Laser ranging system

Abstract

The present invention provides an improved laser ranging system, which divides the returned measurement light beam into output lights of different light intensities through multiple sequentially cascaded splitter units, and sets multiple bandpass filters on the optical path receiving path, successfully solving the problem of unstable measurement accuracy in traditional technologies. The system includes: a laser emission module, a splitter module, multiple bandpass filters, multiple light receiving units and a first data processor. The bandpass filter only allows light beams within a specific wavelength range to pass through, filters out the interference of ambient light, improves the purity of the received signal, and ensures that the signal received by the light receiving unit is mainly the reflected light of the target light beam, thereby improving the accuracy and stability of the measurement, simplifying the overall design, and adapting to application requirements under various ambient light conditions.

Description

Technical Field

[0001] The invention relates to the technical field of data processing, and in particular to a laser ranging system. Background Art

[0002] Laser ranging technology is very important in modern applications and is widely used in industries such as industry, construction, logistics, automobiles, and the military. The advantage of this technology is that it can achieve high-precision measurement and positioning, thereby significantly improving work efficiency and safety. The mainstream technology for laser ranging is the Time of Flight (TOF) method. The working principle of this method is: the laser transmitting module emits a laser, the laser hits the target object and then reflects, the receiving module receives the reflected light, and the distance is obtained by calculating the optical path time.

[0003] In the development of laser ranging technology, early solutions mainly used single-transmit single-receive or multiple-transmit single-receive methods to calculate distance. Single-transmit or multiple-transmit refers to one or more laser emission sources, and single-receive refers to a photodetector (APD) receiving the return light. However, these solutions have encountered some problems in practical applications. First, obstacles at different distances will cause the strength of the received signal to vary, requiring complex circuit adjustments to ensure signal quality. Second, the use of multiple amplification circuits will increase the phase delay and calculation complexity in the signal processing process, which in turn affects the accuracy and efficiency of the measurement.

[0004] In order to solve the above problems, a new laser ranging system has been developed. This system uses a spectrometer and multiple optical receivers for ranging. The spectrometer divides the returned measurement beam into several beams of light with different intensities, which are then received by multiple optical receivers and converted into electrical signals and sent to the microcontroller system for processing. Through multiple sequentially cascaded spectrometers, the system can achieve step-by-step separation of different light intensities. At this time, at least one electrical signal within the preset sampling range is used as a valid sampling signal for ranging calculation. In this way, the user does not need to change the circuit hardware or adjust the bias voltage, and can meet the flexible ranging requirements for different ranging objects in different distances and environments.

[0005] However, in actual use, we found that the measurement accuracy of the system was unstable, and the measurement results often fluctuated, with the values ​​fluctuating. This fluctuation exceeded our current tolerance range and made it impossible to achieve the expected accurate measurement. Therefore, we urgently need to explore and develop a more accurate and stable measurement solution to ensure that it meets the strict requirements of various application scenarios. Summary of the invention

[0006] The main purpose of the present invention is to provide a laser ranging system to solve the problem that obstacles at different distances in the existing laser ranging technology will cause the strength of the received signal to vary, and complex circuit adjustments are required to ensure the signal quality. Secondly, the use of multiple amplification circuits will increase the phase delay and calculation complexity in the signal processing process, thereby affecting the accuracy and efficiency of the measurement.

[0007] To achieve the above-mentioned purpose, the present invention provides a laser ranging system, comprising: a laser emitting module, used to emit a measuring light beam to a target object; a spectroscopic module, used to split the returned measuring light beam into a plurality of output lights of different light intensities, wherein the spectroscopic module comprises a plurality of sequentially cascaded spectroscopic units, each of which is arranged on the output light path of the previous spectroscopic unit; a plurality of bandpass filters, arranged on the optical path receiving paths of different spectroscopic units, used to filter light beams of non-target wavelengths for the spectroscopic units, wherein the target wavelength is consistent with the central wavelength of the measuring light beam emitted by the laser emitting module to the target object; a plurality of light receiving units, arranged on the optical path output paths of different spectroscopic units, used to receive output lights of different light intensities generated by different spectroscopic units, and convert the optical signals of the received output lights into electrical signals; a first data processor, which is in communication connection with the plurality of light receiving units, and used to perform ranging calculations on the object to be measured according to the electrical signals sent by the plurality of light receiving units.

[0008] Furthermore, the laser ranging system also includes: multiple narrowband filters, which are arranged on the optical receiving paths of different optical receiving units, and are used to filter light beams of non-target wavelengths for the optical receiving units, and the target wavelength is consistent with the central wavelength of the measurement light beam emitted by the laser emitting module to the target object.

[0009] Furthermore, the laser ranging system also includes: a plurality of optical adjustment units, which are arranged on the optical path output paths of different splitting units, and are used to adjust the angle and intensity of the light output by the splitting units; a plurality of environmental sensing devices, which are used to detect at least the ambient light parameters of the target object and the reflection characteristic parameters of the target object; a second data processor, which is communicatively connected with the plurality of environmental sensing devices and the plurality of optical adjustment units, and is used to determine the angle to be adjusted and the intensity to be adjusted of the output light output by each splitting unit according to the light conditions of the environment in which the target object is located and the reflection characteristic parameters of the target object, and send a control instruction to each of the optical adjustment units according to the angle to be adjusted and the intensity to be adjusted of the output light output by each splitting unit, so that the optical adjustment unit adjusts the output light output by different splitting units.

[0010] Furthermore, the second data processor determines the intensity to be adjusted of the output light output by each light splitting unit based on the following first formula and second formula, wherein the first formula is: ; is the intensity of the output light to be adjusted, is the ambient light intensity, is the reflectivity of the target object, It is the initial intensity of the emitted light preset by the laser emission module. is the transmittance of the spectroscopic unit, , , is a correction factor used to adjust the weights of the various parts of the formula and the steepness of the response curve, is the preset threshold of ambient light intensity, which is used to adjust the activation point of laser intensity response; the second formula is: ,in, and are the minimum and maximum light intensities allowed by the system.

[0011] Furthermore, the second data processor determines the angle to be adjusted of the output light output by each light splitting unit based on the following third formula and fourth formula, wherein the third formula is: ;in, is the angle of the output light to be adjusted, is the preset base angle. is the reflectivity of the target object, is the transmittance of the spectroscopic unit; , , is a correction factor used to adjust the weights of the various parts of the formula and the steepness of the response curve, is the ambient light intensity, is a preset threshold of ambient light intensity, used to activate the response of adjusting the angle; the fourth formula is: ,in, and are the minimum and maximum angles allowed by the system.

[0012] Furthermore, the optical adjustment unit also includes a liquid crystal dimmer, which controls the arrangement of liquid crystal molecules by adjusting the electric field of the liquid crystal dimmer, thereby adjusting the light beam angle and the light beam intensity.

[0013] Furthermore, the optical adjustment unit also includes a rotating lens and a variable attenuator. The direction of the light beam is adjusted by adjusting the angle of the rotating lens, and the intensity of the light beam is adjusted by adjusting the density of the optical elements inside the variable attenuator.

[0014] The present invention provides a laser ranging system, which successfully solves the problem of unstable measurement accuracy in the existing laser ranging technology by setting multiple bandpass filters. The following is a detailed explanation:

[0015] In laser ranging systems, interference from ambient light is one of the main factors affecting measurement accuracy. Although traditional spectrometers can split the returned measurement beam into multiple output beams of different light intensities, these beams may contain ambient light (such as sunlight, indoor lights, etc.), which will be received by the light receiving unit, resulting in a decrease in signal quality, which in turn affects the accuracy and stability of the measurement. However, existing laser ranging technology has not fully considered how to effectively suppress these ambient light interferences, resulting in unstable measurement accuracy in practical applications.

[0016] In order to effectively solve the above problems, the present invention sets multiple bandpass filters on the optical path receiving paths of different spectroscopic units of the spectroscopic module. Each bandpass filter only allows light beams within a specific wavelength range to pass through, and blocks light beams of other wavelengths. This allows only the target wavelength (i.e., the light beam consistent with the central wavelength of the measurement light beam emitted by the laser emission module) to reach the light receiving unit. In addition, ambient light usually contains a wide range of spectral components, and the bandpass filter can effectively suppress these non-target wavelength light beams, reducing the interference of ambient light on the measurement results.

[0017] In summary, when the measurement beam returns and passes through the spectrometer, the bandpass filter filters out all beams of non-target wavelengths. In this way, only those beams that are consistent with the central wavelength of the measurement beam emitted by the laser emission module can pass through the filter and be received by the light receiving unit. This process greatly reduces the interference of ambient light on the measurement signal and ensures that the received signal is mainly the reflected light of the target beam.

[0018] That is, the present invention ensures that the signal received by the light receiving unit is of higher purity through the selective filtering of the bandpass filter, thereby improving the accuracy of the measurement. The bandpass filter effectively suppresses the interference of ambient light, reduces the fluctuation of the measurement results, and improves the stability of the system. Since the bandpass filter has significantly reduced the interference of ambient light, the system no longer requires complex circuit adjustments and multiple amplification circuits, simplifies the overall design, and improves the reliability and efficiency of the system. The bandpass filter enables the system to maintain consistent measurement performance under different ambient light conditions, adapting to the needs of various application scenarios.

[0019] It is worth emphasizing that: At present, many existing laser ranging technologies do not fully consider the impact of ambient light interference on measurement accuracy, which leads to instability and increased errors in measurement results under different environmental conditions. Traditional technical solutions lack an effective ambient light filtering mechanism and often rely on complex circuit adjustments and signal processing to try to correct these problems, but the effect is limited. The present invention successfully solves the problem of unstable measurement accuracy that has not been solved in the prior art by introducing multiple bandpass filters. This technical solution significantly improves the measurement accuracy and stability of the system, ensuring high-precision measurements under various ambient light conditions. This innovation not only makes up for the shortcomings of the existing technology and meets customers' strict requirements for accurate measurement, but also demonstrates the significant superiority of the technical solution of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the steps of a laser ranging method in one embodiment of the present invention;

[0021] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be noted that: during the in-depth analysis of the accuracy of the laser ranging system, it was found that the accuracy of the system under different ambient light sources was obviously unstable. After repeated verification, we determined that it was mainly the changes in ambient light (such as light intensity and angle changes) that interfered with the spectroscopic process, which in turn caused the laser ranging system to produce measurement errors, thereby affecting the measurement accuracy.

[0024] In order to further understand the root causes of these problems, the characteristics of the spectrometer module were deeply analyzed, and two main factors were found: 1. During the spectrometer process, the spectrometer of the laser ranging system will reflect some unnecessary ambient light. After these reflected lights enter the light receiving device, they will interfere with the quality of the received signal, resulting in an increase in measurement errors, which in turn affects the measurement accuracy of the system. 2. The optical path design of the spectrometer is relatively complex, and any interference from external light will be amplified in the multi-stage spectrometer, further affecting the final measurement results. In response to the above problems, the present invention proposes a new technical solution to improve the stability and measurement accuracy of the system. The details are as follows:

[0025] Reference Figure 1 , an embodiment of the present invention provides a laser ranging system, comprising:

[0026] A laser emitting module 10, used for emitting a measuring light beam toward a target object;

[0027] A light splitting module 20, used for splitting the returned measuring light beam into a plurality of output lights of different light intensities, wherein the light splitting module comprises a plurality of sequentially cascaded light splitting units 21, each of which is arranged on the outgoing light path of the previous light splitting unit;

[0028] A plurality of bandpass filters 30, arranged on the optical receiving paths of different spectroscopic units, for filtering light beams of non-target wavelengths for the spectroscopic units, wherein the target wavelength is consistent with the central wavelength of the measurement light beam emitted by the laser emission module to the target object;

[0029] A plurality of light receiving units 40 are arranged on the optical output paths of different light splitting units, and are used to receive output lights of different light intensities generated by different light splitting units, and convert the optical signals of the received output lights into electrical signals;

[0030] The first data processor 50 is connected to the plurality of light receiving units for communication, and is used for performing distance measurement calculation on the object to be measured according to the electrical signals sent by the plurality of light receiving units.

[0031] In other words, the technical solution provided by the present invention successfully solves the problem of unstable measurement accuracy in the existing laser ranging technology by setting multiple bandpass filters. The following is a specific explanation:

[0032] In laser ranging systems, interference from ambient light is one of the main factors affecting measurement accuracy. Although traditional spectrometers can split the returned measurement beam into multiple output beams of different light intensities, these beams may contain ambient light (such as sunlight, indoor lights, etc.), which will be received by the light receiving unit, resulting in a decrease in signal quality, which in turn affects the accuracy and stability of the measurement. However, existing laser ranging technology has not fully considered how to effectively suppress these ambient light interferences, resulting in unstable measurement accuracy in practical applications.

[0033] In order to effectively solve the above problems, the present invention sets multiple bandpass filters on the optical path receiving paths of different spectroscopic units of the spectroscopic module. Each bandpass filter only allows light beams within a specific wavelength range to pass through, and blocks light beams of other wavelengths. This allows only the target wavelength (i.e., the light beam consistent with the central wavelength of the measurement light beam emitted by the laser emission module) to reach the light receiving unit. In addition, ambient light usually contains a wide range of spectral components, and the bandpass filter can effectively suppress these non-target wavelength light beams, reducing the interference of ambient light on the measurement results.

[0034] In summary, when the measurement beam returns and passes through the spectrometer, the bandpass filter filters out all beams of non-target wavelengths. In this way, only those beams that are consistent with the central wavelength of the measurement beam emitted by the laser emission module can pass through the filter and be received by the light receiving unit. This process greatly reduces the interference of ambient light on the measurement signal and ensures that the received signal is mainly the reflected light of the target beam.

[0035] That is, the present invention ensures that the signal received by the light receiving unit is of higher purity through the selective filtering of the bandpass filter, thereby improving the accuracy of the measurement. The bandpass filter effectively suppresses the interference of ambient light, reduces the fluctuation of the measurement results, and improves the stability of the system. Since the bandpass filter has significantly reduced the interference of ambient light, the system no longer requires complex circuit adjustments and multiple amplification circuits, simplifies the overall design, and improves the reliability and efficiency of the system. The bandpass filter enables the system to maintain consistent measurement performance under different ambient light conditions, adapting to the needs of various application scenarios.

[0036] It is worth emphasizing that: At present, many existing laser ranging technologies do not fully consider the impact of ambient light interference on measurement accuracy, which leads to instability and increased errors in measurement results under different environmental conditions. Traditional technical solutions lack an effective ambient light filtering mechanism and often rely on complex circuit adjustments and signal processing to try to correct these problems, but the effect is limited. The present invention successfully solves the problem of unstable measurement accuracy that has not been solved in the prior art by introducing multiple bandpass filters. This technical solution significantly improves the measurement accuracy and stability of the system, ensuring high-precision measurements under various ambient light conditions. This innovation not only makes up for the shortcomings of the existing technology and meets customers' strict requirements for accurate measurement, but also demonstrates the significant superiority of the technical solution of the present invention.

[0037] In one example, the laser ranging system also includes: multiple narrowband filters, arranged on the optical path receiving paths of different optical receiving units, for filtering light beams of non-target wavelengths for the optical receiving units, wherein the target wavelength is consistent with the central wavelength of the measurement light beam emitted by the laser emitting module to the target object.

[0038] In this example, the laser ranging system of the present invention further includes a plurality of narrowband filters, which are arranged on the optical receiving paths of different optical receiving units. The main function of the narrowband filter is to filter the light beams of non-target wavelengths for the optical receiving unit, ensuring that only the light beams consistent with the central wavelength of the measuring light beam emitted by the laser emission module can pass through and be received.

[0039] Narrowband filters are similar to bandpass filters, but they filter a narrower wavelength range, thereby more accurately screening out beams of target wavelengths. The specific effects are as follows: 1. The narrowband filter has a narrower filtering range and can more accurately filter out beams of non-target wavelengths, ensuring that the received signal is of higher purity; 2. Since the narrowband filter is more selective for the target wavelength, it can more effectively suppress the interference of ambient light and further improve the measurement accuracy. In addition, the narrowband filter can also filter out non-target wavelength beams generated by multiple reflections, which usually interfere with the measurement results. By eliminating these interfering beams, the measurement stability and accuracy of the system are further improved.

[0040] In summary, by introducing multiple narrowband filters into the laser ranging system, the present invention further enhances the system's ability to suppress ambient light interference and improves the purity and accuracy of the measurement signal. This improvement not only overcomes the shortcomings of the prior art, but also significantly improves the stability and reliability of the system in various application environments.

[0041] In one example, the laser ranging system also includes: multiple optical adjustment units, which are arranged on the optical path output paths of different splitting units, and are used to adjust the angle and intensity of the light output by the splitting units; multiple environmental sensing devices, which are used to detect the ambient light parameters of the target object and the reflection characteristic parameters of the target object; a second data processor, which is communicatively connected to the multiple environmental sensing devices and the multiple optical adjustment units, and is used to determine the angle to be adjusted and the intensity to be adjusted of the output light output by each splitting unit according to the light conditions of the environment in which the target object is located and the reflection characteristic parameters of the target object, and send control instructions to each of the optical adjustment units according to the angle to be adjusted and the intensity to be adjusted of the output light output by each splitting unit, so that the optical adjustment unit adjusts the output light output by different splitting units.

[0042] In laser ranging systems, changes in ambient light and the reflective properties of the target object are important factors that affect measurement accuracy. Existing laser ranging technologies usually fail to fully consider these factors, resulting in increased instability and errors in measurement results under different environmental conditions. Traditional solutions lack the ability to adjust optical parameters in real time and are difficult to adapt to complex and changing application environments.

[0043] In this example, the laser ranging system of the present invention further improves the measurement accuracy and stability of the system by introducing multiple optical adjustment units and environmental sensing devices. Specifically, through environmental sensing devices, the system can monitor the ambient light parameters (such as light intensity, light angle) around the target object and the reflection characteristic parameters (such as reflectivity, surface characteristics) of the target object in real time. The second data processor calculates the optimal angle and intensity of the light output by each spectroscopic unit based on the ambient light conditions and reflection characteristic parameters. Then, it sends a control instruction to the optical adjustment unit to adjust the angle and intensity of the light output by the spectroscopic unit in real time to optimize the measurement results. Through the dynamic adjustment of the optical adjustment unit, the system can maintain high-precision measurement performance under various complex and changeable environmental conditions, reducing the impact of ambient light changes and the reflection characteristics of the target object on the measurement results.

[0044] In other words, the optical adjustment unit adjusts the angle and intensity of light in real time, so that the measurement beam is reflected and received more accurately, thereby improving the accuracy of the measurement. The synergy between the environmental sensor device and the optical adjustment unit enables the system to adapt to different ambient light conditions and target object characteristics, reducing the fluctuation of the measurement results and improving the stability of the system. At this point, the technical solution can cope with a variety of complex application scenarios, whether indoors or outdoors, and no matter how the light conditions change, the system can maintain high-precision measurement performance.

[0045] Existing laser ranging technologies usually fail to fully consider the impact of ambient light changes and target object reflection characteristics on measurement. The technical solution of the present invention introduces multiple optical adjustment units and environmental sensor devices into the laser ranging system, which not only solves the problems of ambient light changes and target object reflection characteristics not considered in the prior art, but also significantly improves the measurement accuracy and stability of the system.

[0046] In one example, the second data processor determines the intensity to be adjusted of the output light output by each light splitting unit based on the following first formula and second formula, where the first formula is: ; is the intensity of the output light to be adjusted, is the ambient light intensity, is the reflectivity of the target object, It is the initial intensity of the emitted light preset by the laser emission module. is the transmittance of the spectroscopic unit, , , is a correction factor used to adjust the weights of the various parts of the formula and the steepness of the response curve, is the preset threshold of ambient light intensity, which is used to adjust the activation point of laser intensity response; the second formula is: ,in, and are the minimum and maximum light intensities allowed by the system.

[0047] In this example, the first part The direct effects of ambient light intensity and target object reflectivity are taken into account and adjusted through the transmittance of the spectroscopic unit. It is a nonlinear response model based on ambient light intensity. This application uses a sigmoid function to smoothly adjust the intensity of the laser emission to ensure an adaptive response when the ambient light intensity changes. It can be adjusted according to different parameters to adapt to various situations in practical applications. The second data processor determines the intensity to be adjusted of the light output by each spectroscopic unit based on two formulas. These formulas take into account the ambient light intensity, the reflectivity of the target object, and the minimum and maximum light intensities allowed by the system to achieve precise light intensity adjustment.

[0048] Through the above formula, the second data processor can automatically calculate and adjust the light intensity output by the spectroscopic unit without manual intervention, which improves the intelligence and automation level of the system. Through the first formula, the system can dynamically adjust the output light intensity according to the real-time ambient light intensity and the reflectivity of the target object to improve the accuracy of the measurement. The second formula ensures that the adjusted light intensity is within a reasonable range, avoiding measurement errors caused by excessively high or low light intensity, thereby improving the stability of the system. This dynamic adjustment mechanism enables the system to adapt to various complex ambient light conditions and target object characteristics, ensuring high-precision measurement performance in different environments.

[0049] Existing laser ranging technology usually does not fully consider the impact of ambient light changes and target object reflective characteristics on measurement. Through the above formula, the technical solution of the present invention can adjust the light intensity in real time, making up for the shortcomings of the existing technology and significantly improving the measurement accuracy and reliability of the system.

[0050] In one example, the second data processor determines the angle to be adjusted of the output light output by each light splitting unit based on the following third formula and fourth formula, wherein the third formula is: ;in, is the angle of the output light to be adjusted, is the preset base angle. is the reflectivity of the target object, is the transmittance of the spectroscopic unit; , , is a correction factor used to adjust the weights of the various parts of the formula and the steepness of the response curve, is the ambient light intensity, is a preset threshold of ambient light intensity, used to activate the response of adjusting the angle; the fourth formula is: ,in, and are the minimum and maximum angles allowed by the system.

[0051] In this example, the first part This is a linear part that takes into account the base angle, the reflectivity of the target object, and the transmittance of the spectrometer. It is a nonlinear part. The present application uses arctan and sigmoid functions to smoothly adjust the angle to ensure that the system has an adaptive response under various ambient light intensities and reflectivity conditions. The formula retains complexity and adjustment flexibility, but deletes the intermediate values ​​of ambient light intensity. The second data processor determines the angle to be adjusted of the light output by the spectroscopic unit through two formulas. These formulas take into account the preset base angle and adjustment coefficient, as well as the minimum and maximum angles allowed by the system to achieve precise angle adjustment.

[0052] Through the above formula, the second data processor can automatically calculate and adjust the light angle output by the spectroscopic unit without manual intervention, which improves the intelligence and automation level of the system. Through the third formula, the system can adjust the angle of the output light in real time, so that the light beam can be accurately positioned according to the ambient light conditions and the reflective characteristics of the target object, thereby improving the accuracy of the measurement. The fourth formula ensures that the adjusted light angle is within the range allowed by the system, avoids measurement errors caused by excessive or insufficient light angles, and enhances the stability of the system. The dynamic angle adjustment mechanism enables the system to maintain high-precision measurement performance in various complex application environments, and adapt to different ambient light conditions and target object characteristics.

[0053] Existing laser ranging technology usually does not fully consider the impact of ambient light changes and target object reflection characteristics on the beam angle. Through the above formula, the technical solution of the present invention can adjust the light angle in real time, making up for the shortcomings of the existing technology and significantly improving the measurement accuracy and reliability of the system.

[0054] It should be noted that the minimum light intensity can be set to 10 microwatts, and the maximum light intensity can be set to 10 milliwatts. Of course, the subdivided fields can be set as follows: in industrial environments, the minimum light intensity can be set to 1 microwatt, and the maximum light intensity can be set to 50 milliwatts; in outdoor applications, the minimum light intensity can be set to 5 microwatts, and the maximum light intensity can be set to 20 milliwatts; in scenarios requiring high-precision measurement, the minimum light intensity can be set to 100 nanowatts, and the maximum light intensity can be set to 1 milliwatt.

[0055] It should be noted that the basic angle of the system can be set to 30 degrees, the adjustment coefficient can be 0.1 degrees / unit parameter, the minimum angle can be set to 10 degrees, and the maximum angle can be set to 50 degrees. Of course, the subdivisions can be set as follows: in industrial environments, the minimum angle can be set to 5 degrees and the maximum angle can be set to 60 degrees; in outdoor applications, the minimum angle can be set to 15 degrees and the maximum angle can be set to 45 degrees; in scenarios that require high-precision measurement, the minimum angle can be set to 20 degrees and the maximum angle can be set to 40 degrees.

[0056] In the laser ranging system, the optical adjustment unit is responsible for adjusting the angle and intensity of the light beam to ensure that the system can maintain high-precision measurement performance under different environmental conditions. The following are two specific examples:

[0057] In one example, by adjusting the electric field of the liquid crystal dimmer, the arrangement of the liquid crystal molecules is controlled to adjust the angle and intensity of the light beam. The arrangement direction of the liquid crystal molecules changes the refraction angle of the light. When the electric field changes, the arrangement direction of the liquid crystal molecules will also change, thereby changing the propagation direction of the light beam. For example, by changing the electric field strength, the angle of the light beam can be adjusted from 30 degrees (base angle) to 40 degrees (adjusted angle). The arrangement density of liquid crystal molecules can affect the transmittance of light. By changing the electric field strength, the arrangement density of liquid crystal molecules can be controlled to adjust the intensity of the light beam. For example, by increasing the electric field strength, the gap between the liquid crystal molecules can be reduced, the transmittance of light can be reduced, and the intensity of the light beam can be reduced from 10 milliwatts (mW) to 5 milliwatts (mW).

[0058] In another example, the optical adjustment unit further includes a rotating lens and a variable attenuator, and the direction of the light beam is changed by adjusting the angle of the rotating lens, and the intensity of the light beam is changed by adjusting the density of the optical elements inside the variable attenuator. The angle adjustment of the rotating lens can change the reflection angle of the light beam, thereby changing the propagation direction of the light beam. For example, by rotating the lens from 0 degrees to 20 degrees, the angle of the light beam can be adjusted from 30 degrees (basic angle) to 50 degrees (adjusted angle). Adjusting the density of the optical elements inside the variable attenuator can change the transmittance of light, thereby adjusting the intensity of the light beam. For example, by increasing the density of the optical elements, the transmittance of light can be reduced, and the intensity of the light beam can be reduced from 15 milliwatts (mW) to 7.5 milliwatts (mW).

[0059] It should be noted that the liquid crystal dimmer and rotating lens can accurately control the angle of the light beam, ensuring that the light beam can be accurately aligned with the target and improving the measurement accuracy. The variable attenuator can accurately control the intensity of the light beam to ensure the reliability and stability of the measurement signal. The liquid crystal dimmer can quickly respond to changes in the electric field and adjust the angle and intensity of the light beam in real time. The rotating lens and variable attenuator can adjust the direction and intensity of the light beam in real time under different environmental conditions to adapt to the changing application environment. These optical adjustment units can adapt to various complex ambient light conditions and target object characteristics, ensuring that the system can maintain high-precision measurement performance in different environments.

[0060] In summary, by introducing a liquid crystal dimmer, a rotating lens, and a variable attenuator into the optical adjustment unit, the laser ranging system can achieve accurate and real-time adjustment of the beam angle and intensity. This technical solution not only overcomes the shortcomings of the existing technology, but also significantly improves the system's adaptability and measurement accuracy under various environmental conditions.

[0061] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided by the present invention and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM.

[0062] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0063] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A laser ranging system, characterized in that: include: A laser emission module, used for emitting a measuring beam toward a target object; A light splitting module, used for splitting the returned measuring light beam into a plurality of output lights of different light intensities, wherein the light splitting module comprises a plurality of sequentially cascaded light splitting units, each of which is arranged on the outgoing light path of the previous light splitting unit; A plurality of bandpass filters are arranged on the optical receiving paths of different splitter units, and are used to filter the light beams of non-target wavelengths for the splitter units, wherein the target wavelength is consistent with the central wavelength of the measurement light beam emitted by the laser emission module to the target object; A plurality of light receiving units are arranged on the optical output paths of different light splitting units, and are used to receive output lights of different light intensities generated by different light splitting units, and convert the optical signals of the received output lights into electrical signals; a first data processor, connected in communication with the plurality of light receiving units, and configured to perform distance measurement calculation on the target object according to the electrical signals sent by the plurality of light receiving units; The laser ranging system also includes: a plurality of optical adjustment units, arranged on the optical output paths of different optical splitting units, for adjusting the angle and intensity of the light output by the optical splitting units; a plurality of environmental sensing devices, for at least detecting the ambient light parameters of the target object and the reflection characteristic parameters of the target object; a second data processor, in communication with the plurality of environmental sensing devices and the plurality of optical adjustment units, for determining the angle to be adjusted and the intensity to be adjusted of the output light output by each optical splitting unit according to the light conditions of the environment in which the target object is located and the reflection characteristic parameters of the target object, and sending a control instruction to each of the optical adjustment units according to the angle to be adjusted and the intensity to be adjusted of the output light output by each optical splitting unit, so that the optical adjustment unit adjusts the output light output by different optical splitting units; The second data processor determines the intensity to be adjusted of the output light output by each light splitting unit based on the following first formula and second formula: The first formula is: ; is the intensity of the output light to be adjusted, is the ambient light intensity, is the reflectivity of the target object, It is the initial intensity of the emitted light preset by the laser emission module. is the transmittance of the spectroscopic unit, , , is a correction factor used to adjust the weights of the various parts of the formula and the steepness of the response curve, is the preset threshold of ambient light intensity, which is used to adjust the activation point of laser intensity response; the second formula is: ,in, and are the minimum and maximum light intensities allowed by the system, respectively; The second data processor determines the angle to be adjusted of the output light output by each light splitting unit based on the following third formula and fourth formula: The third formula is: ; in, is the angle of the output light to be adjusted, is the preset base angle. is the reflectivity of the target object, is the transmittance of the spectroscopic unit; , , is a correction factor used to adjust the weights of the various parts of the formula and the steepness of the response curve, is the ambient light intensity, is a preset threshold of ambient light intensity, used to adjust the activation point of the laser intensity response; the fourth formula is: ,in, and are the minimum and maximum angles allowed by the system.

2. The laser ranging system according to claim 1, characterized in that: The laser ranging system also includes: a plurality of narrowband filters, which are arranged on the optical receiving paths of different light receiving units and are used to filter light beams of non-target wavelengths for the light receiving units. The target wavelength is consistent with the central wavelength of the measurement light beam emitted by the laser emitting module to the target object.

3. The laser ranging system according to claim 1, characterized in that: The optical adjustment unit also includes a liquid crystal dimmer, which controls the arrangement of liquid crystal molecules by adjusting the electric field of the liquid crystal dimmer, thereby adjusting the light beam angle and the light beam intensity.

4. The laser ranging system according to claim 1, characterized in that: The optical adjustment unit also includes a rotating lens and a variable attenuator. The direction of the light beam is adjusted by adjusting the angle of the rotating lens, and the intensity of the light beam is adjusted by adjusting the density of the optical elements inside the variable attenuator.

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