CN101451833A - Laser ranging apparatus and method - Google Patents

Laser ranging apparatus and method Download PDF

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CN101451833A
CN101451833A CN 200710202802 CN200710202802A CN101451833A CN 101451833 A CN101451833 A CN 101451833A CN 200710202802 CN200710202802 CN 200710202802 CN 200710202802 A CN200710202802 A CN 200710202802A CN 101451833 A CN101451833 A CN 101451833A
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laser
image
laser beam
beam
module
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CN 200710202802
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Chinese (zh)
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CN101451833B (en )
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陈水燕
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佛山普立华科技有限公司;鸿海精密工业股份有限公司
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Abstract

The invention provides a laser range finding device, including a laser emitting assembly, a video sensor, a processor and a memory. The laser emitting assembly emits a plurality of measuring laser beams that are radiantly projected from the same spot to every direction, and also emits two measuring scale laser beams that are parallel to the central axis of the plurality of measuring laser beams. The processor includes: a laser control module for controlling emission and closing of the laser. A laser emitting parameter acquiring module is used for acquiring an included angle between each two of the measuring laser beams and pitch between the measuring scale laser beams. An image acquiring module is used for acquiring images prior to and subsequent to emission of the laser, and storing the images in the memory. A laser spot extracting module is used for extracting positions of the laser spots where the laser beams are projected on in the image. A range finding module is used for calculating the distance between the laser range finding device and a measured object. In addition, the invention also provides a laser range finding method.

Description

激光测距装置及方法 Laser ranging apparatus and method

技术领域 FIELD

本发明涉及一种测距技术,尤其涉及一种激光测距装置及方法。 The present invention relates to a distance measuring technology, and particularly relates to a laser distance measuring apparatus and method. 背景技术 Background technique

一般来说,激光测距的光信号接收时主要方法有直接接收和反射接收。 In general, when the primary method of receiving the laser distance measuring light and the reflected signal received directly received. 在直接接收方面,由于对设备的要求高,因而这些设备的造价大多相当的昂贵,多用于航天等高科技领域, 很少用于民用。 In terms of direct reception, due to the high demand for the device, and therefore the cost of these devices are mostly quite expensive, used for aerospace and other high-tech fields, rarely for civilian use. 目前用于民用的激光测距技术多采用反射接收,在较长时间内多次反射后取平均值测量距离。 Current technology for civilian use more reflected laser ranging receiver, the distance measurement are averaged over an extended period after multiple reflections. 然而在反射接收时,又由于光信号强度较直接接收小,距离较远时相当微弱,接收和处理时难度较大,接收装置成本昂贵。 However, upon reflection receiver, and because the light intensity signal received directly relatively small, relatively weak far from the time when receiving and processing more difficult, the receiving apparatus expensive.

发明内容 SUMMARY

有鉴于此,有必要提供一种低成本的直接接收光信号的激光测距装置及方法。 In view of this, it is necessary to direct the laser distance measuring apparatus and method for receiving an optical signal of a low cost. 一种激光测距装置,其包括激光发射组件、影像感测器、处理器及存储器。 A laser distance measuring device, which includes a laser emitting component, an image sensor, a processor and a memory. 所述激光发射组件发射多束测量激光束,该测量激光束由同一点向四周以辐射的方式投射,所述激光发射组件还发射两束标尺激光束,该标尺激光束平行于所述多束测量激光束中心轴。 The multi-beam laser emission component emitting the measuring laser beam, a point to the measuring laser beam of radiation projected by the same manner to the surrounding, the laser emitter emitting two beams scale assembly further laser beam, the laser beam is parallel to the scale of the multi-beam measuring laser beam central axis. 所述处理器包括:激光控制模块,用于控制激光发射组件的开启和关闭;激光发射参数获取模块,用于获取激光发射时所述测量激光束两两之间夹角及所述标尺激光束之间的间距;图像获取模块,用于获取影像感测器拍摄的激光发射前后的图像;图像存储模块,用于将激光发射前后拍摄的图像存储于存储器中;激光点提取模块,用于根据激光发射前后的图像对比提取各激光束在图像中投射的激光点的位置;及测距模块,用于根据所述各激光点在图像中的位置、 所述测量激光束之间的夹角及所述标尺激光束的间距计算出激光测距装置与被测物体之间的距离。 Said processor comprising: a laser control module for controlling the opening and closing of the laser emitting assembly; laser emitter parameter obtaining module, configured to obtain the laser emission when the laser beam between the measured angle and the scale twenty-two laser beam the spacing between; image acquisition module for acquiring the image captured before and after the laser emission image sensor; an image storage module for storing images photographed before and after the laser emission in a memory; laser point extraction module for image contrast before and after laser emission points of the laser to extract laser beam projection position in the image; and a measuring module, each according to the position of the laser spot in the image, measuring the angle between the laser beam and the laser beam pitch scale calculated distance between the laser distance measuring device and the object.

一种激光测距方法,包括以下步骤:发射多束向四周以辐射方式投射的测量激光束及两束平行的标尺激光束;拍摄具有激光投射点的图像;关闭激光束;拍摄不具有激光投射点的图像;提取图像中激光投射点位置信息;根据所述各激光点在图像中的位置、所述测量激光束之间的夹角及所述标尺激光束的间距计算出测距装置与被测物体之间的距离。 A laser distance measuring method, comprising the steps of: measuring the laser beam emitted by radiation to the surrounding multi-beam projected beams and two parallel scale laser beam; a laser captured image projection point; off the laser beam; a laser projector having no shooting image point; laser projection point position information extracted image; according to the position of each of said laser spot in the image, the distance measuring device measuring the angle between the laser beam and the pitch of the scale of the laser beam is calculated with the measuring the distance between objects.

由于激光测距装置可以直接根据拍摄的图像中各激光束投射的点的位置及激光束发射的角度、距离,计算出被测物体与激光发射处的距离,所以无需昂贵的接收装置,大大节省了成本。 Since the angle of the laser distance measuring device may emit a laser beam directly from the position of the captured image and each point of the laser beam projection, the distance from the object to be measured and calculated at the laser emission, the receiving apparatus without expensive, saving costs. 附图说明 BRIEF DESCRIPTION

图l是本发明提供的激光测距装置的硬件架构图。 Figure l is a block diagram of a laser distance measuring device of the present invention is provided. 图2是本发明提供的激光测距装置的测距过程示意图。 FIG 2 is a ranging procedure of the laser distance measuring device of the present invention provides a schematic diagram. 图3是本发明提供的激光测距装置的处理器的功能模块图。 FIG 3 is a laser distance measuring device processor of the present invention provides a functional block diagram. 图4是本发明提供的激光测距装置的测距方法流程图。 FIG 4 is a distance measuring method of the laser distance measuring device of the present invention provides a flow chart. 具体实施方式 detailed description

下面将结合附图,对本发明作进一步的详细说明。 Below with the accompanying drawings, the present invention will be further described in detail.

请参阅图1及图2,激光测距装置100可以用于摄像装置的辅助测量、自动行动装置中的测距、汽车防撞系统中的运用及洞穴内部空间勘探测量等。 Please refer to FIG. 1 and FIG. 2, laser distance measuring device 100 may be used to assist in the imaging apparatus, the automatic distance measuring mobile device, the collision avoidance system and the use of the internal space exploration cave measurement.

所述激光测距装置100包括激光发射组件10、影像感测器20、处理器30、存储器40、激光调节装置50及转动装置60 。 The laser distance measuring apparatus 100 includes a laser emitting unit 10, the image sensor 20, a processor 30, a memory 40, device 50 and the rotating device 60 laser trimming.

所述激光发射组件10发射多束由同一点向四周以辐射方式投射的测量激光束La及平行于所述测量激光束La的中心轴M的标尺激光束Lb。 The laser assembly 10 emits plural beams emitted laser beams scale beams La and M parallel to the central axis of the laser beam La is measured from the same point to the surrounding by radiation projected laser measurement Lb. 在本实施方式中,所述激光发射组件10发射三束测量激光束La及两束标尺激光束Lb。 In the present embodiment, the laser assembly 10 emits three beams emitting measuring laser beams La and Lb. two laser beam bundles scales 所述测量激光束La由同一点向四周以辐射的方式投射。 The measuring laser beam La in a manner projected by radiation to the surrounding same point. 所述测量激光束La中各激光束之间的夹角为第一夹角c^、第二夹角a2及第三夹角a3。 The measured angle between the respective laser beam as a first laser beam La angle c ^, a2 second angle and the third angle a3. 在本实施方式中,所述测量激光束La中夹角两两相等均为a 。 In the present embodiment, the measurement of the angle of the laser beams La twenty-two are equal a. 所述标尺激光束Lb平行于所述测量激光束La中心轴M。 The scale of the laser beam Lb parallel to said measuring laser beams La central axis M.

所述激光调节装置50,用于调节激光的输出强度、标尺激光束Lb发射时的间距a及测量激光束La两两之间的夹角a 。 The laser control device 50 for adjusting the output intensity of the laser light, a scale pitch of the laser beam Lb emitted when the laser beam is measured and the angle a between La twenty-two. 在本实施方式中,当被测物体90距离较近时,激光调节装置50降低激光的输出强度,减小标尺激光束Lb发射时的间距a,减小测量激光束La两两之间的夹角a。 In the present embodiment, when the close proximity of the object 90, the laser output intensity adjusting means 50 to reduce the laser beam, reducing the scale of the laser beam Lb emitted at a distance, reduce the measurement laser beam La interposed between twenty-two angle a. 防止激光点超出取景范围。 Prevent the laser point outside the shooting range. 当被测物体90距离较远时,激光调节装置50增强激光的输出强度,增大标尺激光束Lb发射时的间距a,增大测量激光束La两两之间的夹角a 。 90 when the object distance, the laser control device 50 to enhance the intensity of the laser light output is increased when the distance of a laser beam Lb emitted scale, increasing the angle a measured between the laser beam La twenty-two. 保证激光点在图像中的间距不至于过小,影响精度。 To ensure that the laser spot in the image pitch is too small will not affect accuracy.

所述转动装置60,用于将激光向不同的方向发射,对不同方位进行测距。 The rotation means 60, for emitting laser light in different directions, different orientations for ranging. 在洞穴内部空间勘探测量时,为了获得洞穴的立体模型,需对洞穴壁进行测量,所以利用转动装置60,使得激光向不同的方向发射,对不同方位进行测距,获取不同方位的距离,再根据获取的数据构建洞穴的空间模型。 When measuring the internal space exploration cavern, in order to obtain three-dimensional model of the cave, the need to measure cave wall, so the use of the rotating device 60, such that the laser light emitted in different directions, different orientations for ranging acquired from different directions, then Construction of the cave space model from the acquired data.

处理器30用于根据所述各激光点在图像中的位置、所述测量激光束La之间的夹角a及所述标尺激光束Lb的间距a计算出激光测距装置100与被测物体90之间的距离。 The processor 30 for each position of the laser spot in the image, measuring the angle between the laser beam La a scale and the laser beam Lb of the laser distance measuring device 100 calculates the distance and a measured object the distance 90 between. 存储器40用于存储拍摄激光发射前后的图片。 A memory 40 for storing the captured images before and after the laser emission.

5请参阅图3,所述处理器30包括:激光发射参数获取模块31、激光控制模块32,图像获取模块33,图像存储模块34,激光点提取模块35,激光调节模块36,测距模块37、倾角测量模块38及空间测量模块39。 5 Referring to FIG. 3, the processor 30 includes: a laser emitter parameter obtaining module 31, a laser control module 32, the image acquisition module 33, image storage module 34, the laser point extraction module 35, the laser adjustment module 36, a ranging module 37 , tilt measurement module measuring module 38 and the space 39.

激光发射参数获取模块31,用于获取激光发射时所述测量激光束La两两夹角a及所述标尺激光束Lb之间的间距a。 Laser emission parameter obtaining module 31, for a distance La between a twenty-two angle scale and the laser beam Lb emitted laser beam when acquiring the measurement laser beam. 在本实施方式中,由于所述测量激光束La两两夹角a相等,所以获取一个即可。 In the present embodiment, since the measurement of the laser beams La twenty-two angle a equal, to obtain a. 控制模块32,用于控制激光发射组件10的开启和关闭。 Control module 32 for controlling the opening and closing of the laser emitting assembly 10. 图像获取模块33,用于获取影像感测器20拍摄的激光发射前后的图像。 Image acquisition module 33 for acquiring an image sensor 20 before and after the laser image capturing emission. 图像存储模块34,用于将激光发射前后拍摄的图像存储于存储器40中。 Image storage module 34 for storing the image taken before and after the laser emission in the memory 40. 激光点提取模块35,用于根据激光发射前后的图像对比提取各激光束在图像中投射的激光点的位置。 Laser point extraction module 35 for extracting the position of the laser spot compare each laser beam in the projected image according to the image before and after the laser emission. 所述激光点提取模块35根据没有发射激光时的图像及发射激光后的图像中相同像素处的亮度及颜色对比找到图像中激光点的位置,并获得三个测量激光点所围成的三角形的内角及标尺激光Lb两点间的像素数。 The position of laser spot 35 to extract the image contrast found laser spot module according to the pixel brightness and color at the same image and after lasing when no laser emission, the laser measurement and obtains three points of a triangle formed by scale interior angle laser light Lb and the number of pixels between two points.

激光调节模块36,用于根据图像中激光投射点所占图像的比例控制激光调节装置。 Laser adjustment module 36 for controlling the proportion of the laser image adjusting apparatus according to a laser projection point in the image. 为了保证精度,若图像中激光投射点间距太小,则控制激光调节装置50增大测量激光束La的夹角a及标尺激光束Lb的间距a。 To ensure accuracy, if the image of the laser projector spacing is too small, the control device 50 controls the laser measuring laser beams La increasing angle and a pitch scale of the laser beam Lb a. 若图像中激光投射点间距太大,则控制激光调节装置50减小测量激光束La的夹角a及标尺激光束Lb的间距a,保证激光投射点位于取景范围内。 If the image in the laser projector spacing is too large, then the control means adjusts the laser 50 to reduce the angle measuring laser beams La and a scale of the laser beam Lb is a distance, to ensure that the laser projection point is located within the shooting range.

测距模块37,用于根据所述各激光点在图像中的位置、所述测量激光束La之间的夹角a 及所述标尺激光束Lb的间距a计算出激光测距装置100与被测物体90之间的距离。 Ranging module 37, according to the respective position of the laser spot in the image, the measured angle between the laser beams La a laser distance measuring device and the scale of the laser beam Lb is a distance calculated to be 100 the distance 90 between the object to be measured. 所述测距模块37利用所述标尺激光束Lb之间的间距a与图像中该所述标尺激光束Lb投射的点之间的像素数之间的比例关系,及图像中所述标尺激光束Lb投射的点间的像素数与图像中所述测量激光束投射La的点间的像素数之间的比例,计算出测量激光束La投射点之间的实际间距。 The measuring module 37 using the image of the scale a distance between the laser beam Lb in the scale of the laser beam is the ratio between the number of pixels between a projected point Lb, and the image of the scale of the laser beam the number of pixels between image points in the projected Lb measured ratio between the number of pixels between the projection points of the laser beam La, and calculate the actual distance between the measuring laser beam La projected points. 由于测量激光束La与投射在被测物体上的三角形在空间上围成正三棱锥,利用激光发射参数获取模块31获取的激光发射时所述测量激光束La两两夹角a及所述测量激光束La投射点各点之间的实际间距a及测量激光束La围成的三角形的内角,利用立体几何算法,算出正三棱锥侧面及底面三角形的高,利用勾股定理计算出该正三棱锥的高,该值为该正三棱锥的顶点到该三棱锥底面的沿三束测量激光束La中心轴M方向的距离,即物体90与激光测距装置100的距离。 Since the projection measuring laser beams La triangle on the measured object in space surrounded positive triangular pyramid, with a laser emission parameter obtaining module 31 obtains a laser emission when the laser beam twenty-two measured angle and the measuring laser light La a a high-beam distance and the actual interior angle measuring laser beams La triangle formed by the points between projection point La, the use of three-dimensional geometric algorithms calculates the high positive triangular pyramid and the bottom side of the triangle, is calculated using the Pythagorean theorem the positive triangular pyramid , the distance measuring laser beams La direction of the central axis M of the three beams is three is the vertex of the pyramid to the bottom surface of the triangular pyramids, i.e., from the object 90 and the laser distance measuring apparatus 100.

倾角测量模块38,用于根据所述所述测量激光束La投射点在图像中的位置及所述测量激光束La之间的夹角a计算出所述投射的激光点所在的平面与所述测量激光束La中心轴M之间的夹角e。 Tilt measurement module 38, a plane of the projected laser spot is located between the positions measured according to the laser beam La in the image projection points of the laser beams La and the measurement is calculated with the angle a measuring laser beam La angle e between the center axis M. 在本实施方式中,根据测量激光束La与投射在被测物体90上的三角形在空间上围成正三棱锥,利用激光发射参数获取模块31获取的激光发射时所述测量激光束La两两夹角a 及所述测量激光束La投射点各点之间的实际间距a及围成的三角形的内角,构建出该正三棱锥的数学模型,利用所述测量激光束La投射点连线构成的三角形的变形量,计算出所述投射的激光点所在的平面与所述测量激光束La中心轴M之间的夹角{3 。 In the present embodiment, the laser beam La and the measurement triangle projected on the measured object 90 in a space surrounded by the positive triangular pyramid, using a laser emitting laser module 31 acquires the parameters acquired by the measuring laser beam La emitted twenty-two clip angle of a laser beam and measuring the actual distance between the projection point a and point La enclosed angles of a triangle, construct a mathematical model of the positive triangular pyramid, with the measuring laser beams La triangular configuration projecting connecting point the amount of deformation of the projection plane is calculated where the laser spot of the measurement angle between the central axis of the laser beams La M {3.

当在洞穴内部空间勘探测量时,空间测量模块39,用于控制转动装置60对不同方位进行测量,并根据不同方位获取的距离,利用三维图形构建算法,构建立体空间模型。 When the internal space exploration measurements cave space measuring module 39, for controlling the rotation device 60 is measured in different directions, different orientations and according to the distance obtained by constructing three-dimensional graphics algorithms, building three-dimensional space model. 本激光测距装置100利用根据各个激光投射点测得的平面及该平面与激光测距装置100的距离,通过三维图形构建算法,将所有位置进行组合,构建出该洞穴的内部模型。 This laser distance measuring apparatus 100 according to the distance using a laser projection point of each plane and the plane measured with the laser distance measuring apparatus 100, the algorithm constructs a three-dimensional graphics, all the positions are combined to build a model of the interior of the cavern.

请参阅图4,为本发明激光测量方法的流程图。 Please refer to FIG. 4, a flowchart of a method of the present invention, laser measurement.

步骤S11:发射多束向四周以辐射方式投射的测量激光束La及两束平行的标尺激光束Lb 。 Step S11: transmitting multi-beam laser measurement by radiation to the surrounding projected beams La and two beams parallel to the scale of the laser beam Lb. 在本实施方式中,所述多束激光束为三束。 In the present embodiment, the plurality of laser beams into three beams. 步骤S13:拍摄具有激光投射点的图像。 Step S13: the captured image having a laser projection point. 步骤S15:关闭激光束。 Step S15: the laser beam is. 步骤S17:拍摄不具有激光投射点的图像。 Step S17: capturing an image with no laser projection point.

步骤S21:提取图像中激光投射点位置信息。 Step S21: Extraction laser projection image point position information. 在本实施方式中,根据没有发射激光时的 In the present embodiment, when there is no lasing according

图像及发射激光后的图像中相同像素处的亮度及颜色对比找到图像中激光点的位置,并获得 And the image brightness and color laser emission pixels at the same position in the image to find the contrast of the laser spot, and to obtain

三个测量激光束La的投射点所围成的三角形的内角及标尺激光束Lb的投射点之间的像素数。 Three measuring laser beam La is surrounded by the projection point angles of a triangle and the number of pixels between the scale of the laser beam Lb of the projection points.

步骤S25:计算距离。 Step S25: calculating a distance. 在本实施方式中,利用所述标尺激光束Lb之间的间距a与图像中该所述标尺激光束Lb投射的点之间的像素数之间的比例关系,及图像中所述标尺激光束Lb投射的点间的像素数与图像中所述测量激光束La投射的点间的像素数之间的比例,计算出测量激光束La投射点之间的实际间距。 In the present embodiment, by using the scale image and a distance between the laser beam Lb in the scale of the laser beam is the ratio between the number of pixels between a projected point Lb, and the image of the scale of the laser beam Lb between the number of pixels in the image projected point of the laser beam measured ratio between the number of pixels between La projection points to calculate the actual spacing between the projection points of the measuring laser beam La. 由于测量激光束La与投射在被测物体90上的三角形在空间上围成正三棱锥,利用激光发射时所述测量激光束La两两夹角a及所述测量激光束La投射点各点之间的实际间距及测量激光束La投射点围成的三角形的内角,利用几何算法,算出正三棱锥侧面及底面三角形的高,利用勾股定理计算出该正三棱锥的高,该值为该正三棱锥的顶点到该三棱锥底面的沿三束测量激光束La中心轴M方向的距离,即物体90与激光测距装置100的距离。 Due to the measuring laser beam La of the projection triangle on the measured object 90 in a space surrounded by the positive triangular pyramid, with a laser emitting a laser beam of the measuring angle twenty-two La a laser beam La and the measurement points of the projected point the actual spacing between and the measuring laser beams La projection points enclosed angles of a triangle, using geometric algorithms calculates the high positive triangular pyramid side surface and the bottom surface of the triangle, using the Pythagorean theorem calculate the positive high triangular pyramid, which is the positive triangular pyramid along the apex of a triangular pyramid to the bottom surface of the three-beam distance measuring laser beams La central axis M direction, i.e., from the object 90 and the laser distance measuring apparatus 100.

在本发明激光测量方法中,还可根据所述激光点在图像中的位置及所述测量激光束测量激光束La之间的夹角a计算出所述投射的激光点所在的平面与所述测量激光束La中心轴M之间的夹角e。 , In the plane of the laser measuring method according to the present invention may also be a laser spot position in the image of the measuring laser beam and measuring the angle between the laser beam La of the calculated a projected laser spot where the measuring laser beam La angle e between the center axis M. 在本实施方式中,根据测量激光束La与投射在被测物体90上的三角形在空间上围成正三棱锥,利用激光发射参数获取模块31获取的激光发射时所述测量激光束La两两夹角a及所述测量激光束La投射点各点之间的实际间距及测量激光束La投射点围成的三角形的内角,构建出该正三棱锥的数学模型,利用所述测量激光束La投射点连线构成的三角形的变形 In the present embodiment, the laser beam La and the measurement triangle projected on the measured object 90 in a space surrounded by the positive triangular pyramid, using a laser emitting laser module 31 acquires the parameters acquired by the measuring laser beam La emitted twenty-two clip angle of a laser beam and measuring the actual distance between the projection point and the point La angles of a triangle measuring laser beams La projection points enclosed, the positive triangular pyramid constructed mathematical model, using the projection point measuring laser beams La modification of the connection configuration of the triangle

7量,计算出所述投射的激光点所在的平面与所述测量激光束La中心轴M之间的夹角e 。 7, calculation of the projected plane of the laser spot where the included angle e between the laser beams La central axis M of the measurement.

由于激光测距装置可以直接根据拍摄的图像中各激光束投射的点的位置及激光束发射的角度、距离,计算出被测物体90与激光发射处的距离,所以无需昂贵的接收装置,大大节省了成本。 Since the angle of the laser distance measuring device may emit a laser beam directly from the position of the captured image and each point of the laser beam projection, the distance is calculated from the measured object 90 at the laser emission, the receiving apparatus without costly, greatly cost savings.

可以理解的是,对于本领域的普通技术人员来说,可以根据本发明的技术构思做出其它各种相应的改变与变形,而所有这些改变与变形都应属于本发明权利要求的保护范围。 It will be appreciated that those of ordinary skill in the art, that various other changes and modification in accordance with the respective technical concept of the present invention, and all such changes and modifications should fall into the scope of the claims of the invention.

Claims (11)

  1. 【权利要求1】一种激光测距装置,其包括激光发射组件、影像感测器、处理器及存储器,其特征在于,所述激光发射组件发射多束测量激光束,该测量激光束由同一点向四周以辐射的方式投射,所述激光发射组件还发射两束标尺激光束,该标尺激光束平行于所述多束测量激光束中心轴,所述处理器包括:激光控制模块,用于控制激光发射组件的开启和关闭;激光发射参数获取模块,用于获取激光发射时所述测量激光束两两之间夹角及所述标尺激光束之间的间距;图像获取模块,用于获取影像感测器拍摄的激光发射前后的图像;图像存储模块,用于将激光发射前后拍摄的图像存储于存储器中;激光点提取模块,用于根据激光发射前后的图像对比提取各激光束在图像中投射的激光点的位置;及测距模块,用于根据所述各激光点在图像中的位置、所述测 A laser distance measuring apparatus as claimed in claim [1], which includes a laser emitting component, an image sensor, a processor and a memory, wherein said multi-beam laser emission component emitting the measuring laser beam, the laser beam is measured by the same in a manner that is projected to the surrounding radiation, the laser emitter emitting two beams scale assembly further laser beam, the laser beam is parallel to the scale of the multi-beam measuring laser beam central axis, said processor comprising: a laser control module for laser emission control assembly to open and close; laser emitter parameter obtaining module, configured to obtain the distance between the angle between the laser beam and the scale twenty-two laser emitting a laser beam when the measurement; image acquisition module, configured to obtain images before and after the laser emitting photographed image sensor; an image storage module for storing the image taken before and after the laser emission in a memory; laser point extraction module configured to compare the image before and after the laser emitting a laser beam in each of the extracted image the projection position of the laser point; and measuring module, a position in the image according to each of the laser spot, said measurement 量激光束之间的夹角及所述标尺激光束的间距计算出激光测距装置与被测物体之间的距离。 The amount of the angle between the laser beam and the laser beam pitch scale calculated distance between the laser distance measuring device and the object.
  2. 2 如权利要求l所述的激光测距装置,其特征在于,所述测量激光束为三束。 L laser distance measuring apparatus according to claim 2, wherein said measuring laser beam into three beams.
  3. 3 如权利要求2所述的激光测距装置,其特征在于,所述测量激光束两两之间夹角相等。 3 as a laser distance measuring apparatus according to claim 2, characterized in that the measurement is equal to the angle between the laser beam twenty-two.
  4. 4 如权利要求l所述的激光测距装置,其特征在于,所述激光测距装置还包括一个激光调节装置,该装置用于调节激光的输出强度、标尺激光束发射时的间距及测量激光束两两之间的夹角,所述处理器还包括激光调节模块,用于根据图像中激光投射点所占图像的比例控制激光调节装置。 4 of the laser distance measuring apparatus as claimed in claim l, wherein said laser distance measuring device further comprises a laser adjusting means for adjusting the output intensity of the laser light, and the distance measuring laser emitting a laser beam at a scale twenty-two angle between beams, said processor further comprising a laser trimming module for the proportion occupied by the image projection points of the laser in accordance with image adjusting means for controlling the laser.
  5. 5 如权利要求l所述的激光测距装置,其特征在于,所述处理器还包括倾角测量模块,用于根据所述激光点在图像中的位置及所述测量激光束之间的夹角计算出所述投射的激光点所在的平面与所述测量激光束中心轴之间的夹角。 5 The laser distance measuring apparatus according to claim l, wherein said processor further comprises the angle between the position in the image and the tilt measurement module measuring laser beam of the laser spot according to calculate the angle between the plane of the projected laser spot where the laser beam central axis of the measurement.
  6. 6 如权利要求l所述的激光测距装置,其特征在于,所述激光测距装置还包括一个转动装置,用于将激光向不同的方向发射,对不同方位进行测距,所述处理器还包括空间测量模块,用于控制转动装置对不同方位进行测量,并根据不同方位获取的距离,利用三维图形构建算法,构建立体空间模型。 L The laser distance measuring device 6 according to the claim processor, wherein said laser distance measuring device further comprises a rotation means for emitting laser light in different directions, different orientations for ranging, further comprising a measuring space module, means for controlling the rotation of measurements at different orientations and different orientations depending on the distance obtained using the algorithm for constructing three-dimensional graphics, building three-dimensional space model.
  7. 7 一种激光测距方法,包括以下步骤: 发射多束向四周以辐射方式投射的测量激光束及两束平行的标尺激光束; 拍摄具有激光投射点的图像; 关闭激光束;拍摄不具有激光投射点的图像; 提取图像中激光投射点位置信息;根据所述各激光点在图像中的位置、所述测量激光束之间的夹角及所述标尺激光束的间距计算出所述激光测距装置与被测物体之间的距离。 7 A laser distance measuring method, comprising the steps of: measuring the laser beam emitted by radiation to the surrounding multi-beam projected beams and two parallel scale laser beam; a laser captured image projection point; off the laser beam; a laser imaging does not have the image projection point; laser projection point position information extracted image; according to the position of each of said laser spot in the image, the measured angle between the laser beam and the scale of the laser beam of the laser distance measuring calculated the distance between the device and the object distance.
  8. 8 如权利要求7所述的激光测距方法,其特征在于,所述多束由同一点以辐射方式投射出的测量激光束为三束。 8 The laser distance measuring method according to claim 7, wherein said multi-beam projected from the same point measured by radiation of the laser beam into three beams.
  9. 9 如权利要求8所述的激光测距方法,其特征在于,所述多束由同一点以辐射方式投射出的激光束之间的两两夹角相等。 9 The laser distance measuring method according to claim 8, wherein said multi-beam is equal to the angle between the projected twenty-two by the same point by radiation of the laser beam.
  10. 10 如权利要求7所述的激光测距方法,其特征在于,该激光测距方法还根据所述激光点在图像中的位置及所述测量激光束之间的夹角计算出所述投射的激光点所在的平面与所述测量激光束中心轴之间的夹角。 10 The laser distance measuring method according to claim 7, characterized in that the method further laser ranging in the image position and the measured angle between the projection of the laser beam is calculated according to the laser spot plane of the laser spot where the measurement of the angle between the center axis of the laser beam.
  11. 11 如权利要求7所述的激光测距方法,其特征在于,所述提取图像中激光投射点的位置信息的步骤中,根据发射激光前后的图像对比获取激光投射点在图像中的位置。 Step 11 The laser distance measuring method according to claim 7, wherein said position information extracting projected laser image point in the image acquired before and after contrast laser emitting a laser spot position in the projected image.
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