CN106249220B - Hot spot enhances processing method, device and laser range finder - Google Patents
Hot spot enhances processing method, device and laser range finder Download PDFInfo
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- CN106249220B CN106249220B CN201610848440.1A CN201610848440A CN106249220B CN 106249220 B CN106249220 B CN 106249220B CN 201610848440 A CN201610848440 A CN 201610848440A CN 106249220 B CN106249220 B CN 106249220B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
Abstract
The present invention provides a kind of hot spot enhancing processing method, is applied to laser ranging, which comprises obtain gray value the maximum point p1, p2 ..., pn of representation of laser facula；Default spot radius r, spot radius r and the distance of gray value maximum point p1, p2 ..., pn between any two are compared, and obtain spot center；Image enhancement processing is carried out to using spot center as the center of circle, r for the region of radius.The gray value maximum point that the above method passes through first acquisition hot spot, it determines again more therein for spot center, and enhancing processing is carried out to corresponding region, enhancing can be carried out to laser generation hot spot to show, it allows users to clearly observe hot spot, and it does not need to provide a great convenience by ancillary equipment.The present invention also provides a kind of devices and laser range finder using above-mentioned hot spot enhancing processing method.
Description
Technical field
The present invention relates to electro-optical distance measurement fields more particularly to a kind of hot spot to enhance processing method, and application hot spot increasing
The hot spot enhancing processing unit and laser range finder of strong processing method.
Background technique
Laser range finder obtains distance by the phase difference that detection issues laser signal and receives signal.To guarantee echo letter
Number quality, transmitting laser power is big as far as possible, while also must satisfy relevant criterion, such as GB7241.1-2012 or
IEC60825-1-2007, to be defined using laser power.Common method be allow shoot laser the angle of divergence as best one can
It is small, though that is, spot size measure distant place remain on it is smaller.
Since laser spot size is also smaller in farther away place, so that naked eye is not added ancillary equipment and is difficult to discovery light
Spot also cannot determine whether laser has been got on object, this defect is especially prominent especially under outdoor solar light.
Summary of the invention
In view of the foregoing drawbacks, the hot spot enhancing that the present invention can allow user to facilitate naked eye it is necessary to provide one kind is handled
Method, and the hot spot enhancing processing unit and laser range finder of application hot spot enhancing processing method.
A kind of hot spot enhancing processing method, is applied to laser ranging, which comprises
Gray value maximum point p1, the p2 of representation of laser facula are obtained ..., pn；
Default spot radius r, by spot radius r and the distance of gray value maximum point p1, p2 ..., pn between any two into
Row compares, and obtains spot center；
Image enhancement processing is carried out to using spot center as the center of circle, r for the region of radius.
Preferably, gray value the maximum point p1, p2 ..., pn for obtaining light spot image, comprising:
Processing is sharpened to light spot image.
Gray proces are carried out to the light spot image after sharpening, obtain gray value maximum point in treated light spot image
p1,p2,…,pn。
Preferably, the default spot radius r, by spot radius r and gray value maximum point p1, p2 ..., pn two-by-two it
Between distance be compared, obtain spot center, further comprise:
Default spot radius r；
Obtain p1 point arrive other points p2, p3 ..., pn distance d12, d13 ..., d1n, and successively with spot radius r progress
Compare, all distance d1x > r are worked as in judgement, and p1 is spot center；
If it is not, obtain p2 point to other points p1, p3 ..., pn distance d21, d23 ..., d2n, and successively with spot radius
R is compared, and all distance d2x > r are worked as in judgement, and p2 is spot center；
…
If it is not, obtain pn point to other points p1, p3 ... p (n-1) distance dn1, dn2 ..., dn (n-1), and successively with light
Spot radius r is compared, and all distance dnx > r are worked as in judgement, and pn is spot center；
Obtain spot center.
Preferably, spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is the laser for generating the hot spot
Horizontal divergence angle, FOV are the horizontal field of view angle for absorbing the photographic device of the light spot image, θ be hot spot maximally diffuse direction with
The angle of horizontal direction, P are the horizontal pixel of photographic device, and m is the amplification factor of photographic device.
It is preferably, described to carry out image enhancement processing to using spot center as dot, r for the region of radius, comprising:
Choosing by the center of circle, r of spot center is the region of radius；
Gray value raising processing is carried out to chosen area；
The very color value of RGB is converted by the gray value for handling rear region, and is shown.
A kind of laser range finder, the laser range finder include:
Range finder module, for passing through the distance of laser measurement determinand；
Photographing module, the light spot image formed for absorbing laser in determinand；
Image enhancement module, for carrying out enhancing processing to the light spot image of intake；
Display module for showing light spot image and distance measurement result, and saves as picture.
Preferably, the range finder module includes:
Laser emission element, for emitting original laser；
Laser recovery unit, for receiving the reflection laser reflected through determinand；
Distance measuring unit is analyzed for analyzing the original laser and reflection laser, obtains the distance of determinand.
Preferably, described image enhancing module includes:
Acquiring unit, for obtaining the light spot image of photographing module intake；
Pretreatment unit is very big to obtain gray value of image for being sharpened processing and gray proces to light spot image
It is worth point p1, p2 ..., pn；
Analysis and processing unit, for gray value maximum point p1, p2 ..., pn distance between any two and preset light
Spot radius r is compared, to obtain spot center；
Enhance processing unit, for carrying out image enhancement processing to using spot center as the center of circle, r for the region of radius.
Preferably, the analysis and processing unit includes obtaining element, and the acquisition element is for obtaining gray value maximum
Put distance between any two and spot radius r, wherein spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is sharp
The light level angle of divergence, FOV are the horizontal field of view angle of photographing module, and θ is the angle that hot spot maximally diffuses direction and horizontal direction, P
For the horizontal pixel of photographing module, m is the amplification factor of photographing module；And contrast element, the contrast element be used for by
Distance is stated compared with spot radius r, it is equal at a distance from other points to obtain in these gray value maximum points p1, p2 ..., pn
A point greater than spot radius r, which is spot center.
Preferably, the display module includes:
Acquiring unit, for obtaining the light spot image and affiliated range finder module that handle through described image enhancing module enhancing
Distance measurement result；
Display screen, for showing the light spot image and affiliated distance measurement result of the enhancing processing；
Storage element, for the light spot image for having distance measurement result to be stored as photo.
A kind of hot spot enhancing processing unit, is applied to laser ranging, and the hot spot enhancing processing unit includes:
Module is obtained, for obtaining light spot image to be reinforced；
Preprocessing module, it is very big to obtain gray value of image for being sharpened processing and gray proces to light spot image
It is worth point p1, p2 ..., pn；
Analysis and processing module, for gray value maximum point p1, p2 ..., pn distance between any two and preset light
Spot radius r is compared, to obtain spot center；
Enhance processing module, for carrying out image enhancement processing to using spot center as the center of circle, r for the region of radius.
Preferably, the analysis and processing module includes:
Acquiring unit, it is described to obtain the distance and spot radius r that element is used to obtain gray value maximum point between any two,
Wherein, spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is the laser level angle of divergence, and FOV is that intake is to be reinforced
The horizontal field of view angle of the photographic device of picture, θ are the angle that hot spot maximally diffuses direction and horizontal direction, and P is photographic device
Horizontal pixel, m are the amplification factor of photographic device；And
Comparison unit, the comparison unit are used for by above-mentioned distance compared with spot radius r, to obtain these gray value poles
In big value point p1, p2 ..., pn, a point of spot radius r is all larger than at a distance from other points, which is spot center.
Hot spot of the invention enhances processing method, by obtaining the gray value maximum point of image, and finds light therein
Spot center, to spot area carry out color enhancement, allow users to clearly observe hot spot, and do not need by
Ancillary equipment provides a great convenience.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart for hot spot enhancing processing method that first embodiment of the invention provides；
Fig. 2 is to obtain the ash of light spot image in another hot spot enhancing processing method that second embodiment of the invention provides
Angle value maximum point p1, p2 ..., the flow chart of pn；
Fig. 3 is to preset spot radius r in another hot spot enhancing processing method that third embodiment of the invention provides, will
Spot radius r and the distance of gray value maximum point p1, p2 ..., pn between any two are compared, and obtain the process of spot center
Figure；
Fig. 4 be fourth embodiment of the invention provide another hot spot enhancing processing method in, to spot center be circle
Point, the region that r is radius carry out the flow chart of image enhancement processing；
Fig. 5 is a kind of structure chart for laser range finder that fifth embodiment of the invention provides；
Fig. 6 is the structure chart of the range finder module in another laser range finder that sixth embodiment of the invention provides；
Fig. 7 is the structure chart of image enhancement module in another laser range finder that seventh embodiment of the invention provides；
Fig. 8 is in another laser range finder that eighth embodiment of the invention provides, and the analysis of image enhancement module is handled
The structure chart of unit；
Fig. 9 is the structure chart of display module in another laser range finder that ninth embodiment of the invention provides；
Figure 10 is a kind of structure chart for hot spot enhancing processing unit that tenth embodiment of the invention provides；
Figure 11 is that another hot spot that eleventh embodiment of the invention provides enhances in processing unit, analysis and processing module
Structure chart.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Hot spot enhancing processing method provided by the invention is applied to laser ranging field.Fig. 1 is please referred to, hot spot of the present invention increases
The first embodiment of strong processing method the following steps are included:
Step S100, gray value maximum point p1, the p2 of representation of laser facula are obtained ..., pn；
Step S200, spot radius r is preset, between any two with gray value maximum point p1, p2 ..., pn by spot radius r
Distance be compared, obtain spot center；
Step S300, image enhancement processing is carried out for the region of radius to using spot center as the center of circle, r.
The present embodiment is by first obtaining gray value of image maximum point p1, p2 ..., pn, then with these points p1, p2 ...,
Pn mutual distance is compared acquisition spot center with preset spot radius, then to around the region of spot center r into
Row enhancing processing, obtains the light spot image of enhancing, and the light spot image of enhancing can be carried out observation by naked eye, get rid of to auxiliary
The dependence of equipment.
Fig. 2 is please referred to, based on the second embodiment of hot spot of the present invention enhancing processing method first embodiment, in the present embodiment
In, the step S100, gray value the maximum point p1, p2 ..., pn for obtaining light spot image, comprising:
Step S110, processing is sharpened to light spot image；
Step S120, gray proces are carried out to the light spot image after sharpening, obtains gray value in treated light spot image
Maximum point p1, p2 ..., pn；
The present embodiment is by being first sharpened processing to light spot image, then carries out gray proces, can easily and accurately obtain
Take the gray value maximum point in image.
Fig. 3 is please referred to, the 3rd embodiment of the first embodiment based on hot spot of the present invention enhancing processing method, in this implementation
In example, the step S200, default spot radius r, by spot radius r and gray value maximum point p1, p2 ..., pn two-by-two it
Between distance be compared, obtain spot center, further comprise:
Step S210, spot radius r is preset；
Step S220, obtain p1 point to other points p2, p3 ..., pn distance d12, d13 ..., d1n, and successively with hot spot
Radius r is compared, and all distance d1x > r are worked as in judgement, and p1 is spot center；
If it is not, obtain p2 point to other points p1, p3 ..., pn distance d21, d23 ..., d2n, and successively with spot radius
R is compared, and all distance d2x > r are worked as in judgement, and p2 is spot center；
…
If it is not, obtain pn point to other points p1, p3 ... p (n-1) distance dn1, dn2 ..., dn (n-1), and successively with light
Spot radius r is compared, and all distance dnx > r are worked as in judgement, and pn is spot center；
Step S230, spot center is obtained.
Wherein, spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is the water for generating the laser of the hot spot
The flat angle of divergence, FOV are the horizontal field of view angle that the photographic device of the light spot image is absorbed in laser range finder, and θ is that hot spot is maximum
The angle of dispersal direction and horizontal direction, P are the horizontal pixel of photographic device, and m is the amplification factor of photographic device.
The present embodiment determines in gray value maximum point by circle logic and is all larger than spot radius at a distance from other points
Point, as spot center.
Fig. 4 is please referred to, the fourth embodiment of the first embodiment based on hot spot of the present invention enhancing processing method, in this implementation
In example, image enhancement processing the step S300, is carried out for the region of radius to using spot center as dot, r, comprising:
Step S310, choosing by the center of circle, r of spot center is the region of radius；
Step S320, gray value raising processing is carried out to chosen area；
Step S330, the very color value of RGB is converted by the gray value for handling rear region, and is shown.
The present embodiment passes through the gray value for first improving image, then is translated into the very color value of RGB, to obtain display effect increasing
Strong image.
Fig. 5 is please referred to, the fifth embodiment of the present invention also provides a kind of laser range finder 100.The laser range finder 100
Include:
Range finder module 10, for passing through the distance of laser measurement determinand；
Photographing module 20, the light spot image formed for absorbing laser in determinand；
Image enhancement module 30, for carrying out enhancing processing to the light spot image of intake；
Display module 40 for showing light spot image and distance measurement result, and saves as picture.
Specifically, the photographing module 30 is camera, sensor based on complementary metal oxide semiconductor (CMOS)
Or one of infrared thermoviewer.
The present embodiment is carried out auxiliary by the ranging process of photographing module, image enhancement module and display module to range finder module
It helps, improves the ranging efficiency of laser range finder, also avoid the dependence to external equipment.
Fig. 6 is please referred to, the sixth embodiment of the 5th embodiment based on laser range finder of the present invention, in the present embodiment,
The range finder module 10 includes:
Laser emission element 11, for emitting original laser；
Laser recovery unit 12, for receiving the reflection laser reflected through determinand；
Distance measuring unit 13 is analyzed for analyzing the original laser and reflection laser, obtains the distance of determinand.
The distance measuring unit of the present embodiment using analysis transmitting laser and the reflection laser through determinand, obtain determinand away from
From.
Fig. 7 is please referred to, the 7th embodiment of the 5th embodiment based on laser range finder of the present invention, in the present embodiment,
Described image enhances module 30
Acquiring unit 31, for obtaining the light spot image of photographing module intake；
Pretreatment unit 32, for being sharpened processing and gray proces to light spot image, to obtain gray value of image pole
Big value point p1, p2 ..., pn；
Analysis and processing unit 33, for gray value maximum point p1, p2 ..., pn distance between any two with it is preset
Spot radius r is compared, to obtain spot center；
Enhance processing unit 34, for carrying out image enhancement processing to using spot center as the center of circle, r for the region of radius.
The image enhancement module of the present embodiment is first sharpened processing and gray proces to image by pretreatment unit, with
The gray value maximum point of image is obtained, then logic loops are utilized by analysis and processing unit, determines these gray value maximum
The point of spot radius, as spot center are all larger than in point at a distance from other points, finally enhances processing unit to the phase of image
It answers region to carry out enhancing processing, obtains accurate clearly light spot image.
Fig. 8 is please referred to, the 8th embodiment of the 7th embodiment based on laser range finder of the present invention, in the present embodiment,
The analysis and processing unit 32 includes:
Element 321 is obtained, it is described to obtain the distance and hot spot half that element is used to obtain gray value maximum point between any two
Diameter r, wherein spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is the laser level angle of divergence, and FOV is camera shooting mould
The horizontal field of view angle of block 20, θ are the angle that hot spot maximally diffuses direction and horizontal direction, and P is the horizontal pixel of photographing module 20,
M is the amplification factor of photographing module 20；And
Contrast element 322, the contrast element are used for by above-mentioned distance compared with spot radius r, to obtain these gray scales
In value maximum point p1, p2 ..., pn, a point of spot radius r is all larger than at a distance from other points, which is in hot spot
The heart.
The analysis and processing unit of the present embodiment by obtain element obtain gray value maximum point distance between any two and
Spot radius and contrast element compare these distances with spot radius, to determine spot center.
Fig. 9 is please referred to, the 9th embodiment of the 5th embodiment based on laser range finder of the present invention, in the present embodiment,
The display module 40 includes:
Acquiring unit 41, for obtaining light spot image and affiliated ranging mould through the described image enhancing enhancing processing of module 30
The distance measurement result of block 10；
Display screen 42, for showing the light spot image and affiliated distance measurement result of the enhancing processing；
Storage element 43, for the light spot image for having distance measurement result to be stored as photo.
The present embodiment has the light spot image photo of distance measurement result by generating, and it is more convenient, intuitive that user obtains result.
Figure 10 is please referred to, the tenth embodiment of the present invention provides a kind of hot spot enhancing processing unit 200, comprising:
Module 201 is obtained, for obtaining light spot image to be reinforced；
Preprocessing module 202, for being sharpened processing and gray proces to light spot image, to obtain gray value of image pole
Big value point p1, p2 ..., pn；
Analysis and processing module 203, for gray value maximum point p1, p2 ..., pn distance between any two with it is preset
Spot radius r is compared, to obtain spot center；
Enhance processing module 204, for carrying out image enhancement processing to using spot center as the center of circle, r for the region of radius.
The image enhancement module of the present embodiment is first sharpened processing and gray proces to image by preprocessing module, with
The gray value maximum point of image is obtained, then logic loops are utilized by analysis and processing module, determines these gray value maximum
The point of spot radius, as spot center are all larger than in point at a distance from other points, finally enhances processing module to the phase of image
It answers region to carry out enhancing processing, obtains accurate clearly light spot image.
Figure 11 is please referred to, the 11st embodiment of the tenth embodiment based on hot spot of the present invention enhancing processing unit, at this
In embodiment, the analysis and processing module 202 includes:
Acquiring unit 2021, it is described to obtain the distance and hot spot half that element is used to obtain gray value maximum point between any two
Diameter r, wherein spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ be the laser level angle of divergence, FOV be intake to
Enhance the horizontal field of view angle of the photographic device of picture, θ is the angle that hot spot maximally diffuses direction and horizontal direction, and P is camera shooting dress
The horizontal pixel set, m are the amplification factor of photographic device；And
Comparison unit 2022, the comparison unit are used for by above-mentioned distance compared with spot radius r, to obtain these gray scales
In value maximum point p1, p2 ..., pn, a point of spot radius r is all larger than at a distance from other points, which is in hot spot
The heart.
The analysis and processing module of the present embodiment by acquiring unit obtain gray value maximum point distance between any two and
Spot radius and comparison unit compare these distances with spot radius, to determine spot center.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (12)
1. a kind of hot spot enhances processing method, it is applied to laser ranging, which is characterized in that the described method includes:
Gray value maximum point p1, the p2 of representation of laser facula are obtained ..., pn；
Default spot radius r, spot radius r and the distance of gray value maximum point p1, p2 ..., pn between any two are compared
Compared with acquisition spot center；
Image enhancement processing is carried out to using spot center as the center of circle, r for the region of radius.
2. hot spot as described in claim 1 enhances processing method, which is characterized in that the gray value pole for obtaining light spot image
Big value point p1, p2 ..., pn, comprising:
Processing is sharpened to light spot image；
Gray proces are carried out to the light spot image after sharpening, obtain gray value maximum point p1 in treated light spot image,
p2,…,pn。
3. hot spot as described in claim 1 enhances processing method, which is characterized in that the default spot radius r, by hot spot half
Diameter r and the distance of gray value maximum point p1, p2 ..., pn between any two are compared, and are obtained spot center, are further comprised:
Default spot radius r；
P1 point is obtained to the distance d12, d13 ..., d1n of other points p2, p3 ..., pn, and is successively compared with spot radius r
Compared with all distance d1x > r are worked as in judgement, and p1 is spot center；
If it is not, obtain p2 point to other points p1, p3 ..., pn distance d21, d23 ..., d2n, and successively with spot radius r into
Row compares, and all distance d2x > r are worked as in judgement, and p2 is spot center；
…
If it is not, obtain pn point arrive other points p1, p3 ... p (n-1) distance dn1, dn2 ..., dn (n-1), and successively with hot spot partly
Diameter r is compared, and all distance dnx > r are worked as in judgement, and pn is spot center；
Obtain spot center.
4. hot spot as claimed in claim 3 enhances processing method, which is characterized in that the spot radius r=1/2*m*P* ɑ/
FOV*cos θ, wherein ɑ is the horizontal divergence angle for generating the laser of the hot spot, and FOV is the camera shooting dress for absorbing the light spot image
The horizontal field of view angle set, θ are the angle that hot spot maximally diffuses direction and horizontal direction, and P is the horizontal pixel of photographic device, and m is
The amplification factor of photographic device.
5. hot spot as described in claim 1 enhances processing method, which is characterized in that described to be to by dot, r of spot center
The region of radius carries out image enhancement processing, comprising:
Choosing by the center of circle, r of spot center is the region of radius；
Gray value raising processing is carried out to chosen area；
The very color value of RGB is converted by the gray value for handling rear region, and is shown.
6. a kind of laser range finder, which is characterized in that the laser range finder includes:
Range finder module, for passing through the distance of laser measurement determinand；
Photographing module, the light spot image formed for absorbing laser in determinand；
Image enhancement module, for carrying out enhancing processing to the light spot image of intake；
Display module for showing light spot image and distance measurement result, and saves as picture.
7. laser range finder as claimed in claim 6, which is characterized in that the range finder module includes:
Laser emission element, for emitting original laser；
Laser recovery unit, for receiving the reflection laser reflected through determinand；
Distance measuring unit is analyzed for analyzing the original laser and reflection laser, obtains the distance of determinand.
8. laser range finder as claimed in claim 6, which is characterized in that described image enhances module and includes:
Acquiring unit, for obtaining the light spot image of photographing module intake；
Pretreatment unit, for being sharpened processing and gray proces to light spot image, to obtain gray value of image maximum point
p1,p2,…,pn；
Analysis and processing unit, for gray value maximum point p1, p2 ..., pn distance between any two and preset hot spot half
Diameter r is compared, to obtain spot center；
Enhance processing unit, for carrying out image enhancement processing to using spot center as the center of circle, r for the region of radius.
9. laser range finder as claimed in claim 8, which is characterized in that the analysis and processing unit includes:
Element is obtained, it is described to obtain the distance and spot radius r that element is used to obtain gray value maximum point between any two,
In, spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is the laser level angle of divergence, and FOV is the water of photographing module
Rink corner is looked squarely, θ is the angle that hot spot maximally diffuses direction and horizontal direction, and P is the horizontal pixel of photographing module, and m is camera shooting mould
The amplification factor of block；And
Contrast element, the contrast element are used for by above-mentioned distance compared with spot radius r, to obtain these gray value maximum
In point p1, p2 ..., pn, a point of spot radius r is all larger than at a distance from other points, which is spot center.
10. laser range finder as claimed in claim 6, which is characterized in that the display module includes:
Acquiring unit, for obtaining the ranging of light spot image and affiliated range finder module through described image enhancing module enhancing processing
As a result；
Display screen, for showing the light spot image and affiliated distance measurement result of the enhancing processing；
Storage element, for the light spot image for having distance measurement result to be stored as photo.
11. a kind of hot spot enhances processing unit, it is applied to laser ranging, which is characterized in that the hot spot enhances processing unit packet
It includes:
Module is obtained, for obtaining light spot image to be reinforced；
Preprocessing module, for being sharpened processing and gray proces to light spot image, to obtain gray value of image maximum point
p1,p2,…,pn；
Analysis and processing module, for gray value maximum point p1, p2 ..., pn distance between any two and preset hot spot half
Diameter r is compared, to obtain spot center；
Enhance processing module, for carrying out image enhancement processing to using spot center as the center of circle, r for the region of radius.
12. hot spot as claimed in claim 11 enhances processing unit, which is characterized in that the analysis and processing module includes:
Acquiring unit, it is described to obtain the distance and spot radius r that element is used to obtain gray value maximum point between any two,
In, spot radius r=1/2*m*P* ɑ/FOV*cos θ, wherein ɑ is the laser level angle of divergence, and FOV is to absorb figure to be reinforced
The horizontal field of view angle of the photographic device of piece, θ are the angle that hot spot maximally diffuses direction and horizontal direction, and P is the water of photographic device
Flat pixel, m are the amplification factor of photographic device；And
Comparison unit, the comparison unit are used for by above-mentioned distance compared with spot radius r, to obtain these gray value maximum
In point p1, p2 ..., pn, a point of spot radius r is all larger than at a distance from other points, which is spot center.
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| CN201610848440.1A CN106249220B (en) | 2016-09-23 | 2016-09-23 | Hot spot enhances processing method, device and laser range finder |
| PCT/CN2016/101959 WO2018053888A1 (en) | 2016-09-23 | 2016-10-13 | Spot enhancement processing method, apparatus and laser range finder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1374534A (en) * | 2001-03-09 | 2002-10-16 | 亚洲光学股份有限公司 | Signal processing method and device for laser range finding |
| CN101408985A (en) * | 2008-09-22 | 2009-04-15 | 北京航空航天大学 | Method and apparatus for extracting circular luminous spot second-pixel center |
| CN102360079A (en) * | 2011-07-05 | 2012-02-22 | 上海理工大学 | Laser range finder and working method thereof |
| CN104966308A (en) * | 2015-06-12 | 2015-10-07 | 深圳大学 | Method for calculating spot size of laser beam |
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| CN102636788B (en) * | 2012-05-03 | 2013-06-19 | 山东卡尔电气股份有限公司 | Ranging method and system for tracking laser point |
| CN206178134U (en) * | 2016-09-23 | 2017-05-17 | 深圳市迈测科技股份有限公司 | Facula reinforcing processing apparatus and laser range finder |
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|---|---|---|---|---|
| CN1374534A (en) * | 2001-03-09 | 2002-10-16 | 亚洲光学股份有限公司 | Signal processing method and device for laser range finding |
| CN101408985A (en) * | 2008-09-22 | 2009-04-15 | 北京航空航天大学 | Method and apparatus for extracting circular luminous spot second-pixel center |
| CN102360079A (en) * | 2011-07-05 | 2012-02-22 | 上海理工大学 | Laser range finder and working method thereof |
| CN104966308A (en) * | 2015-06-12 | 2015-10-07 | 深圳大学 | Method for calculating spot size of laser beam |
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