CN108427097A - Linear array sensor devices laser positioning method, apparatus, terminal and computer readable storage medium - Google Patents
Linear array sensor devices laser positioning method, apparatus, terminal and computer readable storage medium Download PDFInfo
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- CN108427097A CN108427097A CN201810077252.2A CN201810077252A CN108427097A CN 108427097 A CN108427097 A CN 108427097A CN 201810077252 A CN201810077252 A CN 201810077252A CN 108427097 A CN108427097 A CN 108427097A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
A kind of linear array sensor devices laser positioning method, including：Obtain the present frame that linear array sensor devices measure；Judge whether the present frame is valid frame, otherwise executes " obtaining the present frame that the linear array sensor devices measure "；It calculates the center of the valid frame and is exported as laser position.A kind of linear array sensor devices laser locating apparatus, including：Acquisition module, the present frame measured for obtaining linear array sensor devices；Judgment module, for judging whether the present frame is valid frame；Computing module, center for calculating the valid frame are simultaneously exported as laser position.Linear array sensor devices laser positioning method, apparatus, terminal and computer readable storage medium provided by the invention, can be accurately determined the position of incident laser, and being accurately positioned for object is measured to realize.
Description
Technical field
The invention belongs to Engineering Control technical fields, specifically, be a kind of linear array sensor devices laser positioning method,
Device, terminal and computer readable storage medium.
Background technology
Along with the development of automatic technology, some engineering machinery have been gradually appeared, for discharging architecture production power, have been mitigated
The labour of worker is born.There is new development trend in building trade as a result, and automated production needs increasingly to increase.It is existing
Engineering machinery also has and carries out positioning measurement using photosensitive element, but existing measurement method is very simple and crude, it is difficult to which it is accurate fixed to realize
Position, severely impacts the machining accuracy of engineering machinery.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of linear array sensor devices laser positioning method, apparatus,
Terminal and computer readable storage medium can be accurately determined the position of incident laser, and the accurate fixed of object is measured to realize
Position.
The purpose of the present invention is achieved through the following technical solutions：
A kind of linear array sensor devices laser positioning method, including：
Obtain the present frame that linear array sensor devices measure；
Judge whether the present frame is valid frame, otherwise execute " obtain the linear array sensor devices measure it is current
Frame "；
It calculates the center of the valid frame and is exported as laser position.
As an improvement of the above technical solution, described " judging whether the present frame is valid frame " includes：
Judge whether the light intensity value of the present frame is more than light intensity upper threshold value, is " to obtain the linear array sense described in execution
The present frame that optical device measures "；
Judge whether the pulse strength of the present frame is more than pulse strength threshold value, otherwise " obtains the line described in execution
The present frame that battle array sensor devices measure "；
Judge whether the distributed wave of the present frame meets predetermined waveform rule, otherwise " obtains the line described in execution
The present frame that battle array sensor devices measure ".
As a further improvement of the above technical scheme, described " to judge whether the pulse strength of the present frame is more than arteries and veins
Rush intensity threshold " include：
Seek the difference frame of the present frame and previous valid frame；
The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than threshold under light intensity
Value；
Judge whether the quantity of effective luminous point is more than pulse strength threshold value, is " to obtain the linear array described in execution
The present frame that sensor devices measure ".
As a further improvement of the above technical scheme, described " it is pre- to judge whether the distributed wave of the present frame meets
If waveform rule " includes：
Seek the difference frame of the present frame and previous valid frame；
The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than threshold under light intensity
Value；
Judge whether the quantity of effective luminous point is more than 2 times of amount threshold (amount threshold is labeled as K), is then
" present frame that the linear array sensor devices measure is obtained described in execution ".
As a further improvement of the above technical scheme, described " center for calculating the valid frame " includes：
According to light intensity value it is descending choose preceding K point value in effective luminous point；
The preceding K point value is arranged in bell-shaped curve, the center for calculating the bell-shaped curve is described effective
The center of frame.
As a further improvement of the above technical scheme, described " it is pre- to judge whether the distributed wave of the present frame meets
If waveform rule " includes：
Seek the difference frame of the present frame and previous valid frame；
The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than threshold under light intensity
Value；
Effective luminous point is arranged in luminous point curve by the point value regularity of distribution of predetermined waveform；
Calculate the degree of approximation of the luminous point curve and the predetermined waveform；
Judge whether the degree of approximation is more than proportion threshold value, is that the distributed wave of the present frame meets the default wave
Shape rule.
A kind of linear array sensor devices laser locating apparatus, including：
Acquisition module, the present frame measured for obtaining linear array sensor devices；
Judgment module, for judging whether the present frame is valid frame；
Computing module, center for calculating the valid frame are simultaneously exported as laser position.
As an improvement of the above technical solution, the judgment module includes：
Light intensity judging submodule, for judging whether the light intensity value of the present frame is more than light intensity upper threshold value；
Pulse judging submodule, for judging whether the pulse strength of the present frame is more than pulse strength threshold value；
Waveform judging submodule, for judging whether the distributed wave of the present frame meets predetermined waveform rule.
A kind of terminal, including memory and processor, the memory is for storing computer program, the processor
The computer program is executed so that the terminal realizes the linear array sensor devices laser positioning method described in any of the above item.
A kind of computer readable storage medium is stored with the computer program performed by the terminal.
The beneficial effects of the invention are as follows：
Linear array sensor devices laser positioning method, apparatus, terminal and the computer-readable storage medium provided through the invention
Matter can be accurately determined the position of incident laser, and being accurately positioned for object is measured to realize.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart for the linear array sensor devices laser positioning method that the embodiment of the present invention 1 provides；
Fig. 2 is the flow chart for the linear array sensor devices laser positioning method that the embodiment of the present invention 2 provides；
Fig. 3 is the flow chart for the linear array sensor devices laser positioning method that the embodiment of the present invention 2 provides；
Fig. 4 is the flow chart for the linear array sensor devices laser positioning method that the embodiment of the present invention 3 provides；
Fig. 5 is the flow chart for the linear array sensor devices laser positioning method that the embodiment of the present invention 4 provides；
Fig. 6 is the flow chart for the linear array sensor devices laser positioning method that the embodiment of the present invention 5 provides；
Fig. 7 is the structural schematic diagram for the linear array sensor devices laser locating apparatus that the embodiment of the present invention 6 provides；
Fig. 8 is the structural schematic diagram for the terminal that the embodiment of the present invention 7 provides.
Main element symbol description：
100- linear array sensor devices laser locating apparatus, 110- acquisition modules, 120- judgment modules, 121- light intensity judge son
Module, 122- pulse judging submodules, 123- waveform judging submodules, 130- computing modules, 200- terminals, 210- memories,
220- processors, 230- input units, 240- display units.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to linear array sensor devices laser positioning method, apparatus,
Terminal is described more fully with computer readable storage medium.Linear array sensor devices laser positioning side is given in attached drawing
The preferred embodiment of method, device, terminal and computer readable storage medium.But linear array sensor devices laser positioning method, dress
It sets, terminal can be realized from computer readable storage medium by many different forms, however it is not limited to described herein
Embodiment.On the contrary, purpose of providing these embodiments is make to linear array sensor devices laser positioning method, apparatus, terminal with
The disclosure of computer readable storage medium is more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Herein in linear array sensor devices laser positioning method, apparatus, terminal and computer
The term used in the description of readable storage medium storing program for executing, which is only for the purpose of describing specific embodiments, to be not intended to limit
The present invention.Term " and or " used herein includes any and all groups of one or more relevant Listed Items
It closes.
Embodiment 1
Referring to Fig. 1, the present embodiment provides a kind of linear array sensor devices laser positioning method, this method includes following step
Suddenly：
A：Obtain the present frame that linear array sensor devices measure.
Linear array sensor devices have imaging sensor, are imaged for incuding light, and image is changed into for transmission
Signal output.Exemplarily, linear array sensor devices may include the types such as linear CIS, line array CCD, linear array CMOS.
Exemplarily, linear array light sensors sense laser, to generate present frame.It should be appreciated that laser injects linear array sense
When optical device, hot spot is formed in linear array sensor devices surface.Present frame corresponds to the hot spot, the image with a plurality of luminous points
Information.
B：Judge whether the present frame is valid frame, it is no to then follow the steps A.
Step B is used to differentiate and reject the interference of environmental factor, improves the positioning accuracy of laser position, avoids missing
Sentence.Exemplarily, basis for estimation includes the elements such as luminous intensity, luminous point distribution curve, hot spot distribution area.According to above-mentioned judgement according to
According to interference light etc. is rejected caused by too strong ambient light, position distribution are improper.Only retain luminous intensity, luminous point distribution curve
Etc. the satisfactory present frame of elements as valid frame, to ensure registration.
Exemplarily, it if the present frame is judged as non-effective frame, in addition to re-executing step A, and can be reported to user
The abnormal conditions are accused, so that user carries out adjusting measuring system manually, the present frame of reacquisition are made to meet the requirement of valid frame.
Exemplarily, if the present frame is judged as non-effective frame, in addition to re-executing step A, and can diameter row to holding
Units send out regulating command, so that executive component execution is acted and adjust measuring system (including lasing light emitter and the photosensitive member of linear array
Part), so that the present frame of reacquisition is met the requirement of valid frame.
C：It calculates the center of the valid frame and is exported as laser position.
Valid frame meets the hot spot regularity of distribution of laser positioning after step B is screened.The center of valid frame is
The center of hot spot to obtain exact position of the hot spot on linear array sensor devices, and then is sought pair according to input path
The relevant parameters such as incidence point, the incidence angle answered are that the location control of engineering field improves reference.
Exemplarily, method provided in this embodiment can be used for the detection and localization of building ground, to measure the fluctuating on ground
Situation, the verticality to adjust engineering machinery provide reference.Linear array sensor devices are horizontally disposed, and laser is by being set to swashing for ground
Light level meter occurs.Position of the incident laser on linear array sensor devices can accurately be measured by this method, to calculate reflection
The physical location of point, and then realize the modeling to ground shape.
Embodiment 2
On the basis of embodiment 1, the present embodiment discloses a kind of linear array sensor devices laser positioning method, distinguishing characteristics
It is, step B further embodies.It only describes in detail below to distinguishing characteristics, 1 already described place of embodiment, herein no longer
It repeats.
Referring to Fig. 2, in the present embodiment, step B includes the following steps：
B1：Judge whether the light intensity value of the present frame is more than light intensity upper threshold value, is to then follow the steps A.
Light intensity upper threshold value is the upper limit value of valid frame, i.e. the light intensity value of valid frame is no more than light intensity upper threshold value.If present frame
Light intensity value be more than light intensity upper threshold value, show that ambient light is too strong, it is non-to belong to effective lasers range.The present frame should be picked
It removes, avoids that erroneous judgement is caused to interfere.
Exemplarily, if the light intensity value of present frame is more than light intensity upper threshold value, in addition to re-executing step A, and can it is automatic or
The influence of environmental light intensity is reduced manually.For example, can be reduced by adjusting ambient light shield (such as curtain, curtain) every light effect
Incident ambient light (such as sunlight), to reduce the interference of environmental light intensity.
B2：Judge whether the pulse strength of the present frame is more than pulse strength threshold value, it is no to then follow the steps A.
Pulse strength threshold value is the lower limiting value of the pulse strength of valid frame, is more than the present frame Fang Weiyou of pulse strength threshold value
Imitate frame.Exemplarily, pulse strength threshold value is used to judge the luminous point whether in present frame with sufficient amount of sufficient intensity, arteries and veins
It is natural number to rush intensity threshold, to form the critical judgment value of luminous point quantity.
B3：Judge whether the distributed wave of the present frame meets predetermined waveform rule, it is no to then follow the steps A.
Predetermined waveform rule is the regularity of distribution of the ideal laser hot spot (corresponding to valid frame) of measured in advance, according to reality
Depending on the application operating mode of laser.The distributed wave of present frame is compared with predetermined waveform rule, is judged according to degree of approximation
Whether present frame is valid frame.Degree of approximation is higher, and positioning accuracy is better.
It should be appreciated that in a practical example, including at least a step in B1, B2 and B3.One compared with
It in good embodiment, may include the Overall Steps of B1, B2 and B3, there is interference outstanding to judge precision and positioning accuracy.It should
Understand, the sequence between B1, B2, B3 is not limiting as, can be arranged according to actual needs.
Referring to Fig. 3, exemplarily, step B2 may include following steps：
B21：Seek the difference frame of the present frame and previous valid frame.Difference frame is by the present frame and previous valid frame
Subtract each other and obtain, for calculating the situation of change for judging the present frame.The step can effectively be rejected relative to previous valid frame not
Changed luminous point reduces computation burden.
B22：The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than under light intensity
Threshold value.The light intensity value of all luminous points in difference frame is compared with light intensity lower threshold value, the luminous point more than light intensity lower threshold value is
Effective luminous point.
B23：Judge whether the quantity of effective luminous point is more than pulse strength threshold value, is to then follow the steps A.
Embodiment 3
On the basis of embodiment 2, the present embodiment discloses a kind of linear array sensor devices laser positioning method, distinguishing characteristics
It is, step B3 further embodies.It only describes in detail below to distinguishing characteristics, 2 already described place of embodiment, herein no longer
It repeats.
Referring to Fig. 4, in the present embodiment, step B3 includes the following steps：
B31：Seek the difference frame of the present frame and previous valid frame.
Particularly, in the embodiment for having both step B2 and B3, step B31 can with step B21 and close, to simplify processing
Process.
B32：The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than under light intensity
Threshold value.
Particularly, in the embodiment for having both step B2 and B3, step B31 can with step B21 and close, to simplify processing
Process.
B33：Judge whether the quantity of effective luminous point is more than 2 times of amount threshold (amount threshold is labeled as K), is then
Execute step A.
Amount threshold determines that the value belongs to according to the characteristic of linear array photosensitive element and lasing light emitter (such as laser leveler)
Natural number.If effectively the quantity of luminous point is more than 2 times of amount threshold, show that the quantity of effective luminous point is excessive and formed uniformly or
The hot spot of approaches uniformity distribution, does not meet effective regularity of distribution of laser facula, and present frame is non-effective frame.
Exemplarily, it if the present frame is judged as non-effective frame, in addition to re-executing step A, and can be reported to user
The abnormal conditions are accused, so that user adjust manually measuring system (i.e. as adjusted between lasing light emitter and linear array photosensitive element
Position), so that the present frame of reacquisition is met the requirement of valid frame；Also can diameter row send out regulating command to executive component, make to hold
Units execution acts and adjusts measuring system (i.e. as adjusted the position between lasing light emitter and linear array photosensitive element), makes to obtain again
The present frame taken meets the requirement of valid frame.
Embodiment 4
On the basis of embodiment 3, the present embodiment discloses a kind of linear array sensor devices laser positioning method, distinguishing characteristics
It is, step C further embodies.It only describes in detail below to distinguishing characteristics, 3 already described place of embodiment, herein no longer
It repeats.
Referring to Fig. 5, in the present embodiment, step C includes the following steps：
C1：According to light intensity value it is descending choose preceding K point value in effective luminous point；
C2：The preceding K point value is arranged in bell-shaped curve, the center for calculating the bell-shaped curve is described to have
Imitate the center of frame.
Exemplarily, bell-shaped curve has curvilinear characteristic broad in the middle, both ends are small.Preferably, bell-shaped curve meets normal state
The center of the regularity of distribution, curve is the center of valid frame, and is exported as laser position.
Embodiment 5
On the basis of embodiment 2, the present embodiment discloses a kind of linear array sensor devices laser positioning method, distinguishing characteristics
It is, step B3 further embodies.It only describes in detail below to distinguishing characteristics, 2 already described place of embodiment, herein no longer
It repeats.
Referring to Fig. 6, in the present embodiment, step B3 includes the following steps：
B31：Seek the difference frame of the present frame and previous valid frame；
B32：The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than under light intensity
Threshold value；
B33’：Effective luminous point is arranged in luminous point curve by the point value regularity of distribution of predetermined waveform.Predetermined waveform is complete
The regularity of distribution of the ideal laser hot spot (corresponding to valid frame) of full fitting measured in advance, using light intensity value as amplitude.In other words,
Effective luminous point is moved towards arranged evenly along the curve of predetermined waveform, forms luminous point curve.Compared to the amplitude of predetermined waveform, effectively
The light intensity value of luminous point is different, to influence the degree of approximation between luminous point curve and predetermined waveform.
B34：Calculate the degree of approximation of the luminous point curve and the predetermined waveform.In other words, according to the amplitude of predetermined waveform
It is calculated with the amplitude of luminous point curve, to obtain the numerical value of the degree of approximation.
B35：Judge whether the degree of approximation is more than proportion threshold value, is, the distributed wave of the present frame meets described pre-
If waveform rule.The present frame is valid frame, and the center of corresponding luminous point curve is the center of valid frame,
To be exported as laser position.
Embodiment 6
Referring to Fig. 7, the present embodiment provides a kind of linear array sensor devices laser locating apparatus 100, which includes：
Acquisition module 110, the present frame measured for obtaining linear array sensor devices；
Judgment module 120, for judging whether the present frame is valid frame；
Computing module 130, center for calculating the valid frame are simultaneously exported as laser position.
Exemplarily, judgment module 120 includes：
Light intensity judging submodule 121, for judging whether the light intensity value of the present frame is more than light intensity upper threshold value；
Pulse judging submodule 122, for judging whether the pulse strength of the present frame is more than pulse strength threshold value；
Waveform judging submodule 123, for judging whether the distributed wave of the present frame meets predetermined waveform rule.
Embodiment 7
Referring to Fig. 8, the present embodiment provides a kind of terminal 200, which includes memory 210 and processor
220, memory 210 executes computer program so that terminal 200 realizes the above institute for storing computer program, processor 220
The linear array sensor devices laser positioning method stated.
Wherein, terminal 200 includes the terminal device (such as computer, server etc.) for not having mobile communication ability, also
Including mobile terminal (such as smart phone, tablet computer, vehicle-mounted computer, intelligent wearable device etc.).
Memory 210 may include storing program area and storage data field.Wherein, storing program area can storage program area,
Application program (such as sound-playing function, image player function etc.) needed at least one function etc.；Storage data field can deposit
Storage uses created data (such as audio data, backup file etc.) etc. according to terminal 200.In addition, memory 210 can be with
Can also include nonvolatile memory for example, at least disk memory, a flash memory including high-speed random access memory
Device or other volatile solid-state parts.
Preferably, terminal 200 further includes input unit 230 and display unit 240.Wherein, input unit 230 is for receiving
Instructions or parameter (including default roll mode, prefixed time interval roll number with default) input by user, including mouse
Mark, keyboard, touch panel and other input equipments.Display unit 240 for display terminal 200 various output informations (including
Webpage, parameter configuration interface etc.), including display panel.
A kind of computer readable storage medium is provided in this together, is stored with the computer journey performed by terminal
Sequence.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and structure
Figure show the device of multiple embodiments according to the present invention, method and computer program product system frame in the cards
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, the part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.
It should also be noted that in the realization method as replacement, the function of being marked in box can also be attached to be different from
The sequence marked in figure occurs.For example, two continuous boxes can essentially be basically executed in parallel, they also may be used sometimes
To execute in the opposite order, this is depended on the functions involved.
It is also noted that in each box and structure chart and/or flow chart in structure chart and/or flow chart
The combination of box, the dedicated hardware based system of function or action as defined in execution are realized, or can be used
The combination of specialized hardware and computer instruction is realized.
In addition, each function module or unit in each embodiment of the present invention can integrate and to form an independence
Part, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be intelligence
Can mobile phone, personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can to store program code
Medium.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot limitation of the scope of the invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
It encloses.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of linear array sensor devices laser positioning method, which is characterized in that including：
Obtain the present frame that linear array sensor devices measure；
Judge whether the present frame is valid frame, otherwise executes " obtaining the present frame that the linear array sensor devices measure "；
It calculates the center of the valid frame and is exported as laser position.
2. linear array sensor devices laser positioning method according to claim 1, which is characterized in that described " to work as described in judgement
Whether previous frame is valid frame " include：
Judge whether the light intensity value of the present frame is more than light intensity upper threshold value, is " to obtain the linear array photoreceptor described in execution
The present frame that part measures "；
Judge whether the pulse strength of the present frame is more than pulse strength threshold value, otherwise " obtains the linear array sense described in execution
The present frame that optical device measures "；
Judge whether the distributed wave of the present frame meets predetermined waveform rule, otherwise " obtains the linear array sense described in execution
The present frame that optical device measures ".
3. linear array sensor devices laser positioning method according to claim 2, which is characterized in that described " to work as described in judgement
Whether the pulse strength of previous frame is more than pulse strength threshold value " include：
Seek the difference frame of the present frame and previous valid frame；
The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than light intensity lower threshold value；
Judge whether the quantity of effective luminous point is more than pulse strength threshold value, is " it is photosensitive to obtain the linear array described in execution
The present frame that device measures ".
4. linear array sensor devices laser positioning method according to claim 2, which is characterized in that described " to work as described in judgement
Whether the distributed wave of previous frame meets predetermined waveform rule " include：
Seek the difference frame of the present frame and previous valid frame；
The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than light intensity lower threshold value；
Judge whether the quantity of effective luminous point is more than 2 times of amount threshold (amount threshold is labeled as K), is to execute
Described " obtaining the present frame that the linear array sensor devices measure ".
5. linear array sensor devices laser positioning method according to claim 4, which is characterized in that described " to have described in calculating
Imitate the center of frame " include：
According to light intensity value it is descending choose preceding K point value in effective luminous point；
The preceding K point value is arranged in bell-shaped curve, the center for calculating the bell-shaped curve is the valid frame
Center.
6. linear array sensor devices laser positioning method according to claim 4, which is characterized in that described " to work as described in judgement
Whether the distributed wave of previous frame meets predetermined waveform rule " include：
Seek the difference frame of the present frame and previous valid frame；
The effective luminous point and its quantity in the difference frame are calculated, the light intensity value of effective luminous point is more than light intensity lower threshold value；
Effective luminous point is arranged in luminous point curve by the point value regularity of distribution of predetermined waveform；
Calculate the degree of approximation of the luminous point curve and the predetermined waveform；
Judge whether the degree of approximation is more than proportion threshold value, is, the distributed wave of the present frame meets the predetermined waveform rule
Rule.
7. a kind of linear array sensor devices laser locating apparatus, which is characterized in that including：
Acquisition module, the present frame measured for obtaining linear array sensor devices；
Judgment module, for judging whether the present frame is valid frame；
Computing module, center for calculating the valid frame are simultaneously exported as laser position.
8. linear array sensor devices laser locating apparatus according to claim 7, which is characterized in that the judgment module packet
It includes：
Light intensity judging submodule, for judging whether the light intensity value of the present frame is more than light intensity upper threshold value；
Pulse judging submodule, for judging whether the pulse strength of the present frame is more than pulse strength threshold value；
Waveform judging submodule, for judging whether the distributed wave of the present frame meets predetermined waveform rule.
9. a kind of terminal, which is characterized in that including memory and processor, the memory is used to store computer program,
The processor executes the computer program so that the terminal realizes linear array sense according to any one of claims 1 to 6
Optical device laser positioning method.
10. a kind of computer readable storage medium, which is characterized in that it is stored with performed by the terminal described in claim 9
The computer program.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810077252.2A CN108427097B (en) | 2018-01-26 | 2018-01-26 | Linear array photosensitive device laser positioning method, device, terminal and computer readable storage medium |
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| CN201810077252.2A CN108427097B (en) | 2018-01-26 | 2018-01-26 | Linear array photosensitive device laser positioning method, device, terminal and computer readable storage medium |
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| CN108427097A true CN108427097A (en) | 2018-08-21 |
| CN108427097B CN108427097B (en) | 2020-06-16 |
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