CN102298148A - Distance measuring method and distance measuring device - Google Patents
Distance measuring method and distance measuring device Download PDFInfo
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- CN102298148A CN102298148A CN201010219126XA CN201010219126A CN102298148A CN 102298148 A CN102298148 A CN 102298148A CN 201010219126X A CN201010219126X A CN 201010219126XA CN 201010219126 A CN201010219126 A CN 201010219126A CN 102298148 A CN102298148 A CN 102298148A
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Abstract
The invention discloses a distance measuring method and a distance measuring device and relates to the field of laser ranging. The distance measuring method and the distance measuring device are used for reducing the realization complexity and cost for measuring a distance of object. The distance measuring device comprises a laser generator, an image sensor and a processor, wherein the laser generator is used for emitting a laser beam to a measured object; the image sensor is used for receiving the laser beam reflected by the measured object; the processor is used for confirming a distance between the distance measuring device and the measured object according to an angle value between the laser beam emitted from the laser generator and a first straight line and a distance between the image sensor and the laser generator when the reflected laser beam is identified from the image sensor; and the first straight line is a straight line connected between the image sensor and the laser generator. The distance measuring device can be used for efficiently reducing the realization complexity and cost for measuring the distance of object.
Description
Technical field
The present invention relates to laser ranging field, relate in particular to a kind of distance-finding method and distance measuring equipment.
Background technology
Utilize Laser Distance Measuring Equipment to find range at present, its range measurement principle is: Laser Distance Measuring Equipment gives off laser beam to testee, what record gave off laser beam simultaneously sends the time, laser beam is reflected back toward Laser Distance Measuring Equipment after arriving testee, Laser Distance Measuring Equipment recording laser bundle arrives the time of arrival of Laser Distance Measuring Equipment after reflection, according to the time of sending and the time of arrival of record, obtain the distance between Laser Distance Measuring Equipment and the testee then.
In realizing process of the present invention, the inventor finds to exist in the prior art following technical matters:
Though present Laser Distance Measuring Equipment is very high on distance accuracy, therefore the accuracy requirement that Laser Distance Measuring Equipment is carried out time keeping exists defectives such as cost height, technical sophistication than higher, can't obtain general application.
Summary of the invention
The embodiment of the invention provides a kind of distance-finding method and equipment, is used to reduce the implementation complexity and the cost of Measuring Object distance.
A kind of distance measuring equipment, this device comprises: laser generator, imageing sensor and processor, when imageing sensor during over against testee, on the plane at imageing sensor and laser generator place and the testee with imageing sensor over against plane parallel, wherein:
Laser generator is used for giving off laser beam to testee;
Processor, be used for when recognizing the reflection lasering beam that testee fires back from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.
A kind of method of utilizing above-mentioned distance measuring equipment to find range, this method comprises:
Laser generator gives off laser beam to testee;
Processor is when recognizing the reflection lasering beam that testee fires back from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.
Among the present invention, laser generator gives off laser beam to testee, processor is when recognizing the reflection lasering beam that testee reflects from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.As seen, distance measuring equipment provided by the invention only needs can measure the distance between distance measuring equipment and the testee by laser generator and imageing sensor, has effectively reduced the complexity and the cost of Measuring Object distance.
Description of drawings
The range measurement principle synoptic diagram that Figure 1A provides for the embodiment of the invention;
The range measurement principle synoptic diagram that Figure 1B provides for the embodiment of the invention;
The apparatus structure synoptic diagram that Fig. 2 provides for the embodiment of the invention;
The method flow synoptic diagram that Fig. 3 provides for the embodiment of the invention;
The idiographic flow synoptic diagram that Fig. 4 provides for the embodiment of the invention.
Embodiment
For the implementation complexity and the cost that reduce the Measuring Object distance, the embodiment of the invention provides a kind of distance measuring equipment, at first the range measurement principle of this distance measuring equipment is described below:
Shown in Figure 1A, the distance measuring equipment that the embodiment of the invention provides mainly comprises three parts: 1, be used to the laser generator that gives off laser beam; 2, be used to receive the imageing sensor that the external world sends light beam; 3, the processor that is used for image acquisition, demonstration and identification.Imageing sensor and laser generator are in same vertical plane, and testee is parallel with this vertical plane.
The laser beam that imageing sensor sends at vertical direction and laser generator is a at angle, and the distance between imageing sensor and the laser generator is H, then distance L=the H between pick-up lens and the testee * tga; Because H is known, angle a can measure, so distance L just can be obtained.Because testee generally has outside surface in irregular shape, so the laser beam that laser generator sends has the folded light beam level and enters imageing sensor after arriving testee.
1. laser generator: can be the laser torch, effect is exactly to produce a rectilinear light beam to shine on the testee, through being imaged onto imageing sensor after the reflection.
2, imageing sensor: can be the pick-up lens on mobile phone or the PDA(Personal Digital Assistant).
3. processor: be mainly used in image acquisition, demonstration and identification; Concrete, processor is shown on the screen after imageing sensor collects view data; Perhaps the reflection lasering beam that testee reflects is identified by image recognition algorithm, if reflection lasering beam does not drop on the center of imageing sensor, then adjust laser beam angular, promptly adjust angle a, finally make reflection lasering beam drop on the center of imageing sensor, utilize formula L=H * tga promptly can calculate distance L this moment.Specifically can the use angle controller adjust angle a, the use angle measuring appliance a that takes measurement of an angle.
Shown in Figure 1B, the distance measuring equipment that the embodiment of the invention provides mainly comprises three parts: 1, be used to the laser generator that gives off laser beam; 2, be used to receive the imageing sensor that the external world sends light beam; 3, the processor that is used for image acquisition, demonstration and identification.Be that with the difference shown in Figure 1A variation has taken place in the position of imageing sensor, laser generator, testee, imageing sensor and laser generator are in same surface level, and testee is parallel with this surface level.
The laser beam that imageing sensor sends with laser generator in the horizontal direction is a at angle, and the distance between imageing sensor and the laser generator is H, then distance L=the H between pick-up lens and the testee * tga; Because H is known, angle a can measure, so distance L just can be obtained.Because testee generally has outside surface in irregular shape, so the laser beam that laser generator sends has the folded light beam level and enters imageing sensor after arriving testee.Same,
1. laser generator: can be the laser torch, effect is exactly to produce a rectilinear light beam to shine on the testee, through being imaged onto imageing sensor after the reflection.
2, imageing sensor: can be the pick-up lens on mobile phone or the PDA(Personal Digital Assistant).
3. processor: be mainly used in image acquisition, demonstration and identification; Concrete, processor is shown on the screen after imageing sensor collects view data; Perhaps the reflection lasering beam that testee reflects is identified by image recognition algorithm, if reflection lasering beam does not drop on the center of imageing sensor, then adjust laser beam angular, promptly adjust angle a, finally make reflection lasering beam drop on the center of imageing sensor, utilize formula L=H * tga promptly can calculate distance L this moment.Specifically can the use angle controller adjust angle a, the use angle measuring appliance a that takes measurement of an angle.
Above-mentioned Figure 1A and Figure 1B only are that the position that provides between two imageing sensors, laser generator, the testee three concerns exemplary plot, in the practical application scene, testee might not horizontal positioned or is vertically placed, therefore, in order to measure the distance of testee, the position relation between imageing sensor, laser generator, the testee three needs to satisfy following relation:
When imageing sensor during over against testee, on the plane at imageing sensor and laser generator place and the testee with imageing sensor over against plane parallel.
The structure of the distance measuring equipment that the embodiment of the invention is provided is specifically described below:
Referring to Fig. 2, the distance measuring equipment that the embodiment of the invention provides specifically comprises:
Laser beam that indication angle measuring appliance Laser Measurement generator sends and the angle value between first straight line, according to the measurement result of measurement of angle device feedback and the distance between imageing sensor and the laser generator, determine the distance between this distance measuring equipment and the testee;
Accordingly, this device also comprises:
Measurement of angle device 13 is used for laser beam that the indication measurement laser generator according to processor sends and the angle value between first straight line, and gives processor with measurement feedback.The measurement of angle device can adopt resistance, electric capacity, inductance etc. to measure this angle value, and feeds back to processor after converting measurement result to digital signal.The method distance that the measurement of angle device is measured this angle value is as follows:
Example one:
Adopt variable resistor to measure.Concrete, variable-resistance sliding end is linked to each other with the Laser emission end of laser generator, make variable-resistance sliding end slide along with the rotation of laser generator, when processor recognizes the reflection lasering beam that testee reflects from imageing sensor, determine variable-resistance resistance size this moment, corresponding relation according to predefined resistance and angle value, determine the corresponding angle value of this resistance size, this angle value is laser beam that the Laser Measurement generator sends and the angle value between first straight line.
Example two:
Adopt electric capacity to measure.Concrete, the sliding end of variable capacitance is linked to each other with the Laser emission end of laser generator, make the sliding end of variable capacitance slide along with the rotation of laser generator, when processor recognizes the reflection lasering beam that testee reflects from imageing sensor, determine the capacitance of variable capacitance this moment, corresponding relation according to predefined capacitance and angle value, determine the angle value of this capacitance correspondence, this angle value is laser beam that the Laser Measurement generator sends and the angle value between first straight line.
Determine distance L between distance measuring equipment and the testee according to following formula:
L＝H*tga，
Shown in Figure 1A and Figure 1B, H is the distance between imageing sensor and the laser generator, and a is the laser beam sent of laser generator and the angle value between first straight line.
Preferable, processor 12 is used for:
When the reflection lasering beam that reflects at testee drops on the central area of imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee.
When the reflection lasering beam that reflects at testee did not drop on the central area of imageing sensor, the indication angle controller was adjusted laser beam that laser generator sends and the angle between first straight line;
Accordingly, this device also comprises:
Concrete, processor 12 is used for:
During regional below the reflection lasering beam that testee reflects drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are turned set angle down;
During regional more than the reflection lasering beam that testee reflects drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are transferred big set angle.
When dropping on the central area of imageing sensor, just measures the reflection lasering beam that reflects at testee the distance of testee, the accuracy that can improve measurement result.
Distance measuring equipment among the present invention is specifically as follows handheld communication devices, for example mobile phone, PDA etc.
Referring to Fig. 3, the embodiment of the invention also provides a kind of method of utilizing above-mentioned distance measuring equipment to find range, and this method may further comprise the steps:
Step 30: laser generator gives off laser beam to testee;
Step 31: when processor recognizes the reflection lasering beam that testee reflects from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.
In the step 31, processor is determined the distance between distance measuring equipment and the testee according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, and its specific implementation can be as follows:
At first, the laser beam sent of processor indication angle measuring appliance Laser Measurement generator and the angle value between first straight line;
Then, the measurement of angle device is according to the described angle value of the indication measurement of processor, and gives processor with measurement feedback;
At last, measurement result that processor feeds back according to the measurement of angle device and the distance between imageing sensor and the laser generator are determined the distance between distance measuring equipment and the testee.
Certainly, laser beam that processor also can send according to the laser generator that user or other external entities measure and import and the angle value between first straight line are determined the distance between distance measuring equipment and the testee.
In the step 31, processor can be determined distance L between distance measuring equipment and the testee according to following formula:
L＝H*tga；
H is the distance between imageing sensor and the laser generator, and a is described angle value.
Preferable, when processor can drop on the central area of imageing sensor at the reflection lasering beam that testee reflects, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between distance measuring equipment and the testee.
When the reflection lasering beam that reflects at testee did not drop on the central area of imageing sensor, processor can indicate angle controller to adjust laser beam that laser generator sends and the angle between first straight line; Angle controller is adjusted laser beam that laser generator sends and the angle between first straight line according to the indication of processor.
Certainly, also can be user or other external entities when determining that reflection lasering beam that testee reflects does not drop on the central area of imageing sensor, adjust laser beam that laser generator sends and the angle between first straight line by user or other external entities.
Here, laser beam that processor indication angle controller adjustment laser generator sends and the angle between first straight line, specific implementation can be as follows:
During processor regional below the reflection lasering beam that testee reflects drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are turned set angle down;
During regional more than the reflection lasering beam that testee reflects drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are transferred big set angle.
Below in conjunction with process flow diagram the inventive method is described:
As shown in Figure 4, the flow process of specifically finding range is as follows:
Step S01: laser generator gives off laser beam to testee;
Step S02: the reflection lasering beam whether decision processor reflects to testee in the center identification of imageing sensor; If, then arrive step S03, otherwise, to step S06;
Step S03: laser beam that processor indication angle measuring appliance Laser Measurement generator sends and the angle value between first straight line, first straight line are the straight line that the central point of the central point of imageing sensor and laser generator is formed by connecting;
Step S04: laser beam that the measurement of angle device sends according to the indication measurement laser generator of processor and the angle value a between first straight line, and give processor with measurement feedback;
Step S05: processor receiving angle measuring appliance angles fed back value a, calculate distance between this distance measuring equipment and the testee according to formula L=H*tga, this flow process finishes;
Step S06: laser beam that processor indication angle controller adjustment laser generator sends and the angle between first straight line;
Step S07: angle controller is adjusted laser beam that laser generator sends and the angle between first straight line according to the indication of processor, returns step S01.
To sum up, beneficial effect of the present invention comprises:
In the scheme that the embodiment of the invention provides, laser generator gives off laser beam to testee, processor is when recognizing the reflection lasering beam that testee reflects from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.As seen, the distance measuring equipment that body of the present invention provides only needs can measure the distance between distance measuring equipment and the testee by laser generator and imageing sensor, has effectively reduced the complexity and the cost of Measuring Object distance.
The present invention can utilize the hand-held consumer electronics product that generally uses at present with camera realize range observation, Zhuan Ye laser ranging instrument cost is extremely low relatively, advantages of simple structure and simple.
Those skilled in the art should understand that embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware embodiment, complete software implementation example or in conjunction with the form of the embodiment of software and hardware aspect.And the present invention can adopt the form that goes up the computer program of implementing in one or more computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) that wherein include computer usable program code.
The present invention is that reference is described according to the process flow diagram and/or the block scheme of method, equipment (system) and the computer program of the embodiment of the invention.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or the block scheme and/or square frame and process flow diagram and/or the block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, make the instruction of carrying out by the processor of computing machine or other programmable data processing device produce to be used for the device of the function that is implemented in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, make the instruction that is stored in this computer-readable memory produce the manufacture that comprises command device, this command device is implemented in the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded on computing machine or other programmable data processing device, make on computing machine or other programmable devices and to carry out the sequence of operations step producing computer implemented processing, thereby the instruction of carrying out on computing machine or other programmable devices is provided for being implemented in the step of the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
Although described the preferred embodiments of the present invention, in a single day those skilled in the art get the basic creative notion of cicada, then can make other change and modification to these embodiment.So claims are intended to all changes and the modification that are interpreted as comprising preferred embodiment and fall into the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (14)
1. distance measuring equipment, it is characterized in that this device comprises: laser generator, imageing sensor and processor, when imageing sensor during over against testee, on the plane at imageing sensor and laser generator place and the testee with imageing sensor over against plane parallel, wherein:
Laser generator is used for giving off laser beam to testee;
Processor, be used for when recognizing the reflection lasering beam that testee reflects from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.
2. device as claimed in claim 1 is characterized in that, this device also comprises:
The measurement of angle device is used for according to the described angle value of the indication measurement of processor, and gives processor with measurement feedback; And
Described processor also is used for:
Laser beam that indication angle measuring appliance Laser Measurement generator sends and the angle value between first straight line, according to the measurement result of measurement of angle device feedback and the distance between imageing sensor and the laser generator, determine the distance between this distance measuring equipment and the testee.
3. device as claimed in claim 1 is characterized in that, described preparation implement body is used for:
Determine distance L between this distance measuring equipment and the testee according to following formula:
L＝H*tga，
H is the distance between imageing sensor and the laser generator, and a is described angle value.
4. device as claimed in claim 1 is characterized in that, described preparation implement body is used for:
When described reflection lasering beam drops on the central area of imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between this distance measuring equipment and the testee.
5. device as claimed in claim 4 is characterized in that, this device also comprises:
Angle controller is used for adjusting the laser beam and the angle between first straight line that laser generator sends according to the indication of processor, and indicates laser generator to give off laser beam to testee once more; And
Described processor also is used for:
When described reflection lasering beam does not drop on the central area of imageing sensor, laser beam that indication angle controller adjustment laser generator sends and the angle between first straight line.
6. device as claimed in claim 5 is characterized in that, described preparation implement body is used for:
During regional below described reflection lasering beam drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are turned set angle down;
During regional more than described reflection lasering beam drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are transferred big set angle.
7. device as claimed in claim 1 is characterized in that, first straight line is the straight line that the central point of the central point of imageing sensor and laser generator is formed by connecting.
8. as arbitrary described device among the claim 1-7, it is characterized in that this distance measuring equipment is a handheld communication devices.
9. method of utilizing the described distance measuring equipment of claim 1 to find range is characterized in that this method comprises:
Laser generator gives off laser beam to testee;
Processor is when recognizing the reflection lasering beam that testee reflects from imageing sensor, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between described distance measuring equipment and the testee; First straight line is the straight line that imageing sensor and laser generator are formed by connecting.
10. method as claimed in claim 9, it is characterized in that, described laser beam and angle value between first straight line and the distance of sending according to laser generator between imageing sensor and the laser generator, determine that the distance between this distance measuring equipment and the testee comprises:
Laser beam that processor indication angle measuring appliance Laser Measurement generator sends and the angle value between first straight line;
The measurement of angle device is according to the described angle value of the indication measurement of processor, and gives processor with measurement feedback;
Processor is determined the distance between this distance measuring equipment and the testee according to the distance between described measurement result and imageing sensor and the laser generator.
11. method as claimed in claim 9 is characterized in that, processor is determined distance L between described distance measuring equipment and the testee according to following formula:
L＝H*tga；
H is the distance between imageing sensor and the laser generator, and a is described angle value.
12. method as claimed in claim 9, it is characterized in that, when processor drops on the central area of imageing sensor at described reflection lasering beam, according to laser beam and angle value between first straight line and the distance between imageing sensor and the laser generator that laser generator sends, determine the distance between described distance measuring equipment and the testee.
13. method as claimed in claim 12 is characterized in that, when described reflection lasering beam did not drop on the central area of imageing sensor, this method further comprised:
Laser beam that processor indication angle controller adjustment laser generator sends and the angle between first straight line;
Angle controller is adjusted laser beam that laser generator sends and the angle between first straight line according to the indication of processor.
14. method as claimed in claim 13 is characterized in that, laser beam that described processor indication angle controller adjustment laser generator sends and the angle between first straight line comprise:
During processor regional below described reflection lasering beam drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are turned set angle down;
During regional more than described reflection lasering beam drops on the central area of imageing sensor, laser beam that the indication angle controller sends laser generator and the angle between first straight line are transferred big set angle.
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| CN201010219126XA CN102298148A (en) | 2010-06-25 | 2010-06-25 | Distance measuring method and distance measuring device |
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| CN201010219126XA CN102298148A (en) | 2010-06-25 | 2010-06-25 | Distance measuring method and distance measuring device |
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| CN104470043A (en) * | 2013-09-23 | 2015-03-25 | 深圳市海洋王照明工程有限公司 | Flashlight circuit for distance measurement |
| CN104730533A (en) * | 2015-03-13 | 2015-06-24 | 陈蔼珊 | Mobile terminal, and ranging method and system based on mobile terminal |
| CN105554363A (en) * | 2015-06-30 | 2016-05-04 | 宇龙计算机通信科技(深圳)有限公司 | Method for laser-assisted automatic focusing, and apparatus |
| CN106020451A (en) * | 2016-05-10 | 2016-10-12 | 罗阳军 | Positioning and movement identification system |
| CN106908802A (en) * | 2017-03-07 | 2017-06-30 | 长安大学 | A kind of laser beam space positioner and method based on image procossing |
| CN110398748A (en) * | 2019-07-19 | 2019-11-01 | Oppo广东移动通信有限公司 | Distance-measuring device and equipment, method |
| CN112986960A (en) * | 2021-04-01 | 2021-06-18 | 江苏师范大学 | Laser ranging sensor with dustproof mechanism for coal bunker |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104470043A (en) * | 2013-09-23 | 2015-03-25 | 深圳市海洋王照明工程有限公司 | Flashlight circuit for distance measurement |
| CN104730533A (en) * | 2015-03-13 | 2015-06-24 | 陈蔼珊 | Mobile terminal, and ranging method and system based on mobile terminal |
| CN105554363A (en) * | 2015-06-30 | 2016-05-04 | 宇龙计算机通信科技(深圳)有限公司 | Method for laser-assisted automatic focusing, and apparatus |
| CN105554363B (en) * | 2015-06-30 | 2019-04-12 | 宇龙计算机通信科技(深圳)有限公司 | A kind of method and device of laser assisted auto-focusing |
| CN106020451A (en) * | 2016-05-10 | 2016-10-12 | 罗阳军 | Positioning and movement identification system |
| CN106020451B (en) * | 2016-05-10 | 2018-10-19 | 罗阳军 | A kind of positioning and motion recognition system |
| CN106908802A (en) * | 2017-03-07 | 2017-06-30 | 长安大学 | A kind of laser beam space positioner and method based on image procossing |
| CN106908802B (en) * | 2017-03-07 | 2023-09-05 | 长安大学 | Laser beam space positioning device and method based on image processing |
| CN110398748A (en) * | 2019-07-19 | 2019-11-01 | Oppo广东移动通信有限公司 | Distance-measuring device and equipment, method |
| CN110398748B (en) * | 2019-07-19 | 2022-05-31 | Oppo广东移动通信有限公司 | Distance measuring device, equipment and method |
| CN112986960A (en) * | 2021-04-01 | 2021-06-18 | 江苏师范大学 | Laser ranging sensor with dustproof mechanism for coal bunker |
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Application publication date: 20111228 |