CN106405563A - A distance measuring system and a method for calibrating the distance measuring system - Google Patents
A distance measuring system and a method for calibrating the distance measuring system Download PDFInfo
- Publication number
- CN106405563A CN106405563A CN201510456092.9A CN201510456092A CN106405563A CN 106405563 A CN106405563 A CN 106405563A CN 201510456092 A CN201510456092 A CN 201510456092A CN 106405563 A CN106405563 A CN 106405563A
- Authority
- CN
- China
- Prior art keywords
- assembly
- receiving
- transmitting
- mirror group
- calibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 14
- 230000003287 optical effect Effects 0.000 claims description 41
- 238000005259 measurement Methods 0.000 claims description 14
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
技术领域technical field
本发明涉及一种激光测距装置，特别涉及一种测距系统及校准测距系统的方法。The invention relates to a laser ranging device, in particular to a ranging system and a method for calibrating the ranging system.
背景技术Background technique
手持式激光测距仪在工程、建筑、勘测等领域得到广泛应用，激光测距仪一般包括发射单元、准直透镜和接收单元，发射单元发射激光束到被测物体上，再通过反射被接收单元所接收，依据经调制的光线相对发射单元的相位，得到被测物的距离。Hand-held laser range finders are widely used in engineering, construction, surveying and other fields. Laser range finders generally include a transmitting unit, a collimating lens and a receiving unit. Received by the unit, according to the phase of the modulated light relative to the emitting unit, the distance of the measured object is obtained.
在激光测距过程中，发射光和接收光的光轴需要与镜组平行或基本平行，但实际中，由于接收单元测光面存在直径误差，且受镜组焦距等因素制约，现有测距仪的测距精度往往达不到理想高精度要求。In the process of laser ranging, the optical axes of the emitted light and the received light need to be parallel or basically parallel to the mirror group. The ranging accuracy of the range meter often does not meet the ideal high precision requirements.
另外，随着便携化要求越来越高，对测距系统的尺寸要求也越来越高，现有技术中测距仪由于受结构限制，尺寸相对较大，携带不方便。In addition, as the requirements for portability become higher and higher, the requirements for the size of the distance measuring system are also higher and higher. In the prior art, the range finder is relatively large in size due to structural limitations and is inconvenient to carry.
发明内容Contents of the invention
为了克服现有技术不足，本发明提供一种测距系统，包括：In order to overcome the deficiencies of the prior art, the present invention provides a ranging system, including:
装配体；assembly;
电路板，所述电路板固定在所述装配体的一端；a circuit board fixed to one end of the assembly;
发射组件，所述发射组件用于光束发射；an emission component, the emission component is used for beam emission;
接收镜组，所述接收镜组接收被测物反射回来的光，所述接收镜组设置在所述装配体上；a receiving mirror group, the receiving mirror group receives the light reflected back by the measured object, and the receiving mirror group is arranged on the assembly;
接收传感器，所述接收传感器固定在所述电路板上，用来识别所述接收镜组接收到的带有测距信息的反射光；A receiving sensor, the receiving sensor is fixed on the circuit board, and is used to identify the reflected light with distance measurement information received by the receiving mirror group;
其中，所述发射组件和所述接收镜组集成为一体，形成校准组件，所述校准组件可以在至少一个方向上移动。Wherein, the transmitting assembly and the receiving mirror group are integrated to form a calibration assembly, and the calibration assembly can move in at least one direction.
优选地，所述发射组件包括发射镜组和发射器，所述发射镜组设置在所述发射器的前方，所述发射镜组对所述发射器发射的光束进行聚焦、准直，并形成发射光路。Preferably, the emitting assembly includes an emitting mirror group and an emitter, the emitting mirror group is arranged in front of the emitter, the emitting mirror group focuses and collimates the light beam emitted by the emitter, and forms emit light path.
优选地，所述接收镜组中间位置形成一个通孔，所述发射组件固定设置在所述通孔内。Preferably, a through hole is formed in the middle of the receiving mirror group, and the emitting assembly is fixedly arranged in the through hole.
优选地，所述校准组件可以在两个方向上移动。Preferably, said calibration assembly is movable in two directions.
优选地，所述校准组件可以在三个方向上移动。Preferably, said calibration assembly is movable in three directions.
本发明还提供了一种校准测距系统的方法，所述测距系统包括：The present invention also provides a method for calibrating a ranging system, the ranging system comprising:
装配体；assembly;
电路板，所述电路板固定在所述装配体的一端；a circuit board fixed to one end of the assembly;
发射组件，所述发射组件用于光束发射，形成发射光路；An emission component, the emission component is used for beam emission to form an emission optical path;
接收镜组，所述接收镜组接收被测物反射回来的光，形成接收光路，所述接收镜组设置在所述装配体上；a receiving mirror group, the receiving mirror group receives the light reflected back by the measured object to form a receiving optical path, and the receiving mirror group is arranged on the assembly;
接收传感器，所述接收传感器固定在所述电路板上，用来识别所述接收镜组接收到的带有测距信息的反射光；A receiving sensor, the receiving sensor is fixed on the circuit board, and is used to identify the reflected light with distance measurement information received by the receiving mirror group;
其中，所述发射组件和所述接收镜组集成为一体，形成校准组件，所述校准组件可以在至少一个方向上移动；Wherein, the transmitting assembly and the receiving mirror group are integrated to form a calibration assembly, and the calibration assembly can move in at least one direction;
该方法为：通过所述校准组件的移动，调节发射光路和接收光路，进而实现发射光路与接收光路重合。The method is as follows: through the movement of the calibration component, the transmitting optical path and the receiving optical path are adjusted, and then the overlapping of the transmitting optical path and the receiving optical path is realized.
优选地，所述发射组件包括发射镜组和发射器，所述发射镜组设置在所述发射器的前方，所述发射镜组对所述发射器发射的光束进行聚焦、准直，并形成发射光束。Preferably, the emitting assembly includes an emitting mirror group and an emitter, the emitting mirror group is arranged in front of the emitter, the emitting mirror group focuses and collimates the light beam emitted by the emitter, and forms emit beams.
优选地，所述接收镜组中间位置形成一个通孔，所述发射组件固定设置在所述通孔内Preferably, a through hole is formed in the middle of the receiving mirror group, and the emitting assembly is fixedly arranged in the through hole
优选地，所述校准组件可以在两个方向上移动。Preferably, said calibration assembly is movable in two directions.
优选地，所述校准组件可以在三个方向上移动。Preferably, said calibration assembly is movable in three directions.
本发明通过将发射组件和接收镜组集成为一体，从而实现发射光路与接收光路的一致重合，达到校准光路，本发明结构简单、集成度高，节省了元件布置空间，实现产品尺寸较小化，且光路校准方法合理，大大提高了测距精度。The present invention integrates the transmitting assembly and the receiving mirror group to realize the coincidence of the transmitting optical path and the receiving optical path to achieve the calibration of the optical path. The present invention has simple structure and high integration, saves the space for component layout, and realizes the miniaturization of product size. , and the optical path calibration method is reasonable, which greatly improves the ranging accuracy.
附图说明Description of drawings
图1是本发明测距系统结构示意图；Fig. 1 is a schematic structural diagram of the ranging system of the present invention;
具体实施方式detailed description
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整地描述，以充分地理解本发明的目的、特征和效果。The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features and effects of the present invention.
参照图1所示，本发明提供一种测距系统，包括装配体1、接收镜组2、接收传感器3、电路板4和发射组件5，所述电路板4固定在所述装配体1的一端，本发明中，所述发射组件5和接收镜组2集成为一体，形成校准组件，校准组件的移动调节实现发射光路与接收光路的一致重合，校准后固定发射组件和接收镜组的位置，达到校准光路、提高测距精度的目的。Referring to Fig. 1, the present invention provides a distance measuring system, comprising an assembly 1, a receiving lens group 2, a receiving sensor 3, a circuit board 4 and a transmitting assembly 5, and the circuit board 4 is fixed on the assembly 1 At one end, in the present invention, the transmitting assembly 5 and the receiving mirror group 2 are integrated to form a calibration assembly, the movement and adjustment of the calibration assembly realizes the consistent coincidence of the transmitting optical path and the receiving optical path, and the positions of the transmitting assembly and the receiving mirror group are fixed after calibration , to achieve the purpose of calibrating the optical path and improving the ranging accuracy.
具体地说，所述发射组件5包括激光二极管发射器和发射透镜，所述发射透镜设置在所述激光二极管发射器的前端，所述发射器用于发射激光，发射透镜对发射激光进行聚焦、准直，发射器发射的激光束经过发射透镜准直后形成发射光路，发射到待测物上，用于距离测量。Specifically, the emitting assembly 5 includes a laser diode emitter and an emitting lens, the emitting lens is arranged at the front end of the laser diode emitter, the emitter is used for emitting laser light, and the emitting lens focuses and collimates the emitted laser light. Straight, the laser beam emitted by the transmitter is collimated by the emitting lens to form an emitting optical path, which is emitted to the object to be measured for distance measurement.
所述接收镜组2设置在所述装配体1上，所述接收镜组2接收被测物反射回来的光，形成接收光路，并对反射回的光束进行聚焦。本实施例中，所述接收镜组2中间位置形成一个通孔，所述发射组件5固定设置在所述通孔内，接收镜组和发射组件实现高度集成，节省测距系统的空间布置，且集成设计后，发射光路和接收光路可以快速实现校准重合。The receiving mirror group 2 is arranged on the assembly body 1, and the receiving mirror group 2 receives the light reflected by the object to be measured, forms a receiving optical path, and focuses the reflected light beam. In this embodiment, a through hole is formed in the middle of the receiving mirror group 2, and the transmitting assembly 5 is fixedly arranged in the through hole, so that the receiving mirror group and the transmitting assembly are highly integrated, saving the space arrangement of the ranging system, And after the integrated design, the transmitting optical path and the receiving optical path can quickly achieve calibration coincidence.
所述接收传感器3固定设置在所述电路板4上，用于识别所述接收镜组接收到的带有测距信息的反射光，并将接收光路信息传给所述电路板4上的信号单元，实现精确校准和数据测量。The receiving sensor 3 is fixedly arranged on the circuit board 4, and is used to identify the reflected light with distance measurement information received by the receiving mirror group, and transmit the receiving optical path information to the signal on the circuit board 4 unit for precise calibration and data measurement.
图1示出了本发明优选实施例，本实施例中，所述校准组件可以在一个方向上移动(即X轴向上移动)，当校准组件移动到一定位置时，发射光路与接收光路一致重合，达到校准目的后固定发射组件和接收镜组的位置，实现精确测量。Fig. 1 shows a preferred embodiment of the present invention, in this embodiment, the calibration assembly can move in one direction (that is, the X axis moves upward), when the calibration assembly moves to a certain position, the emission optical path is consistent with the receiving optical path Coincidentally, after the calibration purpose is achieved, the positions of the transmitting assembly and the receiving mirror group are fixed to achieve accurate measurement.
作为可选地，校准组件也可以在两个方向上(X、Y方向上，或者X、Z方向上)移动，甚至可以在三个方向上(X、Y、Z方向上)同时移动，达到光路校准调节的目的。As an option, the calibration component can also move in two directions (X, Y directions, or X, Z directions), or even move simultaneously in three directions (X, Y, Z directions), to achieve The purpose of optical path calibration adjustment.
本发明结构简单、集成度高，优化了元器件布置空间，减小了测距仪的尺寸，同时实现快速校准的目的。The invention has simple structure and high integration, optimizes the arrangement space of components and parts, reduces the size of the range finder, and realizes the purpose of fast calibration at the same time.
本发明还提供了一种校准测距系统的方法；The invention also provides a method for calibrating the ranging system;
参照图1所示，本发明中测距系统包括装配体1、接收镜组2、接收传感器3、电路板4和发射组件5，所述电路板4固定在所述装配体1的一端，本发明中，所述发射组件5和接收镜组2集成为一体，形成校准组件，校准组件的移动调节实现发射光路与接收光路的一致重合，达到校准光路、提高测距精度的目的。Referring to Fig. 1, the distance measuring system in the present invention includes an assembly 1, a receiving mirror group 2, a receiving sensor 3, a circuit board 4 and a transmitting assembly 5, and the circuit board 4 is fixed on one end of the assembly 1, the present invention In the invention, the transmitting assembly 5 and the receiving mirror group 2 are integrated to form a calibration assembly, and the movement adjustment of the calibration assembly realizes the coincidence of the transmitting optical path and the receiving optical path, achieving the purpose of calibrating the optical path and improving the distance measurement accuracy.
具体地说，所述发射组件5包括激光二极管发射器和发射透镜，所述发射透镜设置在所述激光二极管发射器的前端，所述发射器用于发射激光，发射透镜对发射激光进行聚焦、准直，发射器发射的激光束经过发射透镜准直后形成发射光路，发射到待测物上，用于距离测量。Specifically, the emitting assembly 5 includes a laser diode emitter and an emitting lens, the emitting lens is arranged at the front end of the laser diode emitter, the emitter is used for emitting laser light, and the emitting lens focuses and collimates the emitted laser light. Straight, the laser beam emitted by the transmitter is collimated by the emitting lens to form an emitting optical path, which is emitted to the object to be measured for distance measurement.
所述接收镜组2设置在所述装配体1上，所述接收镜组2接收被测物反射回来的光，形成接收光路，并对反射回的光束进行聚焦。本实施例中，所述接收镜组2中间位置形成一个通孔，所述发射组件5固定设置在所述通孔内，接收镜组和发射组件实现高度集成，节省测距系统的空间布置，且集成设计后，发射光路和接收光路可以快速实现校准重合。The receiving mirror group 2 is arranged on the assembly body 1, and the receiving mirror group 2 receives the light reflected by the object to be measured, forms a receiving optical path, and focuses the reflected light beam. In this embodiment, a through hole is formed in the middle of the receiving mirror group 2, and the transmitting assembly 5 is fixedly arranged in the through hole, so that the receiving mirror group and the transmitting assembly are highly integrated, saving the space arrangement of the ranging system, And after the integrated design, the transmitting optical path and the receiving optical path can quickly achieve calibration coincidence.
所述接收传感器3固定设置在所述电路板4上，用于识别所述接收镜组接收到的带有测距信息的反射光，并将接收光路信息传给所述电路板4上的信号单元，实现精确校准和数据测量。The receiving sensor 3 is fixedly arranged on the circuit board 4, and is used to identify the reflected light with distance measurement information received by the receiving mirror group, and transmit the receiving optical path information to the signal on the circuit board 4 unit for precise calibration and data measurement.
图1示出了本发明优选实施例，本实施例中，所述校准组件可以在一个方向上移动(即X轴向上移动)，当校准组件移动到一定位置时，发射光路与接收光路一致重合，达到校准目的后固定发射组件和接收镜组的位置，实现精确测量。Fig. 1 shows a preferred embodiment of the present invention, in this embodiment, the calibration assembly can move in one direction (that is, the X axis moves upward), when the calibration assembly moves to a certain position, the emission optical path is consistent with the receiving optical path Coincidentally, after the calibration purpose is achieved, the positions of the transmitting assembly and the receiving mirror group are fixed to achieve accurate measurement.
作为可选地，校准组件也可以在两个方向上(X、Y方向上，或者X、Z方向上)移动，甚至可以在三个方向上(X、Y、Z方向上)同时移动，达到光路校准调节的目的。As an option, the calibration component can also move in two directions (X, Y directions, or X, Z directions), or even move simultaneously in three directions (X, Y, Z directions), to achieve The purpose of optical path calibration adjustment.
使用时，通过校准组件(接收镜组)的位置移动来调节校准光路，由于发射组件和接收镜组集成为一体，所以可以快速实现发射光路和接收光路重合，达到光路校准目的后，固定发射组件和接收镜组的位置，实现精确测量。When in use, the calibration optical path is adjusted by moving the position of the calibration component (receiving mirror group). Since the transmitting component and the receiving mirror group are integrated, the overlapping of the transmitting optical path and the receiving optical path can be quickly realized. After achieving the purpose of optical path calibration, fix the transmitting component and the position of the receiving lens group to achieve accurate measurement.
以上所述实施例仅表达了本发明的具体实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express the specific implementation manner of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510456092.9A CN106405563A (en) | 2015-07-29 | 2015-07-29 | A distance measuring system and a method for calibrating the distance measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510456092.9A CN106405563A (en) | 2015-07-29 | 2015-07-29 | A distance measuring system and a method for calibrating the distance measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106405563A true CN106405563A (en) | 2017-02-15 |
Family
ID=58008961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510456092.9A Pending CN106405563A (en) | 2015-07-29 | 2015-07-29 | A distance measuring system and a method for calibrating the distance measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106405563A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002311A (en) * | 2019-04-26 | 2019-07-12 | 快意电梯股份有限公司 | Load superelevation early warning elevator |
| CN112074759A (en) * | 2018-04-28 | 2020-12-11 | 深圳市大疆创新科技有限公司 | Light detection and ranging sensor with multiple emitters and multiple receivers and associated systems and methods |
| WO2025228392A1 (en) * | 2024-04-30 | 2025-11-06 | 深圳乐动机器人股份有限公司 | Optical range finding device and autonomous mobile robot |
-
2015
- 2015-07-29 CN CN201510456092.9A patent/CN106405563A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112074759A (en) * | 2018-04-28 | 2020-12-11 | 深圳市大疆创新科技有限公司 | Light detection and ranging sensor with multiple emitters and multiple receivers and associated systems and methods |
| US12392874B2 (en) | 2018-04-28 | 2025-08-19 | SZ DJI Technology Co., Ltd. | Light detection and ranging sensors with multiple emitters and multiple receivers, and associated systems and methods |
| CN110002311A (en) * | 2019-04-26 | 2019-07-12 | 快意电梯股份有限公司 | Load superelevation early warning elevator |
| WO2025228392A1 (en) * | 2024-04-30 | 2025-11-06 | 深圳乐动机器人股份有限公司 | Optical range finding device and autonomous mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101430377B (en) | APD array-based non-scanning 3D imaging lidar optical system | |
| CN109520425B (en) | Precise tracking error testing device and testing method | |
| KR102114781B1 (en) | Implementation of focal plane 2D APD array for Hyperion Rider systems | |
| CN105676229B (en) | A laser ranging structure suitable for low range | |
| CN204789995U (en) | a ranging system | |
| CN108594246B (en) | A multifunctional laser rangefinder | |
| WO2016187938A1 (en) | Ranging system and method for calibrating ranging system | |
| CN106405563A (en) | A distance measuring system and a method for calibrating the distance measuring system | |
| CN205139368U (en) | Novel phase type laser distance -measurement appearance | |
| WO2018201566A1 (en) | Laser detection device, and application method thereof | |
| CN204989470U (en) | a ranging system | |
| CN104061862B (en) | Remote displacement measurement system based on position sensor | |
| CN203720351U (en) | Laser radar measuring instrument for measuring object angles and angular velocities accurately | |
| CN204439834U (en) | Hand-held laser rangefinder | |
| CN103234457A (en) | Digital imaging-based multi-beam displacement measurement method | |
| CN108169755A (en) | A kind of High Precision Long-distance laser range finder and distance measuring method | |
| US9605954B2 (en) | Distance measuring laser pointer | |
| CN203224628U (en) | Laser range finder | |
| CN101634723B (en) | Device and method for debugging emitter position of ceilometer | |
| CN106501810A (en) | A distance measuring system and a method for calibrating the optical path of the distance measuring system | |
| CN103994751A (en) | Laser pointer capable of measuring distance and related method thereof | |
| CN204855804U (en) | ranging system | |
| CN209310741U (en) | A kind of precise displacement sensor | |
| CN108369347B (en) | Beam shaping unit, ranging device and laser lighting device | |
| CN104655005B (en) | A kind of combined type noncontact space coordinates measurement apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170215 |