CN102419165A - Positioning method of distance measurement laser point of remote distance measurement system based on coaxial laser and camera - Google Patents

Positioning method of distance measurement laser point of remote distance measurement system based on coaxial laser and camera Download PDF

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CN102419165A
CN102419165A CN2011102352730A CN201110235273A CN102419165A CN 102419165 A CN102419165 A CN 102419165A CN 2011102352730 A CN2011102352730 A CN 2011102352730A CN 201110235273 A CN201110235273 A CN 201110235273A CN 102419165 A CN102419165 A CN 102419165A
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ranging
laser
camera
remote
point
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CN2011102352730A
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Chinese (zh)
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孙小燕
曹宁
林景辉
梁笃国
潘天舒
邓晖
郑文
黄艳丹
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福建汇川数码技术科技有限公司
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Abstract

The invention discloses a positioning method of a distance measurement laser point of a remote distance measurement system based on a coaxial laser and camera. According to the invention, the mode that distance measurement laser and the incident light of the camera are coaxially transmitted is utilized to mark the distance measurement laser point by using the center point of the picture shot by the camera; a measurer can view a scene picture at a client operation end, can capture the distance measurement laser point through the cross cursor intersection point at the center of the picture shot by the camera and can control the cross cursor intersection point at the center of the picture shot by the camera to select a measurement start point and a measurement end point to carry out measurement; and meanwhile, functions such as storage and filing, video caption superposition and the like can be realized, thereby solving the problem of visual positioning in the remote distance measurement system of the laser point under the conditions of long measurement range and strong ambient light.

Description

基于激光与摄像机同轴实现的远程测距系统的测距激光点 The remote distance measurement based on the laser spot and the laser ranging system is implemented coaxially with the camera

定位方法 Positioning method

技术领域 FIELD

[0001] 本发明涉及基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法。 [0001] The present invention relates to a laser distance measuring point location based on the remote camera coaxial with the laser ranging system implemented. 背景技术 Background technique

[0002] 远程测距系统采用激光测距与网络视频相结合的方式,实现用户在客户操作端即可观看现场画面,对点选的画面中任意两点间的实际距离进行测定,方便用户在远程对远程测距终端所在地点的任意物体长度、两点距离的测定。 [0002] Distance ranging laser ranging system uses a combination of video and the network, the user can achieve viewing field screen at the client side operation, the actual distance between any two points in a screen tap is measured, the user remote arbitrary object length ranging terminal remote location, the distance between two points is measured. 实践证明,该系统在工程测量、港口、公路地铁建设测量、农作物长势监管分析、地质安全等方面应用方面具有良好的应用前景。 Practice has proved that this system has good prospects in the application of engineering measurement, ports, highways subway construction measure, crop growth regulatory analysis, geological safety. 然而,在实际应用中,测距激光点在视频画面中目测定位时,经常出现以下问题,对远程测距系统的正常使用造成了比较大的影响。 However, in practical applications, laser distance measurement point visually locate the video screen, often the following questions, the normal use of the remote ranging system caused a relatively large impact. 1)量程较长时,即接近100米时,激光点强度减弱,难于捕捉;2)日照强度过高,即照度过高时,激光点与环境光对比不强烈,难于捕捉。 1) longer range, i.e. close to 100 meters, the weakening of the laser spot, it is difficult to capture; 2) sunshine intensity is too high, i.e. when the illuminance is too high, ambient light contrast laser spot is not strong, it is difficult to capture. 即在使用中存在的激光点不易辨识问题。 I.e., in the presence of the laser spot using the easy identification problem.

发明内容 SUMMARY

[0003] 本发明针对远程测距系统在使用中存在的激光点不易辨识问题,提出了一种基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法和系统。 [0003] The present invention is directed to a remote laser spot exists in the ranging system is not easy to use the identification problem, a laser distance measurement system and a remote point positioning method based on laser ranging system implemented coaxially with the camera.

[0004] 本发明是通过以下技术方案实现的: [0004] The present invention is achieved by the following technical solutions:

[0005] 本发明的基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法所述的远程测距系统包括如下三部分: [0005] The present invention is based on the distance measurement of the laser spot laser ranging system to locate a remote camera coaxially implemented method of remote distance measurement system comprises three parts:

[0006] 一、远程测距终端。 [0006] First, a ranging remote terminal. 远程测距终端包括激光与摄像机同轴测距传感器模组、角度传感器、高精度云台、编解码模块、网络模块。 Ranging remote terminal comprises a laser distance measuring sensor and a camera module coaxially, an angle sensor, a high-precision head, encoding and decoding module, the network module. 激光与摄像机同轴测距传感器模组完成对被测物两端的距离采集;高精度云台完成对激光传感器和一体化摄像机的承载;角度传感器实时传递角度值,角度传感器有多种实现方式,包括在云台上加装光栅编码返回角度,或采用多轴的角度传感器在云台上装载;一体化摄像机完成对被测物的图像采集和激光点的捕捉;网络模块负责将采集到的信息通过互联网发送到控制平台上。 Laser range finding sensor camera module coaxially on both ends to complete the acquisition of the measured object distance; high-precision laser sensor carrier head is completed and integration camera; real-time transmission angle value angle sensor, an angle sensor implemented in many ways, the installation of the grating on the head comprising a return angle encoder, or multi-axis angle sensor mounted on the head; integrated camera to capture the image acquisition is completed and the laser spot of the analyte; network module is responsible for information collected sent to the control platform via the internet. 远程测距终端可存储测量数据,并可索引视频录像,可将测量值叠加于视频字幕。 Ranging remote terminal can store measurement data, and video indexing may be superimposed on the measured value of a video. 远程测距终端可直接被测距客户端连接,实现测距功能,亦可提供开发包供第三方应用调用 Ranging remote terminal can be directly connected to the client ranging achieve ranging function, it may also be provided for third party application development kit call

[0007] 二、中心平台。 [0007] Second, the center platform. 实现功能包括:设备注册、管理功能、控制信令转发、视频转发,测距客户端接入。 Implement functions comprising: a device registration, management, control, signaling forwarding, forwarding video ranging client access. 控制平台可将实时测得的数据进行存储。 Control platform may be measured in real time the data is stored.

[0008] 三、测距客户端。 [0008] Third, ranging client. 显示远程测距现场传来的视频和数据,控制远程测距终端的云台转向并聚焦需测定的物体,利用鼠标点取画面中所需测量实际距离的两点,测距客户端可显示两点间的实际距离及探头距离该点的实际距离(量程)。 The remote display distance and scene of the video data, the remote control terminal of the ranging and focusing the steering head for an object of measurement, using the mouse to take a desired picture actual distance measurement points, ranging client may display two the actual distance between the probe and the actual distance of the points from point (range). 测距客户端可通过中心平台控制远程测距终端,亦可不通过中心平台直接连接远程测距终端进行测量。 Ranging client terminal may be controlled by the remote central platform ranging, the ranging can not connected to the remote terminal directly measured by the central platform.

[0009] 本发明将激光测距传感器替换为激光与摄像机同轴测距传感器模组,如此,测距客户端视频画面中心十字光标交点,可用来定位实际的激光点,利用视频画面中心十字光标交点选取测量起点及终点,最终返回测量结果。 [0009] The present invention replaces the laser distance sensor is a laser distance measuring sensor coaxial with the camera module, thus, the ranging client video picture center of the cross cursor intersection, used to locate the actual laser spot, the center of the cross cursor using the video screen select the intersection of measurement start and finish and eventually returns to the measurement result. 激光与摄像机同轴测距传感器模组主要由测距激光发射\接收模块、摄像机、等腰直角棱镜、反射镜及组装结构件组成,测距激光测距传感器放置于棱镜后,使测距激光可穿过棱镜,除测距激光外的放射光可被棱镜斜边反射,并可在通过反射镜发射到摄像机镜头中,结构件调节反射后的画面影像角度及激光测距传感器角度,使画面中心十字光标交点与画面中看到的测距激光中心点重合,并且在变焦后仍然同心,远端反射回的红色激光可顺利通过棱镜回到测距传感器激光接收端。 Laser distance-measuring sensor and camera module coaxially mainly emitted from the laser ranging \ receiving module, a camera, right angle isosceles prisms, mirrors and assembly of structural components, ranging laser distance sensor disposed in the prism, the distance measuring laser passes through the prism can be, in addition to the radiation of laser light distance measuring prism hypotenuse can be reflected, and transmitted to the camera lens, the structural member and the frame image angle laser distance sensor by adjusting the reflection angle of the mirror, so that the screen the screen center of the cross cursor intersection seen in the center point coincident laser ranging and still concentrically after zooming, the distal end of the red laser light may be reflected back smoothly back through the prism of the laser ranging sensor receiver. 这样,在任意量程上,均可以视频画面中心十字光标交点来标示测距激光的位置。 Thus, on any scale, can be the video screen center position of the cross cursor to mark the intersection of the laser ranging. 组装结构件用于将红色激光发射\接收模块、摄像机、棱镜、反射镜,调节射出的激光与画面中心点达到同心重合,并实现紧固。 Assembling structure for a red laser emitting element \ receiving module, a camera, a prism, a mirror, adjusting the laser light emitted from the screen center point coincides concentrically reached, and to achieve fastening.

[0010] 与现有技术相比,本发明具有如下:本发明采用将测距激光与摄像机入射光同轴的方式,实现利用摄像机画面的中心点对测距激光点标示,测量者可通过摄像机拍摄画面的中心十字光标交点捕捉到测距激光点,并控制摄像机拍摄画面的中心十字光标交点选取测量起点及测量终点进行测量;本发明提高了远程测距系统的性能和使用效果,使远程测距系统的测量距离及精度极大加长,同时实现了包括正午高强度日光条件的激光点标示, 使远程测距系统形成了全天候全量程远程精确测距。 [0010] Compared with the prior art, the present invention has the following: the present invention by way of the ranging coaxial incident laser and the camera, using the center point of the camera screen to achieve the ranging laser marked point, measured by a camera may the center of the shooting screen capture crosshairs intersection point laser distance measurement, and control the cameras center of the screen to select the intersection of the crosshairs of the measurement start point and measurement end point measurement; the present invention improves the properties and the results of the remote ranging system, so that the remote test distance measuring distance and accuracy of the system is greatly extended, while achieving a high strength at noon daylight conditions comprising a laser spot indicated the formation of a remote ranging system clock remote precise range full scale.

附图说明 BRIEF DESCRIPTION

[0011] 图1为本发明的一实施例示意图。 [0011] Figure 1 is a schematic diagram of an embodiment of the invention.

[0012] 图2本发明的激光与摄像机同轴测距传感器模组示意图。 [0012] Laser distance-measuring sensor and camera module coaxially Schematic diagram of the invention.

具体实施方式 Detailed ways

[0013] 下面结合附图对本发明的实施例作详细说明:本实施例在以本发明技术方案为前提下进行实施,给出了详细的实施方式和具体的操作过程,但本发明的保护范围不限于下述的实施例。 [0013] The following embodiments in conjunction with the accompanying drawings of embodiments of the present invention will be described in detail: In the present embodiments of the present invention is a technical premise, given the specific operation and detailed embodiments, but the scope of the present invention It is not limited to the following examples.

[0014] 如图1所示,本发明的基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法所述的远程测距系统包括如下三部分: [0014] As shown, a laser-based distance measurement point location remote camera and a laser ranging system coaxially implemented method of remote distance measurement system according to the present invention comprises the following three parts:

[0015] 一、远程测距终端。 [0015] First, a ranging remote terminal. 远程测距终端包括激光与摄像机同轴测距传感器模组、角度传感器、高精度云台、编解码模块、网络模块。 Ranging remote terminal comprises a laser distance measuring sensor and a camera module coaxially, an angle sensor, a high-precision head, encoding and decoding module, the network module. 激光与摄像机同轴测距传感器模组完成对被测物两端的距离采集;高精度云台承载激光传感器和摄像机;角度传感器实时传递角度值; 摄像机完成对被测物的图像采集,测量者通过传送到测距客户端的图像实现对绿色激光点的捕捉,并实施测量操作;网络模块负责将采集到的信息通过互联网发送到控制平台上。 Laser range finding sensor camera module coaxially on both ends to complete the acquisition of the measured object distance; high-precision laser sensor and a camera head carrier; real-time transmission angle value angle sensor; camera image acquisition is complete the measured object, are measured by transmitted to the image capture client ranging achieve green laser spot, and the embodiment of the measuring operation; network module is responsible for collecting the information transmitted to the control platform via the internet. 远程测距终端可存储测量数据,并可索引视频录像,可将测量值叠加于视频字幕。 Ranging remote terminal can store measurement data, and video indexing may be superimposed on the measured value of a video.

[0016] 二、中心平台。 [0016] Second, the center platform. 实现功能包括:设备注册、管理功能、控制信令转发、视频转发,测距客户端接入。 Implement functions comprising: a device registration, management, control, signaling forwarding, forwarding video ranging client access. 控制平台可将实时测得的数据进行存储。 Control platform may be measured in real time the data is stored.

[0017] 三、测距客户端。 [0017] Third, ranging client. 显示远程测距现场传来的视频和数据,控制远程测距终端的云台转向并聚焦需测定的物体,利用鼠标点取画面中所需测量实际距离的两点(使视频画面中心十字光标交点对准被测点),测距客户端可显示两点间的实际距离及探头距离该点的实际距离(量程)。 The remote display distance and scene of the video data, the remote control terminal of the ranging and focusing the steering head for an object of measurement, using the mouse to take two pictures required for the actual distance measurement (center of the screen so that the video intersection of crosshairs aligning the measured point), the client can display the distance and the actual distance between two points of the probe's actual distance from the point (range). 测距客户端可通过中心平台控制远程测距终端,亦可不通过中心平台直接连接远程测距终端进行测量。 Ranging client terminal may be controlled by the remote central platform ranging, the ranging can not connected to the remote terminal directly measured by the central platform. [0018]实例: [0018] Example:

[0019] 采用测距客户端通过互联网对现场的激光与摄像机同轴测距传感器模组、高精度云台、摄像机进行操控。 [0019] The distance of the client site through the Internet and the laser ranging sensor camera module coaxially precision PTZ camera control. 首先通过调节云台,使摄像机指向被测物,找到被测物体,再调节云台,将视频画面中心十字光标交点打在被测物的起点和终点,通过激光测距仪得到起点与远程测距终端距离a,终点与远程测距终端距离b,通过角度传感器得到起点和远程测距终端连线与终点和远程测距终端连线的夹角α,从而利用余弦定理公式计算出起点和终点间的实际距离L,同时系统可实现对L的字幕叠加、存储及显示。 By first adjusting the head, so that the camera points to the analyte, to find the object, and then adjust the pedestal, the center of the video pictures played in the intersection of the crosshairs start and end of the measured object, starting with the remote measurement obtained by the laser range finder distance from the terminal a, the end remote from the ranging terminal B, to obtain the start and the end of a connection with the remote terminals ranging and a ranging remote terminal connection angle α by the angle sensor, thereby using the law of cosines to calculate the start and end of the formula the actual distance L between, and the system can be realized on the L subtitles superimposed, storage and display.

[0020] 如图2所示,本发明的激光与摄像机同轴测距传感器模组包括激光测距传感器、 摄像机、棱镜、反射镜及组装结构件;激光测距传感器放置于棱镜后,使测距激光可穿过棱镜,除测距激光外的放射光可被棱镜斜边反射,并可在通过反射镜发射到摄像机镜头中,结构件调节反射后的画面影像角度及激光测距传感器角度,使画面中心十字光标交点与画面中看到的测距激光中心点重合,并且在变焦后仍然同心,远端反射回的红色激光可顺利通过棱镜回到测距传感器激光接收端。 [0020] As shown, the camera coaxially with the laser ranging sensor module of the present invention comprises a laser distance sensor, a camera, a prism, a mirror 2, and an assembly structure member; laser distance sensor prism placed after the test from the laser passes through the prism, the laser radiation in addition to the ranging light may be reflected prism hypotenuse, and can transmit through the mirror to the camera lens, the angle of the picture image adjustment structure laser distance sensor and the angle of reflection, that the center of the screen and the intersection of the crosshairs laser ranging center point coincides with the screen seen and still concentrically after zooming, the distal end of the red laser light may be reflected back smoothly back through the prism of the laser ranging sensor receiver. 这样,在任意量程上,均可以视频画面中心十字光标交点来标示测距激光的位置。 Thus, on any scale, can be the video screen center position of the cross cursor to mark the intersection of the laser ranging. 组装结构件用于将红色激光发射\接收模块、摄像机、棱镜、反射镜,调节射出的激光与画面中心点达到同心重合,并实现紧固。 Assembling structure for a red laser emitting element \ receiving module, a camera, a prism, a mirror, adjusting the laser light emitted from the screen center point coincides concentrically reached, and to achieve fastening.

[0021] 本发明使用激光与摄像机同轴测距传感器模组实现激光测距,激光与摄像机同轴测距传感器模组采用激光测距、采用视频画面中心点供人眼观看定位目标,射出的激光被调节到摄像机拍摄到视频画面得中心点上,在远程测距终端的任意量程上,测距客户端通过画面十字光标中心点定位测量点。 [0021] The present invention uses a laser distance-measuring sensor and camera module realized coaxial laser rangefinder, laser ranging sensor camera module coaxially laser ranging, using the center point of the video picture targets for the human eye, the light emitted the laser is adjusted to the screen on the video cameras have a center point, on any range remote terminals ranging, the ranging client through the screen center point of the cross cursor positioning measurement point.

[0022] 本发明的工作原理如下: [0022] The working principle of the present invention is as follows:

[0023] 将测距激光与摄像机光轴平行射出后,无论摄像机如何变焦,激光在任何量程上均位于摄像机所拍摄画面的中心点,当然,这要求摄像机的光轴偏离极小,才能保证精度, 无论摄像机如何变焦,光轴不应发射偏离,在CCD上的成像不应失真。 [0023] After the laser beam emitted from the camera parallel to the optical distance, regardless of how the zoom camera, laser light in any range of the camera are located in the center point of the photographed screen, of course, this requires a very small deviation from the optical axis of the camera, in order to ensure the accuracy of regardless of camera zoom, optical axis deviation should launch an image on the CCD should not be distorted. 由此,在远程测距终端上,本发明将云台搭载的激光测距传感器替换为激光与摄像机同轴测距传感器模组,从而使实际测距时的激光点更易于捕捉。 Thus, the remote terminals ranging, according to the present invention, the laser ranging sensor head mounted coaxially with the camera is replaced with a laser ranging sensor module, so that the laser spot when the actual distance is easier to capture. 测距操作时,摄像机所拍摄到画面通过压缩编码、网络传输、解码在客户端显示,激光与摄像机同轴测距传感器模组在开始测距时开启测距激光,通过测距客户端控制云台,将视频画面中心十字光标交点打在被测物的起点和终点,通过激光测距仪得到起点与远程测距终端距离a,终点与远程测距终端距离b,通过角度传感器得到起始点和远程测距终端连线与终止点和远程测距终端连线的夹角α,从而利用余弦定理公式计算出起始点和终止点间的实际距离L,同时系统可实现对L的字幕叠加、存储及显不。 When the ranging operation, the camera picture captured by compression coding, network transmitting, decoding displayed at the client, and the laser ranging sensor camera module coaxially opened at the start of the laser distance ranging, the ranging control Cloud Client station, the video picture in the center of the cross cursor intersection play start and end of the measured object, the distance a, the end remote from the terminal b to obtain a ranging starting point and a remote terminal through a ranging laser rangefinder, the starting point obtained by the angle sensor and an angle α ranging remote terminal connection and the connection with the remote end point ranging terminals, thereby using the law of cosines formula to calculate the actual distance L between the start and end points, and the system may be implemented on L superimposed subtitles, stored and not significant.

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Claims (4)

1. 一种基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法,其特征在于,其中远程测距系统包括如下三部分:a、远程测距终端;远程测距终端包括激光与摄像机同轴测距传感器模组、角度传感器、 高精度云台、编解码模块、网络模块。 A laser-based distance measuring point positioning remote laser ranging system implemented coaxially with the camera, wherein, wherein the remote distance measurement system comprises three parts as follows: a, ranging remote terminal; ranging remote terminal comprises laser ranging sensor coaxial with the camera module, the angle sensor, a high-precision head, encoding and decoding module, the network module. 激光与摄像机同轴测距传感器模组完成对被测物两端的距离采集;高精度云台完成对激光传感器和一体化摄像机的承载;角度传感器实时传递角度值,一体化摄像机完成对被测物的图像采集和激光点的捕捉;网络模块负责将采集到的信息通过互联网发送到控制平台上;远程测距终端可存储测量数据,并可索引视频录像, 可将测量值叠加于视频字幕;远程测距终端可直接被测距客户端连接,实现测距功能,亦可提供开发包供第三方应用调用;b、中心平台:实现包括:设备注册、管理功能、控制信令转发、视频转发,测距客户端接入;控制平台可将实时测得的数据进行存储;C、测距客户端:显示远程测距现场传来的视频和数据,控制远程测距终端的云台转向并聚焦需测定的物体,利用鼠标点取画面中所需测量实际距离的两点,测距客户端可显示两点 Laser range finding sensor camera module coaxially on both ends to complete the acquisition of the measured object distance; high-precision laser sensor carrier head is completed and integration camera; angle sensor angle values ​​delivered in real time, the integrated camera to complete the analyte the captured image acquisition and laser spot; network module is responsible for collecting the information transmitted via the internet to a control platform; ranging remote terminal can store measurement data, and video index, the measured value can be superimposed on the video subtitles; remote ranging ranging terminals may be directly connected to the client, to achieve ranging function, may also be provided for third party application developers call packet; B, center platform: implement comprising: a device registration, management, control, signaling forwarding, video transmission, ranging client access; internet control data can be measured in real time is stored; C, ranging client: the remote display distance and scene of the video data, the remote control terminal of the ranging and focusing required steering head measured object, using a mouse to take a desired picture actual distance measurement points, ranging client may display two 的实际距离及探头距离该点的实际距离;测距客户端可通过中心平台控制远程测距终端,亦可不通过中心平台直接连接远程测距终端进行测量。 The actual distance and the actual distance from the probe point; ranging client terminal may be controlled by the remote central platform ranging, the ranging can not connected to the remote terminal directly measured by the central platform.
2.根据权利要求1所述的基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法,其特征在于,所述的激光与摄像机同轴测距传感器模组包括激光测距传感器、一体化摄像机、等腰直角棱镜、反射镜及组装结构件,激光测距传感器放置于棱镜后,使测距激光可穿过棱镜,除测距激光外的放射光可被棱镜斜边反射,并可在通过反射镜发射到摄像机镜头中,结构件调节反射后的画面影像角度及激光测距传感器角度,使画面中心十字光标交点与画面中看到的测距激光中心点重合,并且在变焦后仍然同心,远端反射回的红色激光可顺利通过棱镜回到测距传感器激光接收端,组装结构件用于将红色激光发射\接收模块、摄像机、棱镜、反射镜,调节射出的激光与画面中心点达到同心重合,并实现紧固。 The laser-based ranging Claim remote point positioning laser ranging system implemented coaxially with the camera, wherein the 1, the laser ranging sensor camera module includes a coaxial laser rangefinder sensors, integrated camera, right angle isosceles prisms, mirrors and assembly structure member, the laser ranging sensor is placed in the prism, the distance measuring laser passes through the prism, the laser radiation in addition to the ranging light may be reflected prism hypotenuse , and transmitted to the lens of the camera by a mirror, the structural member and the frame image angle laser distance sensor after adjusting the reflection angle of the center of the screen coincides with the intersection of the crosshairs the center point of the laser ranging seen screen, and after zooming concentric still, the distal end of the red laser light may be reflected back smoothly back through the prism receiving the laser ranging sensor terminal assembly structure for a red laser emitting \ receiving module, a camera, a prism, a mirror, and adjusting the laser light emitted screen center point coincides concentrically reached, and to achieve fastening.
3.根据权利要求1所述的基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法,其特征在于,测距客户端通过互联网对现场的激光与摄像机同轴测距传感器模组、高精度云台、摄像机进行操控;首先通过调节云台,使摄像机指向被测物,找到被测物体,再调节云台,将视频画面中心十字光标交点打在被测物的起点和终点,通过激光测距仪得到起点与远程测距终端距离a,终点与远程测距终端距离b,通过角度传感器得到起点和远程测距终端连线与终点和远程测距终端连线的夹角α,从而利用余弦定理公式计算出起点和终点间的实际距离L,同时系统可实现对L的字幕叠加、存储及显示。 3. The method of locating the laser spot based ranging remote laser ranging system implemented coaxially with the camera, wherein in said claim 1, ranging client via the Internet and the camera coaxially with the laser distance sensor field module, precision PTZ camera control; by first adjusting the head, so that the camera points to the analyte, to find the object, and then adjust the pedestal, the center of the video screen at the start of play crosshairs intersection analyte and end point, the start point is obtained by laser range finder and a remote terminal ranging distances a, the end remote from the ranging terminal B, to give an angle ranging starting point and the remote terminals and a connection with the remote end of the connection terminal through a ranging angle sensor [alpha], thereby using the law of cosines formula to calculate the actual distance L between the start and end, and the system may be implemented on L superimposed subtitles, storage and display.
4.根据权利要求1所述的基于激光与摄像机同轴实现的远程测距系统的测距激光点定位方法,其特征在于,使用激光与摄像机同轴测距传感器模组实现激光测距,采用视频画面中心点供人眼观看定位目标,射出的激光被调节到摄像机拍摄到视频画面得中心点上, 在远程测距终端的任意量程上,测距客户端通过画面十字光标中心点定位测量点。 The distance of the laser spot location based on the remote camera coaxial with the laser ranging system implemented according to claim 1, characterized in that, a laser ranging sensor camera module realized coaxial laser rangefinder using the center point of a video picture targets for the human eye, the laser light emitted is adjusted to the screen on the video cameras have a center point, on any range remote terminals ranging, the ranging client through the screen center point of the cross cursor positioning measurement point .
CN2011102352730A 2011-08-16 2011-08-16 Positioning method of distance measurement laser point of remote distance measurement system based on coaxial laser and camera CN102419165A (en)

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CN102901448B (en) * 2012-10-17 2015-06-10 福建汇川数码技术科技有限公司 Video camera and laser range finder coaxial photoelectric measuring device
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CN105737794A (en) * 2016-01-15 2016-07-06 清华大学 Remote portable laser ranging device
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