CN117452425A - A Triangular Ranging System with Adjustable Receiver - Google Patents

Abstract

The invention discloses a triangular ranging system with an adjustable receiver, which includes a laser transmitter, a condenser lens, a light spot receiver and a control module. The light spot receiver includes a pixel array and an electric driver. The two are connected and the electric driver A drive that moves an array of cells linearly or rotates around an axis. The control module is connected to the pixel array and the electric driver respectively. The control module collects the positional relationship between the pixel array and the light spot, determines the target position of the pixel array based on the reception of the light spot, and starts the electric driver to control the pixel array to the target position; At the same time, the control module determines the distance of the measured object based on the reception of the light spot. The control module also includes a memory for storing information such as the distance of the measured object and the position of the corresponding pixel array. In the triangular ranging system of the present invention, the relative position of the pixel array and the condenser lens is adjusted by the control circuit, so that distant objects can also be measured, and the ranging range and ranging accuracy are improved.

Description

A Triangular Ranging System with Adjustable Receiver

【Technical field】

The invention belongs to the field of precision measurement, and more specifically, relates to a triangular distance measuring device and a measurement method. .

【Background technique】

The ranging principle of lidar triangular ranging is that a laser emitter emits laser light and irradiates it onto an object, and the reflected light passes through a condenser lens to form a laser spot on the pixel array. As shown in Figure 1, it is the basic principle diagram of lidar triangulation ranging. It can be seen from the figure that since the laser transmitter (marked as: laser in the figure) and the detector are separated by a certain distance, according to the optical path, Objects at different distances will be imaged at different locations on the pixel array. According to the position of the laser spot and using triangle-related mathematical calculations, the distance from the measured object to the laser transmitter can be obtained to achieve the ranging function. Among them, the distance from the laser emitter to the center of the lens in the figure is L, the angle at which the laser emitter emits the laser beam is θ, and the focal length of the lens is f.

The existing lidar triangulation ranging system includes a laser transmitter and a receiver module. Each module is in a relatively fixed static state. Therefore, one type of laser triangulation ranging sensor can often only correspond to a relatively small sensor. The small ranging range makes trigonometric ranging only measure close objects. For the distance of distant objects, the sensor may not be able to measure the distance information or the ranging error may be large. However, in some scenarios, users need a laser triangulation ranging sensor with a relatively large ranging range to meet the ranging needs. How to improve the ranging range while ensuring the ranging accuracy requirements is an urgent technical problem to be solved.

[Content of the invention]

In view of the problems existing in the prior art, the present invention provides a triangular ranging system with an adjustable receiver. By changing the relative position of the sensor, distant objects can also be measured accurately to solve the above problems.

In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions.

First, the present invention provides a triangular ranging system with an adjustable receiver. The triangular ranging system at least includes: a laser transmitter, a condenser lens, a light spot receiver and a control module. The light spot receiver at least includes a pixel. The array and an electric driver, the electric driver is connected to the pixel array and drives the pixel array to move linearly and rotate around an axis when in a working state. The control module is connected to the pixel array and the electric driver of the light spot receiver respectively. The control module collects the positional relationship between the pixel array and the light spot, and determines the reception situation of the light spot based on the positional relationship. According to the reception situation of the light spot, the control module calculates Determine the target position of the pixel array, and start the electric driver to control the pixel array to the target position; at the same time, the control module calculates and determines the distance of the measured object based on the reception of the light spot. The control module is also connected to the laser transmitter and is used to regulate the pulse power of the laser transmitter according to the collected distance of the measured object.

In the working state, the control module adjusts and controls the emission power of the laser. The laser transmitter emits laser and irradiates it on the object to be measured. The reflected light forms a laser spot on the pixel array after passing through the condenser lens. The control module collects the pixel array and spot. The position relationship, judging the reception situation of the light spot, calculating the target position of the pixel array, and starting the electric driver to control the pixel array to the target position; at the same time, the control module calculates the distance of the measured object based on the received data of the light spot, and determines based on the calculation result And adjust the pulse power of the laser transmitter.

The pixel array, driven by an electric driver, can move or rotate in at least the following directions: 1) move linearly in the direction of the main optical axis of the condenser lens; 2) move on the vertical plane of the main optical axis and with the condenser lens respectively. The long central axis and the short central axis of the lens are parallel to each other in two vertical directions. The pixel array can move linearly in these two vertical directions when driven by the electric driver; 3) The pixel array can move in two directions respectively under the driving of the electric driver. The above three linear movement directions serve as axes for rotation.

Further, the control module also includes a memory for storing information such as the distance of the measured object and the position of the corresponding pixel array; and setting a preset value in the memory; during the test process, the information in the memory is used to provide the current Tests the target location for a matching cell array.

The present invention also provides a method of using the above-mentioned triangular ranging system with an adjustable receiver. In the triangular ranging system using the present invention, by regulating the receiver, the control circuit adjusts the relative position of the pixel array and the condenser lens, so that distant objects can also be measured, thereby improving the ranging range and ensuring the accuracy of ranging. In addition, compared with the triangulation ranging system in the prior art, the chip area can be reduced under the same measurement range.

Description of the drawings

Figure 1 is the basic principle diagram of lidar triangulation ranging.

FIG. 2 is a schematic structural diagram of a triangular ranging system with an adjustable receiver in various embodiments of the present invention.

FIG. 3 is a schematic diagram of the way in which the electric driver controls the position of the pixel array in the triangular ranging system according to various embodiments of the present invention.

Figure 4 is a schematic diagram of the control module in Embodiment 1 activating the electric driver to move the receiver pixel array linearly along the x-axis direction.

Figure 5 is a schematic diagram of the control module in Embodiment 2 activating the electric driver to move the receiver pixel array linearly along the y-axis direction.

Figure 6 is a schematic diagram of the control module in Embodiment 3 activating the electric driver to linearly move the receiver pixel array to the target position along the y-axis and x-axis directions.

Figure 7 is a schematic diagram of the control module in Embodiment 4 starting the electric driver to rotate the receiver pixel array around the x-axis and changing the yaw angle of the receiver pixel array.

Figure 8 is a schematic diagram of the control module in Embodiment 5 starting the electric driver to rotate the receiver pixel array around the y-axis and changing the pitch angle of the receiver pixel array.

Figure 9 is a schematic diagram of the control module in Embodiment 6 starting the electric driver to rotate the receiver pixel array around the z-axis and changing the roll angle of the receiver pixel array.

Figure 10 is a schematic diagram of the situation in Embodiment 9 when the difference between the two measured distances is less than the preset value and the position of the receiver pixel array is not changed.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only These are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of patent protection of the present invention.

In various embodiments of the present invention, the structural diagram of the triangular ranging system with an adjustable receiver is shown in Figure 2. The laser emitted by the laser transmitter is reflected by the object to be measured, passes through the condenser lens, and is reflected in the spot receiver. A light spot is formed on the pixel array. The control module is connected to the laser transmitter and the spot receiver respectively. It can receive and control the power of the laser transmitter, and start to regulate the position of the pixel array of the electric driver in the receiver based on the spot and pixel array position information fed back by the spot receiver. To regulate.

In the triangular ranging system of various embodiments of the present invention, when the electric driver in the receiver controls the position of the pixel array, it can realize linear movement in the x direction, y direction or z direction as shown in Figure 3, or Rotate a certain angle around the x, y or z direction to ensure that the received laser spot can completely fall on the pixel array of the receiver. Among them, the y direction is the main optical axis of the condenser lens, the x direction is: on the vertical plane of the main optical axis and parallel to the long central axis of the condenser lens, and the z direction is: on the vertical plane of the main optical axis. , and in a direction parallel to the short central axis of the condenser lens, as shown in Figure 3. Among them, the long central axis and the short central axis of the condenser lens refer to the two mutually perpendicular central axes passing through the optical center of the condenser lens and on the vertical plane of the main optical axis. In Figure 3, the condenser lens is an ellipse. For an elliptical lens, its long central axis and short central axis are the long axis and short axis of the elliptical lens respectively. However, obviously, "long central axis" and "short central axis" are just codes for the convenience of distinguishing the two central axes. This does not mean The shape of the condenser lens must be elliptical, or the two central axes must be of different sizes.

Example 1

In the triangular ranging system of this embodiment, the initial position of the pixel array in the receiver is shown in (a) of Figure 4, in which the focal length of the condenser lens is f. At the initial position, the main light of the condenser lens Axis aligns the nth pixel of the pixel array. During operation, in order to ensure that the light spot can completely fall on the pixel array, the control module starts the electrical driver in the receiver to regulate the position of the pixel array so that the pixel array moves linearly along the x-axis. The new position of the pixel array is as follows: (b) in Figure 4.

Example 2

In the triangular ranging system of this embodiment, the initial position of the pixel array of the receiver is shown in (a) of Figure 5, in which the focal length of the condenser lens is f, and the main optical axis of the lens is aligned with the first position of the pixel array. m pixels, in order to make the light spot fall completely on the pixel array, the control module moves the pixel array of the receiver linearly along the y-axis, changes the focal length of the lens to f1, and the new position of the pixel array is shown in Figure 5 (b) Figure.

Example 3

In the triangular ranging system of this embodiment, the initial position of the pixel array of the receiver is shown in (a) of Figure 6, in which the focal length of the condenser lens is f, and the main optical axis of the condenser lens is aligned with the pixel For the nth pixel of the array, in order to make the received light spot completely fall on the pixel array, the control module makes the pixel array of the receiver move linearly along the y-axis, changes the focal length of the lens to f ₁ , and then makes the image The element array moves linearly along the x-axis, and the new position of the pixel array is shown in (b) of Figure 6.

Example 4

In the triangular ranging system of this embodiment, the initial position of the pixel array of the receiver is shown in (a) of Figure 7. The control module starts the electrical driver in the receiver to regulate the position of the pixel array so that the pixel array Rotate around the x-axis to change the yaw angle of the receiver pixel array, as shown in (b) of Figure 7.

Example 5

In the triangular ranging system of this embodiment, the initial position of the pixel array of the receiver is shown in (a) of Figure 8. The control module starts the electric driver in the receiver and regulates the position of the pixel array so that the center of the receiver The pixel array rotates around the y-axis, changing the pitch angle of the receiver pixel array, as shown in (b) of Figure 8.

Example 6

In the triangular ranging system of this embodiment, the initial position of the pixel array of the receiver is shown in (a) of Figure 9. The control module starts the electric driver in the receiver and regulates the position of the pixel array so that the center of the receiver The pixel array rotates around the z-axis, changing the roll angle of the receiver pixel array, as shown in (b) of Figure 9.

In the above embodiments 4-6, the receiver pixel array is rotated so that the light beams from different directions of the condenser lens can hit the pixel array more concentratedly, thereby reducing the dispersion of light spots on the pixel array, which facilitates Find the center of mass of the light spot.

Example 7

In the triangular ranging system of this embodiment, the control module activates the electrical driver in the receiver to control the position of the pixel array. The position control method is to set the step size, and the movement of the pixel array is an integer of the set step size. times. For example: for linear movement along the x, y or z axis, assuming that the initial position of the pixel array on the x, y or z axis is d ₀ , and assuming that the step length is s, the adjusted target position corresponds to x, y Or the coordinate d=d ₀ ±n*s on the z-axis, where n is an integer. Another example: for rotation around the x, y or z axis, assume that the initial angle of the pixel array is α ₀ , the single step angle of rotation around the axis is a, and the angle after rotation around the x, y or z axis is α ₁ , Then α ₁ =α ₀ ±n*a, where n is a positive integer.

Example 8

In the triangular ranging system of this embodiment, the control module starts the electric driver in the receiver to control the position of the pixel array. The position control method is continuous linear movement or rotation around the axis. The distance of each linear movement or around the axis is The angle of axis rotation is arbitrary and continuous.

Example 9

In the triangular ranging system of this embodiment, the control module also includes a memory for storing the measured distance of the measured object and some information about the position of the pixel array corresponding to each measured distance, and in A default value is set in the memory.

During the test process, using the information in the memory, different algorithms can be used to match the appropriate target position of the pixel array for the current test. In this embodiment, the algorithm used is as follows.

Compare the currently measured distance of the object being measured with the previously measured distance in the memory. If the absolute value of the difference between the two is less than or equal to the set default value, there is no need to change the position of the receiver pixel array. ; If the absolute value of the difference is greater than the preset value, it can continue to be compared with the previous measured distance stored in the memory until the absolute value of the difference is less than or equal to the preset value, and the receiver corresponding to the measured distance The cell array position is configured for the current cell array. If there is no measured value in the memory or the absolute value of the difference mentioned above is greater than the preset value, the control module will re-adjust the position of the receiver pixel array and store the current measured distance and pixel array position. into memory.

An example of its execution process is as follows.

For example, in this embodiment, as shown in Figure 10, the distance from the laser emitter to the center of the lens is L, the angle at which the laser emitter emits the laser beam is θ, and the focal length of the lens is f. The size of a single pixel is w (mm), and there are a total of M pixels, that is, the length of the photosensitive area is W (mm). z ₁ and z ₂ are two close distances. The positions of the light spots on the pixel array are relatively close. The difference between the distances between the two is less than the set preset value, so the position of the receiver pixel array does not change.

More specifically, another situation in this embodiment is: assuming the memory A of the control module, at a certain time, the memory A = {R, [z ₁ , T ₁ ], [z ₂ , T ₂ ], [ z ₃ ,T ₃ ], [z ₄ ,T ₄ ], [z ₅ ,T ₅ ]}, where R is the set default value, z _i (here i=1,2,3,4,5) is the measured distance of the measured object stored in the memory, T _i (here i = 1, 2, 3, 4, 5) is the receiver pixel array position information corresponding to z _i , T _i = [a _i , b _i , c _i , α _i , β _i , γ _i ], where: a _i is the position of the receiver pixel array corresponding to z _i in the x-axis direction, b _i is the receiver pixel array in the y-axis direction direction position, c _i is the position of the receiver pixel array in the z-axis direction, α _i is the yaw angle of the receiver pixel array, β _i is the pitch angle of the receiver pixel array, γ _i is the receiver pixel The roll angle of the array. The currently measured distance z ₆ of the measured object is first compared with the previous measured distance z ₅ in the memory. If the absolute value of the difference is less than or equal to the preset value R, the current receiver pixel array position does not change. , remains as T ₅ ; if the absolute value of the difference is greater than the preset value R, z ₆ is compared with the previous measured distance z ₄ in the memory, and so on. If the differences are greater than the preset values, the control module will re-adjust the position of the receiver pixel array, recorded as T ₆ , and store [z ₆ , T ₆ ] into memory A. That is, the new memory A = {R, [z ₁ , T ₁ ], [z ₂ , T ₂ ], [z ₃ , T ₃ ], [z ₄ , T ₄ ], [z ₅ , T ₅ ], [ z ₆ ,T ₆ ]}.

Example 10

In the triangular ranging system of this embodiment, like Embodiment 9, the control module also includes a memory for storing the measured distance of the measured object and the pixel array position corresponding to each measured distance. some information and set a default value in the memory.

Compared with Embodiment 9, this embodiment uses information in the memory during the test process and uses different algorithms to match the appropriate target position of the pixel array for the current test. Specifically, in this embodiment, the algorithm used is as follows.

Compare the current measured distance of the object being measured with all the measured distances in the memory one by one, compare with each measured distance to obtain a difference, and select the smallest absolute value among these differences (and smaller than the predetermined value). The measured distance corresponding to the set value) and the corresponding receiver pixel array position are matched to the current receiver pixel array as its target position. If there is no data such as measured distance in the memory or the absolute value of all differences is greater than the preset value, the control module will re-adjust the position of the receiver pixel array and store the current measured distance and receiver pixel array position in in memory.

An example of its execution process is as follows.

Assume that the memory A of the control module has a memory A = {R, [z ₁ , T ₁ ], [z ₂ , T ₂ ], [z ₃ , T ₃ ], [z ₄ , T ₄ ], [z ₅ ,T ₅ ]}, where R is the default value, z _i (here i = 1, 2, 3, 4, 5) is the measured distance of the measured object stored in the memory, T _i (here i=1,2,3,4,5) is the receiver pixel array position information corresponding to z _i . Among them, T _i =[a _i , b _i , c _i , α _i , β _i , γ _i ], where a _i is the position of the receiver corresponding to z _i in the x-axis direction, and b _i is the receiver in the y-axis direction. Directional position, c _i is the position of the receiver in the z-axis direction, α _i is the yaw angle of the receiver, β _i is the pitch angle of the receiver, and γ _i is the roll angle of the receiver. The currently measured distance z ₆ of the object being measured is compared with each measured distance z _i in the memory to obtain 5 differences. The absolute value of the smallest difference (and smaller than the preset value) is assigned to the corresponding receiver. The cell array location is configured to the current receiver cell array as its target location. If the absolute values of the differences are greater than the preset value, the control module will re-adjust the position of the receiver pixel array, recorded as T ₆ , and store [z ₆ , T ₆ ] into memory A, which is the new memory A ={R, [z ₁ ,T ₁ ], [z ₂ ,T ₂ ], [z ₃ ,T ₃ ], [z ₄ ,T ₄ ], [z ₅ ,T ₅ ], [z ₆ ,T ₆ ]}.

Claims (11)

1. A triangular ranging system of an adjustable receiver, the triangular ranging system comprising at least: the device comprises a laser emitter, a condensing lens, a light spot receiver and a control module; the method is characterized in that: the light spot receiver at least comprises a pixel array and an electric driver, wherein the electric driver is connected with the pixel array and drives the pixel array to move linearly or/and rotate around an axis in a working state; the control module is respectively connected with the pixel array of the light spot receiver and the electric driver, collects the position relation between the pixel array and the light spot, and judges the receiving condition of the light spot according to the position relation; according to the receiving condition of the light spots, the control module calculates and determines the target position of the pixel array, and starts an electric driver to regulate the pixel array to the target position; meanwhile, the control module calculates and determines the distance of the measured object according to the receiving condition of the light spots.

2. A triangular ranging system for an adjustable receiver as claimed in claim 1, wherein: the control module is also connected with the laser transmitter and used for regulating and controlling the pulse power of the laser transmitter according to the collected distance of the measured object.

3. A triangular ranging system for an adjustable receiver as claimed in claim 1, wherein: the pixel array can move or rotate at least in the following directions under the drive of the electric driver: 1) Linearly moving in a main optical axis direction of the condenser lens, the main optical axis direction being a y direction); 2) The pixel array can linearly move along the two vertical directions on the vertical plane of the main optical axis and respectively parallel to the long central axis and the short central axis of the condensing lens, namely the x direction and the z direction under the drive of the electric driver; 3) The pixel array can be rotated about the three linear movement directions, i.e., x, y or z directions, respectively, as axes by the driving of the electric driver.

4. A triangular ranging system for an adjustable receiver according to claim 3, wherein: when the control module starts an electric driver in the receiver to regulate and control the position of the pixel array, the pixel array moves linearly along the x, y or z direction or rotates around the axis by taking the x, y or z direction as the axis, any one of the linear motion and the rotation around the axis is performed, and the target position of the pixel array is achieved by executing any one of the operation modes or executing a plurality of the operation modes independently.

5. The adjustable receiver triangular ranging system of claim 4, wherein: in the triangular ranging system, a control module starts an electric driver in a receiver to regulate and control the position of a pixel array in a set step length mode, and the linear movement or the rotation around the axis of the pixel array is an integer multiple of the set step length; namely:

for a linear movement along the x, y or z axis, it is assumed that the initial position of the pixel array in the x, y or z axis is d ₀ And assuming a step size s, the adjusted target position corresponds to the coordinate d=d in the x, y or z axis ₀ S, wherein n is a positive integer;

for rotation about the x, y or z axis, it is assumed that the initial angle of rotation of the array of picture elements about the x, y or z axis is alpha ₀ The step angle of single rotation around the axis is a, and the corresponding angle after rotation around the x, y or z axis is alpha ₁ Alpha is then ₁ ＝α ₀ And + -n a, wherein n is a positive integer.

6. The adjustable receiver triangular ranging system of claim 4, wherein: in the triangular ranging system, the control module starts an electric driver in the receiver, and the position of the pixel array is regulated and controlled in a continuous linear movement or rotation around the axis, namely, the distance of each linear movement or the rotation angle around the axis is arbitrary and continuous.

7. A triangular ranging system for an adjustable receiver according to any of claims 1-6, wherein: the control module also comprises a memory, wherein the memory is used for storing at least the measured distance of the measured object and the position information of the pixel array corresponding to each measured distance, and a preset value is set in the memory; and in the test process, the information in the memory is utilized to match the target position of the pixel array for the current test.

8. The triangular ranging system of an adjustable receiver of claim 7, wherein the method for using information in the memory for the current test to match the target position of the array of picture elements during the test is as follows:

comparing the measured distance of the current measured object with the previous measured distance in the memory, and if the absolute value of the difference value of the measured distance and the previous measured distance is smaller than or equal to a preset value, not changing the position of the receiver pixel array; if the absolute value of the difference is larger than the preset value, continuing to compare with the measured distance stored in the memory until the absolute value of the difference is smaller than or equal to the preset value, and configuring the position of the receiver pixel array corresponding to the measured distance to the current pixel array as a target position; if there is no measured value in the memory or the absolute value of the difference mentioned above is greater than the preset value, the control module will readjust the position of the receiver pixel array and store the current measured distance and pixel array position in the memory.

9. The triangular ranging system of an adjustable receiver of claim 8, wherein the method for using information in the memory for the current test to match the target position of the array of picture elements during the test is:

assume that the memory a of the control module, at some point the memory a= { R, [ z ] ₁ ,T ₁ ]，[z ₂ ,T ₂ ]，[z ₃ ,T ₃ ]，……，[z _i ,T _i ]Wherein R is a preset value, i is a positive integer from 1 to n, n is greater than or equal to 1, z _i Is a series of measured distances, T, stored in a memory of the object under test _i To measure z _i Time-dependent receiver pixel array position information, T _i ＝[a _i ,b _i ,c _i ,α _i ,β _i ,γ _i ]Wherein: a, a _i To measure z _i The position of the corresponding receiver pixel array in the x-axis direction, b _i To measure z _i The corresponding receiver pixel array is positioned in the y-axis direction, c _i To measure z _i Corresponding to the position of the receiver pixel array in the z-axis direction, alpha _i Is measured as z _i Yaw angle, beta of corresponding receiver pixel array _i To measure z _i Pitch angle, gamma of corresponding receiver pixel array _i To measure z _i The corresponding rolling angle of the receiver pixel array;

measured distance z of the currently measured object _n+1 First from the previous measured distance z in memory _n Comparing, if the absolute value of the difference is less than or equal to the preset value R, the current position of the receiver pixel array is not changed and is kept as T _n The method comprises the steps of carrying out a first treatment on the surface of the If the absolute value of the difference is greater than the preset value R, then z is set _n+1 From a measured distance z before in memory _n-1 Comparing until finding out that if the absolute value of the difference value is smaller than or equal to a preset value R, taking the corresponding receiver pixel array position information as the target position of the current pixel array; if the absolute values of the differences are all larger than the preset value, the control module will readjust the position of the receiver pixel array as T _n+1 And will [ z ] _n+1 ,T _n+1 ]Stored into memory a, i.e. new memory a= { R, [ z ] ₁ ,T ₁ ]，[z ₂ ,T ₂ ]，[z ₃ ,T ₃ ]，……，[z _n ,T _n ]，[z _n+1 ,T _n+1 ]}。

10. The triangular ranging system of an adjustable receiver of claim 7, wherein the method for using information in the memory for the current test to match the target position of the array of picture elements during the test is as follows:

comparing the measured distance of the current measured object with all the measured distances in the memory one by one, comparing the measured distance with each measured distance to obtain a difference value, and matching the corresponding measured distance with the absolute value being the smallest in the difference values and smaller than or equal to a preset value and the corresponding receiver pixel array position with the current receiver pixel array as a target position; if the memory has no measured distance and corresponding pixel array position data or all absolute difference values are larger than a preset value, the control module readjusts the position of the receiver pixel array and stores the current measured distance and the position of the receiver pixel array into the memory.

11. The triangular ranging system of an adjustable receiver of claim 10, wherein the method for using information in the memory for the current test to match the target position of the array of picture elements during the test is:

assume that the memory a of the control module, at some point the memory a= { R, [ z ] ₁ ,T ₁ ]，[z ₂ ,T ₂ ]，[z ₃ ,T ₃ ]，……，[z _i ,T _i ]Wherein R is a preset value, i is a positive integer from 1 to n, n is greater than or equal to 1, z _i Is a series of measured distances, T, stored in a memory of the object under test _i To measure z _i Time-dependent receiver pixel array position information, T _i ＝[a _i ,b _i ,c _i ,α _i ,β _i ,γ _i ]Wherein: a, a _i To measure z _i The position of the corresponding receiver pixel array in the x-axis direction, b _i To measure z _i Time-corresponding array of receiver pixelsIn the y-axis direction position, c _i To measure z _i Corresponding to the position of the receiver pixel array in the z-axis direction, alpha _i Is measured as z _i Yaw angle, beta of corresponding receiver pixel array _i To measure z _i Pitch angle, gamma of corresponding receiver pixel array _i To measure z _i The corresponding rolling angle of the receiver pixel array;

measured distance z of the currently measured object _n+1 From each measured distance z in memory _i Comparing to obtain n differences, and configuring the receiver pixel array positions corresponding to the measured distances with the minimum absolute difference value smaller than or equal to the preset value to the current receiver pixel array as target positions; if the absolute values of the differences are all larger than the preset value, the control module readjusts the position of the receiver pixel array to be T _n+1 And will [ z ] _n+1 ,T _n+1 ]Stored into memory a, i.e. new memory a= { R, [ z ] ₁ ,T ₁ ]，[z ₂ ,T ₂ ]，[z ₃ ,T ₃ ]，……，[z _n ,T _n ]，[z _n+1 ,T _n+1 ]}。