CN118112583A - Distance measurement method, distance measurement device, electronic equipment and storage medium - Google Patents

Distance measurement method, distance measurement device, electronic equipment and storage medium Download PDF

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Publication number
CN118112583A
CN118112583A CN202211520576.1A CN202211520576A CN118112583A CN 118112583 A CN118112583 A CN 118112583A CN 202211520576 A CN202211520576 A CN 202211520576A CN 118112583 A CN118112583 A CN 118112583A
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CN
China
Prior art keywords
distance
measuring device
ranging
distance measuring
marking
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CN202211520576.1A
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Chinese (zh)
Inventor
黄文辉
黄鸿日
赵伟冰
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN202211520576.1A priority Critical patent/CN118112583A/en
Publication of CN118112583A publication Critical patent/CN118112583A/en
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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
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

The invention discloses a ranging method, a ranging device, electronic equipment and a storage medium. The method comprises the following steps: measuring the measurement distance between the distance measuring device and a plurality of marking points in advance through the distance measuring device, wherein the plurality of marking points are uniformly distributed along the distance measuring direction of the distance measuring device within the maximum distance measuring range of the distance measuring device; measuring, by the ranging device, a first distance between the ranging device and a target object in response to a ranging instruction; and obtaining a final distance according to the measured distance between the distance measuring device and the plurality of marking points, the actual distance between the distance measuring device and the plurality of marking points and the first distance. The invention can improve the ranging precision of the ranging device, and meanwhile, an additional auxiliary device is not required to be arranged on the ranging device, so that the cost of the ranging device is reduced. And after the ranging device leaves the factory, the ranging device does not need to be calibrated, so that the use workload of the ranging device is reduced.

Description

Distance measurement method, distance measurement device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of ranging technologies, and in particular, to a ranging method, a ranging device, an electronic apparatus, and a storage medium.
Background
TOF (Time of Flight) ranging methods are widely used in a variety of fields. To improve the accuracy of TOF ranging, the measurement results are usually corrected. In the existing TOF ranging method, an additional auxiliary device is needed to finish the correction of the measurement result, so that the cost of the ranging device is increased.
Disclosure of Invention
It is an object of the present invention to provide a new solution for ranging.
According to a first aspect of the present invention, there is provided a ranging method, the method comprising:
measuring the measurement distance between the distance measuring device and a plurality of marking points in advance through the distance measuring device, wherein the plurality of marking points are uniformly distributed along the distance measuring direction of the distance measuring device within the maximum distance measuring range of the distance measuring device;
measuring, by the ranging device, a first distance between the ranging device and a target object in response to a ranging instruction;
and obtaining a final distance according to the measured distance between the distance measuring device and the plurality of marking points, the actual distance between the distance measuring device and the plurality of marking points and the first distance.
Optionally, the obtaining the final distance according to the measured distance between the ranging device and the plurality of marking points, the actual distance between the ranging device and the plurality of marking points, and the first distance includes:
Calculating a first difference value between a second distance and a third distance, wherein the second distance is a measured distance between the distance measuring device and a first marking point which are measured in advance, the third distance is a measured distance between the distance measuring device and a second marking point which are measured in advance, and the first marking point and the second marking point are two adjacent marking points in the plurality of marking points;
Calculating a second difference between the first distance and a fourth distance, wherein the fourth distance is an actual distance between the distance measuring device and the second marking point;
calculating a product of the first difference and the second difference;
Calculating a third difference between a fifth distance and the fourth distance, wherein the fifth distance is an actual distance between the distance measuring device and the first marking point;
calculating a ratio of the product to the third difference;
and determining the sum of the ratio and the third distance as the final distance.
Optionally, the first annotation point and the second annotation point are two annotation points closest to the target object among the plurality of annotation points.
Optionally, before the measuring, by the ranging device, the first distance between the ranging device and the target object, the method further comprises:
Acquiring the intensity of ambient light and the intensity of signal light of the distance measuring device;
And under the condition that the ambient light intensity and the signal light intensity of the distance measuring device meet the preset condition, executing the step of measuring the first distance between the distance measuring device and the target object through the distance measuring device.
According to a second aspect of the present invention there is provided a ranging apparatus, the apparatus comprising:
The first measurement module is used for measuring measurement distances between the distance measuring device and a plurality of marking points in advance through the distance measuring device, wherein the marking points are uniformly distributed along the distance measuring direction of the distance measuring device within the maximum distance measuring range of the distance measuring device;
The second measuring module is used for responding to the ranging instruction and measuring a first distance between the ranging device and the target object;
And the compensation module is used for obtaining a final distance according to the measured distance between the distance measuring device and the plurality of marking points, the actual distance between the distance measuring device and the plurality of marking points and the first distance.
Optionally, the compensation module is specifically configured to:
Calculating a first difference value between a second distance and a third distance, wherein the second distance is a measured distance between the distance measuring device and a first marking point which are measured in advance, the third distance is a measured distance between the distance measuring device and a second marking point which are measured in advance, and the first marking point and the second marking point are two adjacent marking points in the plurality of marking points;
Calculating a second difference between the first distance and a fourth distance, wherein the fourth distance is an actual distance between the distance measuring device and the second marking point;
calculating a product of the first difference and the second difference;
Calculating a third difference between a fifth distance and the fourth distance, wherein the fifth distance is an actual distance between the distance measuring device and the first marking point;
calculating a ratio of the product to the third difference;
and determining the sum of the ratio and the third distance as the final distance.
Optionally, the first annotation point and the second annotation point are two annotation points closest to the target object among the plurality of annotation points.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the ambient light intensity and the signal light intensity of the distance measuring device;
And the processing module is used for executing the step of measuring the first distance between the ranging device and the target object under the condition that the ambient light intensity and the signal light intensity of the ranging device meet the preset condition.
According to a third aspect of the present invention there is provided an electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the ranging method according to the first aspect of the present invention.
According to a fourth aspect of the present invention there is provided a readable storage medium having stored thereon a program or instructions which when executed by a processor implement the steps of the ranging method according to the first aspect of the present invention.
According to one embodiment of the invention, the distance measuring precision of the distance measuring device can be improved by measuring the measured distances between the distance measuring device and the plurality of marking points in advance and compensating the first distance according to the measured distances between the distance measuring device and the plurality of marking points and the actual distances between the distance measuring device and the plurality of marking points to obtain the final distance. Meanwhile, an additional auxiliary device is not required to be installed on the distance measuring device, so that the cost of the distance measuring device is reduced. And after the ranging device leaves the factory, the ranging device does not need to be calibrated, so that the use workload of the ranging device is reduced.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart of a ranging method in an embodiment of the present application.
FIG. 2 is a schematic illustration of the marked points in an embodiment of the present application.
FIG. 3 is a schematic diagram showing the comparison of measured distances before and after compensation in an embodiment of the present application.
Fig. 4 is a schematic view of a ranging apparatus according to an embodiment of the present application.
Fig. 5 is a schematic diagram of an electronic device in an embodiment of the application.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, the present embodiment describes a ranging method, which includes steps 1100-1300.
Step 1100: measuring the measurement distance between the distance measuring device and a plurality of marking points in advance through the distance measuring device, wherein the marking points are uniformly distributed along the distance measuring direction of the distance measuring device within the maximum distance measuring range of the distance measuring device.
A plurality of marking points are arranged in the maximum ranging range of the ranging device in advance, and the marking points are uniformly distributed along the ranging direction. And equally dividing the maximum ranging range of the ranging device on the same straight line, wherein each equally dividing position corresponds to one marking point. And measuring the measurement distance between the distance measuring device and each marking point through the distance measuring device. As shown in fig. 2, the maximum ranging range is 10 meters, the distance is equally divided at intervals of 1 meter, 10 marking points are arranged in total, and the distance between two adjacent marking points is 1 meter. The distance between the Nth marking point and the distance measuring device is N meters, and the value range of N is 1-10.
Step 1200: in response to a ranging instruction, a first distance between the ranging device and a target object is measured by the ranging device.
After a ranging instruction input by a user is received, the ranging device starts a ranging function and measures a first distance between the ranging device and a target object. The ranging method in this embodiment is a TOF ranging method, the ranging device is a TOP ranging device, an infrared TOF sensor is mounted on the ranging device, and a first distance between the ranging device and the target object is measured through the infrared TOF sensor.
Step 1300: and obtaining a final distance according to the measured distance between the distance measuring device and the plurality of marking points, the actual distance between the distance measuring device and the plurality of marking points and the first distance, wherein the plurality of marking points are positioned in the maximum distance measuring range of the distance measuring device.
Before starting ranging, a plurality of marking points are arranged in the maximum ranging range of the ranging device, and an obstacle is arranged at each marking point. The distance between the measuring device and each marking point is measured by the distance measuring device and stored in the distance measuring device. Meanwhile, the actual distance between the distance measuring device and each marking point is also stored in the distance measuring device. The number of the marking points can be determined according to the maximum ranging range of the ranging device, for example, the maximum ranging range of the ranging device is 10 meters, and 10 marking points can be set. After the first distance is obtained, the first distance is compensated.
According to the embodiment, the actual distance between the distance measuring device and the plurality of marking points is measured in advance, and the first distance is compensated according to the measured distance between the distance measuring device and the plurality of marking points and the actual distance between the distance measuring device and the plurality of marking points, so that the final distance is obtained, and the distance measuring precision of the distance measuring device can be improved. Meanwhile, an additional auxiliary device is not required to be installed on the distance measuring device, so that the cost of the distance measuring device is reduced. And after the ranging device leaves the factory, the ranging device does not need to be calibrated, so that the use workload of the ranging device is reduced.
In this embodiment, the step 1300 includes: calculating a first difference value between a second distance and a third distance, wherein the second distance is a measured distance between the distance measuring device and a first marking point which are measured in advance, the third distance is a measured distance between the distance measuring device and a second marking point which are measured in advance, and the first marking point and the second marking point are two adjacent marking points in the plurality of marking points; calculating a second difference between the first distance and a fourth distance, wherein the fourth distance is an actual distance between the distance measuring device and the second marking point; calculating a product of the first difference and the second difference; calculating a third difference between a fifth distance and the fourth distance, wherein the fifth distance is an actual distance between the distance measuring device and the first marking point; calculating a ratio of the product to the third difference; and determining the sum of the ratio and the third distance as the final distance.
The first annotation point and the second annotation point are selected from a plurality of annotation points, wherein the first annotation point can be any one of the plurality of annotation points, and the second annotation point is an adjacent annotation point to the first annotation point. The measuring distance S_L1 between the distance measuring device and the first marking point is measured in advance, and the measuring distance S_L2 between the distance measuring device and the second marking point is measured in advance. The first difference is S_L1-S_L2.
And measuring a first distance X between the distance measuring device and the target object through the distance measuring device, wherein the actual distance between the distance measuring device and the second marking point is L2, and the second difference value is X-L2. The product of the first difference and the second difference is (s_l1-s_l2) × (X-L2). The actual distance between the distance measuring device and the first marking point is L1, and the third difference value is L1-L2. The ratio of the product to the third difference is (s_l1-s_l2)/(L1-L2). The final distance Y is the sum of this ratio and L2. As shown in fig. 3, the measured distances before and after compensation are shown.
In one embodiment, the first and second points of reference are two points of reference closest to the target object.
And selecting two marking points closest to the target object from the plurality of marking points as a first marking point and a second marking point. The distances between other marking points in the plurality of marking points and the target object are larger than the distances between the target object and the first marking point. Similarly, the distances between the other marking points in the plurality of marking points and the target object are larger than the distances between the target object and the second marking point.
As shown in fig. 2, the maximum ranging range of the ranging device is 10 meters, 10 labeling points are set, the actual distance between the first labeling point and the ranging device is 6 meters, and the actual distance between the second labeling point and the ranging device is 5 meters. The measured distance between the first marking point and the second marking point measured by the distance measuring device is 6.08 meters, and the measured distance between the second marking point and the second marking point measured by the distance measuring device is 4.91 meters. The distance measuring device measures a first distance of 5.4 meters from the target object. The final distance was calculated to be 5.378 meters.
The first distance compensation calculation mode is simple, the compensated accurate distance can be obtained rapidly, and the working efficiency of the distance measuring device is improved.
In this embodiment, the method further includes steps 2100-2200 prior to step 1200.
Step 2100: and acquiring the ambient light intensity and the signal light intensity of the distance measuring device.
At higher ambient light intensities, the infrared TOF sensor pixels can saturate rapidly, failing to detect light reflected from the target object, resulting in a larger measured distance error.
The ambient light intensity and the signal light intensity of the distance measuring device may be detected by an illumination intensity sensor on the distance measuring device. The ambient light intensity refers to the intensity of the illumination of the environment surrounding the distance measuring device. The ranging method in this embodiment is a TOF ranging method, the ranging device is a TOP ranging device, and an infrared TOF sensor is mounted on the ranging device. The signal light intensity refers to the intensity of infrared light transmitted by an infrared TOF sensor in the range finder.
Step 2200: and executing the step of measuring the first distance between the ranging device and the target object under the condition that the ambient light intensity and the signal light intensity of the ranging device meet the preset condition.
The ambient light intensity may be compared with the first light intensity threshold to determine whether the ambient light intensity satisfies a preset condition. For example, in the case where the ambient light intensity is smaller than the first threshold value, it is determined that the ambient light intensity satisfies the preset condition. Similarly, the signal light intensity of the ranging device can be compared with the second light intensity threshold value, and whether the signal light intensity of the ranging device meets the preset condition or not is judged. For example, if the signal light intensity of the ranging device is smaller than the second threshold value, it is determined that the signal light intensity of the ranging device meets the preset condition. The ambient light intensity and the signal light intensity of the ranging device can be stored in a status register in the ranging device, and whether the preset condition is met or not can be judged by reading the value of the status register.
And under the condition that the ambient light intensity and the signal light intensity of the ranging device meet the preset conditions, measuring a first distance between the ranging device and the target object, and compensating the first distance to obtain a final distance. If the ambient light intensity and the signal light intensity of the distance measuring device do not meet the preset conditions, the distance measured by the distance measuring device is invalid, and the distance measured by the distance measuring device is not compensated.
According to the embodiment, the first distance between the target object and the measurement environment is measured under the condition that the preset condition is met by detecting the ambient light intensity and the signal light intensity of the ranging device, the first distance is compensated, the measurement distance is ensured to be effective, the ineffective measurement distance is prevented from being compensated under the condition that the measurement distance is ineffective, the ineffective work of the ranging device is prevented, and the working efficiency of the ranging device is improved.
As shown in fig. 4, the present embodiment describes a ranging apparatus 400, which includes:
A first measurement module 401, configured to measure measurement distances between the ranging device and a plurality of labeling points in advance, where the plurality of labeling points are uniformly distributed along a ranging direction of the ranging device within a maximum ranging range of the ranging device;
A second measurement module 402 for measuring a first distance between the ranging device and a target object in response to a ranging instruction;
And the compensation module 403 is configured to obtain a final distance according to the measured distances between the ranging device and the plurality of labeling points, the actual distances between the ranging device and the plurality of labeling points, and the first distance.
According to the embodiment, the actual distance between the distance measuring device and the plurality of marking points is measured in advance, and the first distance is compensated according to the measured distance between the distance measuring device and the plurality of marking points and the actual distance between the distance measuring device and the plurality of marking points, so that the final distance is obtained, and the distance measuring precision of the distance measuring device can be improved. Meanwhile, an additional auxiliary device is not required to be installed on the distance measuring device, so that the cost of the distance measuring device is reduced. And after the ranging device leaves the factory, the ranging device does not need to be calibrated, so that the use workload of the ranging device is reduced.
In one embodiment, the compensation module is specifically configured to:
Calculating a first difference value between a second distance and a third distance, wherein the second distance is a measured distance between the distance measuring device and a first marking point which are measured in advance, the third distance is a measured distance between the distance measuring device and a second marking point which are measured in advance, and the first marking point and the second marking point are two adjacent marking points in the plurality of marking points;
Calculating a second difference between the first distance and a fourth distance, wherein the fourth distance is an actual distance between the distance measuring device and the second marking point;
calculating a product of the first difference and the second difference;
Calculating a third difference between a fifth distance and the fourth distance, wherein the fifth distance is an actual distance between the distance measuring device and the first marking point;
calculating a ratio of the product to the third difference;
and determining the sum of the ratio and the third distance as the final distance.
In one embodiment, the first and second points of reference are two points of reference closest to the target object.
In one embodiment, the apparatus further comprises:
the acquisition module is used for acquiring the ambient light intensity and the signal light intensity of the distance measuring device;
And the processing module is used for executing the step of measuring the first distance between the ranging device and the target object under the condition that the ambient light intensity and the signal light intensity of the ranging device meet the preset condition.
As shown in fig. 5, this embodiment describes an electronic device 500, comprising a processor 501 and a memory 502, the memory 502 storing a program or instructions executable on the processor 501, which when executed by the processor 501, implement the steps of the ranging method according to any of the embodiments of the present invention.
This embodiment describes a readable storage medium having stored thereon a program or instructions which when executed by a processor perform the steps of the ranging method according to any of the embodiments of the present invention.
The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
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 instructions, which comprises one or more executable instructions for implementing the specified logical function(s). 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 is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (10)

1. A ranging method, the method comprising:
measuring the measurement distance between the distance measuring device and a plurality of marking points in advance through the distance measuring device, wherein the plurality of marking points are uniformly distributed along the distance measuring direction of the distance measuring device within the maximum distance measuring range of the distance measuring device;
measuring, by the ranging device, a first distance between the ranging device and a target object in response to a ranging instruction;
and obtaining a final distance according to the measured distance between the distance measuring device and the plurality of marking points, the actual distance between the distance measuring device and the plurality of marking points and the first distance.
2. The method of claim 1, wherein the deriving the final distance from the measured distance between the ranging device and the plurality of points of interest, the actual distance between the ranging device and the plurality of points of interest, and the first distance comprises:
Calculating a first difference value between a second distance and a third distance, wherein the second distance is a measured distance between the distance measuring device and a first marking point which are measured in advance, the third distance is a measured distance between the distance measuring device and a second marking point which are measured in advance, and the first marking point and the second marking point are two adjacent marking points in the plurality of marking points;
Calculating a second difference between the first distance and a fourth distance, wherein the fourth distance is an actual distance between the distance measuring device and the second marking point;
calculating a product of the first difference and the second difference;
Calculating a third difference between a fifth distance and the fourth distance, wherein the fifth distance is an actual distance between the distance measuring device and the first marking point;
calculating a ratio of the product to the third difference;
and determining the sum of the ratio and the third distance as the final distance.
3. The method of claim 2, wherein the first annotation point and the second annotation point are two of the plurality of annotation points closest to the target object.
4. The method of claim 1, wherein prior to said measuring a first distance between the ranging device and a target object by the ranging device, the method further comprises:
Acquiring the intensity of ambient light and the intensity of signal light of the distance measuring device;
And under the condition that the ambient light intensity and the signal light intensity of the distance measuring device meet the preset condition, executing the step of measuring the first distance between the distance measuring device and the target object through the distance measuring device.
5. A ranging apparatus, the apparatus comprising:
The first measurement module is used for measuring measurement distances between the distance measuring device and a plurality of marking points in advance, wherein the marking points are uniformly distributed along the distance measuring direction of the distance measuring device in the maximum distance measuring range of the distance measuring device;
The second measuring module is used for responding to the ranging instruction and measuring a first distance between the ranging device and the target object;
And the compensation module is used for obtaining a final distance according to the measured distance between the distance measuring device and the plurality of marking points, the actual distance between the distance measuring device and the plurality of marking points and the first distance.
6. The apparatus of claim 5, wherein the compensation module is specifically configured to:
Calculating a first difference value between a second distance and a third distance, wherein the second distance is a measured distance between the distance measuring device and a first marking point which are measured in advance, the third distance is a measured distance between the distance measuring device and a second marking point which are measured in advance, and the first marking point and the second marking point are two adjacent marking points in the plurality of marking points;
Calculating a second difference between the first distance and a fourth distance, wherein the fourth distance is an actual distance between the distance measuring device and the second marking point;
calculating a product of the first difference and the second difference;
Calculating a third difference between a fifth distance and the fourth distance, wherein the fifth distance is an actual distance between the distance measuring device and the first marking point;
calculating a ratio of the product to the third difference;
and determining the sum of the ratio and the third distance as the final distance.
7. The apparatus of claim 6, wherein the first annotation point and the second annotation point are two of the plurality of annotation points closest to the target object.
8. The apparatus of claim 5, wherein the apparatus further comprises:
the acquisition module is used for acquiring the ambient light intensity and the signal light intensity of the distance measuring device;
And the processing module is used for executing the step of measuring the first distance between the ranging device and the target object under the condition that the ambient light intensity and the signal light intensity of the ranging device meet the preset condition.
9. An electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the ranging method of any of claims 1-4.
10. A readable storage medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, implement the steps of the ranging method according to any of claims 1-4.
CN202211520576.1A 2022-11-30 2022-11-30 Distance measurement method, distance measurement device, electronic equipment and storage medium Pending CN118112583A (en)

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