CN103575292B - Measurement apparatus and measuring method - Google Patents

Measurement apparatus and measuring method Download PDF

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Publication number
CN103575292B
CN103575292B CN201210250039.XA CN201210250039A CN103575292B CN 103575292 B CN103575292 B CN 103575292B CN 201210250039 A CN201210250039 A CN 201210250039A CN 103575292 B CN103575292 B CN 103575292B
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measurement apparatus
target
formula
distance
image
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CN103575292A (en
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孙中兰
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Ambit Microsystems Shanghai Ltd
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Ambit Microsystems Shanghai Ltd
Hon Hai Precision Industry Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A kind of measurement apparatus, including processor, image unit and G-sensor unit.Image unit shoots and obtains the image of at least one target, and G-sensor unit correspondingly produces the return value of this measurement apparatus of mark component in a coordinate axes Z-direction.Processor is according to return value and the reference value that prestores, and utilizes the first formula and the second formula to calculate this measurement apparatus distance to this at least one target.The present invention also provides for a kind of measuring method being applied to a measurement apparatus.Utilize the present invention, the image of at least one target is obtained by arranging image unit, G-sensor unit is made correspondingly to export a return value, and the calculating of target range, height and average speed is carried out according to this return value and the reference value prestored, utilize GPS to cannot be carried out the technical problem shortlyer, accurately measured thus solving measurement apparatus in prior art.

Description

Measurement apparatus and measuring method
Technical field
The present invention relates to the device for measuring the position of the target object being positioned at a distance, height and speed and measuring method.
Background technology
Along with the development of mobile technology, portable mobile apparatus, such as smart mobile phone, panel computer etc., except meeting basic function, also possess increasing additional function.Wherein, mobile equipment generally all arranges GPS(GlobalPositionSystem, global positioning system), for location and the navigation of user, have distance and/or the height of the target measuring a distance and the translational speed etc. of user concurrently simultaneously.In the prior art, GPS carries out tachometric survey by formula v=△ s/ △ t, and wherein, △ s is the distance of user and the target measured, and △ t moves to the time used by target.But, the precision of △ s is generally 10m, there is bigger error when measuring small distance, so the average speed cannot measured in small distance.Further, GPS is typically only capable to enough measurement height above sea levels, and cannot be used for target object is carried out the measurement of height.Meanwhile, GPS is utilized to carry out response time required when the position of target object, height and tachometric survey longer, thus the data of required measurement cannot quickly be obtained.
Summary of the invention
In view of this, it is necessary to provide a kind of measurement apparatus and measuring method, to solve the measurement of mobile equipment utilization GPS of the prior art distance, average speed and the target location height that cannot be carried out in relatively short distance.
The present invention provides a kind of measurement apparatus, and including processor, this measurement apparatus also includes:
Image unit, for shooting when user adjusts this measurement apparatus and obtaining the image including at least one target.And
G-sensor unit, for when this image unit obtains the image including at least one target, producing a return value z according to the flip angle of this measurement apparatus, wherein, this return value z is this measurement apparatus component in a coordinate axes Z-direction.
This processor prestores an altitude datum value, and this processor utilizes the first formula and the second formula to calculate this measurement apparatus distance to this at least one target for return value z and this altitude datum value produced according to this G-sensor unit.
The present invention also provides for a kind of measuring method being applied to a measurement apparatus, including:
Adjust the attitude of this measurement apparatus in the very first time and shoot and obtain the image of a target.
During according to the image of this target obtained, the flip angle of this measurement apparatus correspondingly produces a return value, and wherein, this return value is this measurement apparatus component in coordinate axes Z-direction.
Prestore altitude datum value according to this return value and one, and utilize the first formula and the second formula to calculate the distance between this measurement apparatus and this target.
Relative to prior art, measurement apparatus provided by the invention and measuring method, by the image unit that arranges in measurement apparatus to the focusing of the one or many of target object to obtain tested point, G-sensor unit focuses on, according to image unit, the tested point obtained and exports a return value accordingly, processor carries out the distance of target object according to the reference value prestored in this return value and measurement apparatus, the calculating of height and the rolling average speed within a period of time, GPS is utilized to cannot be carried out shortlyer thus solving measurement apparatus in prior art, the technical problem accurately measured.
Accompanying drawing explanation
Fig. 1 is the module diagram of the measurement apparatus in embodiment of the present invention.
Fig. 2 is the schematic diagram that the measurement apparatus in embodiment of the present invention carries out target distance measurement.
Fig. 3 is the schematic diagram that the measurement apparatus in embodiment of the present invention carries out tachometric survey.
Fig. 4 is the schematic diagram that the measurement apparatus in embodiment of the present invention carries out target object elevation carrection.
Fig. 5 is the method flow diagram carrying out target distance measurement in embodiment of the present invention.
Fig. 6 is the method flow diagram that embodiment of the present invention medium velocity is measured.
Fig. 7 is the method flow diagram carrying out target object elevation carrection in embodiment of the present invention.
Main element symbol description
Measurement apparatus 10
G-sensor unit 11
Image unit 12
Processor 13
Following detailed description of the invention will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Referring to Fig. 1, for the module diagram of the measurement apparatus in embodiment of the present invention, this measurement apparatus 10 can be the portable mobile apparatus such as mobile phone, panel computer.This measurement apparatus 10 includes G-sensor(Gravity-sensor, gravity sensor) unit 11, image unit 12 and processor 13.Wherein, this image unit 12 can include having conductron, solid photoelectric sensor (ChargeCoupledDevice, or the photographic head of the photoelectric device such as complementary metal oxide semiconductors (CMOS) (ComplementaryMetal-Oxide-SemiconductorTransistor, CMOS) CCD).This image unit 12 is for photographic subjects, and can automatically focus on captured target to obtain picture rich in detail.This automatic focusing principle of image unit 12 is identical with automatic focusing principle of the prior art, is not added with at this repeating.G-sensor unit 11 for obtaining a return value z when image unit 12 focus objects, and wherein, this return value z is this measurement apparatus 10 component in coordinate axes Z-direction.This processor 13 is for the calculating of height H from the distance L of target, the average speed v of user and/or target object of the return value z determined according to G-sensor unit 11 and other relevant parameters measurement device 10.
Specifically, when image unit 12 carries out in the shooting process of target, reality is the process that the attitude of this measurement apparatus 10 is adjusted to horizontal direction by vertical direction, and its return value z changes in the scope of 0-± 255.When image unit 12 focuses on a target, it is determined that a focus point, when namely determining this tested point, this G-sensor unit 11 correspondingly obtains a return value z according to the flip angle of measurement apparatus 10.
Refer to Fig. 2, specifically, when this measurement apparatus 10 carries out the measurement of distance L of target, the altitude datum value h of the user measurement apparatus 10 by prestoring in measurement apparatus 10 judges that whether the actual height value that measurement apparatus 10 is presently in is consistent with this reference value h, and when the actual height value judging that measurement apparatus 10 is presently in is inconsistent with this reference value h, user reset by this measurement apparatus 10.In the present embodiment, when this reference value h uses this measurement apparatus 10 for user, the distance of this measurement apparatus 10 and horizontal plane.This processor 13 starts image unit 12 and carries out shooting and the focusing of target, and user is by being adjusted obtaining a focus point to the attitude of measurement apparatus 10, so that it is determined that a tested point.When obtaining tested point when measurement apparatus 10 adjusts to a certain attitude, this G-sensor unit 11 produces a return value z according to the flip angle of measurement apparatus 10.This processor 13 obtains the return value z that this G-sensor unit 11 is determined, and according to formula tan(θ)=sqrt((255^2-z^2)/z^2), and L=h × tan(θ) the distance L of computation and measurement device 10 and target, wherein, θ is the angle of the line between measurement apparatus 10 and target and vertical direction.
Referring to Fig. 3, when this measurement apparatus 10 is averaged the measurement of speed v, processor 13 starts image unit 12 and carries out the first time shooting of target and focus on, and this image unit 12 is in very first time t1Determining the first tested point, this processor 13 records this very first time t1, G-sensor unit 11 correspondingly obtains the first return value z according to this first tested point determined1.This processor 13 is according to formula tan(θ1)=sqrt((255^2-z1^2)/z1^2) and L1=h × tan(θ1) calculate this measurement apparatus 10 at very first time point t1And the first distance L between the first tested point1.In like manner, this processor 13 is always according to formula tan(θ2)=sqrt((255^2-z2^2)/z2^2) and L2=h × tan(θ2) calculate this measurement apparatus 10 distance s between the second time point t2 and the second tested point2.Now, this processor 13 is according to formula v=(L2-L1)/(t2-t1) calculate and put t in the very first time1To the second time t2Between point, the average speed v that this measurement apparatus 10 moves.
Refer to Fig. 4, when this measurement apparatus 10 carries out the measurement of target object height H, this processor 13 starts image unit 12 and carries out first time shooting and the focusing of target object minimum point, thus obtaining the first tested point, G-sensor unit 11 correspondingly obtains the first return value z according to this first tested point determined1’.Processor 13 is according to formula tan(θ1')=sqrt((255^2-z1' ^2)/z1' ^2) and L '=h × tan(θ1') calculate the distance L ' of this target object minimum point and this measurement apparatus 10.Equally, target object peak is carried out second time shooting and focuses on by this image unit 12, thus obtaining the second tested point.Now, G-sensor unit 11 obtains the second return value z according to this second tested point determined2’.Processor 13 is according to formula tan(θ2')=sqrt((255^2-z2' ^2)/z2' ^2) and H=h+L '/tan(θ2'-90 °) calculate the distance H between the first tested point and the second tested point, i.e. the height of target object.
Referring to Fig. 5, carry out the method flow diagram of target distance measurement for the present invention, the method includes:
Step S50, the altitude datum value h of the user measurement apparatus 10 by prestoring in measurement apparatus 10 judges that whether the actual height value that measurement apparatus 10 is presently in is consistent with this reference value h, if so, then enters step S51, otherwise, enters step S54.
In the present embodiment, when this reference value h uses this measurement apparatus 10 for user, the distance of this measurement apparatus 10 and horizontal plane.
Step S51, this processor 13 starts image unit 12 and carries out shooting and the focusing of target, and user is by being adjusted obtaining a focus point to the attitude of measurement apparatus 10, so that it is determined that a tested point.
Step S52, this G-sensor unit 11 produces return value z according to the flip angle of measurement apparatus 10.
When image unit 12 carries out in the shooting process of target, reality is the process that the attitude of this measurement apparatus 10 is adjusted to horizontal direction by vertical direction, and its return value z changes in the scope of 0-± 255.When image unit 12 focuses on a target, it is determined that a focus point, when namely determining this tested point, this G-sensor unit 11 correspondingly obtains a return value z according to the flip angle of measurement apparatus 10.
The distance L of step S53, return value z that this processor 13 is determined according to this G-sensor unit 11 and the first formula and the second formula calculation and measurement device 10 and target.
In the present embodiment, this first formula is tan(θ)=sqrt((255^2-z^2)/z^2), this second formula is L=h × tan(θ).
Step S54, user resets this reference value h by this measurement apparatus 10, then, returns step S50.
Referring to Fig. 6, carry out the method flow diagram of tachometric survey for the present invention, the method includes:
Step S60, the altitude datum value h of the user measurement apparatus 10 by prestoring in measurement apparatus 10 judges that whether the actual height value that measurement apparatus 10 is presently in is consistent with this reference value h, if so, then enters step S601, otherwise, enters step S68.
In the present embodiment, when this reference value h uses this measurement apparatus 10 for user, the distance of this measurement apparatus 10 and horizontal plane.
Step S61, this processor 13 starts image unit 12 and carries out first time shooting and the focusing of target, and user is by being adjusted so that this image unit 12 is in very first time t the attitude of measurement apparatus 101Determining the first tested point, this processor 13 records this very first time t1。
Step S62, this G-sensor unit 11 produces the first return value z according to the flip angle of measurement apparatus 101。
Step S63, the first return value z that this processor 13 obtains according to this G-sensor unit 111And first formula and the second formula calculate at very first time t1The distance L of this measurement apparatus 10 and target1。
In the present embodiment, this first formula is tan(θ1)=sqrt((255^2-z1^2)/z1^2), this second formula is L1=h × tan(θ1).
Step S64, the attitude of measurement apparatus 10 is adjusted by user again so that this image unit 12 is at the second time t2Obtaining the second tested point, this processor 13 records this second time t2。
Step S65, this G-sensor unit 11 produces the second return value z according to the flip angle of measurement apparatus 102。
Step S66, the second return value z that this processor 13 is determined according to this G-sensor unit 112And first formula and the second formula calculate at the second time t2The distance L of this measurement apparatus 10 and target2。
Step S67, this processor 13 is according to record very first time t1, the second time t2, the first distance L of calculating1With second distance L2, and the calculating of the 3rd formula is at very first time t1To the second time t2Process in, the average speed v that this measurement apparatus 10 moves.
In the present embodiment, the 3rd formula is v=(L2-L1)/(t2-t1).
Step S68, user resets this reference value h by this measurement apparatus 10, then, returns step S60.
Referring to Fig. 7, carry out the method flow diagram of target object elevation carrection for the present invention, the method includes:
Step S70, the altitude datum value h of the user measurement apparatus 10 by prestoring in measurement apparatus 10 judges that whether the actual height value that measurement apparatus 10 is presently in is consistent with this reference value h, if so, then enters step S71, otherwise, enters step S77.
In the present embodiment, when this reference value h uses this measurement apparatus 10 for user, the distance of this measurement apparatus 10 and horizontal plane.
Step S71, this processor 13 starts image unit 12, and user is by being adjusted the attitude of measurement apparatus 10 so that target object minimum point is carried out shooting and focuses on by image unit 12, obtains the first tested point.
Step S72, this G-sensor unit 11 produces the first return value z according to the flip angle of measurement apparatus 101’。
Step S73, the first return value z that this processor 13 obtains according to this G-sensor unit 111' and the first formula and the second formula calculate at very first time t1The distance L of this measurement apparatus 10 and target1。
Step S74, the attitude of measurement apparatus 10 is adjusted by user again, and target object peak is carried out shooting and focuses on by this image unit 12, obtains the second tested point.
Step S75, this G-sensor unit 11 produces the second return value z according to the flip angle of measurement apparatus 102’。
Step S76, the second return value z that this processor 13 is determined according to this G-sensor unit 112', reference value h, and the first formula and the 3rd formula calculate the height H of this target object.
In the present embodiment, the 3rd formula is H=h+s '/tan(θ2'-90 °).
Step S77, user resets this reference value h by this measurement apparatus 10, then, returns step S70.
Use above-mentioned measurement apparatus and measuring method, by the image unit that arranges in measurement apparatus to the focusing of the one or many of target object to obtain tested point, G-sensor unit focuses on, according to image unit, the tested point obtained and exports a return value accordingly, processor carries out the calculating of the distance of target object, height and the rolling average speed within a period of time according to the reference value prestored in this return value and measurement apparatus, utilizes GPS to cannot be carried out the technical problem shortlyer, accurately measured thus solving measurement apparatus in prior art.
It is understood that for the person of ordinary skill of the art, it is possible to conceive according to the technology of the present invention and make other various corresponding changes and deformation, and all these change and deform the protection domain that all should belong to the claims in the present invention.

Claims (9)

1. a measurement apparatus, including processor, it is characterised in that described measurement apparatus also includes:
Image unit, for shooting when user adjusts described measurement apparatus and obtaining the image including at least one target；And
G-sensor unit, for when described image unit obtains the image including at least one target, producing at least one return value z according to the flip angle of described measurement apparatus, wherein, described return value z is described measurement apparatus component in a coordinate axes Z-direction；
Described processor prestores an altitude datum value, and described processor utilizes one first formula and one second formula to calculate the described measurement apparatus distance at least one target described for the return value z produced according to described G-sensor unit and described altitude datum value；
Described first formula is tan (θ)=sqrt ((255^2-z^2)/z^2), described second formula is L=h × tan (θ), wherein, θ is the angle of the line between described measurement apparatus and described target and vertical direction, h is the altitude datum value that described processor prestores, and L is the described measurement apparatus distance to described target.
2. measurement apparatus as claimed in claim 1, it is characterized in that, the quantity of at least one target described is two, the image of the first object obtained in the very first time including described image unit and the image of the second target obtained in the second time, described G-sensor unit when described image unit obtains the image of the image of first object and the second target respectively correspondence produce the first return value and the second return value.
3. measurement apparatus as claimed in claim 2, it is characterized in that, described processor is additionally operable to store the described very first time and the second time, and utilize described first formula and the second formula to calculate the described measurement apparatus the first distance to described first object according to described first return value and described reference value, described first formula and the second formula is utilized to calculate the described measurement apparatus second distance to described second target always according to described second return value and described reference value, and according to the described very first time, second time, first distance and second distance utilize the 3rd formula to calculate described measurement apparatus average speed in the process of the described very first time to the second time；
Described 3rd formula is v=(L2-L1)/(t2-t1), and wherein, t1 is the very first time, and t2 was the second time, and L1 is the first distance, and L2 is second distance, and v is average speed.
4. measurement apparatus as claimed in claim 2, it is characterized in that, described processor utilizes described first formula and the second formula to calculate the described measurement apparatus distance to described first object according to described first return value and described altitude datum value, utilizes described first formula and one the 4th formula to calculate the distance between described first object and described second target always according to described measurement apparatus to the distance of described first object, the second return value and described reference value；
Described 4th formula is H=h+L/tan (θ '-90 °), wherein, the angle of the line between described measurement apparatus and described target that θ ' calculates according to described second return value and the first formula for described processor and vertical direction, H is the distance between described first object and described second target.
5. measurement apparatus as claimed in claim 4, it is characterized in that, the image of described first object is the minimum point image of a target object, the peak image that image is described target object of described second target, the height that distance is described target object between described first object and described second target.
6. a measuring method, described measuring method is applied to a measurement apparatus, it is characterised in that described measuring method includes:
Attitude in the described measurement apparatus of very first time adjustment shoots and obtains the image of a target；
During according to the image of described target obtained, the flip angle of described measurement apparatus correspondingly produces a return value, and wherein, described return value is described measurement apparatus component in coordinate axes Z-direction；
Prestore altitude datum value according to described return value and one, and utilize the first formula and the second formula to calculate the distance between described measurement apparatus and described target；
Described first formula is tan (θ)=sqrt ((255^2-z^2)/z^2), described second formula is L=h × tan (θ), wherein, z is the return value of described generation, θ is the angle of the line between described measurement apparatus and described target and vertical direction, h is the altitude datum value that described measurement apparatus prestores, and L is the described measurement apparatus distance to described target.
7. it is applied to the measuring method of a measurement apparatus as claimed in claim 6, it is characterised in that also include:
Attitude in the second time adjustment measurement apparatus shoots and obtains the image of another target；
According to described in obtaining during the image of another target the flip angle of described measurement apparatus correspondingly produce another return value；
According to another return value described and described altitude datum value, and the first formula and the second formula is utilized to calculate another distance between described measurement apparatus and another target described；And
According to the described very first time, the second time and the described distance calculated and another distance described, the 3rd formula is utilized to calculate described measurement apparatus average speed in the process of the described very first time to the second time；
Described 3rd formula is v=(L2-L1)/(t2-t1), and wherein, t1 is the very first time, and t2 was the second time, L1 be described in the distance that calculates, L2 be described in another distance of calculating, v is average speed.
8. it is applied to the measuring method of a measurement apparatus as claimed in claim 6, it is characterised in that also include:
The attitude of described measurement apparatus is adjusted with shooting the image obtaining another target in the second time；
According to described in obtaining during the image of another target the angle of described measurement apparatus upset correspondingly produce another return value；
According to another return value described, described altitude datum value, the described distance that calculates, and the first formula and the 4th formula is utilized to calculate the distance between described target and another target described；
Described 4th formula is H=h+L/tan (θ '-90 °), wherein, θ ' is the angle of the line between the described measurement apparatus and the described target that calculate according to another return value described and the first formula with vertical direction, and H is the distance between described target and another target described.
9. it is applied to the measuring method of a measurement apparatus as claimed in claim 8, it is characterized in that, the image of described target is the minimum point image of a target object, the image of another target described is the peak image of described target object, the height that distance is described target object between described target and another target described.
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CN107664909B (en) * 2016-07-28 2020-06-05 中强光电股份有限公司 Lens module and projector
CN107967701B (en) * 2017-12-18 2021-10-15 信利光电股份有限公司 Calibration method, device and equipment of depth camera equipment
CN113167577A (en) * 2020-06-22 2021-07-23 深圳市大疆创新科技有限公司 Surveying method for a movable platform, movable platform and storage medium

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