CN116381708A - High-precision laser triangular ranging system - Google Patents
High-precision laser triangular ranging system Download PDFInfo
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- CN116381708A CN116381708A CN202310665852.1A CN202310665852A CN116381708A CN 116381708 A CN116381708 A CN 116381708A CN 202310665852 A CN202310665852 A CN 202310665852A CN 116381708 A CN116381708 A CN 116381708A
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- 238000001514 detection method Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 230000003746 surface roughness Effects 0.000 description 5
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- 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
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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Abstract
The invention discloses a high-precision laser triangular ranging system, which comprises: a transmitting assembly, a receiving assembly and a signal processing unit; the transmitting component transmits laser to the surface of the object to be detected for reflection; the receiving component receives the reflected laser and analyzes the reflected laser through the signal processing unit to calculate the distance; the receiving assembly comprises a photosensitive element and a receiving group lens; the receiving group mirror is used for elongating the light spot; the direction of the photosensitive element and the receiving light spot form a certain included angle, so as to improve the resolution of the light spot; according to the invention, the light spots are elongated, the angle of the photosensitive element is adjusted, the number of photosensitive pixels is increased, and further finer ranging information is obtained, so that the ranging stability and the ranging precision are improved.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a high-precision laser triangular ranging system.
Background
At present, with the continuous development of laser technology, various characteristics of laser are applied to various fields, wherein the laser technology is rapidly developed in the ranging field. At present, most projects use a laser range finder for ranging, which brings great convenience to people just because of higher accuracy and higher timeliness of the laser range finder.
However, due to the limitation of the resolution of the receiving module, when the resolution of the receiving module is insufficient, the detection accuracy of the object distance is limited, and the minimum resolution of the distance measurement is also limited by the resolution of the detecting device; when the single-line array detector is used for detecting returned light spots, an object on the same plane is tested, when laser strikes different positions on the surface, the reflected light spot forms are different due to the difference between the laser and the surface roughness, when the resolution ratio is insufficient, the center positioning error of 1 to 2pixel points is easily generated due to relatively small form change, the tested light spot position is easily deviated, and the testing precision is influenced.
Therefore, how to improve the ranging accuracy and stability of the system is a problem that needs to be solved by those skilled in the art in the case of limited resolution of the detection unit.
Disclosure of Invention
In view of the above, the invention provides a high-precision laser triangulation ranging system, which improves the utilization rate of target surfaces, is beneficial to reducing the number of target surfaces of photosensitive elements, and reduces the size and cost of the photosensitive elements; and more ranging information is obtained, which is helpful for improving ranging stability and ranging accuracy.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a high precision laser triangulation ranging system comprising: a transmitting assembly, a receiving assembly and a signal processing unit; the emitting component emits laser to the surface of the object to be detected for reflection; the receiving component receives the reflected laser and forms a light spot; the signal processing unit is used for carrying out positioning analysis on the light spots and calculating the distance; the receiving assembly comprises a photosensitive element and a receiving group mirror; the receiving group mirror is used for elongating the light spot; the photosensitive elements are disposed at an angle along the elongation direction for improving the resolution of the light spots.
Further, the receiving lens is a cylindrical lens, a powell lens or a diffractive optical element.
Further, the photosensitive element is a single-linear-array photosensitive device or a multi-linear-array photosensitive device.
Further, the elongated direction is longitudinal.
Furthermore, the signal processing unit adopts a Gaussian fitting method, a centroid method, a square weighted centroid method or a matching method to position the light spot.
Further, the Gaussian fitting method is adopted for positioning, and the method specifically comprises the following steps: high heightThe fitting curve is:
the method comprises the steps of carrying out a first treatment on the surface of the And according to the pixel brightness distribution obtained by the photosensitive element, obtaining an optimal solution when the residual error is minimum by adopting a least square method, obtaining an optimal fitting curve, and further obtaining the central position.
Further, the centroid method is adopted for positioning, and specifically:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein X is the centroid position of the light spot; />
Is->
Centroid position of individual pixels; />
Is->
Gray values of the individual pixels; n is the initial coordinate value of normal distribution of the facula pixels.
Further, the square centroid method is adopted for positioning, and specifically:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein X is the centroid position of the light spot; ->
Centroid position for the ith pixel>
Is the gray value of the i-th pixel.
The invention has the beneficial effects that: compared with the prior art, the high-precision laser triangulation ranging system provided by the invention has the advantages that the light spots are lengthened, the angle of the photosensitive element is adjusted, the number of target surface pixels for effectively capturing the light spot information is increased, the target surface use efficiency is improved, the ranging stability and the ranging precision are improved, and the light spot offset errors caused by the surfaces of objects with different roughness are greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a high-precision laser triangulation ranging system provided by the invention.
Fig. 2 is a schematic diagram showing the contrast of the imaging effect of the light spot in the embodiment of the invention.
FIG. 3 is a schematic diagram showing the contrast of the brightness of the light spot according to the embodiment of the invention.
FIG. 4 is a schematic diagram of experimental results provided in the examples of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention discloses a high-precision laser triangulation ranging system, which includes: a transmitting assembly, a receiving assembly and a signal processing unit; the transmitting component transmits laser to the surface of the object to be detected for reflection; the receiving component receives the reflected laser and forms a light spot; the signal processing unit is used for carrying out positioning analysis on the light spots and calculating the distance; the receiving assembly comprises a photosensitive element and a receiving group lens; the receiving group mirror is used for elongating the light spot; the photosensitive element is disposed obliquely in the elongated direction for enlarging the photosensitive area.
In one embodiment, an emission assembly includes a light source and an emission set mirror; the light source emits laser to irradiate the object to be measured at a certain position through the emission component, two different positions, such as position 1 and position 2, the laser paths of the laser reflected at the position 1 and the position 2 are shown in fig. 1, and finally the two positions are different at the imaging position of the photosensitive element, so that the distance can be calculated by positioning the imaging position of the light spot.
The invention can improve the service efficiency of the photosensitive element by adjusting the angle of the photosensitive element, thereby achieving the function of improving the resolution of the display system. For example, the original photosensitive element sensor has 512 pixels in single column, and in the test range of 200-600mm, only 1/3 of the target surface of the photosensitive element can be used due to the structural limitation of a test system, and the use ratio of the target surface of the photosensitive element is improved by elongating the length of a light source and changing the angles of light rays and the light device, namely the number of effective pixel points is increased.
As shown in fig. 2, when the distance of the reflecting surface changes, the spot (light) moves in the base line direction. Part (a) represents the area of the conventional photosensitive element that is sensitive to the actual light spot; part (c) shows the sensing area of the light sensing element to the actual light spot after the light spot is elongated and the included angle between the light and the light sensing element is changed.
When the included angle between the sensor and the light changes, the center position of the photosensitive area on the sensor shifts, namely the length of the corresponding effective target surface changes. The total pixel number of the effective area used after the primary light spot returns to the sensor is set as
After being converted into a linear light source, the sensor uses the pixel number +.>
When->
At 72 deg. the number of effective pixels is 3.23 times the original number. As can be seen by comparing (b) and (d), the overlapping area of the photosensitive element in part (a) and the actual light spot is smaller, i.e. there are few target surfaces on the photosensitive element, for a test range of 200-600mmThe method is used for acquiring signals of light spots, so that a peak signal can be represented by more pixels through expansion of a light source, and the use efficiency of a target surface is improved well. The width of the detection peak on the photosensitive element can be widened by elongating the light spot and adjusting the angle, the light spot position can be more accurately positioned through a positioning algorithm, the distance value corresponding to the surface test of the reflectors with different materials does not have great deviation, and the distance measurement result is more stable.
As shown in fig. 3, fig. 3 (a) and (b) are respectively a spot brightness representation of the conventional ranging method and a spot brightness representation of the present invention; comparing (a) and (b) in fig. 3, one peak in (a) is represented by 5 pixels, and when testing different object surfaces, it is a very common phenomenon that the peak deviates by 1 pixel, and 1 pixel corresponds to a ranging error of about 2 mm. The same distance measuring system is adopted, the reflected single-point light source is changed into a linear light source, as shown in (b) of fig. 3, after the reflected single-point light source is received by the photosensitive element through the adjustment angle, the reflected peak represented by the reflected single-point light source can be widened to be N (for example, when 72 degrees, N=3.23) times of the original peak, and the error of the corresponding single pixel is changed into 1/3.23 of the original distance measuring error. The more pixel points are used to perform the positioning calculation of the distance, the more pixels, the higher the resolution of the distance. As shown in fig. 4, when the surface roughness of the reflecting object changes, the position of the light spot is easily shifted, the detection result shows that the distance changes, and the change of the surface roughness easily causes the distance jitter during the distance measurement. Different positions of the same object are tested at the same distance (the surface roughness of the different positions are different), the pixel position-brightness map of 10 times is detected as shown in fig. 4 (a), and the detection result of the test 1000 sets of data is shown in fig. 4 (b). By adopting the mode of the patent, the light spots are widened, the distance is calculated after the angle is adjusted, and the positions (the surface roughness is different) of different surfaces under the same distance, and the corresponding 10 groups of test data and 1000 groups of test results are shown as (c) and (d) in fig. 4.
It can be seen from fig. 4 (a) that the maximum position of the spot is shifted by 1 pixel, the corresponding peak center of gravity calculation result change amount is about 1 pixel, and the final detection distance jitter is about 2 mm. As a result of the test after widening the light source, the corresponding offset was about 0.8 pixels and the corresponding distance jitter was about 0.5mm as shown in fig. 4 (c). Therefore, the object is tested in the same way through the method, and the distance measurement precision can be improved by multiple times through the method without causing larger distance measurement error due to the change of the roughness of the surface when the object is horizontally moved at the same distance.
In one embodiment, the receiving set of mirrors is a cylindrical lens, a powell lens, or a diffractive optical element. By adopting a cylindrical lens (or other light source elements) to elongate the original point light source, the long axis direction of the light is set as the x axis, the direction perpendicular to the light is set as the y axis, and when the light spot is elongated, the light source is ensured to have better uniformity in the x direction and is Gaussian distributed in the y direction as much as possible.
In another embodiment, the optical element is a single-line photosensitive device or a multiple-line photosensitive device.
In one embodiment, the signal processing unit may employ a gaussian fitting method, a centroid method, a square weighted centroid method, a matching method, or the like to locate the light spot.
Gaussian fitting and centroid algorithms are summarized as follows: the brightness distribution of the light spots generally accords with Gaussian distribution, the light intensity of the light spot signals of the reflected light spots collected on the photosensitive element is required to meet the Gaussian distribution, and therefore, it is common practice to locate the center position of the point light spots by adopting Gaussian fitting. A gaussian model may be used to curve fit the laser intensity distribution.
Assume that the brightness distribution of the nth pixel acquired on the photodetector is (x) 1 ，I 1 )， (x 2 ，I 2 )，…，(x n ，I n ) Then a gaussian template may be used for fitting, the gaussian template being of the formula:
(1) The method comprises the steps of carrying out a first treatment on the surface of the In (1) the->
Representing the amplitude of the curve, +.>
Represents the central position of the curve on the x-axis, < >>
The standard deviation in the x-direction is indicated. These parameters are all coefficients to be fitted when the signal is gaussian fitted. The principle of gaussian fitting is to minimize its mean square error.
Taking the logarithm of both sides of the formula (1) can obtain the following formula:
(2) The method comprises the steps of carrying out a first treatment on the surface of the The problem can be converted into a unitary quadratic polynomial problem +.>
(3) The method comprises the steps of carrying out a first treatment on the surface of the In the formula (3), ->
，/>
，/>
And solving a mode of minimizing the sum of squares of residual errors through a least square method to obtain an optimal Gaussian fitting curve, and further solving the center position.
Centroid method:
(4) The method comprises the steps of carrying out a first treatment on the surface of the In the formula (4), ->
Is the centroid position of the light spot; />
Is->
Centroid position of individual pixels>
Is->
And N is the initial coordinate value of normal distribution of the facula pixels.
On the basis of a centroid method, a weighted average calculation method is adopted, the square of a gray value is used for replacing the gray value as a calculated weight, the influence of a larger gray value close to the center position on the centroid is emphasized, and the influence of white noise on calculation accuracy can be effectively reduced. The expression for the average weighted centroid method is as follows:
the method comprises the steps of carrying out a first treatment on the surface of the And (3) carrying out positioning solution on the peak of the curve through the brightness curve acquired by the photosensitive element, and further positioning the position of the reflection light spot.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A high precision laser triangulation ranging system, comprising: a transmitting assembly, a receiving assembly and a signal processing unit;
the emitting component emits laser to the surface of the object to be detected for reflection;
the receiving component receives the reflected laser and forms a linear light spot;
the signal processing unit is used for carrying out positioning analysis on the light spots and calculating the distance;
the receiving assembly comprises a photosensitive element and a receiving group mirror;
the receiving group mirror is used for elongating the light spot; the photosensitive elements are disposed at an angle along the elongation direction for improving the resolution of the light spots.
2. The high precision laser triangulation ranging system as claimed in claim 1, wherein said receiving set of mirrors is a cylindrical lens, a powell lens or a diffractive optical element.
3. The high-precision laser triangulation ranging system according to claim 1, wherein the photosensitive element is a single-line photosensitive device or a multi-line photosensitive device.
4. A high precision laser triangulation ranging system as claimed in claim 1, wherein said elongated direction is longitudinal.
5. The high-precision laser triangulation ranging system according to claim 1, wherein the signal processing unit is configured to locate the light spot by using a gaussian fitting method, a centroid method, a square weighted centroid method or a matching method.
6. The high-precision laser triangulation ranging system according to claim 5, wherein the positioning is performed by a gaussian fitting method, specifically:
the gaussian fitting curve is:
wherein,,
representing the amplitude of the curve, +.>
Represents the central position of the curve on the x-axis, < >>
Represents the standard deviation in the x direction;
and according to the pixel brightness distribution obtained by the photosensitive element, obtaining an optimal solution when the residual error is minimum by adopting a least square method, obtaining an optimal fitting curve, and further obtaining the central position.
7. The high-precision laser triangulation ranging system according to claim 5, wherein the positioning is performed by using a centroid method, specifically:
wherein X is the centroid position of the light spot;
is->
Centroid position of individual pixels; />
Is->
Gray values of the individual pixels; n is the initial coordinate value of normal distribution of the facula pixels.
8. The high-precision laser triangulation ranging system according to claim 5, wherein the positioning is performed by adopting a square centroid method, specifically:
wherein X is the centroid position of the light spot;
centroid position for the ith pixel>
Is the gray value of the i-th pixel.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117192562A (en) * | 2023-10-25 | 2023-12-08 | 武汉市品持科技有限公司 | Laser ranging sensor and ranging method thereof |
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Application publication date: 20230704 |