CN101451833B - Laser ranging apparatus and method - Google Patents
Laser ranging apparatus and method Download PDFInfo
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- CN101451833B CN101451833B CN2007102028020A CN200710202802A CN101451833B CN 101451833 B CN101451833 B CN 101451833B CN 2007102028020 A CN2007102028020 A CN 2007102028020A CN 200710202802 A CN200710202802 A CN 200710202802A CN 101451833 B CN101451833 B CN 101451833B
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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
Technical field
The present invention relates to a kind of ranging technology, relate in particular to a kind of laser ranging system and method.
Background technology
Main method had direct reception and reflection to receive when in general, the light signal of laser ranging received.Aspect direct reception, owing to requirement height to equipment, thereby the most suitable costliness of the cost of these equipment, be used for high-tech areas such as space flight more, seldom be used for civilian.Be used for civilian laser ranging technique at present and adopt reflection to receive more, the measuring distance of averaging after repeatedly reflecting in a long time.Yet when reflection received, because light signal strength more directly receives for a short time, quite faint when distance is far away, difficulty was bigger when receiving and handling, receiving trap cost costliness again.
Summary of the invention
In view of this, be necessary to provide a kind of laser ranging system and the method for direct receiving optical signals cheaply.
A kind of laser ranging system, it comprises Laser emission assembly, image sensor, processor and storer.Described Laser emission assembly emission multi beam Laser Measurement bundle, to throwing in the mode of radiation all around, described Laser emission assembly is also launched two bundle scale laser beam to this Laser Measurement bundle by same point, and this scale laser beam is parallel to the intrafascicular axle of described multi beam Laser Measurement.Described processor comprises: laser control module is used to control the opening and closing of Laser emission assembly; Laser emitting parameter acquiring module, the described Laser Measurement bundle spacing between angle and the described scale laser beam between any two when being used to obtain Laser emission; Image collection module is used to obtain the image before and after the Laser emission that image sensor takes; The image memory module, the image that is used for taking before and after the Laser emission is stored in storer; Laser spot extracting module is used for extracting according to the image comparison before and after the Laser emission position of the laser spots that each laser beam throws at image; And range finder module, be used for going out distance between laser ranging system and the testee according to the angle and the distance computation of described scale laser beam of described each laser spots in the position of image, between the described Laser Measurement bundle.
A kind of laser distance measurement method may further comprise the steps: the emission multi beam is to the Laser Measurement bundle and the parallel scale laser beam of two bundles of throwing with radiation mode all around; Shooting has the image of laser projections point; Close laser beam; Take the image that does not have laser projections point; Extract laser projections dot position information in the image; Go out distance between distance measuring equipment and the testee according to the distance computation of the position of described each laser spots in image, angle between the described Laser Measurement bundle and described scale laser beam.
Because laser ranging system can calculate the distance at testee and Laser emission place directly according to the position of the point of each laser beam projection in the image of taking and angle, the distance of laser beam emission, so need not expensive receiving trap, provides cost savings greatly.
Description of drawings
Fig. 1 is the hardware structure figure of laser ranging system provided by the invention.
Fig. 2 is the ranging process synoptic diagram of laser ranging system provided by the invention.
Fig. 3 is the functional block diagram of the processor of laser ranging system provided by the invention.
Fig. 4 is the distance-finding method process flow diagram of laser ranging system provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
See also Fig. 1 and Fig. 2, laser ranging system 100 can be used for the subsidiary of camera head, range finding, the utilization in the anti-collision system for automobile and inner space, the cave Reconnaissance Survey etc. of automatic running gear.
Described laser ranging system 100 comprises Laser emission assembly 10, image sensor 20, processor 30, storer 40, laser regulating device 50 and wheelwork 60.
Described Laser emission assembly 10 emission multi beams by same point to around with the Laser Measurement bundle La of radiation mode projection and be parallel to the scale laser beam Lb of the central shaft M of described Laser Measurement bundle La.In the present embodiment, described Laser emission assembly 10 emission three beams Laser Measurement bundle La and two bundle scale laser beam Lb.Described Laser Measurement bundle La by same point to around throw in the mode of radiation.Angle among the described Laser Measurement bundle La between each laser beam is the first angle α
1, the second angle α
2And the 3rd angle α
3In the present embodiment, angle equates to be α in twos among the described Laser Measurement bundle La.Described scale laser beam Lb is parallel to described Laser Measurement bundle La central shaft M.
Described laser regulating device 50, spacing a and Laser Measurement bundle La angle α between any two when being used to regulate output intensity, the scale laser beam Lb emission of laser.In the present embodiment, when testee 90 close together, laser regulating device 50 reduces the output intensity of laser, and the spacing a when reducing scale laser beam Lb emission reduces Laser Measurement bundle La angle α between any two.Prevent that laser spots from exceeding viewfinder range.When testee 90 distances were far away, laser regulating device 50 strengthened the output intensity of laser, and the spacing a when increasing scale laser beam Lb emission increases Laser Measurement bundle La angle α between any two.Guarantee that the spacing of laser spots in image is unlikely to too small, influences precision.
Described wheelwork 60 is used for laser is launched to different directions, and different azimuth is found range.When the Reconnaissance Survey of inner space, cave, in order to obtain the stereoscopic model in cave, need the cave wall is measured, so utilize wheelwork 60, make laser to different direction emissions, different azimuth is found range, obtain the distance of different azimuth, again according to the spatial model in the data construct cave that obtains.
See also Fig. 3, described processor 30 comprises: laser emitting parameter acquiring module 31, laser control module 32, image collection module 33, image memory module 34, laser spot extracting module 35, laser adjustment module 36, range finder module 37, measurement of dip angle module 38 and space measurement module 39.
Laser emitting parameter acquiring module 31, the described Laser Measurement bundle La spacing a between angle α and the described scale laser beam Lb in twos when being used to obtain Laser emission.In the present embodiment, angle α is equal in twos owing to described Laser Measurement bundle La, gets final product so obtain one.Control module 32 is used to control the opening and closing of Laser emission assembly 10.Image collection module 33 is used to obtain the image before and after the Laser emission that image sensor 20 takes.Image memory module 34, the image that is used for taking before and after the Laser emission is stored in storer 40.Laser spot extracting module 35 is used for extracting according to the image comparison before and after the Laser emission position of the laser spots that each laser beam throws at image.The brightness and the color contrast at same pixel place find the position of laser spots in the image in image when described laser spot extracting module 35 bases are not launched laser and the image behind the emission laser, and obtain the pixel count of three leg-of-mutton interior angles that Laser Measurement point surrounded and scale laser Lb point-to-point transmission.
Measurement of dip angle module 38 is used for according to described Laser Measurement bundle La incident point at the plane at the laser spots place that the position and the angle α between the described Laser Measurement bundle La of image calculate described projection and the angle β between the described Laser Measurement bundle La central shaft M.In the present embodiment, spatially surround positive triangular pyramid according to Laser Measurement bundle La with the triangle that is incident upon on the testee 90, the described Laser Measurement bundle La actual pitch a between angle α and the described Laser Measurement bundle La incident point each point and the leg-of-mutton interior angle that surrounds in twos when utilizing the Laser emission that laser emitting parameter acquiring module 31 obtains, construct the mathematical model of this positive triangular pyramid, the leg-of-mutton deflection that utilizes described Laser Measurement bundle La incident point line to constitute calculates the plane at laser spots place of described projection and the angle β between the described Laser Measurement bundle La central shaft M.
When at inner space, cave Reconnaissance Survey, space measurement module 39 is used to control 60 pairs of different azimuth of wheelwork and measures, and according to the distance that different azimuth is obtained, utilizes three-dimensional picture to make up algorithm, makes up the solid space model.This laser ranging system 100 utilizes the plane that records according to each laser projections point and the distance of this plane and laser ranging system 100, by three-dimensional picture structure algorithm, all positions is made up, and constructs the internal model in this cave.
See also Fig. 4, be the process flow diagram of laser measurement method of the present invention.
Step S11: the emission multi beam is to the Laser Measurement bundle La and the parallel scale laser beam Lb of two bundles that throw with radiation mode all around.In the present embodiment, described multiple laser bundle is a three beams.
Step S13: take image with laser projections point.
Step S15: close laser beam.
Step S17: take the image that does not have laser projections point.
Step S21: extract laser projections dot position information in the image.In the present embodiment, the brightness and the color contrast at same pixel place find the position of laser spots in the image in the image behind image when not launching laser and the emission laser, and obtain the pixel count between the incident point of the leg-of-mutton interior angle that the incident point surrounded of three Laser Measurement bundle La and scale laser beam Lb.
Step S25: computed range.In the present embodiment, utilize the proportionate relationship between the pixel count between the point of this described scale laser beam Lb projection in spacing a between the described scale laser beam Lb and the image, and the ratio between the pixel count between the point of Laser Measurement bundle La projection described in pixel count between the point of the projection of scale laser beam Lb described in the image and the image, calculate the actual pitch between the Laser Measurement bundle La incident point.Because Laser Measurement bundle La spatially surrounds positive triangular pyramid with the triangle that is incident upon on the testee 90, the described Laser Measurement bundle La leg-of-mutton interior angle that surrounds of the actual pitch between angle α and the described Laser Measurement bundle La incident point each point and Laser Measurement bundle La incident point in twos when utilizing Laser emission, utilize geometric algorithm, calculate the leg-of-mutton height in positive triangular pyramid side and bottom surface, utilize Pythagorean theorem to calculate the height of this positive triangular pyramid, this value is the distance along three beams Laser Measurement bundle La central shaft M direction of the summit of this positive triangular pyramid to this triangular pyramid bottom surface, the i.e. distance of object 90 and laser ranging system 100.
In laser measurement method of the present invention, also can be according to position and the plane at the laser spots place that calculates described projection of the angle α between the described Laser Measurement bundle Laser Measurement bundle La and the angle β between the described Laser Measurement bundle La central shaft M of described laser spots in image.In the present embodiment, spatially surround positive triangular pyramid according to Laser Measurement bundle La with the triangle that is incident upon on the testee 90, the described Laser Measurement bundle La leg-of-mutton interior angle that surrounds of the actual pitch between angle α and the described Laser Measurement bundle La incident point each point and Laser Measurement bundle La incident point in twos when utilizing the Laser emission that laser emitting parameter acquiring module 31 obtains, construct the mathematical model of this positive triangular pyramid, the leg-of-mutton deflection that utilizes described Laser Measurement bundle La incident point line to constitute calculates the plane at laser spots place of described projection and the angle β between the described Laser Measurement bundle La central shaft M.
Because laser ranging system can be directly according to the position of the point of each laser beam projection in the image of taking and angle, the distance of laser beam emission, calculate the distance at testee 90 and Laser emission place, so need not expensive receiving trap, provide cost savings greatly.
Be understandable that, for the person of ordinary skill of the art, can make other various corresponding changes and distortion by technical conceive according to the present invention, and all these change the protection domain that all should belong to claim of the present invention with distortion.
Claims (11)
1. laser ranging system, it comprises Laser emission assembly, image sensor, processor and storer, it is characterized in that, described Laser emission assembly emission multi beam Laser Measurement bundle, this Laser Measurement bundle by same point to around throw in the mode of radiation, described Laser emission assembly is also launched two bundle scale laser beam, and this scale laser beam is parallel to the intrafascicular axle of described multi beam Laser Measurement, and described processor comprises:
Laser control module is used to control the opening and closing of Laser emission assembly;
Laser emitting parameter acquiring module, the described Laser Measurement bundle spacing between angle and the described scale laser beam between any two when being used to obtain Laser emission;
Image collection module is used to obtain the image before and after the Laser emission that image sensor takes;
The image memory module, the image that is used for taking before and after the Laser emission is stored in storer;
Laser spot extracting module is used for extracting according to the image comparison before and after the Laser emission position of the laser spots that each laser beam throws at image; And
Range finder module is used for going out distance between laser ranging system and the testee according to the angle and the distance computation of described scale laser beam of described each laser spots in the position of image, between the described Laser Measurement bundle.
2. laser ranging system as claimed in claim 1 is characterized in that, described Laser Measurement bundle is a three beams.
3. laser ranging system as claimed in claim 2 is characterized in that, described Laser Measurement bundle angle between any two equates.
4. laser ranging system as claimed in claim 1, it is characterized in that, described laser ranging system also comprises a laser regulating device, this device is used to regulate output intensity, the spacing and the Laser Measurement bundle angle between any two when the scale laser beam is launched of laser, described processor also comprises the laser adjustment module, is used for putting according to the image laser projections proportional control laser regulating device of shared image.
5. laser ranging system as claimed in claim 1, it is characterized in that, described processor also comprises the measurement of dip angle module, is used for according to described laser spots at the plane at the laser spots place that the position and the angle between the described Laser Measurement bundle of image calculates described projection and the angle between the intrafascicular axle of described Laser Measurement.
6. laser ranging system as claimed in claim 1, it is characterized in that, described laser ranging system also comprises a wheelwork, be used for laser is launched to different directions, different azimuth is found range, described processor also comprises the space measurement module, being used to control wheelwork measures different azimuth, and, utilize three-dimensional picture to make up algorithm according to the distance that different azimuth is obtained, make up the solid space model.
7. a use such as each described laser ranging system of claim 1-6 carry out laser ranging
Method may further comprise the steps:
The emission multi beam is to the Laser Measurement bundle and the parallel scale laser beam of two bundles of throwing with radiation mode all around;
Shooting has the image of laser projections point;
Close laser beam;
Take the image that does not have laser projections point;
Extract laser projections dot position information in the image;
Go out distance between described laser ranging system and the testee according to the distance computation of the position of described each laser spots in image, angle between the described Laser Measurement bundle and described scale laser beam.
8. laser distance measurement method as claimed in claim 7 is characterized in that, the Laser Measurement bundle that described multi beam is projected with radiation mode by same point is a three beams.
9. laser distance measurement method as claimed in claim 8 is characterized in that, the angle in twos between the laser beam that described multi beam is projected with radiation mode by same point equates.
10. laser distance measurement method as claimed in claim 7, it is characterized in that this laser distance measurement method is also according to position and the plane at angle described Laser Measurement bundle between the laser spots place that calculate described projection and the angle described Laser Measurement intrafascicular axle between of described laser spots in image.
11. laser distance measurement method as claimed in claim 7 is characterized in that, in the step of the positional information of laser projections point, obtains the position of laser projections point in image according to the image comparison before and after the emission laser in the described extraction image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007102028020A CN101451833B (en) | 2007-11-30 | 2007-11-30 | Laser ranging apparatus and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007102028020A CN101451833B (en) | 2007-11-30 | 2007-11-30 | Laser ranging apparatus and method |
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| Publication Number | Publication Date |
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| CN101451833A CN101451833A (en) | 2009-06-10 |
| CN101451833B true CN101451833B (en) | 2010-11-17 |
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| CN2007102028020A Expired - Fee Related CN101451833B (en) | 2007-11-30 | 2007-11-30 | Laser ranging apparatus and method |
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| CN102445180B (en) * | 2010-10-13 | 2013-09-18 | 原相科技股份有限公司 | Ranging system, ranging and processing method |
| CN102278972A (en) * | 2011-06-03 | 2011-12-14 | 大连理工大学 | Digital laser range finder capable of video capture |
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| TWI630372B (en) * | 2016-11-23 | 2018-07-21 | 東盛精密科技有限公司 | Laser detection device |
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| CN109612448B (en) * | 2019-02-13 | 2024-02-20 | 莱赛激光科技股份有限公司 | Laser vision measurement equipment and method |
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| CN113050113B (en) * | 2021-03-10 | 2023-08-01 | 广州南方卫星导航仪器有限公司 | Laser spot positioning method and device |
| CN114046768B (en) * | 2021-11-10 | 2023-09-26 | 重庆紫光华山智安科技有限公司 | Laser ranging method, device, laser ranging equipment and storage medium |
| CN114111589A (en) * | 2021-11-19 | 2022-03-01 | 南方海洋科学与工程广东省实验室(湛江) | Mesh-based underwater ranging method, ranging system and storage medium |
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