CN201615948U - Single-point distance measurement system - Google Patents
Single-point distance measurement system Download PDFInfo
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- CN201615948U CN201615948U CN2010201224280U CN201020122428U CN201615948U CN 201615948 U CN201615948 U CN 201615948U CN 2010201224280 U CN2010201224280 U CN 2010201224280U CN 201020122428 U CN201020122428 U CN 201020122428U CN 201615948 U CN201615948 U CN 201615948U
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- measurement system
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a single-point distance measurement system which comprises a laser and an image sensing device. The image sensing device comprises a lens and an image sensor. The laser is used for transmitting laser to a target object; and the image sensing device is used for capturing laser beams reflected by the target object. The single-point distance measurement system also comprises a numerical value operation module and a display screen; the image sensor is used for transmitting image information formed by reflecting laser beams to the numerical value operation module; and the numerical value operation module obtains distance data between the local to the target object according to the distance among the image information, the laser and the image sensing device and the distance between the lens and the image sensor and transmits the distance data to the display screen. The utility model can greatly reduce the requirements for electronic devices due to simple distance measurement method.
Description
Technical field
The utility model relates to a kind of ranging technology, specifically, relates to a kind of this locality of measuring to the single-point range measurement system of finding range between the impact point.
Background technology
Laser range finder is in light weight, volume is little, speed simple to operate is fast and accurately, its error only is that 1/5th of other optical range finder arrives hundreds of/one, thereby be widely used in topographical surveying, the battlefield is measured, tank, aircraft, naval vessels and cannon are measured the height of cloud layer, aircraft, guided missile and artificial satellite etc. to the range finding of target.Simultaneously, also be the important technology equipment that improves high tank, aircraft, naval vessels and gun precision.
Laser range finder is the instrument that utilizes laser that the distance of target is accurately measured.Existing laser range finder penetrates a branch of very thin laser to target when work, by photovalve receiving target laser light reflected bundle, timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from the observer.If it is t that light is propagated at A, B point-to-point transmission round trip required time in air with speed c, then A, B distance between two points D can represent with D=ct/2, D represents A, B distance between two points in the formula, and c represents the speed that light is propagated in atmosphere, and t represents that light comes and goes the once required time of A, B.By following formula as can be known, measure A, B distance and be actually the time t that wants measuring light to propagate,, can be divided into two kinds of measurement forms of pulsed and phase type usually according to the difference of Measuring Time method.Phase type is the frequency with radio wave band, laser beam is carried out amplitude modulation(PAM) and measure light modulated coming and going the phase delay that survey line is once produced, again according to modulation light wavelength, the distance of this phase delay representative that converts.
But, above-mentioned laser ranging technique for electron device require high, so, cause the manufacturing cost of laser range finder high, limited on a large scale and promoted the use of.
As shown in Figure 1, be the structural representation of Image sensor apparatus in the prior art.The structure of Image sensor apparatus 100 comprises: imageing sensor 101 and camera lens 102.Image sensor apparatus 100 can be selected Digital Video or digital camera for use.Imageing sensor can form view data with the light that shines on it.Imageing sensor can adopt Charge Coupled Device (CCD) imageing sensor (CCD, Charge CoupledDevice) or complementary matal-oxide semiconductor (Complementary Metal-OxideSemiconductor).
The utility model content
The technical matters that the utility model solved provides a kind of single-point range measurement system, because location algorithm is simple, so can reduce the requirement to electronic equipments greatly.
Technical scheme is as follows:
A kind of single-point range measurement system comprises laser instrument and Image sensor apparatus, and described Image sensor apparatus comprises camera lens and imageing sensor; Described laser instrument emission laser is to object, Image sensor apparatus is caught the laser beam that described object reflects, also comprise: numerical operation module and display screen, described imageing sensor sends to described numerical operation module with the image information that reflection lasering beam forms; Described numerical operation module draws local range data to described object according to the distance between the distance between described image information, laser instrument and the Image sensor apparatus and camera lens and the imageing sensor, and described range data is sent to described display screen.
Further: also comprise crossbeam and support, described laser instrument and Image sensor apparatus are arranged on the described crossbeam, and described crossbeam is fixed on the described support.
Further: described crossbeam is provided with the laser instrument rotating shaft, and described laser instrument is fixed on the described crossbeam by described laser instrument rotating shaft.
Further: described crossbeam is provided with the crossbeam rotating shaft, and described crossbeam is fixed on the described support by described crossbeam rotating shaft.
Further: described crossbeam is provided with the Image sensor apparatus rotating shaft, and described Image sensor apparatus is fixed on the described crossbeam by described Image sensor apparatus rotating shaft.
Further: also comprise mainboard, described numerical operation module and display screen are arranged on the described mainboard, and described mainboard is used to described numerical operation module and display screen that circuit is provided.
Further: also comprise crossbeam and support, described mainboard, numerical operation module and display screen are arranged on described crossbeam.
Further: described imageing sensor adopts Charge Coupled Device (CCD) imageing sensor or complementary matal-oxide semiconductor.
Further: described camera lens front end is provided with optical filter, and described optical filter is used to filter out stray light.
The technique effect that technical solutions of the utility model are brought comprises:
1, the utility model is different fully with existing laser ranging technique, and a kind of brand-new distance measuring method is provided, because location algorithm is simple, so can reduce the requirement to electronic equipments greatly, is convenient to large tracts of land and promotes.
2, in activities such as building operation, construction and installation, house measurement, often need to measure distance between two points, currently used method adopts tape measure or tape measure to measure basically, usually need two people to carry out during measurement, sometimes because of site environment complexity, measurement point are difficult for arriving even can not arriving, bring inconvenience to measurement.And the utility model is easy to use, is very suitable for using under the complex conditions.
3, the utility model " finding is promptly measured " only needs device is placed on a bit, institute's emitted laser is pointed to another point of required measurement and can be seen measurement data; But only need just measuring distance of a people during use, measuring at 2 only needs to arrive a bit to get final product, and another point can be to be difficult to arrive the position that maybe can't arrive.
Description of drawings
Fig. 1 is the structural representation of Image sensor apparatus in the prior art;
Fig. 2 is the work synoptic diagram of range measurement system in the utility model;
Fig. 3 is the synoptic diagram that draws reflection ray angle and reflection spot distance in the utility model;
Fig. 4 is the work synoptic diagram of optical charge coupled apparatus imageing sensor inclination 45 in the utility model;
Fig. 5 is the synoptic diagram that draws CCD inclination back reflection light angle in the utility model;
Fig. 6 is the work synoptic diagram that is provided with the system of laser instrument rotating shaft, crossbeam rotating shaft and Image sensor apparatus rotating shaft in the utility model;
Fig. 7 is that the system that is provided with laser rotating shaft, crossbeam rotating shaft and Image sensor apparatus rotating shaft in the utility model is not the work synoptic diagram at 90 ° of angles at shooting angle;
Fig. 8 is the synoptic diagram that draws reflection ray angle and reflection spot distance when shooting angle is not 90 ° in the utility model;
Fig. 9 is the synoptic diagram that draws Fig. 8 example reflection ray angle and reflection spot distance in the utility model.
Embodiment
The utility model provides a kind of brand-new distance-finding method, can conveniently measure the target location effectively to the distance between the system.With the lasing light emitter is light source point, with the impact point is the light reflection spot, with the Image sensor apparatus is optical receiver point, make up the triangle relation between light source point, source reflection point and the optical receiver point at 3, and obtain reflection spot to the angle between the light source point (being reflection angle) by Image sensor apparatus, utilize the distance between optical receiver point and the light source point, the emission angle and the reflection angle of laser beam to obtain this locality, reach the purpose of range finding to distance between the impact point.For convenience of calculation, the emission angle of laser beam is the right angle usually.
When imageing sensor adopted CCD, above-mentioned reflection angle obtained in the following manner:
Passing camera lens 102 and make vertical line perpendicular to plane, CCD101 place, serves as to set basic point with the intersection point of this vertical line and CCD101; If the structure of Image sensor apparatus 100 determines that then CCD101 determines to the distance of camera lens 102.When laser is mapped on the CCD101, can on CCD101, form luminous point, will obtain luminous point to the distance of setting between the basic point; Like this, camera lens 102, luminous point, setting basic point will constitute a right-angle triangle, utilize CCD101 to obtain angle between reflector laser and the CCD101 to the distance of camera lens 102, luminous point to the distance of setting basic point.If CCD101 is parallel with the line of light source point and optical receiver point, then the angle between reflector laser and the CCD101 just equals reflection angle; If CCD101 has the anglec of rotation, then reflection spot deducts the anglec of rotation to the angle that the numerical value of the angle between the light source point equals between reflector laser and the CCD101.
Below with reference to accompanying drawing and preferred embodiment, technical solutions of the utility model are elaborated.
As shown in Figure 2, be the work synoptic diagram of system in the utility model.In this preferred embodiment, laser instrument 201 and Image sensor apparatus 100 are point-blank; When measure distant object point 206 apart from the time, laser instrument 201 is with the angular emission laser beam (being that emission angle is the right angle) perpendicular to this straight line, Image sensor apparatus 100 is caught the laser beam that impact point 206 reflects.
The structure of system comprises: laser instrument 201, crossbeam 202, Image sensor apparatus 100, mainboard 203, and be arranged on numerical operation module 204 and display screen 205 on the mainboard 203; Wherein, laser instrument 201 and Image sensor apparatus 100 are fixed on the crossbeam 202, and laser instrument 201 is used for to impact point 206 emission of lasering beam as light source; Impact point 206 reflected illumination are to the laser beam of self, and Image sensor apparatus 100 is used for the laser beam that captured target point 206 reflects, and the image information that laser beam is formed sends to numerical operation module 204; Numerical operation module 204 receives image information, luminous point is to the distance of setting between the basic point on the mensuration image information, simultaneously, be set with in the numerical operation module 204 camera lens 102 central points to the distance between the CCD101 and camera lens 102 to the distance between the laser instrument 201, numerical operation module 204 according to luminous point to setting distance between the basic point and camera lens 102 central points draw laser beam to the distance between the CCD101 reflection angle, draw the distance of impact point 206 according to this reflection angle and camera lens 102 to the distance between the laser instrument 201, and will this distance send to display screen 205 and show with the form of data to laser instrument 201; Mainboard 203 is used to numerical operation module 204 and display screen 205 that Circuits System is provided.Mainboard 203, numerical operation module 204 and display screen 205 can be arranged on the crossbeam 202, and wherein, display screen 205 and numerical operation module 204 are arranged on the mainboard 203, and mainboard 203 is used to numerical operation module 204 and display screen 205 that Circuits System is provided.Certainly, numerical operation module 204 and display screen 205 can adopt independent circuit separately, and mainboard 203 can omit in this case.In addition, laser instrument 201, Image sensor apparatus 100 and mainboard 203 also can be arranged on dedicated enclosure or the parts, can omit crossbeam 202 herein like this.
Measure for convenience, can by crossbeam 202 system be fixed on this support for support that plays fixation of system configuration.In order effectively to catch the laser beam that reflects, can optical filter be set at camera lens 102 front ends, can effectively filter out stray light by optical filter.
As shown in Figure 3, be the synoptic diagram that draws reflection ray angle and reflection spot distance in the utility model.Target setting point 206 is some C, and laser instrument 201 is some B, and baseline passes camera lens 102 central point O, and the vertical intersection point of baseline and CCD101 is to set basic point P, and laser beam forms some A at CCD101, and CCD101 is parallel with line segment BO, and the angle of CBO is 90 ° of angles.If the luminous point that laser beam forms on CCD101 is bigger, the center of then getting this luminous point is as an A.
Because CCD101 is parallel with line segment BO, so ∠ c=∠ a, ∠ c represents the angle of reflection lasering beam and CCD101, and ∠ a represents the angle of reflection lasering beam horizontal direction; ∠ c=arctgOP/PA, OP represent the length of line segment OP, and PA represents the length of line segment PA; CB=BO * tg ∠ a, BO represents the length of line segment BO, and CB is the range data of laser instrument 201 to impact point 206.Measuring system is solidificated in the numerical operation module 204 to the mode of the distance of impact point 206, be after numerical operation module 204 is measured the length of line segment PA, just can be beneficial to formula ∠ c=arctgOP/PA and CB=BO * tg ∠ a and draw the range data of system to impact point 206.
As shown in Figure 4, be the work synoptic diagram of optical charge coupled apparatus imageing sensor 100 inclination 45s in the utility model.When impact point 206 distance lasers 201 are nearer, laser instrument 201 is equally with perpendicular to the horizontal direction emission of lasering beam, because it is bigger that the laser beam that reflects of impact point 206 tilts, laser beam might be beaten less than on the CCD101, makes effectively imaging of CCD101.In order to address this problem, during stabilized image sensing apparatus 100, make Image sensor apparatus 100 certain angle that tilts in advance, make CCD101 no longer parallel, but form one less than 90 ° angle with line segment BO.In this preferred embodiment, the angle between CCD101 and the line segment BO is a 45.
As shown in Figure 5, be the synoptic diagram that draws CCD inclination back reflection light angle in the utility model.Establish a three way relationship according to the method among Fig. 3, the extended line of line segment OA and horizontal intersection point are Q.The angle of CCD101 after reflection lasering beam that setting obtains at this moment and the inclination is ∠ c, and the pitch angle of CCD101 is ∠ d (being CCD101 and horizontal angle), and then the angle of reflection lasering beam horizontal direction is ∠ c-∠ d.
Measuring system is solidificated in the numerical operation module 204 to the mode of the distance of impact point 206, be after numerical operation module 204 is measured the length of line segment PA, just can utilize formula ∠ c=arctgOP/PA and CB=BO * tg (∠ c-∠ d) to draw the range data of system to impact point 206.
As shown in Figure 6, be the work synoptic diagram that is provided with the system of laser instrument rotating shaft 601, crossbeam rotating shaft 602 and Image sensor apparatus rotating shaft 603 in the utility model.In order further to be convenient to the laser beam that measuring distance and seizure reflect, crossbeam 202 is provided with laser instrument rotating shaft 601, crossbeam rotating shaft 602 and Image sensor apparatus rotating shaft 603; Laser instrument 201 is fixed on the crossbeam 202 by this laser instrument rotating shaft 601, and laser instrument 201 can be realized horizontally rotating by this laser instrument rotating shaft 601, so that aim at the mark a little 206; Image sensor apparatus 100 is fixed on the crossbeam 202 by this Image sensor apparatus rotating shaft 603, and Image sensor apparatus 100 can be realized horizontally rotating by Image sensor apparatus rotating shaft 603, so that catch the laser beam that reflects; When system was fixed on the support, system realized the vertical direction rotation by crossbeam rotating shaft 602.By operate lasers rotating shaft 601, crossbeam rotating shaft 602 and Image sensor apparatus rotating shaft 603, can easily realize aiming at the mark a little 206 and catch the laser beam that reflects.
As shown in Figure 7, be that the system that is provided with laser rotating shaft, crossbeam rotating shaft and Image sensor apparatus rotating shaft in the utility model is not the work synoptic diagram at 90 ° of angles at shooting angle.The horizontal sextant angle of laser beam emission is 76.4 °, and impact point 206 laser light reflected bundle horizontal sextant angles are 71.8 °.
As shown in Figure 8, be the synoptic diagram that draws reflection ray angle and reflection spot distance when shooting angle is not 90 ° in the utility model.Target setting point 206 is some C, and laser instrument 201 is some B, and baseline passes camera lens 102 central point O, and the vertical intersection point of baseline and CCD101 is to set basic point P, and laser beam forms some A at CCD101, and CCD101 is parallel with line segment BO; Cross the C point and do vertical line to line segment BO, intersection point is D.
Because CCD101 is parallel with line segment BO, so ∠ c=∠ a, ∠ c represents the angle of reflection lasering beam and CCD101, and ∠ a represents the angle of reflection lasering beam horizontal direction; ∠ c=arctgOP/PA, OP represent the length of line segment OP, and PA represents the length of line segment PA; ∠ b is the emission angle of laser instrument 201, and ∠ b is 90 ° of deviation angles that deduct laser instrument 201.
Can draw by above-mentioned relation: BO=BD+DO, CD=tga * DO, CD=tgb * BD, BO represent the length of line segment BO, and CD is that system arrives the distance between the impact point 206, and BO represents the distance between the laser instrument 201 to the central point O of camera lens 102; Can obtain system to the distance C D between the impact point 206 by above-mentioned relation.
Equally, measuring system is solidificated in the numerical operation module 204 to the computing method of the distance of impact point 206, be after numerical operation module 204 is measured the length of line segment PA, just can draw the range data of impact point 206, and this range data is sent to display screen 205 show.
As shown in Figure 9, draw the synoptic diagram of Fig. 8 example reflection ray angle and reflection spot distance in the utility model.Target setting point 206 is some C, and laser instrument 201 is some B, and camera lens 102 centers are some O, BO is a horizontal line, the vertical intersection point that baseline passes camera lens 102 central point O and CCD101 is to set basic point P, and laser beam forms some A at CCD101, and the extended line of line segment OA and horizontal intersection point are Q; The angle of outgoing laser beam and line segment BO is ∠ b, and the angle that laser light reflected bundle and CCD101 form is ∠ c, and the horizontal sextant angle of CCD101 is ∠ d, and then the angle of reflection lasering beam horizontal direction is ∠ c-∠ d.
After numerical operation module 204 is measured the length of line segment PA, just can be beneficial to the angle that formula ∠ c=arctgOP/PA obtains ∠ c, ∠ d sets when being the CCD101 inclination, is ∠ c-∠ d so can obtain the angle of reflection lasering beam horizontal direction; ∠ b is the emission angle of laser instrument 201, and ∠ b is 90 ° of deviation angles that deduct laser instrument 201.
Can draw by above-mentioned relation: BO=BD+DO, CD=tg (∠ c-∠ d) * DO, CD=tgb * BD, BO represent the length of line segment BO, and CD is that system arrives the distance between the impact point 206, and BO represents the distance between the laser instrument 201 to the central point O of camera lens 102; Can obtain system to the distance C D between the impact point 206 by above-mentioned relation.
Equally, measuring system is solidificated in the numerical operation module 204 to the computing method of the distance of impact point 206, be after numerical operation module 204 is measured the length of line segment PA, just can draw the range data of impact point 206, and this range data is sent to display screen 205 show.
Claims (9)
1. a single-point range measurement system comprises laser instrument and Image sensor apparatus, and described Image sensor apparatus comprises camera lens and imageing sensor; Described laser instrument emission laser is to object, Image sensor apparatus is caught the laser beam that described object reflects, it is characterized in that, also comprise: numerical operation module and display screen, described imageing sensor sends to described numerical operation module with the image information that reflection lasering beam forms; Described numerical operation module draws local range data to described object according to the distance between the distance between described image information, laser instrument and the Image sensor apparatus and camera lens and the imageing sensor, and described range data is sent to described display screen.
2. single-point range measurement system according to claim 1, it is characterized in that: also comprise crossbeam and support, described laser instrument and Image sensor apparatus are arranged on the described crossbeam, and described crossbeam is fixed on the described support.
3. as single-point range measurement system as described in the claim 2, it is characterized in that: described crossbeam is provided with the laser instrument rotating shaft, and described laser instrument is fixed on the described crossbeam by described laser instrument rotating shaft.
4. as single-point range measurement system as described in the claim 2, it is characterized in that: described crossbeam is provided with the crossbeam rotating shaft, and described crossbeam is fixed on the described support by described crossbeam rotating shaft.
5. as single-point range measurement system as described in the claim 2, it is characterized in that: described crossbeam is provided with the Image sensor apparatus rotating shaft, and described Image sensor apparatus is fixed on the described crossbeam by described Image sensor apparatus rotating shaft.
6. single-point range measurement system according to claim 1, it is characterized in that: also comprise mainboard, described numerical operation module and display screen are arranged on the described mainboard, and described mainboard is used to described numerical operation module and display screen that circuit is provided.
7. as single-point range measurement system as described in the claim 6, it is characterized in that: also comprise crossbeam and support, described mainboard, numerical operation module and display screen are arranged on described crossbeam.
8. single-point range measurement system according to claim 1, it is characterized in that: described imageing sensor adopts Charge Coupled Device (CCD) imageing sensor or complementary matal-oxide semiconductor.
9. single-point range measurement system according to claim 1, it is characterized in that: described camera lens front end is provided with optical filter, and described optical filter is used to filter out stray light.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201224280U CN201615948U (en) | 2010-02-09 | 2010-02-09 | Single-point distance measurement system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201224280U CN201615948U (en) | 2010-02-09 | 2010-02-09 | Single-point distance measurement system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717513A (en) * | 2015-01-30 | 2016-06-29 | 北京雷动云合智能技术有限公司 | Low-cost laser distance measurement apparatus and method based on common pick-up head chip |
| CN105717502A (en) * | 2015-03-02 | 2016-06-29 | 北京雷动云合智能技术有限公司 | High speed laser distance measuring device based on linear array CCD and method |
| CN108836505A (en) * | 2018-06-29 | 2018-11-20 | 北京爱康宜诚医疗器材有限公司 | The control equipment of the awakening method and device of target device, power supply |
| CN112269186A (en) * | 2020-10-09 | 2021-01-26 | 华中科技大学鄂州工业技术研究院 | Laser triangular distance measuring device with adjustable measuring range and method |
-
2010
- 2010-02-09 CN CN2010201224280U patent/CN201615948U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717513A (en) * | 2015-01-30 | 2016-06-29 | 北京雷动云合智能技术有限公司 | Low-cost laser distance measurement apparatus and method based on common pick-up head chip |
| CN105717502A (en) * | 2015-03-02 | 2016-06-29 | 北京雷动云合智能技术有限公司 | High speed laser distance measuring device based on linear array CCD and method |
| CN108836505A (en) * | 2018-06-29 | 2018-11-20 | 北京爱康宜诚医疗器材有限公司 | The control equipment of the awakening method and device of target device, power supply |
| CN112269186A (en) * | 2020-10-09 | 2021-01-26 | 华中科技大学鄂州工业技术研究院 | Laser triangular distance measuring device with adjustable measuring range and method |
| CN112269186B (en) * | 2020-10-09 | 2023-05-09 | 华中科技大学鄂州工业技术研究院 | Range-adjustable laser triangular distance measuring device and method |
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Granted publication date: 20101027 Termination date: 20120209 |