CN102636788B - 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 spots.It is based on two parallel light technology, by the track and localization laser spots of finding range, realizes the Measurement accuracy of distance.
Background technology
We know, as light source, can realize the measurement of distance with laser.Existing distance-finding method and system pass through laser beam emitting device, to a branch of very thin laser of measured target emission, received the laser of measured target reflection 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 40 kilometers left and right, and can carry out round the clock operation; If laser is impulse ejection, general absolute precision is lower, is mainly used in close-in measurement, can reach good relative accuracy.Have characteristic fast and accurately owing to using laser to carry out range observation, laser ranging technique has been widely used in the surveying work of the multiple fields such as military affairs, building.
Yet because Chu is measured or be can't see or do not see during telemeasurement to the laser spots of getting to measured target by day, the accuracy of laser ranging also reduces greatly.
Summary of the invention
Technical matters to be solved by this invention is to overcome above-mentioned the deficiencies in the prior art, a kind of position that can accurately follow the tracks of the range finding laser spots is provided, minimizing does not see due to what the factors such as distant or light is stronger caused the range error that bring the laser spots position, guarantees 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 spots is fixed on image acquisition units on the high precision The Cloud Terrace, gathers image information in visual range by image acquisition units, the laser ranging unit is placed on the high precision The Cloud Terrace, by laser ranging unit emission, receives laser, calculate the 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 two light ray parallel debugging of image acquisition central ray and the laser beam of image acquisition units, then the laser ranging unit is fixed on the high precision The Cloud Terrace, the distance between measurement image collecting unit central ray and laser beam, and set this distance and be definite value P, then, impact point to be measured of Set arbitrarily under remote or any intensity of illumination, the laser ranging unit records the distance of laser spots, and ranging data uploads to central management platform by signal processing unit processes by network, and is obtained from central management platform by the remote control unit, 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, image acquisition central ray and laser beam, determine laser spots and picture central point on display apart from V or the pixel count crossed on display, and the relative position of definite laser spots and picture central point, show simultaneously the laser spots position, then, the user is according to the relative position of the laser spots on display and impact point to be measured, by operating unit with the cradle head control input information to processing unit, processing unit is issued central management platform after with the cradle head control information processing, and pass to the high precision The Cloud Terrace by network after by signal processing unit processes, regulate the Laser emission direction by regulating high precision The Cloud Terrace sense of rotation, laser spots is beaten on impact point to be measured, realize the coincidence of laser spots and impact point to be measured, what laser ranging this moment unit recorded is it to the accurate distance of impact point to be measured, realized arriving under remote or any intensity of illumination the accurate measurement of impact point distance to be measured.
of the present invention pair of light ray parallel debugging is in laser spots visual range scope, the transparent debugging board that two or more are parallel to each other is set, and debugging board is perpendicular to the central ray of image acquisition units, mark respectively the intersection point of the image acquisition central ray of itself and image acquisition units on two transparent debugging boards, regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, make and get to two laser spots on transparent debugging board and equate to its distance with image acquisition central ray intersection point, realize two light ray parallels of the image acquisition central ray of laser beam and image acquisition units, simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of image acquisition central ray.
A kind of range measurement system of following the tracks of laser spots, it comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging board, signal processing unit, central management platform and remote control unit, described image acquisition units is fixed on the high precision The Cloud Terrace, and described laser ranging unit is placed on the high precision The Cloud Terrace;
Described image acquisition units is used for gathering image, and with image information by after signal processing unit processes, upload to central management platform through network, finally obtained to central management platform by the remote control unit;
Described laser ranging unit is used for Emission Lasers, the laser of receiving target point reflection, and calculate its distance to laser spots, and then ranging data is uploaded to central management platform by signal processing unit processes by network, finally obtained to central management platform by the remote control unit;
Described high precision The Cloud Terrace is used for fixing laser ranging unit and image acquisition units, receives the cradle head control instruction, controls the Laser emission direction;
Described transparent debugging board is two or more transparent debugging boards perpendicular to the image acquisition central ray parallel to each other, be placed in laser spots visual range scope, by regulating the riding position of laser ranging unit on the high precision The Cloud Terrace, regulate the Laser emission direction, the laser spots of getting on each transparent debugging board is equated to its distance with image acquisition units central ray intersection point, realize the two light ray parallels of image acquisition central ray of laser beam and image acquisition units; Simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of image acquisition central ray;
Described 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, high precision The Cloud Terrace; Reach central management platform by network after Image Information Processing with image acquisition units, reach central management platform by network after ranging data processing with the laser ranging unit, the cradle head control instruction that forwards by network receiving center management platform, after being processed, it reaches the high precision The Cloud Terrace, control the sense of rotation of high precision The Cloud Terrace, thereby control the Laser emission direction;
Described 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, signal processing unit, the management and control of instruction forwards;
Described 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, then in conjunction with the position of picture central point, determine that laser spots is with respect to the position of picture central point, and with passing to display after image information, ranging data, picture center position information, laser spots position information process, be uploaded to central management platform after the cradle head control information processing of simultaneously operating unit being transmitted; Display is used for image information, ranging data, picture central point and the laser spots that display processing unit transmits; Operating unit is used for for user operation, makes laser spots that the user can show according to display and the Relative position determination high precision The Cloud Terrace sense of rotation of impact point, and by operating unit with the cradle head control input information to processing unit.
the present invention adopts technique scheme, based on the two light ray parallels of the image acquisition central ray of laser beam and image acquisition units, gather image information by image acquisition units, 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 spots position, and regulate the Laser emission direction by regulating high precision The Cloud Terrace sense of rotation, laser spots is accurately beaten on impact point, factor causes does not see or can't see the range error that the laser spots position causes because distant or light is stronger etc. in minimizing, final assurance laser ranging data accurately and reliably.
Description of drawings
The present invention will be further described below in conjunction with accompanying drawing.
Fig. 1 is the theory of constitution schematic diagram of system of the present invention.
Fig. 2 is the principle schematic of of the present invention pair of light ray parallel debugging.
Embodiment
Fig. 1 is the theory of constitution schematic diagram of system of the present invention.As can be seen from Figure 1, a kind of range measurement system of following the tracks of laser spots, it comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging board, signal processing unit, central management platform and remote control unit.
A kind of distance-finding method of following the tracks of laser spots 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 by image acquisition units, by laser ranging unit emission, receive laser, and calculate the distance of measured point.
The present invention follows the tracks of the distance-finding method of laser spots, at first adjusts the riding position of laser ranging unit on the high precision The Cloud Terrace, carries out two light ray parallel debugging of image acquisition central ray and the laser beam of image acquisition units; Then the laser ranging unit is fixed on the high precision The Cloud Terrace, the distance between measurement image collecting unit central ray and laser beam simultaneously, and to set this distance be definite value P.
Fig. 2 is the principle schematic of of the present invention pair of light ray parallel debugging.
described pair of light ray parallel debugging is in laser spots visual range scope, two or more transparent debugging boards parallel to each other are set, and debugging board is perpendicular to the central ray of image acquisition units, mark respectively the intersection point of the image acquisition central ray of itself and image acquisition units on two transparent debugging boards, regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, make and get to two laser spots on transparent debugging board and equate to its distance with image acquisition central ray intersection point, realize two light ray parallels of the image acquisition central ray of laser beam and image acquisition units, simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of image acquisition central ray.
As shown in Figure 2, m1 is the image acquisition central ray of image acquisition units, and m2 is laser beam, and L is the visual ultimate range of the laser spots of Laser emission direction, and A, B are any distance less than L of Laser emission direction.Ma, Mb are respectively the transparent debugging board 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, mark respectively A1, B1 on Ma, Mb; A2, B2 are respectively that m2 beats the laser spots on Ma, Mb, measure respectively distance between A1, A2 and the distance between B1, B2, and are designated as respectively Pa, Pb.Regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, namely regulate the Laser emission direction, thereby regulate A2, the B2 position on Ma, Mb, make Pa=Pb, be that m1 is parallel with m2, measure simultaneously Pa or Pb, and the laser ranging unit is fixed on the high precision The Cloud Terrace.Distance between m1 and m2 is designated as P, and namely P is definite value, and P=Pa=Pb.Like this, the image acquisition central ray of laser beam and image acquisition units is two parallel lines, realizes the two light ray parallel debugging of image acquisition central ray of laser beam and image acquisition units.
After the two light ray parallels debugging 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, impact point to be measured of Set arbitrarily, laser ranging unit record the distance of laser spots, ranging data uploads to central management platform by signal processing unit processes by network, and is obtained from central management platform by the remote control unit, 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, image acquisition central ray and laser beam, determine laser spots and picture central point on display apart from V or the pixel count crossed on display, and the relative position of definite laser spots and picture central point, show simultaneously the laser spots position, then, the user is according to the relative position of the laser spots on display and impact point to be measured, by operating unit with the cradle head control input information to processing unit, processing unit is issued central management platform after with the cradle head control information processing, and pass to the high precision The Cloud Terrace by network after by signal processing unit processes, regulate the Laser emission direction by regulating high precision The Cloud Terrace sense of rotation, laser spots is beaten on impact point to be measured, realize the coincidence of laser spots and impact point to be measured, what laser ranging this moment unit recorded is it to the accurate distance of impact point to be measured, realized arriving under remote or any intensity of illumination the accurate measurement of impact point distance to be measured.
As can be seen from Figure 1, a kind of range measurement system of following the tracks of laser spots, it comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging board, signal processing unit, central management platform and remote control unit, described image acquisition units is fixed on the high precision The Cloud Terrace, and described laser ranging unit is placed on the high precision The Cloud Terrace.
Described image acquisition units is used for gathering image, and with image information by after signal processing unit processes, upload to central management platform through network, finally obtained to central management platform by the remote control unit; The focal distance f of image acquisition units is known definite value.
Described laser ranging unit is used for Emission Lasers, the laser of receiving target point reflection, and calculate its distance to laser spots, and then ranging data is uploaded to central management platform by signal processing unit processes by network, finally obtained to central management platform by the remote control unit.
Described high precision The Cloud Terrace is used for fixing laser ranging unit and image acquisition units, receives the cradle head control instruction, controls the Laser emission direction.
described transparent debugging board is two or more transparent debugging boards perpendicular to the image acquisition central ray parallel to each other, be placed in laser spots visual range scope, by regulating the riding position of laser ranging unit on the high precision The Cloud Terrace, regulate the Laser emission direction, the laser spots of getting on each transparent debugging board is equated to its distance with image acquisition units central ray intersection point, realize the two light ray parallels of image acquisition central ray of laser beam and image acquisition units, simultaneously the laser ranging unit is fixed on the high precision The Cloud Terrace, and definite laser beam is to the distance of image acquisition central ray.
Described 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, high precision The Cloud Terrace; Reach central management platform by network after Image Information Processing with image acquisition units, reach central management platform by network after ranging data processing with the laser ranging unit, the cradle head control instruction that forwards by network receiving center management platform, after being processed, it reaches the high precision The Cloud Terrace, control the sense of rotation of high precision The Cloud Terrace, thereby control the Laser emission direction.
Described 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, signal processing unit, the management and control of instruction forwards.
Described 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, then in conjunction with the position of picture central point, determine that laser spots is with respect to the position of picture central point, and with passing to display after image information, ranging data, picture center position information, laser spots position information process, be uploaded to central management platform after the cradle head control information processing of simultaneously operating unit being transmitted; Display is used for image information, ranging data, picture central point and the laser spots that display processing unit transmits; Operating unit is used for for user operation, makes laser spots that the user can show according to display and the Relative position determination high precision The Cloud Terrace sense of rotation of impact point, and by operating unit with the cradle head control input information to processing unit.
In Fig. 1, N is laser spots; P is the distance between laser beam and image acquisition central ray, and because image acquisition units and laser ranging unit are fixed on the high precision The Cloud Terrace, and laser beam is parallel with the image acquisition central ray, therefore P is definite value; D is that the laser ranging unit is to the distance of laser spots N; V is the distance that the laser spots on 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, first determine impact point to be measured position.Then recorded the distance B of laser spots by the laser ranging unit, ranging data uploads to central management platform by signal processing unit processes by network, and is obtained from central management platform by the remote control unit.
Then, the remote control unit calculates V according to formula (2) by D, f, P, namely determines laser spots and the distance of picture central point on display, and determines the relative position of this point-to-point transmission on display, shows simultaneously the laser spots position.then the user can be according to the Relative position determination high precision The Cloud Terrace sense of rotation of laser spots on display and impact point to be measured, and by operating unit with the cradle head control input information to processing unit, processing unit is uploaded to central management platform after with the cradle head control information processing, central management platform is passed to the high precision The Cloud Terrace with the cradle head control instruction after network is by signal processing unit processes, regulate high precision The Cloud Terrace sense of rotation, namely regulate the Laser emission direction, laser spots is accurately beaten on impact point to be measured, be that laser spots and impact point to be measured overlap, its distance to laser spots that laser ranging this moment unit obtains is it to the accurate distance of impact point.
The present invention is based on the two light ray parallels of image acquisition central ray of laser beam and image acquisition units, according to ranging data track and localization laser spots position, and regulate the Laser emission direction by regulating high precision The Cloud Terrace sense of rotation, laser spots is accurately beaten on impact point, factor causes does not see or can't see the range error that the laser spots position causes because distant or light is stronger etc. in minimizing, finally guarantees laser ranging data accurately and reliably.
Claims (3)
1. distance-finding method of following the tracks of laser spots is placed in 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 image information in visual range by image acquisition units, transmit and receive laser by the laser ranging unit, calculate the 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 two light ray parallel debugging of image acquisition central ray and the laser beam of image acquisition units, then the laser ranging unit is fixed on the high precision The Cloud Terrace, the distance between measurement image collecting unit central ray and laser beam, and set this distance and be definite value P, then, impact point to be measured of Set arbitrarily under remote or any intensity of illumination, the laser ranging unit records the distance of laser spots, and ranging data uploads to central management platform by signal processing unit processes by network, and is obtained from central management platform by the remote control unit, the remote control unit is according to the ranging data of obtaining, distance P between the focal distance f of combining image collecting unit and image acquisition units central ray and laser beam, determine laser spots and picture central point on display apart from V or the pixel count crossed on display, and the relative position of definite laser spots and picture central point, show simultaneously the laser spots position, then, the user is according to the relative position of the laser spots on display and impact point to be measured, by operating unit with the cradle head control input information to processing unit, processing unit is issued central management platform after with the cradle head control information processing, and pass to the high precision The Cloud Terrace by network after by signal processing unit processes, regulate the Laser emission direction by regulating high precision The Cloud Terrace sense of rotation, laser spots is beaten on impact point to be measured, laser spots and impact point to be measured overlap, what laser ranging this moment unit recorded is it to the accurate distance of impact point to be measured, realize 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 spots according to claim 1, it is characterized in that: described pair of light ray parallel debugging is in laser spots visual range scope, the transparent debugging board that two or more are parallel to each other is set, and debugging board is perpendicular to the image acquisition central ray of image acquisition units, mark respectively the intersection point of the image acquisition central ray of itself and image acquisition units on two transparent debugging boards, regulate the riding position of laser ranging unit on the high precision The Cloud Terrace, make and get to two laser spots on transparent debugging board and equate to its distance with image acquisition central ray intersection point, realize two light ray parallels of the image acquisition central ray of laser beam and image acquisition units.
3. range measurement system of following the tracks of laser spots, it comprises image acquisition units, laser ranging unit, high precision The Cloud Terrace, transparent debugging board, signal processing unit, central management platform and remote control unit, described image acquisition units is fixed on the high precision The Cloud Terrace, and described laser ranging unit is placed on the high precision The Cloud Terrace;
Described image acquisition units is used for gathering image, and with image information by after signal processing unit processes, upload to central management platform through network, finally obtained to central management platform by the remote control unit;
Described laser ranging unit is used for Emission Lasers, the laser of receiving target point reflection, and calculate its distance to laser spots, and then ranging data is uploaded to central management platform by signal processing unit processes by network, finally obtained to central management platform by the remote control unit;
Described high precision The Cloud Terrace is used for fixing laser ranging unit and image acquisition units, receives the cradle head control instruction, controls the Laser emission direction;
Described transparent debugging board is two or more transparent debugging boards perpendicular to the image acquisition central ray parallel to each other, be placed in laser spots visual range scope, by regulating the riding position of laser ranging unit on the high precision The Cloud Terrace, regulate the Laser emission direction, the laser spots of getting on each transparent debugging board is equated to its distance with image acquisition units central ray intersection point, realize the two light ray parallels of image acquisition central ray of laser beam and image acquisition units;
Described 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, high precision The Cloud Terrace; Reach central management platform by network after Image Information Processing with image acquisition units, reach central management platform by network after ranging data processing with the laser ranging unit, the cradle head control instruction that forwards by network receiving center management platform, after being processed, it reaches the high precision The Cloud Terrace, control the sense of rotation of high precision The Cloud Terrace, thereby control the Laser emission direction;
Described 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, signal processing unit, the management and control of instruction forwards;
Described 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, then in conjunction with the position of picture central point, determine that laser spots is with respect to the position of picture central point, and with passing to display after image information, ranging data, picture center position information, laser spots position information process, be uploaded to central management platform after the cradle head control information processing of simultaneously operating unit being transmitted; Display is used for image information, ranging data, picture central point and the laser spots that display processing unit transmits; Operating unit is used for for user operation, makes laser spots that the user can show according to display and the Relative position determination high precision The Cloud Terrace sense of rotation of impact point, and by operating unit with the cradle head control input information to processing unit.
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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 |
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