Data fusion range finder and method

Abstract

The data fusion range finder comprises a data fusion module, a laser range finding module, a photoelectric detector, a millimeter wave range finding module and a 4G communication module.The data fusion range finder has the advantages of being high in light interference resistance and high in range finding data reliability, and the advantages of laser range finding and millimeter wave range finding can be brought into play; the defect that laser ranging is greatly interfered by external light is overcome, and the defect that millimeter wave ranging is low in ranging position resolution is overcome.

Description

Technical Field

[0001] The invention belongs to the field of rangefinders, and mainly relates to a data fusion rangefinder and a method. Background Art

[0002] The distance meter is used to measure the distance between the carrier position and the target position. It usually has the principles of laser measurement, millimeter wave measurement, microwave measurement, etc. Laser ranging uses the phase of light waves or the transmission time of pulse light waves to obtain the ranging result. It has the characteristics of high accuracy and precise ranging position point. Its disadvantage is that the light wave is easily disturbed by the external light environment. The anti-interference ability can be improved by increasing the optical power or selecting a method different from the wavelength of the external interference light. However, due to safety and cost considerations, the anti-interference ability cannot be greatly improved in general application scenarios, and there is a certain risk in the reliability of its ranging data. Millimeter wave ranging has the advantages of low cost, all-weather operation, and compensating for the influence of laser ranging on the external light environment. However, the divergence angle of millimeter wave ranging is much larger than that of laser ranging. Usually, the ranging result is determined by the projection area determined by the divergence angle and the ranging length, and the ranging position resolution is low. If the projection surface is uneven, the test result will output a comprehensive measurement data according to different strategies, which will have a large error with the actual distance to the measured position, resulting in low reliability of the ranging result.

[0003] As mentioned above, laser ranging has the disadvantage of being greatly interfered by external light, and millimeter wave ranging has the disadvantage of low ranging position resolution. Therefore, it is urgent to develop a rangefinder and ranging method that has strong resistance to light interference and high reliability of ranging data. Summary of the invention

[0004] The object of the present invention is to provide a data fusion rangefinder and method, which have the characteristics of strong resistance to light interference and high reliability of ranging data.

[0005] The object of the present invention is achieved through the following technical solutions: A data fusion rangefinder, comprising a data fusion module, a laser ranging module, a photoelectric detector, a millimeter wave ranging module and a 4G communication module;

[0006] The photoelectric detector is used to detect the light intensity of the external environment, and its signal is transmitted to the data fusion module to evaluate whether to adjust the light intensity of the laser ranging module;

[0007] The laser distance measurement module is used for laser distance measurement, and its data is transmitted to the data fusion module;

[0008] The millimeter wave ranging module is connected to the data fusion module, and outputs the ranging result and the millimeter wave ranging signal-to-noise ratio;

[0009] The 4G communication module is connected to the data fusion module and is used to output the ranging result and alarm information of the data fusion rangefinder.

[0010] As a preferred technical solution, the laser ranging module includes a transmitting light source and a receiving detector. The transmitting light source includes an optical filter to reduce the interference of environmental interference light, and provides a ranging result and a laser ranging signal-to-noise ratio.

[0011] The present invention also provides a distance measurement method using the data fusion rangefinder. The distance measurement method is as follows: after the data fusion rangefinder is powered on, the following steps are performed:

[0012] Step 1: Perform laser ranging to determine whether the laser ranging signal-to-noise ratio N is ≥ the set threshold N1. If N ≥ N1, obtain the laser ranging result LN and switch to millimeter wave ranging. If N < N1, determine the output optical power of the laser ranging module. If the maximum optical power is reached, set the laser ranging signal-to-noise ratio N = 0 and switch to millimeter wave ranging. If the maximum optical power is not reached, increase the output optical power and perform laser ranging again until switching to millimeter wave ranging.

[0013] Step 2: Perform millimeter wave ranging to determine whether the millimeter wave ranging signal-to-noise ratio M is ≥ the set threshold M1. If M ≥ M1, the millimeter wave ranging result LM is obtained and the absolute difference determination of the ranging result is performed; if M < M1, the device reports an error check and the device is output by the 4G communication module.

[0014] Step 3: Determine the absolute difference of the ranging results. Compare the absolute value ΔL of the difference between the laser ranging result LN and the millimeter wave ranging result LM with the set threshold L1. If ΔL≤L1, the ranging data fusion calculation is performed. If ΔL>L1, the device reports an error check and is output by the 4G communication module. The ranging data fusion calculation method is as follows:

[0015]

[0016] Step 4: Output the fused ranging result or ranging error information through the 4G communication module.

[0017] The beneficial effects of the present invention are as follows: compared with the prior art, the present invention adopts a data fusion rangefinder and method, which can give full play to the advantages of laser ranging and millimeter wave ranging, overcome the disadvantage of laser ranging being greatly interfered by external light, and overcome the disadvantage of millimeter wave ranging having low ranging position resolution. In summary, the rangefinder of the present invention has the characteristics of strong resistance to light interference and high reliability of ranging data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0019] Figure 1 It is a schematic diagram of the structure of the present invention;

[0020] Figure 2 It is a flow chart of the data fusion ranging method adopted in the present invention.

[0021] The markings in the attached figure are: 1-data fusion module, 2-laser ranging module, 3-photoelectric detector, 4-millimeter wave ranging module, 5-4G communication module. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0023] Embodiment: A data fusion rangefinder and method, the data fusion rangefinder is composed as follows Figure 1 As shown, it includes a data fusion module 1, which is respectively connected to a laser ranging module 2, a photoelectric detector 3, a millimeter wave ranging module 4 and a 4G communication module 5.

[0024] The photoelectric detector 3 is used to detect the light intensity of the external environment, and its signal is transmitted to the data fusion module 1 to evaluate whether to adjust the light intensity of the laser ranging module.

[0025] The laser ranging module 2 includes a transmitting light source and a receiving detector. The transmitting light source includes an optical filter to reduce the interference of environmental interference light, and provides a ranging result and a laser ranging signal-to-noise ratio.

[0026] The millimeter wave ranging module 4 is connected to the data fusion module 1 and outputs the ranging result and the millimeter wave ranging signal-to-noise ratio.

[0027] The 4G communication module 5 is connected to the data fusion module 1 and is used to output the ranging result and alarm information of the data fusion rangefinder.

[0028] Working principle of the present invention:

[0029] The distance measurement method, such as Figure 2As shown in the figure, after the data fusion rangefinder is powered on, the laser ranging work is performed first: according to the value of the signal-to-noise ratio N output by the laser rangefinder, it is judged whether the laser ranging signal-to-noise ratio N is ≥ the set threshold N1. If N ≥ N1, the ranging result LN is obtained and the millimeter wave ranging is switched to; if N < N1, the output optical power of the laser ranging module is judged. If the maximum optical power is reached, the laser ranging signal-to-noise ratio N is set to 0 and the millimeter wave ranging is switched to; if the maximum optical power is not reached, the output optical power is increased and the laser ranging is performed again until the millimeter wave ranging is switched to.

[0030] Secondly, millimeter wave ranging is performed to determine whether the millimeter wave ranging signal-to-noise ratio M is ≥ the set threshold M1. If M ≥ M1, the ranging result LM is obtained and the absolute difference judgment of the ranging result is entered; if M < M1, the device reports an error check device and is output by the 4G communication module.

[0031] Next, the absolute difference of the ranging result is determined, and the absolute value ΔL of the difference between the laser ranging result LN and the millimeter wave ranging result LM is compared with the set threshold L1. If ΔL≤L1, the ranging data fusion calculation is turned on; if ΔL>L1, the device reports an error check device and is output by the 4G communication module. The ranging data fusion calculation method is as follows:

[0032]

[0033] Finally, the fused ranging result or ranging error information is output through the 4G communication module.

[0034] In the above process, the thresholds N1, M1 and L1 are used as communication setting parameters, and the values ​​are adjusted according to the requirements of different application scenarios.

[0035] The present invention adopts a data fusion rangefinder and method, which can give full play to the advantages of laser ranging and millimeter wave ranging, overcome the disadvantages of laser ranging being greatly interfered by external light, and overcome the disadvantage of millimeter wave ranging being low ranging position resolution. Compared with the existing independent laser rangefinder and millimeter wave rangefinder, the rangefinder of the present invention has the characteristics of strong resistance to light interference and high reliability of ranging data.

[0036] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A data fusion rangefinder, characterized in that: It includes a data fusion module (1), a laser ranging module (2), a photoelectric detector (3), a millimeter wave ranging module (4) and a 4G communication module (5); The photoelectric detector (3) is used to detect the light intensity of the external environment, and its signal is transmitted to the data fusion module (1) to evaluate whether to adjust the light intensity of the laser ranging module (2); The laser distance measurement module (2) is used for laser distance measurement, and its data is transmitted to the data fusion module (1); The millimeter wave ranging module (4) is connected to the data fusion module (1) and outputs a ranging result and a millimeter wave ranging signal-to-noise ratio; The 4G communication module (5) is connected to the data fusion module (1) and is used to output the distance measurement result and warning information of the data fusion distance meter.

2. The data fusion rangefinder according to claim 1, characterized in that: The laser distance measurement module (2) comprises a transmitting light source and a receiving detector, the transmitting light source comprises an optical filter to reduce the interference of environmental interference light, and provides a distance measurement result and a laser distance measurement signal-to-noise ratio.

3. A distance measurement method using the data fusion rangefinder according to any one of claims 1 or 2, characterized in that: The distance measurement method is as follows: after the data fusion rangefinder is powered on, the following steps are performed: Step 1: Perform laser ranging to determine whether the laser ranging signal-to-noise ratio N is ≥ the set threshold N1. If N ≥ N1, obtain the laser ranging result LN and switch to millimeter wave ranging. If N < N1, determine the output optical power of the laser ranging module. If the maximum optical power is reached, set the laser ranging signal-to-noise ratio N = 0 and switch to millimeter wave ranging. If the maximum optical power is not reached, increase the output optical power and perform laser ranging again until switching to millimeter wave ranging. Step 2: Perform millimeter wave ranging to determine whether the millimeter wave ranging signal-to-noise ratio M is ≥ the set threshold M1. If M ≥ M1, obtain the millimeter wave ranging result LM and proceed to the absolute difference determination of the ranging result. If M<M1, the device reports an error check and is output by the 4G communication module; Step 3: Determine the absolute difference of the ranging results. Compare the absolute value ΔL of the difference between the laser ranging result LN and the millimeter wave ranging result LM with the set threshold L1. If ΔL≤L1, the ranging data fusion calculation is performed. If ΔL>L1, the device reports an error check and is output by the 4G communication module. The ranging data fusion calculation method is as follows: Step 4: Output the fused ranging result or ranging error information through the 4G communication module.

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