CN102636788A - Ranging method and system for tracking laser point - Google Patents
Ranging method and system for tracking laser point Download PDFInfo
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Abstract
The invention relates to a ranging method and a ranging system for tracking a laser point. The system comprises an image acquisition unit, a laser ranging unit, a high-precision cradle head, a transparent debugging plate, a signal processing unit, a central management platform and a remote control unit. The placement position of the laser ranging unit on the high-precision cradle head is adjusted through the transparent debugging plate, so that laser rays are parallel to the rays of an image acquisition center, meanwhile, the laser ranging unit is fixed, and the distance between the laser rays and the rays of the image acquisition center is determined. The accurate position of the laser point can be tracked, positioned and displayed according to the ranging data, and the laser emitting direction is adjusted by adjusting the rotating direction of the high-precision cradle head, so that the laser point is accurately dotted on a target point, ranging errors when the position of the laser point cannot be viewed clearly or viewed due to the factors such as long distance or strong rays and the like are reduced, and accuracy and reliability of the laser ranging data are realized.
Description
Technical field
The present invention relates to a kind of laser distance measurement method and system, specifically a kind of distance-finding method and system that follows the tracks of laser point.It through track and localization range finding laser point, realizes the accurate measurement of distance based on two parallel light technology.
Background technology
We know, as light source, can realize the measurement of distance with laser.Existing distance-finding method and system mainly are through laser beam emitting device; To a branch of very thin laser of measured target emission; Receive the measured target laser light reflected by photovalve; Time set is measured laser from being transmitted into the time of reception, and then calculates the distance from the laser ranging system to the measured target.If laser is emission continuously, ranging can reach about 40 kilometers, and can carry out operation round the clock; If laser is the pulse emission, general absolute precision is lower, is mainly used in close-in measurement, can reach good relative accuracy.Have characteristic fast and accurately owing to use laser to carry out range observation, laser ranging technique has been widely used in the surveying work in multiple fields such as military affairs, building.
Yet because the laser point of getting to measured target is measured by day or can't see or do not see Chu during telemeasurement, the accuracy of laser ranging also reduces greatly.
Summary of the invention
Technical matters to be solved by this invention is the deficiency that overcomes above-mentioned prior art; A kind of position that can accurately follow the tracks of the range finding laser point is provided; Reduce because distance is far away or light is stronger etc. the range error that the laser point position is brought that do not see that factor causes, guarantee laser ranging data distance-finding method and system accurately and reliably.
The technical scheme that the present invention solves the problems of the technologies described above employing is:
A kind of distance-finding method of following the tracks of laser point is fixed on image acquisition units on the high precision The Cloud Terrace, gathers the image information in the visual range through image acquisition units; The laser ranging unit is placed on the high precision The Cloud Terrace,, receive laser, calculate distance with the measured point through the emission of laser ranging unit; It is characterized in that: at first adjust the riding position of laser ranging unit on the high precision The Cloud Terrace, carry out the IMAQ central ray of image acquisition units and two light parallel debuggings of laser beam; Then the laser ranging unit is fixed on the high precision The Cloud Terrace, the distance between measurement image collecting unit central ray and the laser beam, and this distance of setting is definite value P; Then; Set an impact point to be measured under remote or any intensity of illumination arbitrarily; The laser ranging unit records the distance of laser point, and ranging data, and is obtained from central management platform by the remote control unit after network uploads to central management platform through signal processing unit processes; The remote control unit is according to the ranging data of obtaining; The distance P of the focal distance f of combining image collecting unit, IMAQ central ray and laser beam; Confirm laser point and picture central point on the display apart from V or the pixel count on display, crossed over; And the relative position of definite laser point and picture central point, show the laser point position simultaneously; Then; The user inputs to processing unit through operating unit with cradle head control information according to the relative position of laser point on the display and impact point to be measured, and processing unit is issued central management platform after with the cradle head control information processing; And after network is passed to the high precision The Cloud Terrace after through signal processing unit processes; Regulate the Laser emission direction through regulating high precision The Cloud Terrace sense of rotation, laser point is beaten on impact point to be measured, realize the coincidence of laser point and impact point to be measured; This moment, the laser ranging unit recorded is its accurate distance to impact point to be measured, has realized under remote or any intensity of illumination the accurate measurement of impact point distance to be measured.
Of the present invention pair of light parallel debugging is in laser point visual range scope; The transparent debugging plate that two or more are parallel to each other is set; And the debugging plate is perpendicular to the central ray of image acquisition units; On two transparent debugging plates, mark the intersection point of the IMAQ central ray of itself and image acquisition units respectively; Regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, make and get to two laser point on the transparent debugging plate and equate that to its distance two light of the IMAQ central ray of realization laser beam and image acquisition units are parallel with IMAQ central ray intersection point; Simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of IMAQ central ray.
A kind of range measurement system of following the tracks of laser point; It comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging plate, signal processing unit, central management platform and remote control unit; Said image acquisition units is fixed on the high precision The Cloud Terrace, and said laser ranging unit places on the high precision The Cloud Terrace;
Said image acquisition units is used for images acquired, and with image information through after the signal processing unit processes, upload to central management platform through network, finally obtain to central management platform by the remote control unit;
Said laser ranging unit is used for launching laser; The laser of receiving target point reflection; And calculate its distance to laser point, then with ranging data through signal processing unit processes after network uploads to central management platform, finally obtain to central management platform by the remote control unit;
Said high precision The Cloud Terrace is used for fixing laser ranging unit and image acquisition units, receives the cradle head control instruction, control Laser emission direction;
Said transparent debugging plate is two or more transparent debugging plates perpendicular to the IMAQ central ray parallel to each other; Be placed in the laser point visual range scope; Through regulating the riding position of laser ranging unit on the high precision The Cloud Terrace; Regulate the Laser emission direction, the laser point of getting on each transparent debugging plate is equated to its distance with image acquisition units central ray intersection point, realize that the two light of IMAQ central ray of laser beam and image acquisition units are parallel; Simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of IMAQ central ray;
Said signal processing unit is used for carrying out information, data, the encoding and decoding of instruction, transmission between central management platform and image acquisition units, laser ranging unit, the high precision The Cloud Terrace; Reach central management platform through network after the Image Information Processing with image acquisition units; The ranging data of laser ranging unit is handled the back reach central management platform through network; Cradle head control through network receiving center management platform forwards is instructed; With reaching the high precision The Cloud Terrace after its processing, the sense of rotation of control high precision The Cloud Terrace, thereby control Laser emission direction;
Said central management platform is used for carrying out information, the data between remote control unit and image acquisition units, laser ranging unit, high precision The Cloud Terrace, the signal processing unit, the management and control of instruction is transmitted;
Said remote control unit comprises processing unit, display and operating unit; Processing unit is used for obtaining the image information of the image acquisition units after signal processing unit processes and the ranging data of laser ranging unit from central management platform; The position that combines the picture central point then; Confirm the position of laser point with respect to the picture central point; And, be uploaded to central management platform after the cradle head control information processing of simultaneously operating unit being transmitted with passing to display after image information, ranging data, picture center position information, the laser point position information process; Display is used for image information, ranging data, picture central point and the laser point that display processing unit transmits; Operating unit is used for supplying the user to operate, and makes the user confirm high precision The Cloud Terrace sense of rotation according to the laser point of display demonstration and the relative position of impact point, and through operating unit cradle head control information is inputed to processing unit.
The present invention adopts technique scheme; Parallel based on the two light of the IMAQ central ray of laser beam and image acquisition units, through image acquisition units images acquired information, the focal distance f of image acquisition units is known definite value; Laser ranging unit measuring distance data; The remote control unit is according to ranging data track and localization laser point position, and regulates the Laser emission direction through regulating high precision The Cloud Terrace sense of rotation, and laser point is accurately beaten on impact point; That reduces because distance is far away or light is stronger etc. that factor causes does not see or can't see the range error that the laser point position is caused, and finally guarantees laser ranging data accurately and reliably.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further specified.
Fig. 1 is the theory of constitution synoptic diagram of system of the present invention.
Fig. 2 is the principle schematic of of the present invention pair of light parallel debugging.
Embodiment
Fig. 1 is the theory of constitution synoptic diagram of system of the present invention.As can beappreciated from fig. 1, a kind of range measurement system of following the tracks of laser point, it comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging plate, signal processing unit, central management platform and remote control unit.
A kind of distance-finding method of following the tracks of laser point of the present invention; Image acquisition units and laser ranging unit are placed on the high precision The Cloud Terrace; And image acquisition units is fixed on the high precision The Cloud Terrace, gather image information through image acquisition units, launch through the laser ranging unit; Receive laser, and calculate the distance of measured point.
The present invention follows the tracks of the distance-finding method of laser point, at first adjusts the riding position of laser ranging unit on the high precision The Cloud Terrace, carries out the IMAQ central ray of image acquisition units and two light parallel debuggings of laser beam; Then the laser ranging unit is fixed on the high precision The Cloud Terrace, this distance of the distance between measurement image collecting unit central ray and the laser beam, and setting simultaneously is definite value P.
Fig. 2 is the principle schematic of of the present invention pair of light parallel debugging.
Described pair of light parallel debugging is in laser point visual range scope; Two or more transparent debugging plates parallel to each other are set; And the debugging plate is perpendicular to the central ray of image acquisition units; On two transparent debugging plates, mark the intersection point of the IMAQ central ray of itself and image acquisition units respectively; Regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, make and get to two laser point on the transparent debugging plate and equate that to its distance two light of the IMAQ central ray of realization laser beam and image acquisition units are parallel with IMAQ central ray intersection point; Simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of IMAQ central ray.
As shown in Figure 2, m1 is the IMAQ central ray of image acquisition units, and m2 is a laser beam, and L is the visual ultimate range of the laser point of Laser emission direction, and A, B are any distance less than L of Laser emission direction.Ma, Mb are respectively the transparent debugging plate parallel to each other perpendicular to m1 at distance A, B place, and A1, B1 are respectively the intersection point of m1 and Ma, Mb, at Ma, last A1, the B1 of marking respectively of Mb; A2, B2 are respectively that m2 beats in Ma, the last laser point of Mb, measure distance and the B1 between A1, A2, the distance between B2 respectively, and are designated as Pa, Pb respectively.Regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, promptly regulate the Laser emission direction, thereby regulate A2, B2 in Ma, the last position of Mb; Make Pa=Pb; Be that m1 is parallel with m2, measure Pa or Pb simultaneously, and the laser ranging unit is fixed on the high precision The Cloud Terrace.Distance between m1 and the m2 is designated as P, and promptly P is a definite value, and P=Pa=Pb.Like this, the IMAQ central ray of laser beam and image acquisition units is two parallel lines, realizes the two light parallel debuggings of IMAQ central ray of laser beam and image acquisition units.
After the two light parallel debuggings of the present invention finish, the laser ranging unit is fixed on the high precision The Cloud Terrace.Then; Under remote or any intensity of illumination, set an impact point to be measured arbitrarily, the laser ranging unit records the distance of laser point; Ranging data, and is obtained from central management platform by the remote control unit after network uploads to central management platform through signal processing unit processes; The remote control unit is according to the ranging data of obtaining; The distance P of the focal distance f of combining image collecting unit, IMAQ central ray and laser beam; Confirm laser point and picture central point on the display apart from V or the pixel count on display, crossed over; And the relative position of definite laser point and picture central point, show the laser point position simultaneously; Then; The user inputs to processing unit through operating unit with cradle head control information according to the relative position of laser point on the display and impact point to be measured, and processing unit is issued central management platform after with the cradle head control information processing; And after network is passed to the high precision The Cloud Terrace after through signal processing unit processes; Regulate the Laser emission direction through regulating high precision The Cloud Terrace sense of rotation, laser point is beaten on impact point to be measured, realize the coincidence of laser point and impact point to be measured; This moment, the laser ranging unit recorded is its accurate distance to impact point to be measured, has realized under remote or any intensity of illumination the accurate measurement of impact point distance to be measured.
As can beappreciated from fig. 1; A kind of range measurement system of following the tracks of laser point; It comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging plate, signal processing unit, central management platform and remote control unit; Said image acquisition units is fixed on the high precision The Cloud Terrace, and said laser ranging unit places on the high precision The Cloud Terrace.
Said image acquisition units is used for images acquired, and with image information through after the signal processing unit processes, upload to central management platform through network, finally obtain to central management platform by the remote control unit; The focal distance f of image acquisition units is known definite value.
Said laser ranging unit is used for launching laser; The laser of receiving target point reflection; And calculate its distance to laser point, then with ranging data through signal processing unit processes after network uploads to central management platform, finally obtain to central management platform by the remote control unit.
Said high precision The Cloud Terrace is used for fixing laser ranging unit and image acquisition units, receives the cradle head control instruction, control Laser emission direction.
Said transparent debugging plate is two or more transparent debugging plates perpendicular to the IMAQ central ray parallel to each other; Be placed in the laser point visual range scope; Through regulating the riding position of laser ranging unit on the high precision The Cloud Terrace; Regulate the Laser emission direction, the laser point of getting on each transparent debugging plate is equated to its distance with image acquisition units central ray intersection point, realize that the two light of IMAQ central ray of laser beam and image acquisition units are parallel; Simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of IMAQ central ray.
Said signal processing unit is used for carrying out information, data, the encoding and decoding of instruction, transmission between central management platform and image acquisition units, laser ranging unit, the high precision The Cloud Terrace; Reach central management platform through network after the Image Information Processing with image acquisition units; The ranging data of laser ranging unit is handled the back reach central management platform through network; Cradle head control through network receiving center management platform forwards is instructed; With reaching the high precision The Cloud Terrace after its processing, the sense of rotation of control high precision The Cloud Terrace, thereby control Laser emission direction.
Said central management platform is used for carrying out information, the data between remote control unit and image acquisition units, laser ranging unit, high precision The Cloud Terrace, the signal processing unit, the management and control of instruction is transmitted.
Said remote control unit comprises processing unit, display and operating unit; Processing unit is used for obtaining the image information of the image acquisition units after signal processing unit processes and the ranging data of laser ranging unit from central management platform; The position that combines the picture central point then; Confirm the position of laser point with respect to the picture central point; And, be uploaded to central management platform after the cradle head control information processing of simultaneously operating unit being transmitted with passing to display after image information, ranging data, picture center position information, the laser point position information process; Display is used for image information, ranging data, picture central point and the laser point that display processing unit transmits; Operating unit is used for supplying the user to operate, and makes the user confirm high precision The Cloud Terrace sense of rotation according to the laser point of display demonstration and the relative position of impact point, and through operating unit cradle head control information is inputed to processing unit.
In Fig. 1, N is a laser point; P is the distance between laser beam and the IMAQ central ray, because image acquisition units and laser ranging unit be fixed on the high precision The Cloud Terrace, and laser beam is parallel with the IMAQ central ray, so P is a definite value; D is the distance of laser ranging unit to laser point N; V is the distance that the laser point on the display arrives the picture central point.The focal distance f of image acquisition units is known definite value.
Computing formula (1) by the image acquisition units focal distance f: f=V * D/P obtains formula (2): V=f * P/D.
When the distance of impact point to be measured is measured, confirm impact point to be measured position earlier.Then recorded the distance B of laser point by the laser ranging unit, ranging data, and is obtained from central management platform by the remote control unit after network uploads to central management platform through signal processing unit processes.
Then, the remote control unit calculates V according to formula (2) through D, f, P, promptly confirms laser point and the distance of picture central point on display, and confirms the relative position of this point-to-point transmission on display, shows the laser point position simultaneously.The user can confirm high precision The Cloud Terrace sense of rotation according to the relative position of laser point on the display and impact point to be measured then; And cradle head control information is inputed to processing unit through operating unit; Processing unit is uploaded to central management platform after with the cradle head control information processing, and central management platform is passed to the high precision The Cloud Terrace with the cradle head control instruction after network is through signal processing unit processes, regulates high precision The Cloud Terrace sense of rotation; Promptly regulate the Laser emission direction; Laser point is accurately beaten on impact point to be measured, and promptly laser point and impact point to be measured overlap, and its distance to laser point that this moment, the laser ranging unit obtained is its accurate distance to impact point.
The two light of IMAQ central ray that the present invention is based on laser beam and image acquisition units are parallel; According to ranging data track and localization laser point position; And through regulating high precision The Cloud Terrace sense of rotation adjusting Laser emission direction; Laser point is accurately beaten on impact point, and that reduces because distance is far away or light is stronger etc. that factor causes does not see or can't see the range error that the laser point position is caused, and finally guarantees laser ranging data accurately and reliably.
Claims (3)
1. a distance-finding method of following the tracks of laser point places image acquisition units and laser ranging unit on the high precision The Cloud Terrace, and image acquisition units is fixed on the high precision The Cloud Terrace, gathers the image information in the visual range through image acquisition units; Through the emission of laser ranging unit, receive laser, calculate distance with the measured point; It is characterized in that: at first adjust the riding position of laser ranging unit on the high precision The Cloud Terrace, carry out the IMAQ central ray of image acquisition units and two light parallel debuggings of laser beam; Then the laser ranging unit is fixed on the high precision The Cloud Terrace, the distance between measurement image collecting unit central ray and the laser beam, and this distance of setting is definite value P; Then; Set an impact point to be measured under remote or any intensity of illumination arbitrarily; The laser ranging unit records the distance of laser point, and ranging data, and is obtained from central management platform by the remote control unit after network uploads to central management platform through signal processing unit processes; The remote control unit is according to the ranging data of obtaining; The distance P of the focal distance f of combining image collecting unit, IMAQ central ray and laser beam; Confirm laser point and picture central point on the display apart from V or the pixel count on display, crossed over; And the relative position of definite laser point and picture central point, show the laser point position simultaneously; Then; The user inputs to processing unit through operating unit with cradle head control information according to the relative position of laser point on the display and impact point to be measured, and processing unit is issued central management platform after with the cradle head control information processing; And after network is passed to the high precision The Cloud Terrace after through signal processing unit processes; Regulate the Laser emission direction through regulating high precision The Cloud Terrace sense of rotation, laser point is beaten on impact point to be measured, laser point and impact point to be measured overlap; This moment, the laser ranging unit recorded is its accurate distance to impact point to be measured, realizes arriving under remote or any intensity of illumination the accurate measurement of impact point distance to be measured.
2. the distance-finding method of tracking laser point according to claim 1; It is characterized in that: described pair of light parallel debugging is in laser point visual range scope; The transparent debugging plate that two or more are parallel to each other is set; And the debugging plate is perpendicular to the IMAQ central ray of image acquisition units; On two transparent debugging plates, mark the intersection point of the IMAQ central ray of itself and image acquisition units respectively; Regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, make and get to two laser point on the transparent debugging plate and equate that to its distance two light of the IMAQ central ray of realization laser beam and image acquisition units are parallel with IMAQ central ray intersection point.
3. range measurement system of following the tracks of laser point; It comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging plate, signal processing unit, central management platform and remote control unit; Said image acquisition units is fixed on the high precision The Cloud Terrace, and said laser ranging unit places on the high precision The Cloud Terrace;
Said image acquisition units is used for images acquired, and with image information through after the signal processing unit processes, upload to central management platform through network, finally obtain to central management platform by the remote control unit;
Said laser ranging unit is used for launching laser; The laser of receiving target point reflection; And calculate its distance to laser point, then with ranging data through signal processing unit processes after network uploads to central management platform, finally obtain to central management platform by the remote control unit;
Said high precision The Cloud Terrace is used for fixing laser ranging unit and image acquisition units, receives the cradle head control instruction, control Laser emission direction;
Said transparent debugging plate is two or more transparent debugging plates perpendicular to the IMAQ central ray parallel to each other; Be placed in the laser point visual range scope; Through regulating the riding position of laser ranging unit on the high precision The Cloud Terrace; Regulate the Laser emission direction, the laser point of getting on each transparent debugging plate is equated to its distance with image acquisition units central ray intersection point, realize that the two light of IMAQ central ray of laser beam and image acquisition units are parallel;
Said signal processing unit is used for carrying out information, data, the encoding and decoding of instruction, transmission between central management platform and image acquisition units, laser ranging unit, the high precision The Cloud Terrace; Reach central management platform through network after the Image Information Processing with image acquisition units; The ranging data of laser ranging unit is handled the back reach central management platform through network; Cradle head control through network receiving center management platform forwards is instructed; With reaching the high precision The Cloud Terrace after its processing, the sense of rotation of control high precision The Cloud Terrace, thereby control Laser emission direction;
Said central management platform is used for carrying out information, the data between remote control unit and image acquisition units, laser ranging unit, high precision The Cloud Terrace, the signal processing unit, the management and control of instruction is transmitted;
Said remote control unit comprises processing unit, display and operating unit; Processing unit is used for obtaining the image information of the image acquisition units after signal processing unit processes and the ranging data of laser ranging unit from central management platform; The position that combines the picture central point then; Confirm the position of laser point with respect to the picture central point; And, be uploaded to central management platform after the cradle head control information processing of simultaneously operating unit being transmitted with passing to display after image information, ranging data, picture center position information, the laser point position information process; Display is used for image information, ranging data, picture central point and the laser point that display processing unit transmits; Operating unit is used for supplying the user to operate, and makes the user confirm high precision The Cloud Terrace sense of rotation according to the laser point of display demonstration and the relative position of impact point, and through operating unit cradle head control information is inputed to processing unit.
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| CN103777204A (en) * | 2014-01-09 | 2014-05-07 | 中北大学 | Range finding device and range finding method based on target tracking and recognizing by photoelectric intelligent sensing platform |
| CN103777204B (en) * | 2014-01-09 | 2016-01-13 | 中北大学 | Based on distance measuring equipment and the method for photoelectric intelligent aware platform target following identification |
| CN106352799A (en) * | 2016-08-10 | 2017-01-25 | 国网浙江省电力公司金华供电公司 | Measuring instrument for power transmission line tower |
| WO2018053888A1 (en) * | 2016-09-23 | 2018-03-29 | 深圳市迈测科技股份有限公司 | Spot enhancement processing method, apparatus and laser range finder |
| CN109552366A (en) * | 2018-12-24 | 2019-04-02 | 西安思科赛德电子科技有限公司 | Locomotive vehicle-mounted railway barrier intelligent detecting alarm system and its method for early warning |
| CN112099028A (en) * | 2020-09-03 | 2020-12-18 | 深圳市迈测科技股份有限公司 | Laser spot automatic tracking method and device, storage medium and laser ranging device |
| CN112099028B (en) * | 2020-09-03 | 2024-07-30 | 深圳市迈测科技股份有限公司 | Laser spot automatic tracking method and device, storage medium and laser ranging device |
| CN113050113A (en) * | 2021-03-10 | 2021-06-29 | 广州南方卫星导航仪器有限公司 | Laser point positioning method and device |
| 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 |
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Denomination of invention: A ranging method and system for tracking laser points Effective date of registration: 20220329 Granted publication date: 20130619 Pledgee: Industrial and Commercial Bank of China Limited Weihai GaoKai sub branch Pledgor: SHANDONG KAER ELECTRIC Co.,Ltd. Registration number: Y2022980003488 |