Laser pulse distance measuring device

Abstract

The invention discloses a laser pulse distance measuring device. The laser pulse distance measuring device comprises a laser pulse transmitting group, a track group, a laser pulse signal receiving group, a CPU (Central Processing Unit), a sensor group and a reflecting plate, the laser pulse transmitter comprises a laser pulse probe, a processor and a motor; the processor can adjust the position of the laser pulse probe according to a signal fed back by the CPU, and the processor can control the operation mode of the motor so as to control the laser pulse probe to move along the track set. By adopting the laser pulse distance measurement mode, the point-to-point distance can be obtained for multiple times in unit time, and the accuracy of obtaining the distance in the unit time is improved; by adopting the design of the laser pulse distance measuring device, non-parallel surface distance measurement can be effectively prevented, meanwhile, the distance measuring range is enlarged, and the accuracy of distance measurement between surfaces is further improved.

Description

Technical Field

[0001] The invention relates to the field of laser ranging, and in particular to a laser pulse ranging device. Background Art

[0002] Existing ranging methods include contact ranging and non-contact ranging. Contact ranging includes displacement ranging, acceleration ranging, angle ranging, etc. Non-contact ranging includes ultrasonic ranging, infrared ranging, electromagnetic ranging, laser ranging, etc.

[0003] Due to the limitation of its own principle, contact distance measurement cannot complete multiple distance measurements at the same time in a unit time, and can only complete one distance measurement. Some non-contact distance measurement methods can complete multiple distance measurements in a unit time, but most of the existing distance measurement methods are point-to-point distance measurement. This distance measurement method is not accurate for distance measurement between surfaces. For example, if one of the surfaces is tilted, one of the surfaces has bumps, or the position of a certain surface changes greatly in a unit time.

[0004] The emergence of these situations results in the existing ranging method being unable to effectively complete the ranging, and the ranging results have large errors, which cannot be avoided even if errors occur. In order to solve this problem, a laser pulse ranging device is designed, which can maximize the impact of this error and obtain the effective ranging distance. Summary of the invention

[0005] In view of the above problems, the present invention is proposed to provide a laser pulse ranging device that overcomes the above problems or at least partially solves the above problems.

[0006] According to one aspect of the present invention, a laser pulse ranging device is provided, the laser pulse ranging device comprising a laser pulse transmitting group, a track group, a laser pulse signal receiving group, a CPU, a sensor group, and a reflector;

[0007] The laser pulse emission group is composed of a plurality of laser pulse emitters, and the laser pulse emitters include a laser pulse probe, a processor, and a motor;

[0008] The laser pulse signal receiving group is composed of a plurality of laser pulse signal receivers;

[0009] The processor can adjust the position of the laser pulse probe according to the signal fed back by the CPU, and the processor can control the operation mode of the motor to control the laser pulse probe to move along the track set.

[0010] Preferably, the laser pulse emission group includes a first laser pulse emitter, a second laser pulse emitter . . . an Nth laser pulse emitter.

[0011] Preferably, the laser pulse signal receiving group includes a first laser pulse signal receiver, a second laser pulse signal receiver...an Nth laser pulse signal receiver, and the laser pulse signal receiving group is used to receive the laser pulse signal of the laser pulse emitting group, and the laser pulse signal receiving group sends each received laser pulse signal to the CPU in real time.

[0012] Preferably, each laser pulse transmitter of the laser pulse transmitting group is connected one-to-one with each laser pulse signal receiver of the laser pulse signal receiving group, that is, the first laser pulse transmitter is fixedly connected with the first laser pulse signal receiver, the second laser pulse transmitter is fixedly connected with the second laser pulse signal receiver...the Nth laser pulse transmitter is fixedly connected with the Nth laser pulse signal receiver.

[0013] Preferably, the track group includes a first track, a second track, ... an Nth track.

[0014] Preferably, the CPU receives various signals sent by the sensor group, the processor and the laser pulse signal receiving group in real time, and the CPU processes these signals in real time according to a preset program and sends various instruction signals to the processor.

[0015] Preferably, the sensor group is composed of a plurality of sensors, including but not limited to temperature sensors, pressure sensors, humidity sensors, and brightness sensors.

[0016] Preferably, the reflector can reflect the laser pulse emitted by the laser pulse probe to a corresponding laser pulse signal receiver.

[0017] Preferably, the laser pulse ranging device works as follows:

[0018] In the first step, the sensor group detects changes in the environment in real time and sends relevant information to the CPU in the form of signals. The CPU processes the received signals according to a preset program and sends a command signal to each processor in the laser pulse emission group;

[0019] In the second step, when the processor receives the positioning signal, the processor controls the motor to rotate, and the laser pulse emission group moves to a specific position of the track group;

[0020] The third step is that when the processor receives the ranging signal, the processor controls the laser pulse probe to emit a laser pulse, and the laser pulse is reflected by the reflector, received by a laser pulse signal receiver fixed together, and sent to the CPU in real time;

[0021] In the fourth step, the CPU processes all the signals fed back by the laser pulse signal receiving group in this round according to the preset program to obtain a series of ranging values ​​Y: ① If the ranging value Y is normal, the average value Z of this round of ranging is obtained by weighted calculation 1 Y 1 +X 2 Y 2 +X 3 Y 3 +…+X n Y n , where X is the effective coefficient, which is related to the ranging position, ranging environment and the number of effective ranging values ​​Y; ② If there is one data abnormality in the ranging value Y, then remove the data to obtain the average value Z of this round of ranging; ③ If there are more than two data abnormalities in the ranging value Y, then all the ranging values ​​Y of this round will be invalidated;

[0022] Step 5: The CPU sends multiple positioning signals to the processor within the effective time, and repeats the second to fourth steps each time a positioning signal is received to obtain multiple sets of distance measurement average values ​​Z 1 , Z 2 , Z 3 +…+Z n ;

[0023] In the sixth step, the CPU identifies whether the average values ​​Z of the multiple groups of distance measurements are within the allowable error range. If a certain data item is not within the range, it is automatically eliminated, and the remaining normal data is averaged again to obtain the effective distance measurement value.

[0024] The beneficial effects of the present invention are as follows: by adopting the laser pulse distance measurement method, the point-to-point distance can be obtained multiple times within a unit time, thereby improving the accuracy of the distance obtained within a unit time; by adopting the laser pulse distance measurement device design, non-parallel surface distance measurement can be effectively prevented, while the distance measurement range is increased, thereby further improving the accuracy of distance measurement between surfaces.

[0025] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0027] Figure 1 The internal structure diagram of the laser pulse ranging device is shown;

[0028] Figure 2 The internal structure diagram of the laser pulse transmitter is shown;

[0029] Reference numerals:

[0030] 100. Laser pulse ranging device

[0031] 200. Laser pulse emission group

[0032] 210. Laser pulse transmitter

[0033] 211. Laser pulse probe

[0034] 212. Processor

[0035] 213. Electric Motor

[0036] 300, Track Group

[0037] 400. Laser pulse signal receiving group

[0038] 410. Laser pulse signal receiver

[0039] 500, CPU

[0040] 600, sensor group

[0041] 700, reflector DETAILED DESCRIPTION

[0042] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0043] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0044] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] According to an embodiment of the present invention, a laser pulse ranging device 100 is designed. Figure 1 The internal structure of the laser pulse ranging device is shown. Figure 2 The internal structure of the laser pulse emission group is shown in FIG. Figure 1 and Figure 2 As shown, the laser pulse ranging device 100 includes a laser pulse transmitting group 200, a track group 300, a laser pulse signal receiving group 400, a CPU 500, a sensor group 600, and a reflector 700;

[0047] Specifically, the laser pulse emission group 200 is composed of a plurality of laser pulse emitters 210, and the laser pulse emitters 210 include a laser pulse probe 211, a processor 212, and a motor 213;

[0048] Specifically, the laser pulse signal receiving group 400 is composed of a plurality of laser pulse signal receivers 410;

[0049] Specifically, the processor 212 can adjust the position of the laser pulse probe 211 according to the signal fed back by the CPU 500 , and the processor 212 can control the operation mode of the motor 213 to control the laser pulse probe 211 to move along the track set 300 .

[0050] It can be seen that the transmitting group performs ranging in the form of laser pulses and can obtain a large amount of ranging data per unit time. This is more accurate than traditional laser ranging that only obtains ranging data once per unit time and reduces the probability of error.

[0051] In some embodiments of the present invention, Figure 1As shown, the laser pulse emission group 200 includes a first laser pulse emitter, a second laser pulse emitter, ... an Nth laser pulse emitter.

[0052] It can be seen that the laser pulse emission group is composed of laser pulse emitters, and the specific number is determined by actual needs.

[0053] In some embodiments of the present invention, Figure 1 As shown, the laser pulse signal receiving group 400 includes a first laser pulse signal receiver, a second laser pulse signal receiver...an Nth laser pulse signal receiver. The laser pulse signal receiving group 400 is used to receive the laser pulse signal of the laser pulse emitting group 200. The laser pulse signal receiving group 400 sends each received laser pulse signal to the CPU 500 in real time.

[0054] It can be seen that the laser pulse signal receiving group is also composed of multiple signal receivers.

[0055] In some embodiments of the present invention, Figure 1 As shown, each laser pulse transmitter 210 of the laser pulse transmitting group 200 is connected one-to-one with each laser pulse signal receiver 410 of the laser pulse signal receiving group 400, that is, the first laser pulse transmitter is fixedly connected with the first laser pulse signal receiver, the second laser pulse transmitter is fixedly connected with the second laser pulse signal receiver...the Nth laser pulse transmitter is fixedly connected with the Nth laser pulse signal receiver.

[0056] It can be seen that each laser pulse transmitter corresponds one-to-one to each signal receiver, and the two are fixed together and move synchronously. This connection method can maximize the guarantee that the signal received by the signal receiver is the laser pulse emitted by the corresponding laser pulse transmitter, ensure the authenticity of the data received by the CPU, and improve the accuracy of the final ranging value.

[0057] In some embodiments of the present invention, Figure 1 As shown, the track group 300 includes a first track, a second track, ... an Nth track, and the specific shape of the track group is uncertain, and can be a mesh, square, rectangular, circular, elliptical, or irregular shape.

[0058] It can be seen that the specific shape of the track group can be determined according to the needs of the driver. This design can adapt to more usage environments and reduce the impact of the ranging environment on the accuracy of the ranging value.

[0059] In some embodiments of the present invention, Figure 1As shown, the CPU 500 receives various signals sent by the sensor group 600 , the processor 212 and the laser pulse signal receiving group 400 in real time, and the CPU 500 processes these signals in real time according to a preset program and sends various instruction signals to the processor 212 .

[0060] It can be seen that the main function of the CPU is to process the feedback information of each component, and according to the preset program, process this information and issue appropriate instructions to complete the distance measurement.

[0061] In some embodiments of the present invention, Figure 1 As shown, the sensor group 600 is composed of a plurality of sensors, including but not limited to a temperature sensor, a pressure sensor, a humidity sensor, and a brightness sensor.

[0062] It can be seen that the main function of the sensor group is to collect data about the environment around the laser pulse ranging device, and to feed it back to the CPU at any time to adjust the ranging, while providing a basis for the CPU to subsequently calculate the distance.

[0063] In some embodiments of the present invention, Figure 1 As shown, the reflector 700 can reflect the laser pulse emitted by the laser pulse probe 211 to the corresponding laser pulse signal receiver 410 .

[0064] It can be seen that the function of the reflector is mainly to reflect laser pulses and assist the signal receiver to complete signal reception.

[0065] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the working principle of the laser pulse ranging device 100 is as follows:

[0066] In the first step, the sensor group 600 detects changes in the environment in real time and sends relevant information to the CPU 500 in the form of signals. The CPU 500 processes the received signals according to a preset program and sends a command signal to each processor 212 in the laser pulse emission group 200;

[0067] In the second step, when the processor 212 receives the positioning signal, the processor 212 controls the motor 213 to rotate, and the laser pulse emission group 200 moves to a specific position of the track group 300;

[0068] Step 3: When the processor 212 receives the ranging signal, the processor 212 controls the laser pulse probe 211 to emit a laser pulse, which is reflected by the reflector 700, received by the laser pulse signal receiver 410 fixed together, and sent to the CPU 500 in real time;

[0069] In the fourth step, the CPU 500 processes all the signals fed back by the laser pulse signal receiving group 400 in this round according to the preset program to obtain a series of ranging values ​​Y: ① If the ranging value Y is normal, the average value Z of this round of ranging is obtained by weighted calculation. 1 Y 1 +X 2 Y 2 +X 3 Y 3 +…+X n Y n , where X is the effective coefficient, X 1 +X 2 +X 3 +…+X n = 100%, X is related to the distance measurement position, distance measurement environment and the number of effective distance measurement values ​​Y, for example, X 1 It can be one of 10%, 5%, 2%, 1.23%, or other percentages. ② If there is one abnormal data in the distance measurement value Y, then remove the data to obtain the average value Z of this round of distance measurement. ③ If there are more than two abnormal data in the distance measurement value Y, then all the distance measurement values ​​Y in this round will be invalidated.

[0070] Step 5: The CPU 500 sends multiple positioning signals to the processor 212 within the effective time, and repeats the second to fourth steps each time a positioning signal is received to obtain multiple sets of distance measurement average values ​​Z. 1 , Z 2 , Z 3 +…+Z n ;

[0071] In the sixth step, the CPU 500 identifies whether the average values ​​Z of the multiple groups of distance measurements are within the allowable error range. If a certain data item is not within the range, it is automatically eliminated, and the remaining normal data is averaged again to obtain the effective distance measurement value.

[0072] It can be seen that the use of this laser pulse ranging device can minimize the serious consequences caused by errors in single data testing. By verifying multiple rounds of data with each other and taking the average value, the impact of this error can be weakened, making the final distance measurement closest to the actual distance.

[0073] In summary, by using laser pulses as a distance measurement method, the point-to-point distance can be obtained multiple times per unit time, thereby improving the accuracy of the distance obtained per unit time; the design of this laser pulse distance measurement device can effectively prevent non-parallel surface distance measurement, while increasing the distance measurement range and further improving the accuracy of distance measurement between surfaces.

[0074] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A laser pulse ranging device, It is characterized in that The laser pulse ranging device comprises a laser pulse transmitting group, a track group, a laser pulse signal receiving group, a CPU, a sensor group, and a reflector; The laser pulse emission group is composed of a plurality of laser pulse emitters, and the laser pulse emitters include a laser pulse probe, a processor, and a motor; The laser pulse signal receiving group is composed of a plurality of laser pulse signal receivers; The processor can adjust the position of the laser pulse probe according to the signal fed back by the CPU, and the processor can control the operation mode of the motor to control the laser pulse probe to move along the track set.

2. A laser pulse ranging device as claimed in claim 1, It is characterized in that The laser pulse emission group includes a first laser pulse emitter, a second laser pulse emitter, ... an Nth laser pulse emitter.

3. A laser pulse ranging device as claimed in claim 1, It is characterized in that The laser pulse signal receiving group includes a first laser pulse signal receiver, a second laser pulse signal receiver...an Nth laser pulse signal receiver. The laser pulse signal receiving group is used to receive the laser pulse signal of the laser pulse emitting group. The laser pulse signal receiving group sends each received laser pulse signal to the CPU in real time.

4. A laser pulse ranging device as claimed in claim 1, It is characterized in that Each laser pulse transmitter of the laser pulse transmitting group is connected one-to-one with each laser pulse signal receiver of the laser pulse signal receiving group, that is, the first laser pulse transmitter is fixedly connected with the first laser pulse signal receiver, the second laser pulse transmitter is fixedly connected with the second laser pulse signal receiver...the Nth laser pulse transmitter is fixedly connected with the Nth laser pulse signal receiver.

5. A laser pulse ranging device as claimed in claim 1, It is characterized in that The track group includes a first track, a second track, ... an Nth track.

6. A laser pulse ranging device as claimed in claim 1, It is characterized in that The CPU receives various signals sent by the sensor group, the processor and the laser pulse signal receiving group in real time, processes these signals in real time according to a preset program and sends various instruction signals to the processor.

7. A laser pulse ranging device as claimed in claim 1, It is characterized in that The sensor group is composed of a plurality of sensors, including but not limited to a temperature sensor, a pressure sensor, a humidity sensor, and a brightness sensor.

8. A laser pulse ranging device as claimed in claim 1, It is characterized in that The reflector can reflect the laser pulse emitted by the laser pulse probe to the corresponding laser pulse signal receiver.

9. A laser pulse ranging device as claimed in claim 1, It is characterized in that The working principle of the laser pulse ranging device is as follows: In the first step, the sensor group detects changes in the environment in real time and sends relevant information to the CPU in the form of signals. The CPU processes the received signals according to a preset program and sends a command signal to each processor in the laser pulse emission group; In the second step, when the processor receives the positioning signal, the processor controls the motor to rotate, and the laser pulse emission group moves to a specific position of the track group; The third step is that when the processor receives the ranging signal, the processor controls the laser pulse probe to emit a laser pulse, and the laser pulse is reflected by the reflector, received by a laser pulse signal receiver fixed together, and sent to the CPU in real time; In the fourth step, the CPU processes all the signals fed back by the laser pulse signal receiving group in this round according to the preset program to obtain a series of ranging values ​​Y: ① If there is no abnormality in the ranging value Y, the average ranging value Z of this round is obtained by weighted calculation, where X is the effective coefficient, and X is related to the ranging position, ranging environment and the number of effective ranging values ​​Y; ② If there is an abnormal data in the ranging value Y, the data is removed to obtain the average ranging value Z of this round; ③ If there are more than two abnormal data in the ranging value Y, all ranging values ​​Y of this round are invalidated; Step 5: The CPU sends multiple positioning signals to the processor within the effective time, and repeats the second to fourth steps each time a positioning signal is received to obtain multiple sets of distance measurement average values ​​Z 1 , Z 2 , Z 3 +…+Z n ; In the sixth step, the CPU identifies whether the average values ​​Z of the multiple groups of distance measurements are within the allowable error range. If a certain data item is not within the range, it is automatically eliminated, and the remaining normal data is averaged again to obtain the effective distance measurement value.

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