)), and the data processing device 20 sequentially increases the voltage threshold with a plurality of predetermined steps forming an arithmetic sequence to obtain multiple adjusted voltage thresholds (such as 4 Respectively, 125mv, 140mv, 155mv and 170mv). Since the laser rangefinder 10 is a linear laser rangefinder 10, the multiple light radiation energies required to adjust the voltage thresholds are also in an arithmetic series (such as 100 joules (J), 200J, 300J, and 400J), and then the data processing device 20 uses 125mv, 140mv, 155mv, and 170mv and the actual electrical signal to calculate the test detection probability corresponding to each adjustment voltage threshold; for another example, Please refer to FIG. 5, the laser rangefinder 10 is a non-linear laser rangefinder 10. The actual return light received by the non-linear laser rangefinder 10 and the actual electrical signal are in a non-linear relationship. In order to make multiple adjustment voltage thresholds separately required The multiple light radiation energies of the returned light are also in an arithmetic series. At this time, according to the quadratic curve in Figure 5, determine the voltage thresholds corresponding to the multiple light radiation energies in the arithmetic series, so as to determine the corresponding predetermined step size , If multiple adjustment voltage thresholds are 4, 125mv, 145mv, 169mv, and 202mv, the predetermined step size is 4, and the set is (15, 35, 59, 92). The data processing device 20 sequentially increases the voltage thresholds with a plurality of predetermined steps in the set to obtain the above-mentioned four regulated voltage thresholds. Finally, the data processing device 20 sequentially calculates the corresponding voltage thresholds with 125mv, 145mv, 169mv and 202mv and the actual electrical signal. Adjust the test detection probability corresponding to the voltage threshold.

以激光测距机10为线性激光测距机10为例，若125mv对应的测试探测概率即为50％时，则不再继续计算140mv、155mv和170mv对应的测试探测概率，若直到170mv对应的测试探测概率仍旧达不到50％，则数据处理设备20在保证多个调节电压阈值分别所需回光的多个光辐射能量呈等差数列的同时，可再增加预定步长的个数，直到多个预定步长中存在对应的测试探测概率能够达到50％的预定步长。数据处理设备20根据测试探测概率、预设探测概率、及调节电信号阈值确定极限电信号阈值，其中，使得测试探测概率达到50％的预定步长对应的调节电压阈值即为极限电压阈值，数据处理设备20根据预定距离X、第一光辐射能量EH和与极限电压阈值对应的第二光辐射能量EL来获取最大量程Y，计算公式如下：

如此，通过一个或多个预定步长增加电信号阈值，以得到测试探测概率达到50％的调节电信号阈值，从而确定该调节电信号阈值为极限电信号阈值，从而计算得到激光测距机10的最大量程，无需改变激光测距机10和标定靶标200之间的距离及设置衰减器即可实现最大量程的测量，且激光测距机10只需发射一次激光脉冲，有利于节省能耗。 Taking the laser rangefinder 10 as the linear laser rangefinder 10 as an example, if the test detection probability corresponding to 125mv is 50%, then the test detection probability corresponding to 140mv, 155mv and 170mv will not be calculated continuously. If it reaches the corresponding test detection probability of 170mv The test detection probability is still less than 50%, and the data processing device 20 can increase the number of predetermined steps while ensuring that the multiple light radiation energies required for the multiple adjustment voltage thresholds are in an arithmetic sequence. Until there is a corresponding test detection probability in a plurality of predetermined steps, the predetermined step can reach 50%. The data processing device 20 determines the limit electrical signal threshold value according to the test detection probability, the preset detection probability, and the adjusted electrical signal threshold. The adjustment voltage threshold corresponding to the predetermined step length that makes the test detection probability reach 50% is the limit voltage threshold. The processing device 20 obtains the maximum range Y according to the predetermined distance X, the first optical radiation energy EH, and the second optical radiation energy EL corresponding to the limit voltage threshold. The calculation formula is as follows:

In this way, the electrical signal threshold is increased by one or more predetermined steps to obtain the adjusted electrical signal threshold with a test detection probability of 50%, and the adjusted electrical signal threshold is determined to be the limit electrical signal threshold, and the laser rangefinder 10 is calculated. Without changing the distance between the laser rangefinder 10 and the calibration target 200 and setting an attenuator, the maximum range measurement can be achieved, and the laser rangefinder 10 only needs to emit a laser pulse once, which is beneficial to save energy.

请参阅图1和图7，在某些实施方式中，测量方法还包括：Referring to FIG. 1 and FIG. 7, in some embodiments, the measurement method further includes:

022：调节激光测距机10的位置，以使得激光测距机10发出的激光垂直入射标定靶标200的靶面。022: Adjust the position of the laser rangefinder 10 so that the laser light emitted by the laser rangefinder 10 vertically enters the target surface of the calibration target 200.

在某些实施方式中，测量***100还包括位置调节装置30，位置调节装置30用于调节激光测距机10的位置，以使得激光测距机10发出的激光垂直入射标定靶标200的靶面。也即是说，步骤022可以由位置调节装置30实现。In some embodiments, the measurement system 100 further includes a position adjustment device 30, which is used to adjust the position of the laser rangefinder 10 so that the laser emitted by the laser rangefinder 10 vertically enters the target surface of the calibration target 200 . In other words, step 022 can be implemented by the position adjusting device 30.

具体地，在测量最大量程过程中，激光测距机10在发射激光时，当激光未垂直入射标定靶标200，即发射激光和标定靶标200存在倾角时，反射的回光可能由于该倾角，导致只有部分被激光测距机10接收、甚至完全无法被激光测试机接收，因此，测量***100的位置调节装置30可通过调节激光测距机10的高度、倾角、朝向等，以使得激光测距机10发出的激光垂直入射标定靶标200。例如，位置调节装置30可根据标定靶标200的高度、倾角和朝向等位置数据，对应调节激光测距机10的高度、倾角、朝向等位置数据，以使得两者的位置基本一致，并使得发射的激光垂直入射标定靶标200的靶面。如此，位置调节装置30可准确调节激光测距机10的位置，保证发射的激光垂直入射标定靶标200的靶面，有利于后续准确测量最大量程。Specifically, in the process of measuring the maximum range, when the laser rangefinder 10 emits laser light, when the laser light is not incident on the calibration target 200 perpendicularly, that is, when the emitted laser light and the calibration target 200 have an inclination angle, the reflected back light may be caused by the inclination angle. Only part of it is received by the laser rangefinder 10, or even completely unreceived by the laser tester. Therefore, the position adjustment device 30 of the measurement system 100 can adjust the height, inclination, orientation, etc. of the laser rangefinder 10 to enable the laser rangefinder The laser light emitted by the machine 10 enters the calibration target 200 perpendicularly. For example, the position adjustment device 30 can adjust the position data such as the height, inclination angle, and orientation of the laser rangefinder 10 according to the position data such as the height, inclination angle, and orientation of the calibration target 200, so that the positions of the two are basically the same, and the emission The laser light is perpendicularly incident on the target surface of the calibration target 200. In this way, the position adjusting device 30 can accurately adjust the position of the laser rangefinder 10 to ensure that the emitted laser light is perpendicularly incident on the target surface of the calibration target 200, which is beneficial to the subsequent accurate measurement of the maximum range.

请参阅图1和图8，在某些实施方式中，函数关系式为线性关系式时，步骤014包括：Please refer to FIG. 1 and FIG. 8. In some embodiments, when the function relationship is a linear relationship, step 014 includes:

0141：根据预定距离、预设电信号阈值、和极限电信号阈值获取最大量程。0141: Obtain the maximum range based on the predetermined distance, preset electrical signal threshold, and limit electrical signal threshold.

在某些实施方式中，数据处理设备20还用于根据预定距离、预设电信号阈值、和极限电信号获取最大量程。也即是说，步骤0141可以由数据处理设备20实现。In some embodiments, the data processing device 20 is also used to obtain the maximum range based on a predetermined distance, a preset electrical signal threshold, and a limit electrical signal. In other words, step 0141 can be implemented by the data processing device 20.

具体地，当函数关系式为线性关系式时，即表示E＝K*M，以信号值为电压值为例，函数关系变为E＝K*U，在计算最大量程的公式中：

中，极限电压阈值UH对应的第一光辐射能量EL和预设电压阈值UH对应的光辐射能量UH的比值EL/EH＝K*UH/K*UL＝UH/UL，即上述最大量程的公式可变为，

如此，当函数关系式为线性关系式时，数据处理设备20可根据预定距离、预设电信号阈值、和极限电信号阈值获取激光测距机10的最大量程。 Specifically, when the functional relationship is a linear relationship, it means E=K*M. Taking the signal value as an example of voltage, the functional relationship becomes E=K*U. In the formula for calculating the maximum range:

Among them, the ratio of the first optical radiation energy EL corresponding to the limit voltage threshold UH to the optical radiation energy UH corresponding to the preset voltage threshold UH EL/EH=K*UH/K*UL=UH/UL, which is the formula for the maximum range mentioned above Can be changed to,

In this way, when the functional relationship is a linear relationship, the data processing device 20 can obtain the maximum range of the laser rangefinder 10 according to the predetermined distance, the preset electrical signal threshold, and the limit electrical signal threshold.

请参阅图1，在某些实施方式中，探测概率由激光测距机10以电信号阈值接收回光的回光光斑数和激光测距机10发出的激光的出光光斑数的比值来表征。Referring to FIG. 1, in some embodiments, the detection probability is characterized by the ratio of the number of return light spots received by the laser rangefinder 10 at the electrical signal threshold to the number of light exit spots of the laser emitted by the laser rangefinder 10.

具体地，激光测距机10发出的激光的出光光斑数根据激光测距机10的发射参数确定，是一个预定的数值，多个出光光斑射在标定靶标200后被标定靶标200反射，然后被光检测器40接收，由于空气中存在细小颗粒等原因，激光在传播中部分被反射或折射损失掉，无法被光检测器40接收到，接收到的回光光斑中，每个回光光斑对应光辐射能量转换成的电信号中，若电信号小于电信号阈值，则会被判定为无效的回光光斑，而电信号大于或等于电信号阈值的回光光斑，则会被判定为有效的回光光斑，最后根据有效的回光光斑的数量和出光光斑数的比值即可确定探测概率。Specifically, the number of light spots of the laser emitted by the laser rangefinder 10 is determined according to the emission parameters of the laser rangefinder 10, and is a predetermined value. After the multiple light spots are projected on the calibration target 200, they are reflected by the calibration target 200, and then are reflected by the calibration target 200. The photodetector 40 receives, due to the existence of fine particles in the air, part of the laser light is reflected or refraction lost during propagation, and cannot be received by the photodetector 40. In the received return light spots, each return light spot corresponds to Among the electrical signals converted from light radiation energy, if the electrical signal is less than the electrical signal threshold, it will be judged as an invalid return light spot, and the return light spot with an electrical signal greater than or equal to the electrical signal threshold will be judged as valid For the return light spot, finally, the detection probability can be determined according to the ratio of the number of effective return light spots to the number of light spots.

请参阅图1及图9，在某些实施方式中，光检测器40具有多个像素41，激光测距机10以电信号阈值接收激光的回光光斑数根据预设的光斑系数进行修正以得到修正后的回光光斑数；探测概率由修正后的回光光斑数和激光测距机10发出的激光的出光光斑数的比值来表征。1 and FIG. 9, in some embodiments, the photodetector 40 has a plurality of pixels 41, and the laser rangefinder 10 receives the laser beam at the threshold of the electrical signal. The number of return light spots of the laser light is corrected according to the preset spot coefficient. The corrected number of return light spots is obtained; the detection probability is characterized by the ratio of the corrected number of return light spots to the number of laser light spots emitted by the laser rangefinder 10.

具体地，由于激光光斑的光辐射能量比较强，因此，接收到回光光斑C的像素41的电信号值一般较强，一个回光光斑C可能被多个相邻的像素41接收(如图9中的回光光斑C1被4个相邻的像素41接收)，数据处理设备20可先获取每个像素41的电信号值，然后确定电信号值大于预定值的像素41为光斑像素(如图9中的像素411)，当回光光斑C(如图9中的回光光斑C2)的仅一小部分被像素41接收，则该像素41(如图9中的像素412)的电信号值一般小于预定值，即该像素41不为光斑像素，当然，上述讨论均是在回光光斑C的不同位置的光辐射能量基本相同的前提下进行的。然后数据处理设备20将相接的所有光斑像素拼接成一个回光光斑像素集合，每个集合对应一个回光光斑C，该集合内的像素41共同接收该回光光斑C，然后计算每个集合(即，每个回光光斑C)的面积。每个像素 41的面积可以是相同的，或者，不同的像素41具有不同的面积，本实施方式中，每个像素41的面积均相同，根据每个集合内的像素数和每个像素41的面积即可计算该集合的面积。例如，回光光斑C1被四个光斑像素接收，该四个光斑像素形成一个回光光斑像素集合，以每个像素的面积为1为例，则该回光光斑像素集合的面积为4*1＝4。Specifically, since the light radiation energy of the laser spot is relatively strong, the electrical signal value of the pixel 41 that receives the return light spot C is generally strong, and one return light spot C may be received by multiple adjacent pixels 41 (as shown in Fig. The return light spot C1 in 9 is received by 4 adjacent pixels 41), the data processing device 20 can first obtain the electrical signal value of each pixel 41, and then determine that the pixel 41 with the electrical signal value greater than the predetermined value is the spot pixel (such as The pixel 411 in FIG. 9), when only a small part of the return light spot C (such as the return light spot C2 in FIG. 9) is received by the pixel 41, the electrical signal of the pixel 41 (the pixel 412 in FIG. 9) The value is generally less than a predetermined value, that is, the pixel 41 is not a spot pixel. Of course, the above discussion is performed on the premise that the light radiation energy at different positions of the return light spot C is basically the same. Then the data processing device 20 splices all the connected light spot pixels into a return light spot pixel set, each set corresponds to a return light spot C, the pixels 41 in the set jointly receive the return light spot C, and then calculates each set (Ie, the area of each return light spot C). The area of each pixel 41 can be the same, or different pixels 41 have different areas. In this embodiment, the area of each pixel 41 is the same, according to the number of pixels in each set and the size of each pixel 41. Area can calculate the area of the collection. For example, the return light spot C1 is received by four light spot pixels, and the four light spot pixels form a return light spot pixel set. Taking the area of each pixel as an example, the area of the return light spot pixel set is 4*1 = 4.

数据处理设备20计算面积大于第一预设面积的第一集合数以得到第一回光光斑数，其中，第一预设面积可以是所有回光光斑C的面积之和的平均值(下称平均回光面积)，当然，第一预设面积也可以是其他合适的数值，如第一预设面积大于平均回光面积。第一集合数为大于第一预设面积的集合的总数，该总数即为第一回光光斑数。The data processing device 20 calculates the first set number with an area larger than the first preset area to obtain the first return light spot number, where the first preset area may be the average value of the sum of the areas of all return light spots C (hereinafter referred to as Average return light area). Of course, the first preset area can also be other suitable values, for example, the first predetermined area is larger than the average return light area. The first set number is the total number of sets larger than the first predetermined area, and the total number is the first return light spot number.

数据处理设备20计算面积小于第二预设面积的第二集合数以得到第二回光光斑数，其中，第二预设面积也可以是平均回光面积(即，第二预设面积可以等于第一预设面积)，当然，第二预设面积也可以是其他合适的数值，如第二预设面积小于第一预设面积，本实施方式中，第二预设面积小于第一预设面积。第二集合数为小于第二预设面积的集合的总数，该总数即为第二回光光斑数。The data processing device 20 calculates the second set number whose area is smaller than the second preset area to obtain the second number of return light spots, where the second predetermined area may also be the average return light area (that is, the second preset area may be equal to The first preset area). Of course, the second preset area can also be other suitable values. For example, the second preset area is smaller than the first preset area. In this embodiment, the second preset area is smaller than the first preset area. area. The second set number is the total number of sets smaller than the second predetermined area, and the total number is the second return light spot number.

数据处理设备20计算面积位于第一预设面积及第二预设面积的第三集合数以得到第三回光光斑数。其中，第三集合数为大于或等于第二预设面积、且小于或等于第一预设面积的集合的总数，该总数即为第三回光光斑数。The data processing device 20 calculates the third set number of areas located in the first preset area and the second preset area to obtain the third number of back light spots. Wherein, the third set number is the total number of sets that are greater than or equal to the second predetermined area and less than or equal to the first predetermined area, and the total number is the third return light spot number.

预设的光斑系数包括第一修正系数、第二修正系数和第三修正系数。数据处理设备20根据第一修正系数修正第一回光光斑数、根据第二修正系数修正第二回光光斑数、及根据第三修正系数修正第三回光光斑数。当回光光斑C的面积较大(大于第一预设面积)时，说明该回光光斑C的光辐射能量较大，占回光的总能量的比例较大，此时第一修正系数可设置较大(如均为1.1、1.2等，或每个第一回光光斑的第一修正系数可根据第一回光光斑的面积和平均回光面积的比值确定)。当回光光斑C的面积较小(小于第二预设面积)时，说明该回光光斑C的光辐射能量较小，占回光的总能量的比例较小，对回光光斑数的影响较小，此时第二修正系数可设置较小(如均为0.8、0.9等，或每个第二回光光斑的第二修正系数可根据第二回光光斑的面积和平均回光面积的比值确定)。当回光光斑C的面积和正常回光光斑C大小基本相同(大于或等于第二预设面积、且小于或等于第一预设面)时，此时第三修正系数可均设置为1，即不进行修正，同样的，每个第三回光光斑的第三修正系数可以根据第三回光光斑的面积和平均回光面积的比值确定。The preset spot coefficient includes a first correction coefficient, a second correction coefficient, and a third correction coefficient. The data processing device 20 corrects the first return light spot number according to the first correction coefficient, corrects the second return light spot number according to the second correction coefficient, and corrects the third return light spot number according to the third correction coefficient. When the area of the return light spot C is larger (larger than the first preset area), it means that the light radiation energy of the return light spot C is larger, and it accounts for a larger proportion of the total energy of the return light. At this time, the first correction factor can be Set a larger value (for example, both are 1.1, 1.2, etc., or the first correction coefficient of each first return light spot can be determined according to the ratio of the area of the first return light spot to the average return light area). When the area of the return light spot C is small (less than the second preset area), it means that the light radiation energy of the return light spot C is small, and the proportion of the total energy of the return light is small, which has an impact on the number of return light spots If it is smaller, the second correction coefficient can be set smaller (for example, 0.8, 0.9, etc.), or the second correction coefficient of each second return light spot can be based on the area of the second return light spot and the average return light area. The ratio is determined). When the area of the return light spot C and the size of the normal return light spot C are basically the same (greater than or equal to the second preset area and less than or equal to the first preset surface), the third correction coefficient can be both set to 1. That is, no correction is performed. Similarly, the third correction coefficient of each third return light spot can be determined according to the ratio of the area of the third return light spot to the average return light area.

最后，数据处理设备20根据修正后的第一回光光斑数、修正后的第二回光光斑数和修正后的第三回光光斑数计算最终的回光光斑数。具体为，所有乘以对应的第一修正系数的第一回光光斑之和为修正后的第一回光光斑数，所有乘以对应的第二修正系数的第二回光光斑之和为修正后的第二回光光斑数，所有乘以对应的第三修正系数的第三回光光斑之和为修正后的第三回光光斑数，然后修正后的第一回光光斑数、修正后的第二回光光斑数和修正后的第三回光光斑数之和即为最终的回光光斑数。Finally, the data processing device 20 calculates the final number of return light spots according to the number of first return light spots after correction, the number of second return light spots after correction, and the number of third return light spots after correction. Specifically, the sum of all the first return light spots multiplied by the corresponding first correction coefficient is the corrected first return light spot number, and the sum of all the second return light spots multiplied by the corresponding second correction coefficient is the correction After the second return light spot number, the sum of all the third return light spots multiplied by the corresponding third correction coefficient is the corrected third return light spot number, and then the corrected first return light spot number, after correction The sum of the number of light spots in the second return light and the number of light spots in the third return light after correction is the final number of light return spots.

在一个例子中，出光光斑数为固定值100，第一回光光斑为20个，第一修正系数为固定值0.9，第二回光光斑为30个，第二修正系数为固定值1，第三回光光斑为10个，第三修正系数为固定值1.1，则最终的回光光斑数为20*0.9+30*1+10*1.1＝59，可计算得到探测概率为回光光斑数/出光光斑数＝59/100＝59％。如此，可通过修正系数校正不同回光光斑C之间的差异，使得得到的回光光斑数更为准确。In an example, the number of light spots is a fixed value of 100, the first return light spot is 20, the first correction coefficient is a fixed value of 0.9, the second return light spot is 30, and the second correction coefficient is a fixed value of 1. There are 10 three-return light spots, and the third correction coefficient is a fixed value of 1.1. The final number of return light spots is 20*0.9+30*1+10*1.1=59. The detection probability can be calculated as the number of return light spots/ The number of light spots=59/100=59%. In this way, the difference between different return light spots C can be corrected by the correction coefficient, so that the number of return light spots obtained is more accurate.

请参阅图1和10，本申请实施方式的一种包含计算机可执行指令302的非易失性计算机可读存储介质300，当计算机可执行指令302被一个或多个处理器400执行时，使得处理器400执行上述任一实施方式的测量方法。1 and 10, a non-volatile computer-readable storage medium 300 containing computer-executable instructions 302 according to an embodiment of the present application. When the computer-executable instructions 302 are executed by one or more processors 400, The processor 400 executes the measurement method of any of the foregoing embodiments.

例如，请结合图1和图2，计算机可读指令302被处理器400执行时，使得处理器400执行以下步骤：For example, referring to FIG. 1 and FIG. 2, when the computer-readable instruction 302 is executed by the processor 400, the processor 400 is caused to perform the following steps:

014：根据预定距离、第一光辐射能量、和第二光辐射能量获取最大量程，其中，第一光辐射能量为转换为预设电信号阈值时所需的回光的光辐射能量，第二光辐射能量为探测概率为预设探测概率时，转换为极限电信号阈值时所需的回光的光辐射能量014: Obtain the maximum range according to the predetermined distance, the first light radiation energy, and the second light radiation energy, where the first light radiation energy is the light radiation energy of the return light required for conversion to the preset electrical signal threshold, and the second The optical radiation energy is the optical radiation energy of the return light required when the detection probability is the preset detection probability and converted into the limit electrical signal threshold.

再例如，请结合图1和图3，计算机可读指令302被处理器400执行时，使得处理器400执行以下步骤：For another example, referring to FIG. 1 and FIG. 3, when the computer-readable instruction 302 is executed by the processor 400, the processor 400 is caused to perform the following steps:

在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples” etc. means to combine the embodiments The specific features, structures, materials, or characteristics described by the examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics can be combined in an appropriate manner in any one or more embodiments or examples.

流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于执行特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的执行，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。Any process or method description in the flowchart or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for performing specific logical functions or steps of the process And the scope of the preferred embodiments of the present application includes additional executions, which may not be in the order shown or discussed, including executing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present application belong.

在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于执行逻辑功能的可执行指令的定序列表，可以具体执行在任何计算机可读介质中，以供指令执行***、装置或设备(如基于计算机的***、包括处理器22的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得程序，然后将其存储在计算机存储器中。The logic and/or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for executing logic functions, and can be specifically executed in any computer-readable medium, For use by instruction execution systems, devices, or equipment (such as computer-based systems, systems including the processor 22, or other systems that can fetch and execute instructions from instruction execution systems, devices, or equipment), or combine these instruction execution systems, Device or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be performed, for example, by optically scanning the paper or other medium, and then editing, interpreting, or other suitable methods when necessary. Process to obtain the program electronically and then store it in the computer memory.

上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。The aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present application. A person of ordinary skill in the art can comment on the foregoing within the scope of the present application. The embodiment undergoes changes, modifications, substitutions, and modifications.

Claims

一种激光测距机的量程的测量方法，其特征在于，包括：A method for measuring the range of a laser rangefinder, which is characterized in that it comprises:

所述激光测距机向预定距离处的标定靶标发射激光；The laser rangefinder emits laser light to a calibration target at a predetermined distance;

所述激光测距机接收回光并将接收到的实际回光转换为实际电信号；The laser rangefinder receives the return light and converts the received actual return light into an actual electrical signal;

根据所述实际电信号与电信号阈值计算探测概率，所述电信号阈值包括预设电信号阈值及极限电信号阈值，所述预设电信号阈值为所述激光测距机最低可探测的回光的光能量所转换的电信号，所述极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号；及The detection probability is calculated according to the actual electrical signal and electrical signal threshold. The electrical signal threshold includes a preset electrical signal threshold and a limit electrical signal threshold. The preset electrical signal threshold is the lowest detectable return of the laser rangefinder. The electrical signal converted by the light energy of the light, where the limit electrical signal threshold is the electrical signal converted into the required return light when the detection probability is the preset detection probability; and

根据所述预定距离、第一光辐射能量、和第二光辐射能量获取所述最大量程，其中，第一光辐射能量为转换为所述预设电信号阈值时所需的回光的光辐射能量，所述第二光辐射能量为探测概率为预设探测概率时，转换为所述极限电信号阈值时所需的回光的光辐射能量。The maximum range is obtained according to the predetermined distance, the first optical radiation energy, and the second optical radiation energy, wherein the first optical radiation energy is the optical radiation of the return light required for conversion to the preset electrical signal threshold Energy, the second optical radiation energy is the optical radiation energy of the return light required when the detection probability is a preset detection probability and converted into the limit electrical signal threshold.
根据权利要求1所述的测量方法，其特征在于，所述电信号阈值包括调节电信号阈值，所述测量方法还包括：The measurement method according to claim 1, wherein the electrical signal threshold value comprises adjusting the electrical signal threshold value, and the measurement method further comprises:

按预定步长增加预设电信号阈值以生成一个或多个所述调节电信号阈值；Increasing a preset electrical signal threshold by a predetermined step to generate one or more of the adjusted electrical signal thresholds;

所述根据所述实际电信号与电信号阈值计算探测概率，包括：The calculating the detection probability according to the actual electrical signal and the electrical signal threshold includes:

根据所述实际电信号与所述调节电信号阈值获取与每个所述调节电信号阈值对应的测试探测概率；Obtaining a test detection probability corresponding to each of the adjusted electrical signal thresholds according to the actual electrical signal and the adjusted electrical signal threshold;

根据所述测试探测概率、所述预设探测概率、及所述调节电信号阈值确定极限电信号阈值。The limit electrical signal threshold is determined according to the test detection probability, the preset detection probability, and the adjusted electrical signal threshold.
根据权利要求1所述的测量方法，其特征在于，所述测量方法还包括：The measurement method according to claim 1, wherein the measurement method further comprises:

调节所述激光测距机的位置，以使得所述激光测距机发出的激光垂直入射所述标定靶标的靶面。The position of the laser rangefinder is adjusted so that the laser light emitted by the laser rangefinder is perpendicularly incident on the target surface of the calibration target.
根据权利要求2所述的测量方法，其特征在于，所述测量方法还包括：The measurement method according to claim 2, wherein the measurement method further comprises:

所述激光测距机向预定距离处的所述标定靶标发射测试激光；The laser rangefinder emits a test laser to the calibration target at a predetermined distance;

所述激光测距机接收测试回光并将接收到的测试回光转换为测试电信号；The laser rangefinder receives the test return light and converts the received test return light into a test electrical signal;

根据接收到的测试回光的光辐射能量与接收到的测试回光转换成的测试电信号阈值生成函数关系式；Generate a function relational expression based on the optical radiation energy of the received test return light and the test electrical signal threshold converted from the received test return light;

根据所述函数关系式获取与所述预设电信号阈值对应的所述第一光辐射能量；及Obtaining the first optical radiation energy corresponding to the preset electrical signal threshold according to the functional relationship; and

根据所述函数关系式获取与所述极限电信号阈值对应的所述第二光辐射能量。The second optical radiation energy corresponding to the limit electrical signal threshold is obtained according to the functional relationship expression.
根据权利要求4所述的测量方法，其特征在于，所述函数关系式为线性关系式时，根据所述预定距离、第一光辐射能量、和第二光辐射能量获取所述最大量程，包括：根据所述预定距离、所述预设电信号阈值、和所述极限电信号阈值获取所述最大量程。The measurement method according to claim 4, wherein when the functional relationship is a linear relationship, obtaining the maximum range according to the predetermined distance, the first light radiation energy, and the second light radiation energy includes : Obtain the maximum range according to the predetermined distance, the preset electrical signal threshold, and the limit electrical signal threshold.
根据权利要求4所述的测量方法，其特征在于，所述函数关系式为线性关系式或非线性关系式。The measurement method according to claim 4, wherein the functional relationship is a linear relationship or a non-linear relationship.
根据权利要求4所述的测量方法，其特征在于，所述预设步长为一个固定值；或The measurement method according to claim 4, wherein the preset step length is a fixed value; or

所述预设步长为多个，多个所述预设步长构成的集合为等差数列。There are multiple preset step lengths, and a set of multiple preset step lengths is an arithmetic sequence.
根据权利要求1所述的测量方法，其特征在于，所述探测概率由所述激光测距机以所述电信号阈值接收回光的回光能量和所述激光测距机发出的激光的出光能量的比值来表征。The measurement method according to claim 1, wherein the detection probability is determined by the return light energy of the return light received by the laser rangefinder at the electrical signal threshold and the output light of the laser light emitted by the laser rangefinder. Characterized by the ratio of energy.
根据权利要求1所述的测量方法，其特征在于，所述探测概率由所述激光测距机以所述电信号阈值接收回光的回光光斑数和所述激光测距机发出的激光的出光光斑数的比值来表征。The measurement method according to claim 1, wherein the detection probability is determined by the number of return light spots of the laser rangefinder receiving the return light at the electrical signal threshold and the number of laser rangefinders emitted by the laser rangefinder. It is characterized by the ratio of the number of light spots.
根据权利要求9所述的测量方法，其特征在于，所述激光测距机包括光检测器，所述光检测器具有多个像素，所述激光测距机以所述电信号阈值接收激光的所述回光光斑数根据预设的光斑系数进行修正以得到修正后的回光光斑数；所述探测概率由所述修正后的回光光斑数和所述激光测距机发出的激光的出光光斑数的比值来表征。The measurement method according to claim 9, wherein the laser rangefinder includes a photodetector, the photodetector has a plurality of pixels, and the laser rangefinder receives laser light at the electrical signal threshold. The number of return light spots is corrected according to a preset spot coefficient to obtain a corrected number of return light spots; the detection probability is determined by the corrected number of return light spots and the output of the laser light emitted by the laser rangefinder Characterized by the ratio of the number of spots.
根据权利要求1所述的测量方法，其特征在于，所述电信号包括电压和电流中的至少一个。The measurement method according to claim 1, wherein the electrical signal includes at least one of voltage and current.
一种激光测距机的量程的测量***，其特征在于，所述测量***包括：A measurement system for the range of a laser rangefinder, characterized in that the measurement system includes:

激光测距机，所述激光测距机用于向预定距离处的标定靶标发射激光、及接收回光并将接收到的实际回光转换为实际电信号；A laser rangefinder, which is used to emit laser light to a calibration target at a predetermined distance, receive return light, and convert the received actual return light into an actual electrical signal;

数据处理设备，所述数据处理设备用于：Data processing equipment, the data processing equipment is used for:

根据所述实际电信号与电信号阈值计算探测概率，所述电信号阈值包括预设电信号阈值及极限电信号阈值，所述预设电信号阈值为所述激光测距机最低可探测的回光的光能量所转换的电信号，所述极限电信号阈值为探测概率为预设探测概率时，所需的回光转换成的电信号；及The detection probability is calculated according to the actual electrical signal and electrical signal threshold. The electrical signal threshold includes a preset electrical signal threshold and a limit electrical signal threshold. The preset electrical signal threshold is the lowest detectable return of the laser rangefinder. The electrical signal converted by the light energy of the light, where the limit electrical signal threshold is the electrical signal converted into the required return light when the detection probability is the preset detection probability; and

根据所述预定距离、第一光辐射能量、和第二光辐射能量获取所述最大量程，其中，第一光辐射能量为转换为所述预设电信号阈值时所需的回光的光辐射能量，所述第二光辐射能量为探测概率为预设探测概率时，转换为所述极限电信号阈值时所需的回光的光辐射能量。The maximum range is obtained according to the predetermined distance, the first optical radiation energy, and the second optical radiation energy, wherein the first optical radiation energy is the optical radiation of the return light required for conversion to the preset electrical signal threshold Energy, the second optical radiation energy is the optical radiation energy of the return light required when the detection probability is a preset detection probability and converted into the limit electrical signal threshold.
根据权利要求12所述的测量***，其特征在于，所述电信号阈值包括调节电信号阈值，所述数据处理设备还用于按预定步长增加预设电信号阈值以生成一个或多个所述调节电信号阈值、根据所述实际电信号与所述调节电信号阈值获取与每个所述调节电信号阈值对应的测试探测概率、及根据所述测试探测概率、所述预设探测概率、及所述调节电信号阈值确定极限电信号阈值。The measurement system according to claim 12, wherein the electrical signal threshold includes adjusting the electrical signal threshold, and the data processing device is further configured to increase the preset electrical signal threshold by a predetermined step to generate one or more electrical signal thresholds. The adjusting electrical signal threshold value, obtaining the test detection probability corresponding to each of the adjusting electrical signal threshold value according to the actual electrical signal and the adjusting electrical signal threshold value, and according to the test detection probability, the preset detection probability, And the adjusted electrical signal threshold value determines the limit electrical signal threshold value.
根据权利要求12所述的测量***，其特征在于，所述测量***还包括位置调节装置，所述位置调节装置用于调节所述激光测距机的位置，以使得所述激光测距机发出的激光垂直入射所述标定靶标的靶面。The measurement system according to claim 12, wherein the measurement system further comprises a position adjustment device, the position adjustment device is used to adjust the position of the laser rangefinder so that the laser rangefinder emits The laser is perpendicular to the target surface of the calibration target.
根据权利要求13所述的测量***，其特征在于，所述激光测距机还用于向预定距离处的所述标定靶标发射测试激光、及接收测试回光并将接收到的测试回光转换为测试电信号；所述数据处理设备还用于根据接收到的测试回光的光辐射能量与接收到的测试回光转换成的测试电信号阈值生成函数关系式；根据所述函数关系式获取与所述预设电信号阈值对应的所述第一光辐射能量；及根据所述函数关系式获取与所述极限电信号阈值对应的所述第二光辐射能量。The measurement system according to claim 13, wherein the laser rangefinder is also used to emit a test laser to the calibration target at a predetermined distance, and to receive test return light and convert the received test return light To test electrical signals; the data processing device is also used to generate a functional relational expression based on the received optical radiation energy of the test return light and the test electrical signal threshold value converted from the received test return light; obtain according to the functional relational expression The first optical radiation energy corresponding to the preset electrical signal threshold; and the second optical radiation energy corresponding to the limit electrical signal threshold is obtained according to the functional relational expression.
根据权利要求15所述的测量***，其特征在于，所述函数关系式为线性关系式时，所述数据处理设备还用于根据所述预定距离、所述预设电信号阈值、和所述极限电信号获取所述最大量程。The measurement system according to claim 15, wherein when the functional relationship is a linear relationship, the data processing device is further configured to perform according to the predetermined distance, the preset electrical signal threshold, and the The limit electrical signal obtains the maximum range.
根据权利要求15所述的测量***，其特征在于，所述函数关系式为线性关系式或非线性关系式。The measurement system according to claim 15, wherein the functional relationship is a linear relationship or a non-linear relationship.
根据权利要求15所述的测量***，其特征在于，所述预设步长为一个固定值；或The measurement system according to claim 15, wherein the preset step length is a fixed value; or

所述预设步长为多个，多个所述预设步长构成的集合为等差数列。There are multiple preset step lengths, and a set of multiple preset step lengths is an arithmetic sequence.
根据权利要求12所述的测量***，其特征在于，所述探测概率由所述激光测距机以所述电信号阈值接收回光的回光能量和所述激光测距机发出的激光的出光能量的比值来表征。The measurement system according to claim 12, wherein the detection probability is determined by the return light energy of the return light received by the laser rangefinder at the electrical signal threshold and the light output of the laser light emitted by the laser rangefinder. Characterized by the ratio of energy.
根据权利要求12所述的测量***，其特征在于，所述探测概率由所述激光测距机以所述电信号阈值接收回光的回光光斑数和所述激光测距机发出的激光的出光光斑数的比值来表征。The measurement system according to claim 12, wherein the detection probability is determined by the number of return light spots of the laser rangefinder receiving the return light at the electrical signal threshold and the number of laser rangefinders emitted by the laser rangefinder. It is characterized by the ratio of the number of light spots.
根据权利要求20所述的测量***，其特征在于，所述激光测距机包括光检测器，所述光检测器具有多个像素，所述激光测距机以所述电信号阈值接收激光的所述回光光斑数根据预设的光斑系数进行修正以得到修正后的回光光斑数；所述探测概率由所述修正后的回光光斑数和所述激光测距机发出的激光的出光光斑数的比值来表征。The measurement system according to claim 20, wherein the laser rangefinder comprises a photodetector, the photodetector has a plurality of pixels, and the laser rangefinder receives laser light at the electrical signal threshold. The number of return light spots is corrected according to a preset spot coefficient to obtain a corrected number of return light spots; the detection probability is determined by the corrected number of return light spots and the output of the laser light emitted by the laser rangefinder Characterized by the ratio of the number of spots.
根据权利要求12所述的测量***，其特征在于，所述电信号包括电压和电流中的至少一个。The measurement system according to claim 12, wherein the electrical signal includes at least one of voltage and current.
一种包含计算机可执行指令的非易失性计算机可读存储介质，当所述计算机可执行指令被一个或多个处理器执行时，使得所述处理器执行如权利要求1至11中任一项所述的测量方法。A non-volatile computer-readable storage medium containing computer-executable instructions. When the computer-executable instructions are executed by one or more processors, the processor executes any one of claims 1 to 11 The measurement method described in the item.