CN117331086A - Laser ranging method and system based on boundary positioning - Google Patents
Laser ranging method and system based on boundary positioning Download PDFInfo
- Publication number
- CN117331086A CN117331086A CN202311308904.6A CN202311308904A CN117331086A CN 117331086 A CN117331086 A CN 117331086A CN 202311308904 A CN202311308904 A CN 202311308904A CN 117331086 A CN117331086 A CN 117331086A
- Authority
- CN
- China
- Prior art keywords
- emission
- boundary
- laser beam
- target
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 88
- 238000004590 computer program Methods 0.000 claims description 8
- 230000035772 mutation Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000001788 irregular Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 210000000887 face Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention provides a laser ranging method and a system based on boundary positioning, wherein the method comprises the following steps: providing a first emitted laser beam, the first emitted laser beam being directed toward a location proximate to a boundary of the target; calculating a detection distance of the first emission light beam at the target boundary position by adjusting horizontal movement of the first emission light beam at the target boundary position; when the detection distance of the first emission laser beam at the boundary position of the target is suddenly changed, boundary positioning information is generated; after the boundary positioning information is generated, a second emission beam is further provided on the same laser range finder to point to a target detection position; and calculating the linear distance between the current emission point and the target detection position according to the second emission laser beam.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a laser ranging method and system based on boundary positioning.
Background
In the prior art, the laser ranging has great difficulty in detecting the distances from different sides of the outside of an irregular object or detecting the target distance of the obstacle, for example, measuring the distance from one boundary point of the irregular object to the boundary point of the other side, a single laser beam needs to be measured for many times and can finish the measurement by means of a plurality of auxiliary plates and other devices, the measuring method is complex and has poor effect, the traditional laser ranging device usually needs contact positioning or the human eyes generally judge the position of the laser ranging device, the contact positioning needs to be contacted with the corresponding position by means of the ranging device body, and the human eyes generally judge the position of the laser ranging device easily causes great errors.
Disclosure of Invention
One of the objects of the present invention is to provide a laser ranging method and system based on boundary positioning, which provides a dual-emission hole laser ranging device with a vertical relationship, wherein one laser emitted by one laser emission hole can be used for boundary positioning, and the other laser emission hole can be used for ranging, so that the technical problems of irregular shape boundary positioning and ranging can be effectively solved.
The invention further aims to provide a laser ranging method and a system based on boundary positioning, wherein a level instrument is arranged in the method and the system, the level instrument can display whether the laser ranging instrument at the current position is level, and the boundary positioning effect and the ranging effect of the laser ranging instrument can be effectively improved after ranging is performed in a level state.
The invention further aims to provide a laser ranging method and a system based on boundary positioning, which can be used for positioning the boundary of an irregular object without contact, do not need human eyes or other equipment to perform boundary positioning, and improve the accuracy and convenience of boundary positioning.
In order to achieve at least one of the above objects, the present invention further provides a laser ranging method based on boundary positioning, the method comprising:
providing a first emitted laser beam, the first emitted laser beam being directed toward a location proximate to a boundary of the target;
calculating a detection distance of the first emission light beam at the target boundary position by adjusting horizontal movement of the first emission light beam at the target boundary position;
when the detection distance of the first emission laser beam at the boundary position of the target is suddenly changed, boundary positioning information is generated;
after the boundary positioning information is generated, a second emission beam is further provided on the same laser range finder to point to a target detection position;
and calculating the linear distance between the current emission point and the target detection position according to the second emission laser beam and the corresponding reflected laser beam.
According to one preferred embodiment of the present invention, the first emission laser beam and the second emission laser beam are perpendicular to each other, and the first emission laser beam and the second emission laser beam are located on the same plane.
According to another preferred embodiment of the present invention, when the first emission laser beam is emitted near the target boundary, a first straight line distance between a first emission port of the first emission laser beam and a position near the target boundary is calculated in real time, after the first emission laser beam is controlled to move horizontally near the target boundary, a distance between the second emission laser beam and the target detection position is recorded in real time, if the first emission laser beam is detected to have a mutation in a reflection interface distance near the target boundary, a distance between the second emission laser beam and the target detection position is intercepted at a mutation time point to be used as a target detection position distance for boundary positioning.
According to another preferred embodiment of the present invention, the method for determining that the first emission laser beam has an abrupt change in the detection of the distance between the reflection interfaces near the boundary of the target includes: and configuring a first distance difference threshold, calculating the detection distance of the first emission laser beam near the target boundary at the current moment, calculating the detection distance of the first emission laser beam at the next moment after horizontally moving along the vicinity of the target boundary, calculating the difference between the detection distance at the next moment and the detection distance at the current moment, and judging that the detection of the current target boundary distance is suddenly changed if the difference is larger than the first distance difference threshold.
According to another preferred embodiment of the present invention, when the first emission laser beam moves horizontally along the vicinity of the target boundary and then has a detection distance abrupt change, a boundary positioning signal is automatically generated, and a prompt message is sent out according to the boundary positioning signal and the detection distance of the current second emission laser beam is intercepted in real time.
According to another preferred embodiment of the invention, the method comprises the steps that a level meter is arranged on the laser distance measuring device, the first emission laser beam is controlled to emit downwards perpendicular to the horizontal plane according to the level meter, and the first emission laser beam downwards perpendicular to the horizontal plane is moved along the vicinity of the target boundary so that the detection distance of the first emission laser beam is suddenly changed.
According to another preferred embodiment of the present invention, the method for calculating the distance measurement of the target detection position by the second emitted laser beam includes: and acquiring the current emission time of the second laser beam, acquiring the receiving time of the second laser beam reflected from the target detection position and then received by the emission point laser sensor, and calculating the distance between the emission point and the target detection position according to the emission time, the receiving time and the light beam.
According to another preferred embodiment of the present invention, the method for calculating the distance measurement of the target detection position by the second emitted laser beam includes: and calculating the phase of the second laser beam when being emitted, calculating the phase of the second laser beam when being received by an emission point laser sensor after being reflected from a target detection position, calculating the phase difference between the phase of the second laser beam when being emitted and the phase of the second laser beam when being received, and calculating the distance from the emission point of the second emitted laser beam to the target detection position according to the phase difference, the emission and receiving time difference and the light speed.
In order to achieve at least one of the above objects, the present invention further provides a boundary-positioning-based laser ranging system that performs the above-described boundary-positioning-based laser ranging method.
The present invention further provides a computer readable storage medium storing a computer program for execution by a processor to implement a boundary positioning-based laser ranging method as described above.
Drawings
Fig. 1 shows a schematic flow chart of a laser ranging method based on boundary positioning.
Fig. 2 shows a schematic three-dimensional structure of a range finder based on boundary positioning in one direction.
Fig. 3 is a schematic three-dimensional perspective view of a range finder based on boundary positioning in another direction according to the present invention.
Fig. 4 is a schematic diagram showing the three-dimensional operation of the ranging method according to the present invention.
Wherein, the laser range finder-10, the first emitting laser beam-11, the second emitting laser beam-12, the near boundary detection position-13, the target detection position-14, the boundary-20
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
Referring to fig. 1-4, the invention provides a laser ranging method and a system based on boundary positioning, wherein the system comprises a laser ranging instrument, a processor is arranged in the laser ranging instrument, the laser ranging instrument is a double-beam laser ranging instrument, one side of the laser beam has a boundary positioning function, two laser beams of the laser ranging instrument are mutually perpendicular, and the two laser beams are positioned on the same water surface. After the laser range finder utilizes the boundary positioning laser beam to perform boundary positioning, the range finding value locking of the range finding laser beam is further executed, so that the range finding laser beam can automatically measure the distance between the corresponding boundary and the target detection position.
Specifically, referring to fig. 2-3, the laser range finder has a first emission port and a second emission port, where the first emission port emits a first emission laser beam, the first emission laser beam is used for positioning a boundary, the first emission laser beam is generally used for emitting horizontally downward, the second emission port emits a second emission laser beam, the second emission laser beam is emitted toward a target detection position, the second emission laser beam is used for detecting a distance between a current emission position and the target detection position, and the second emission laser beam and the first laser beam are mutually perpendicular on the same plane. Because the physical structure of the laser range finder in the invention is configured so that a certain length relationship exists between the first emission port and the second emission port on the horizontal plane, in order to reduce measurement errors, the distance from the second emission port to the water surface of the first emission port is added into the distance value detected by the second emission laser beam in an addition mode. That is, the actual detection distance from the corresponding emission port of the second emitted laser beam to the target detection position is defined as d 0 The horizontal distance from the corresponding emission port of the second emission laser beam to the corresponding emission port of the first emission laser beam is L, and when the target detection position distance is calculated, the actual detection distance of the second emission laser beam is corrected by adopting the following formula: d=d 0 The +L, d value is the actual detection distance correction value of the second emitted laser beam. The detection distance of the second emission laser beam is the distance from the target detection position to the port position of the first emission laser beam. For improving the actual detection accuracy.
In one preferred embodiment of the present invention, the laser range finder is provided with a button and a display, the button comprises a switch button and a mode selection button, and the display is connected with a processor of the laser range finder and is used for displaying the results of laser range finding and positioning. The mode selection button is in communication with the processor and is used for controlling the processor to provide different measurement modes, such as the boundary positioning measurement mode and the like. The processor is also respectively connected with the laser transmitting and receiving device of the first transmitting port in a communication way and the laser transmitting and receiving device of the second transmitting port in a communication way. The first transmitting port and the display are respectively positioned at the opposite sides of the laser range finder, and when the first transmitting port faces downwards, the corresponding display faces upwards; in another preferred embodiment of the present invention, the laser range finder is configured with a level gauge, wherein the level gauge is used for measuring a current position state of the laser range finder, the level gauge is installed inside the laser range finder, and the level gauge can measure whether a plane of the laser range finder where the first emission port is located is level, so as to determine whether the first emission laser of the first emission port is perpendicular to a horizontal plane. It should be noted that the mounting structure of each element in fig. 2 and 3 is only illustrative, and the level meter and the processor are connected in other preferred embodiments, and the corresponding level information is directly sent to the display for visual display through the processor.
It should be noted that, after the laser range finder is selected as the boundary positioning mode, the first emission port and the second emission port of the laser range finder simultaneously emit the first emission laser and the second emission laser, where the movement of the laser range finder can be controlled manually, please refer to fig. 3, the movement of the first emission laser of the laser range finder near the boundary of the target is controlled, and the emission of the second emission laser beam to the target detection position is controlled simultaneously, at this time, the processor inside the laser range finder acquires the reflected light of the first emission laser beam and the reflected light of the second emission laser beam in real time, and calculates the distances between the first emission beam and the second emission beam on the corresponding reflection surfaces according to the corresponding reflected light receiving time and the corresponding emitted light emitting time.
Further, defining the distance detected by the first emitted laser light emitted to the target boundary position as a boundary positioning distance s, and simultaneously emitting the second emitted laser light to the target detection positionThe distance detected by emission is defined as a target position detection distance d, at this time, a processor in the laser range finder monitors the boundary positioning distance s in real time, a first distance difference threshold p is configured in the processor in the laser range finder, and a unit detection time is configured in the processor, for example, the detection distance s of the first emitted laser of the current detection position to the vicinity of the target boundary position is detected and counted once every 0.2 seconds. Defining the detection distance s of the nth time of the first emission laser to the vicinity of the boundary position of the target n The detection distance s of the first emission laser to the vicinity of the boundary position of the target at the n+1th time n+1 Calculating the detection distance s of the first emission laser to the vicinity of the boundary position of the target for the n+1st time n+1 And the detection distance s of the first emission laser to the vicinity of the boundary position of the target at the nth time n Is the difference s of (2) n+1 -s n Wherein the difference takes absolute value, if the difference s n+1 -s n And if the detection distance is more than or equal to the first distance difference threshold p, judging that the detection distance mutation of the first emission laser exists at the current n+1st detection time point. Referring to fig. 4, in the nth detection, the first emitting laser is moved downward from the position of the higher-order surface, and after encountering a boundary during the movement, the first emitting laser irradiates the position of the lower-order surface in the (n+1) th detection, and at this time, because the position of the lower-order surface is further away from the first emitting port than the position of the higher-order surface, there may be a certain difference between the distance between the lower-order surface of the (n+1) th detection and the distance between the upper-order surface of the (n) th detection and the emission point, and at this time, if the difference is smaller, it may be because the first emitting laser irradiates on a small slope or the shake factor of the human hand is interfered. When the difference is greater than the first distance difference threshold p, it can be effectively determined that the current first emitting laser skips the corresponding boundary in the moving process. In other preferred embodiments of the present invention, the size of the first distance difference threshold p may be changed in the processor by using a program as required, and the present invention is not limited to the size range of the first distance difference threshold p.
When the processor receives the (n+1) -th time of the (n-th) thA detection distance s of the laser beam to the vicinity of the boundary position of the target n+1 And the detection distance s of the first emission laser to the vicinity of the boundary position of the target at the nth time n Is the difference s of (2) n+1 -s n And after the distance difference value is larger than or equal to the first distance difference value threshold value p, boundary positioning information is further generated, and the processor intercepts real-time detection distance values of the second emission laser at the target detection position under the corresponding time stamp in real time according to the time stamp generated by the boundary positioning information. Therefore, the invention can accurately provide the distance measurement based on boundary positioning. Since the first emission laser calculates the difference value between the distances of the different height steps, the first emission laser is used as the boundary positioning laser, and the distance detection can be performed on the different height steps at a higher position without influencing the actual boundary positioning result. Therefore, the distance measuring method based on the boundary calibration can effectively avoid the blocking of the protrusions of the objects with the height of the obstacle or the irregularity, and accurate data can be obtained only by adopting a one-time measuring mode.
In another preferred embodiment of the present invention, since the laser range finder is internally provided with the level gauge, the level gauge can display whether the current first emission laser is perpendicular to the horizontal plane, and since the first emission laser and the second emission laser are perpendicular to each other, after the first emission laser is perpendicular to the horizontal plane, the second emission laser is parallel to the horizontal plane, and at this time, after the posture of the hand or the tool is adjusted according to the numerical value of the level gauge, the first emission laser can irradiate the step surface near the boundary of the target relatively perpendicular to the horizontal plane, and at this time, the detection distance of the second emission laser intercepted after the boundary positioning to the target detection position is a straight line distance in the horizontal direction.
In some embodiments of the present invention, the distance testing method of the first and second emitted laser beams includes, but is not limited to, obtaining the current emission time of the second laser beam, obtaining the receiving time of the second laser beam after being reflected from the target detection position by the emission point laser sensor, and calculating the distance between the emission point and the target detection position according to the emission time and the receiving time and the beam. And calculating the phase of the second laser beam when being emitted, calculating the phase of the second laser beam when being received by an emission point laser sensor after being reflected from a target detection position, calculating the phase difference between the phase of the second laser beam when being emitted and the phase of the second laser beam when being received, and calculating the distance from the emission point of the second emitted laser beam to the target detection position according to the phase difference, the emission and receiving time difference and the light speed. The above distance calculation manner is a conventional technical means, and the present invention is not described in detail.
The processes described above with reference to flowcharts may be implemented as computer software programs in accordance with the disclosed embodiments of the invention. Embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. The above-described functions defined in the method of the present application are performed when the computer program is executed by a Central Processing Unit (CPU). It should be noted that the computer readable medium described in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wire segments, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be understood by those skilled in the art that the embodiments of the present invention described above and shown in the drawings are merely illustrative and not restrictive of the current invention, and that this invention has been shown and described with respect to the functional and structural principles thereof, without departing from such principles, and that any modifications or adaptations of the embodiments of the invention may be possible and practical.
Claims (10)
1. A laser ranging method based on boundary positioning, the method comprising:
providing a first emitted laser beam, the first emitted laser beam being directed toward a location proximate to a boundary of the target;
calculating a detection distance of the first emission light beam at the target boundary position by adjusting horizontal movement of the first emission light beam at the target boundary position;
when the detection distance of the first emission laser beam at the boundary position of the target is suddenly changed, boundary positioning information is generated;
after the boundary positioning information is generated, a second emission beam is further provided on the same laser range finder to point to a target detection position;
and calculating the linear distance between the current emission point and the target detection position according to the second emission laser beam and the corresponding reflected laser beam.
2. The laser ranging method based on boundary positioning according to claim 1, wherein the first and second emission laser beams are perpendicular to each other, and the first and second emission laser beams are located on the same plane.
3. The boundary positioning-based laser ranging method according to claim 1, wherein when the first emission laser beam is emitted near the target boundary, calculating a first linear distance between a first emission port of the first emission laser beam and a position near the target boundary in real time, controlling the first emission laser beam to horizontally move near the target boundary, and simultaneously recording a distance between the second emission laser beam and the target detection position in real time, and if a reflection interface distance detection of the first emission laser beam near the target boundary is suddenly changed, intercepting a distance between the second emission laser beam and the target detection position at a sudden change time point as a target detection position distance for boundary positioning.
4. The laser ranging method according to claim 1, wherein the determining method for detecting abrupt change in the reflected interface distance of the first emission laser beam near the target boundary comprises: and configuring a first distance difference threshold, calculating the detection distance of the first emission laser beam near the target boundary at the current moment, calculating the detection distance of the first emission laser beam at the next moment after horizontally moving along the vicinity of the target boundary, calculating the difference between the detection distance at the next moment and the detection distance at the current moment, and judging that the detection of the current target boundary distance is suddenly changed if the absolute value of the difference is larger than the first distance difference threshold.
5. The laser ranging method based on boundary positioning according to claim 1, wherein when the first emitted laser beam moves horizontally along the vicinity of the target boundary and then has a detection distance mutation, a boundary positioning signal is automatically generated, and prompt information is sent out according to the boundary positioning signal and the detection distance of the current second emitted laser beam is intercepted in real time.
6. A laser ranging method based on boundary positioning according to claim 1, comprising configuring a level meter on a laser ranging device, controlling the first emission laser beam to emit downwards perpendicular to a horizontal plane according to the level meter, and moving the first emission laser beam downwards perpendicular to the horizontal plane along the vicinity of the target boundary so that the detection distance of the first emission laser beam is suddenly changed.
7. The laser ranging method based on boundary positioning according to claim 1, wherein the second laser beam emitting method for ranging the target detection position comprises: and acquiring the current emission time of the second laser beam, acquiring the receiving time of the second laser beam reflected from the target detection position and then received by the emission point laser sensor, and calculating the distance between the emission point and the target detection position according to the emission time, the receiving time and the light beam.
8. The laser ranging method based on boundary positioning according to claim 1, wherein the second laser beam emitting method for ranging the target detection position comprises: and calculating the phase of the second laser beam when being emitted, calculating the phase of the second laser beam when being received by an emission point laser sensor after being reflected from a target detection position, calculating the phase difference between the phase of the second laser beam when being emitted and the phase of the second laser beam when being received, and calculating the distance from the emission point of the second emitted laser beam to the target detection position according to the phase difference, the emission and receiving time difference and the light speed.
9. A boundary-positioning-based laser ranging system, characterized in that the system performs a boundary-positioning-based laser ranging method according to any of claims 1-8.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program, which is executed by a processor to implement a boundary positioning based laser ranging method according to any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311308904.6A CN117331086A (en) | 2023-10-10 | 2023-10-10 | Laser ranging method and system based on boundary positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311308904.6A CN117331086A (en) | 2023-10-10 | 2023-10-10 | Laser ranging method and system based on boundary positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117331086A true CN117331086A (en) | 2024-01-02 |
Family
ID=89276868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311308904.6A Pending CN117331086A (en) | 2023-10-10 | 2023-10-10 | Laser ranging method and system based on boundary positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117331086A (en) |
-
2023
- 2023-10-10 CN CN202311308904.6A patent/CN117331086A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10157458B2 (en) | Laser projection system and method | |
| KR100556612B1 (en) | Apparatus and method of localization using laser | |
| KR100750897B1 (en) | Dimension measurement system and rescale method using indoor global positioning system | |
| TWI420081B (en) | Distance measuring system and distance measuring method | |
| US10223793B1 (en) | Laser distance measuring method and system | |
| JP4694484B2 (en) | Method and apparatus for optically detecting the position of an object by measuring light reflected by the object | |
| JP2016505838A (en) | Method and apparatus for determining position coordinates of a target | |
| US20150260498A1 (en) | Calibration of sensor arrays | |
| CN106886027B (en) | Laser positioning device and laser positioning method | |
| US11415686B2 (en) | Method of modelling a scanning distance sensor for prototyping parameters of such sensor and/or for prototyping software processing the output of such sensor | |
| KR100728482B1 (en) | Displacement sensor providing auto setting means of measurement area | |
| US10514447B2 (en) | Method for propagation time calibration of a LIDAR sensor | |
| JPH07146113A (en) | Laser displacement meter | |
| CN110618413A (en) | Passable area detection method and device based on multi-line laser radar | |
| KR20190116102A (en) | Pulsed-light detection and ranging apparatus, system and method of detection and ranging of an object in a pulsed light detection and ranging system | |
| US20220276386A1 (en) | Tof camera, ground obstacle detection method thereof, and ground navigation device | |
| CN117331086A (en) | Laser ranging method and system based on boundary positioning | |
| CN108303053B (en) | Method and system for automatically searching groove center and bottom beam of container | |
| CN113219450B (en) | Ranging positioning method, ranging device and readable storage medium | |
| EP4194898A1 (en) | Method and system for evaluating point cloud quality of lidar, and apparatus | |
| JP2816240B2 (en) | Height measurement method | |
| KR101286691B1 (en) | High level alpha/beta ray contamination remotely measuring method and using the system thereof | |
| KR101388400B1 (en) | putting device the compensation function, with starting point | |
| KR20200023293A (en) | Method and apparatus for generating a pulse signal at a specific position of a moving element | |
| CN109813234A (en) | A kind of Laser Displacement Sensor based on CCD |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |