WO2018058704A1 - Method and system for correcting electro-optical range finder - Google Patents

Method and system for correcting electro-optical range finder Download PDF

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Publication number
WO2018058704A1
WO2018058704A1 PCT/CN2016/101961 CN2016101961W WO2018058704A1 WO 2018058704 A1 WO2018058704 A1 WO 2018058704A1 CN 2016101961 W CN2016101961 W CN 2016101961W WO 2018058704 A1 WO2018058704 A1 WO 2018058704A1
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Prior art keywords
range finder
module
distance
directions
recording
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PCT/CN2016/101961
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French (fr)
Chinese (zh)
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李春来
侴智
骆龙
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深圳市迈测科技股份有限公司
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Publication of WO2018058704A1 publication Critical patent/WO2018058704A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

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  • the invention relates to a correction method, in particular to a method and a system for correcting an optical distance finder which is simple, convenient and accurate.
  • a method for correcting a photoelectric range finder includes the following steps:
  • the journey is integrated to obtain a corrected route.
  • the method further includes:
  • the distance s is integrated to obtain the corrected distance.
  • the step of performing integration processing on the path s includes:
  • a method for correcting a photoelectric range finder includes the following steps:
  • the journey is integrated to obtain a corrected route.
  • a correction system for a photoelectric range finder comprising a setting module, a detecting module, a recording module and a processing module;
  • the setting module is configured to place the range finder on a curved or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested;
  • the detecting module is configured to detect a horizontal tilt angle of the range finder
  • the recording module is configured to record a distance that the range finder passes when it is at a horizontal inclination
  • the processing module is configured to perform integration processing on the route to obtain a corrected route.
  • the detecting module is configured to detect a horizontal tilt angle ⁇ of the range finder in real time
  • the recording module is configured to record a distance t of the range finder passing by ⁇ ;
  • the recording module is further configured to acquire an actual distance s according to the distance t;
  • the processing module is configured to perform integration processing on the path s to obtain the corrected distance.
  • a correction system for a photoelectric range finder comprising a gyroscope, an acquisition module, an integration module, a path module and a correction module;
  • the gyroscope is mounted on the range finder;
  • the collecting module is configured to collect angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested;
  • the integration module is configured to obtain angle values of three directions of X, Y and Z by integrating time;
  • the path module is configured to record a distance traveled by the range finder in the three directions of X, Y and Z directions;
  • the correction module is configured to integrate the path to obtain a corrected path.
  • the above-mentioned photoelectric distance measuring instrument correction method and system can integrate the distance by detecting the horizontal inclination angle of the range finder or the angle values of the X, Y and Z angle directions, thereby eliminating the horizontal direction.
  • the path error, or the error in the three directions of X, Y and Z, makes the distance traveled by the rangefinder more precise.
  • 1 is a flow chart of a method for correcting a photoelectric range finder
  • FIG. 2 is a flow chart of a method for correcting a photoelectric range finder
  • Figure 3 is a block diagram of a correction system of the photoelectric range finder
  • Figure 4 is a block diagram of the correction system of the photoelectric range finder.
  • FIG. 1 it is a flow chart of a method for correcting a photoelectric range finder.
  • a method for correcting a photoelectric range finder includes the following steps:
  • Step S110 placing the range finder on the curve or the curved surface to be tested, so that the range finder passes the position of the curve or the curved surface to be tested.
  • Step S120 Detect a horizontal tilt angle of the range finder.
  • the horizontal tilt angle ⁇ of the range finder is detected in real time.
  • Step S130 Record the distance that the range finder passes when it is at a horizontal inclination.
  • Step S140 performing integration processing on the route to obtain a corrected route.
  • the distance s is integrated to obtain the corrected distance.
  • the steps of integrating the distance s include:
  • error correction can be performed by the acceleration sensor in order to eliminate the measurement error in the horizontal direction.
  • the use of accelerometers has now become a common use function of laser range finder, which makes the roller more advantageous in the use of laser range finder.
  • a method for correcting a photoelectric range finder includes the following steps:
  • Step S210 installing a gyroscope on the range finder
  • Step S220 collecting, in the process of the distance measuring device passing the position of the curve or the curved surface to be measured, the angular velocities of the X, Y and Z directions of the range finder;
  • Step S230 Obtain an angle value in three directions of X, Y, and Z by integrating the time;
  • Step S240 recording a distance that the range finder passes when the angle values are in the X, Y, and Z directions;
  • step S250 the route is integrated, so that the corrected route is obtained.
  • the gyroscope can output angular velocities in three directions of space X, Y and Z. By integrating the time, the angle value of the rotation around the three axes X, Y and Z can be obtained. According to the above-mentioned correction method of the horizontal error, the correction of the spatial error can be similarly obtained.
  • the snail is also a common use function on laser range finder.
  • FIG. 3 it is a block diagram of the correction system of the photoelectric range finder.
  • a correction system for a photoelectric range finder includes a setting module 301, a detecting module 302, a recording module 303, and a processing module 307.
  • the setting module 301 is configured to place the range finder on the curve or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested.
  • the detecting module 302 is configured to detect a horizontal tilt angle of the range finder.
  • the recording module 303 is configured to record the distance that the range finder passes when it is at a horizontal inclination.
  • the processing module 304 is configured to perform integration processing on the route to obtain a corrected route.
  • the detecting module 302 is configured to detect the horizontal tilt angle ⁇ of the range finder in real time.
  • the recording module 303 is configured to record the distance t through which the range finder passes.
  • the recording module 303 is further configured to acquire the actual distance s according to the distance t.
  • the processing module 304 is configured to perform integration processing on the path s to obtain the corrected distance.
  • FIG. 4 it is a block diagram of the correction system of the photoelectric range finder.
  • a correction system for a photoelectric range finder includes a gyro 401, an acquisition module 402, an integration module 403, a path module 404, and a correction module 405.
  • the gyroscope 401 is mounted on the range finder.
  • the collecting module 402 is configured to collect angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested.
  • the integration module 403 is configured to obtain angle values in three directions of X, Y, and Z by integrating the time.
  • the path module 404 is configured to record the distance that the range finder passes when the angle values are in the X, Y, and Z directions.
  • the correction module 405 is configured to perform integration processing on the path to obtain a corrected path.
  • the above-mentioned photoelectric distance measuring instrument correction method and system can integrate the distance by detecting the horizontal inclination angle of the range finder or the angle values of the X, Y and Z angle directions, thereby eliminating the horizontal direction.
  • the path error, or the error in the three directions of X, Y and Z, makes the rangefinder pass The journey is more precise.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)
  • Navigation (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

A method for correcting an electro-optical range finder, comprising the following steps: placing a range finder at a curve or surface position to be measured, so that the range finder passes through the curve or surface position to be measured (S110); detecting a horizontal inclination of the range finder (S120); recording a distance at which the range finder passes by at the horizontal inclination (S130); and subjecting the distance to integration processing so as to obtain a corrected distance (S140). By means of detecting a distance at which a range finder passes by at a horizontal inclination or angle values in the three directions X, Y and Z, the distance is subjected to integration processing. Therefore, a distance error in a horizontal direction or an error in the three directions X, Y and Z can be eliminated, so that the distance at which the range finder passes by is more precise. In addition, further provided is a system for correcting an electro-optical range finder.

Description

光电测距仪的矫正方法和系统Correction method and system of photoelectric range finder 技术领域Technical field
本发明涉及矫正方法，特别是涉及一种简单方便、测量准确的光电测距仪的矫正方法和系统。The invention relates to a correction method, in particular to a method and a system for correcting an optical distance finder which is simple, convenient and accurate.
背景技术Background technique
在测距仪中，使用滚轮进行曲面或曲线测距的一个可能问题是，由于手的用力不均衡，滚轮走过的路径展开后不是一条直线，显然这样测量的结果比实际距离偏大，使得测量结果不准确。In the range finder, one possible problem of using the wheel for surface or curve ranging is that, due to the uneven force of the hand, the path taken by the roller is not a straight line after deployment, and obviously the result of this measurement is larger than the actual distance, so that The measurement results are not accurate.
发明内容Summary of the invention
基于此，有必要提供一种简单方便、测量准确的光电测距仪的矫正方法和系统。Based on this, it is necessary to provide a method and system for correcting the photoelectric distance measuring instrument which is simple, convenient and accurate.
一种光电测距仪的矫正方法，包括以下步骤：A method for correcting a photoelectric range finder includes the following steps:
将测距仪置于待测曲线或曲面位置上，使所述测距仪通过所述待测曲线或曲面位置；Positioning the range finder on the curve or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested;
检测所述测距仪的水平倾角；Detecting a horizontal tilt angle of the range finder;
记录所述测距仪在水平倾角时通过的路程；Recording the distance traveled by the range finder at a horizontal tilt angle;
对该路程进行积分处理，从而得到矫正后的路程。The journey is integrated to obtain a corrected route.
在其中一个实施例中，还包括：In one embodiment, the method further includes:
实时检测所述测距仪的水平倾角θ；Detecting the horizontal tilt angle θ of the range finder in real time;
记录所述测距仪在θ通过的路程t；Recording the distance t of the range finder passing by θ;
根据所述路程t获取实际路程s；Obtaining an actual distance s according to the distance t;
对该路程s进行积分处理，获取矫正后的距离。The distance s is integrated to obtain the corrected distance.
在其中一个实施例中，所述对该路程s进行积分处理的步骤包括：In one embodiment, the step of performing integration processing on the path s includes:
采用s＝∫tcosθdθ公式进行积分处理。The integration process is performed using the formula s=∫tcosθdθ.
一种光电测距仪的矫正方法，包括以下步骤： A method for correcting a photoelectric range finder includes the following steps:
将陀螺仪安装于所述测距仪上；Mounting a gyroscope on the range finder;
在所述测距仪通过所述待测曲线或曲面位置的过程中，采集所述测距仪的X，Y和Z三个方向的角速度；Collecting angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested;
通过对时间的积分获取X，Y和Z三个方向的角度值；Obtain the angle values of the three directions of X, Y and Z by integrating the time;
记录所述测距仪在X，Y和Z三个方向的角度值时通过的路程；Recording the distance traveled by the range finder in the angle values of the X, Y and Z directions;
对该路程进行积分处理，从而得到矫正后的路程。The journey is integrated to obtain a corrected route.
一种光电测距仪的矫正系统，包括设置模块、检测模块、记录模块及处理模块；A correction system for a photoelectric range finder, comprising a setting module, a detecting module, a recording module and a processing module;
所述设置模块用于将测距仪置于待测曲线或曲面位置上，使所述测距仪通过所述待测曲线或曲面位置；The setting module is configured to place the range finder on a curved or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested;
所述检测模块用于检测所述测距仪的水平倾角；The detecting module is configured to detect a horizontal tilt angle of the range finder;
所述记录模块用于记录所述测距仪在水平倾角时通过的路程；The recording module is configured to record a distance that the range finder passes when it is at a horizontal inclination;
所述处理模块用于对该路程进行积分处理，从而得到矫正后的路程。The processing module is configured to perform integration processing on the route to obtain a corrected route.
在其中一个实施例中，所述检测模块用于实时检测所述测距仪的水平倾角θ；In one embodiment, the detecting module is configured to detect a horizontal tilt angle θ of the range finder in real time;
所述记录模块用于记录所述测距仪在θ通过的路程t；The recording module is configured to record a distance t of the range finder passing by θ;
所述记录模块还用于根据所述路程t获取实际路程s；The recording module is further configured to acquire an actual distance s according to the distance t;
所述处理模块用于对该路程s进行积分处理，获取矫正后的距离。The processing module is configured to perform integration processing on the path s to obtain the corrected distance.
在其中一个实施例中，所述处理模块还用于采用s＝∫tcosθdθ公式进行积分处理。In one of the embodiments, the processing module is further configured to perform an integration process using a formula of s=∫tcosθdθ.
一种光电测距仪的矫正系统，包括陀螺仪、采集模块、积分模块、路程模块及矫正模块；A correction system for a photoelectric range finder, comprising a gyroscope, an acquisition module, an integration module, a path module and a correction module;
所述陀螺仪安装于所述测距仪上；The gyroscope is mounted on the range finder;
所述采集模块用于在所述测距仪通过所述待测曲线或曲面位置的过程中，采集所述测距仪的X，Y和Z三个方向的角速度；The collecting module is configured to collect angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested;
所述积分模块用于通过对时间的积分获取X，Y和Z三个方向的角度值；The integration module is configured to obtain angle values of three directions of X, Y and Z by integrating time;
所述路程模块用于记录所述测距仪在X，Y和Z三个方向的角度值时通过的路程； The path module is configured to record a distance traveled by the range finder in the three directions of X, Y and Z directions;
所述矫正模块用于对该路程进行积分处理，从而得到矫正后的路程。The correction module is configured to integrate the path to obtain a corrected path.
上述光电测距仪的矫正方法和系统通过检测测距仪的水平倾角或X，Y和Z三个方向的角度值时通过的路程，进而对该路程进行积分处理，因此，能够消除水平方向上的路程误差，或是X，Y和Z三个方向上的误差，使得测距仪通过的路程更为精确。The above-mentioned photoelectric distance measuring instrument correction method and system can integrate the distance by detecting the horizontal inclination angle of the range finder or the angle values of the X, Y and Z angle directions, thereby eliminating the horizontal direction. The path error, or the error in the three directions of X, Y and Z, makes the distance traveled by the rangefinder more precise.
附图说明DRAWINGS
图1为光电测距仪的矫正方法的流程图之一；1 is a flow chart of a method for correcting a photoelectric range finder;
图2为光电测距仪的矫正方法的流程图之一；2 is a flow chart of a method for correcting a photoelectric range finder;
图3为光电测距仪的矫正系统的模块图之一；Figure 3 is a block diagram of a correction system of the photoelectric range finder;
图4为光电测距仪的矫正系统的模块图之一。Figure 4 is a block diagram of the correction system of the photoelectric range finder.
具体实施方式detailed description
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳的实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。In order to facilitate the understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the understanding of the present disclosure will be more fully understood.
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or the element can be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
如图1所示，为光电测距仪的矫正方法的流程图。As shown in FIG. 1, it is a flow chart of a method for correcting a photoelectric range finder.
一种光电测距仪的矫正方法，包括以下步骤： A method for correcting a photoelectric range finder includes the following steps:
步骤S110、将测距仪置于待测曲线或曲面位置上，使所述测距仪通过所述待测曲线或曲面位置。Step S110: placing the range finder on the curve or the curved surface to be tested, so that the range finder passes the position of the curve or the curved surface to be tested.
步骤S120、检测所述测距仪的水平倾角。Step S120: Detect a horizontal tilt angle of the range finder.
具体的，实时检测所述测距仪的水平倾角θ。Specifically, the horizontal tilt angle θ of the range finder is detected in real time.
步骤S130、记录所述测距仪在水平倾角时通过的路程。Step S130: Record the distance that the range finder passes when it is at a horizontal inclination.
记录所述测距仪在θ通过的路程t；根据所述路程t获取实际路程s。Recording the distance t through which the range finder passes θ; obtaining the actual distance s according to the distance t.
步骤S140、对该路程进行积分处理，从而得到矫正后的路程。Step S140, performing integration processing on the route to obtain a corrected route.
对该路程s进行积分处理，获取矫正后的距离。The distance s is integrated to obtain the corrected distance.
对该路程s进行积分处理的步骤包括：The steps of integrating the distance s include:
采用s＝∫tcosθdθ公式进行积分处理。The integration process is performed using the formula s=∫tcosθdθ.
基于上述实施例，为了消除水平方向的测量误差可以通过加速度传感器进行误差矫正。加速度传感器实时检测测距仪的水平倾角θ，在θ走过的路程为t，则实际距离应为s＝tcosθ，通过积分s＝∫tcosθdθ可以得到矫正距离。尤其需要指出的是加速度传感器的使用目前已经基本上成为激光测距仪的常见的使用功能，这样使得滚轮在激光测距仪的使用中更加具有优势。Based on the above embodiment, error correction can be performed by the acceleration sensor in order to eliminate the measurement error in the horizontal direction. The acceleration sensor detects the horizontal inclination angle θ of the range finder in real time. If the distance traveled by θ is t, the actual distance should be s=tcos θ, and the correction distance can be obtained by integrating s=∫tcosθdθ. In particular, it should be pointed out that the use of accelerometers has now become a common use function of laser range finder, which makes the roller more advantageous in the use of laser range finder.
如图2所示，为光电测距仪的矫正方法的流程图As shown in Figure 2, it is a flow chart of the correction method of the photoelectric range finder
一种光电测距仪的矫正方法，包括以下步骤：A method for correcting a photoelectric range finder includes the following steps:
步骤S210、将陀螺仪安装于所述测距仪上；Step S210, installing a gyroscope on the range finder;
步骤S220、在所述测距仪通过所述待测曲线或曲面位置的过程中，采集所述测距仪的X，Y和Z三个方向的角速度；Step S220, collecting, in the process of the distance measuring device passing the position of the curve or the curved surface to be measured, the angular velocities of the X, Y and Z directions of the range finder;
步骤S230、通过对时间的积分获取X，Y和Z三个方向的角度值；Step S230: Obtain an angle value in three directions of X, Y, and Z by integrating the time;
步骤S240、记录所述测距仪在X，Y和Z三个方向的角度值时通过的路程；Step S240, recording a distance that the range finder passes when the angle values are in the X, Y, and Z directions;
步骤S250、对该路程进行积分处理，从而得到矫正后的路程。In step S250, the route is integrated, so that the corrected route is obtained.
基于上述实施例，除了上述对水平倾角的测量进行误差矫正外，还有另一种方式。如果滚轮移动并不是水平移动的，需要在滚动过程中还能进行更多矫正，可以使用陀螺仪进行矫正。陀螺仪可以输出绕空间X，Y和Z三个方向的角速度，通过对时间的积分可以得到绕空间X，Y和Z三个轴转动的角度值。依照上述水平误差的矫正方法，类似地可以到得到空间误差的矫正。同样的，陀 螺仪在激光测距仪上也是常见的使用功能。Based on the above embodiment, in addition to the above-described error correction for the measurement of the horizontal tilt angle, there is another way. If the wheel movement is not horizontal, it is necessary to make more corrections during the rolling process, and the gyroscope can be used for correction. The gyroscope can output angular velocities in three directions of space X, Y and Z. By integrating the time, the angle value of the rotation around the three axes X, Y and Z can be obtained. According to the above-mentioned correction method of the horizontal error, the correction of the spatial error can be similarly obtained. The same The snail is also a common use function on laser range finder.
如图3所示，为光电测距仪的矫正系统的模块图。As shown in FIG. 3, it is a block diagram of the correction system of the photoelectric range finder.
一种光电测距仪的矫正系统，包括设置模块301、检测模块302、记录模块303及处理模块307。A correction system for a photoelectric range finder includes a setting module 301, a detecting module 302, a recording module 303, and a processing module 307.
所述设置模块301用于将测距仪置于待测曲线或曲面位置上，使所述测距仪通过所述待测曲线或曲面位置。The setting module 301 is configured to place the range finder on the curve or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested.
所述检测模块302用于检测所述测距仪的水平倾角。The detecting module 302 is configured to detect a horizontal tilt angle of the range finder.
所述记录模块303用于记录所述测距仪在水平倾角时通过的路程。The recording module 303 is configured to record the distance that the range finder passes when it is at a horizontal inclination.
所述处理模块304用于对该路程进行积分处理，从而得到矫正后的路程。The processing module 304 is configured to perform integration processing on the route to obtain a corrected route.
检测模块302用于实时检测所述测距仪的水平倾角θ。The detecting module 302 is configured to detect the horizontal tilt angle θ of the range finder in real time.
所述记录模块303用于记录所述测距仪在θ通过的路程t。The recording module 303 is configured to record the distance t through which the range finder passes.
所述记录模块303还用于根据所述路程t获取实际路程s。The recording module 303 is further configured to acquire the actual distance s according to the distance t.
所述处理模块304用于对该路程s进行积分处理，获取矫正后的距离。The processing module 304 is configured to perform integration processing on the path s to obtain the corrected distance.
所述处理模块304还用于采用s＝∫tcosθdθ公式进行积分处理。The processing module 304 is further configured to perform integration processing using a formula of s=∫tcosθdθ.
如图4所示，为光电测距仪的矫正系统的模块图。As shown in FIG. 4, it is a block diagram of the correction system of the photoelectric range finder.
一种光电测距仪的矫正系统，包括陀螺仪401、采集模块402、积分模块403、路程模块404及矫正模块405。A correction system for a photoelectric range finder includes a gyro 401, an acquisition module 402, an integration module 403, a path module 404, and a correction module 405.
所述陀螺仪401安装于所述测距仪上。The gyroscope 401 is mounted on the range finder.
所述采集模块402用于在所述测距仪通过所述待测曲线或曲面位置的过程中，采集所述测距仪的X，Y和Z三个方向的角速度。The collecting module 402 is configured to collect angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested.
所述积分模块403用于通过对时间的积分获取X，Y和Z三个方向的角度值。The integration module 403 is configured to obtain angle values in three directions of X, Y, and Z by integrating the time.
所述路程模块404用于记录所述测距仪在X，Y和Z三个方向的角度值时通过的路程。The path module 404 is configured to record the distance that the range finder passes when the angle values are in the X, Y, and Z directions.
所述矫正模块405用于对该路程进行积分处理，从而得到矫正后的路程。The correction module 405 is configured to perform integration processing on the path to obtain a corrected path.
上述光电测距仪的矫正方法和系统通过检测测距仪的水平倾角或X，Y和Z三个方向的角度值时通过的路程，进而对该路程进行积分处理，因此，能够消除水平方向上的路程误差，或是X，Y和Z三个方向上的误差，使得测距仪通 过的路程更为精确。The above-mentioned photoelectric distance measuring instrument correction method and system can integrate the distance by detecting the horizontal inclination angle of the range finder or the angle values of the X, Y and Z angle directions, thereby eliminating the horizontal direction. The path error, or the error in the three directions of X, Y and Z, makes the rangefinder pass The journey is more precise.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。 The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (8)

  1. 一种光电测距仪的矫正方法，其特征在于，包括以下步骤：A method for correcting a photoelectric range finder, comprising the steps of:
    将测距仪置于待测曲线或曲面位置上，使所述测距仪通过所述待测曲线或曲面位置；Positioning the range finder on the curve or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested;
    检测所述测距仪的水平倾角；Detecting a horizontal tilt angle of the range finder;
    记录所述测距仪在水平倾角时通过的路程；Recording the distance traveled by the range finder at a horizontal tilt angle;
    对该路程进行积分处理，从而得到矫正后的路程。The journey is integrated to obtain a corrected route.
  2. 根据权利要求1所述的光电测距仪的矫正方法，其特征在于，还包括：The method of claim 1 , further comprising:
    实时检测所述测距仪的水平倾角θ；Detecting the horizontal tilt angle θ of the range finder in real time;
    记录所述测距仪在θ通过的路程t；Recording the distance t of the range finder passing by θ;
    根据所述路程t获取实际路程s；Obtaining an actual distance s according to the distance t;
    对该路程s进行积分处理，获取矫正后的距离。The distance s is integrated to obtain the corrected distance.
  3. 根据权利要求1所述的光电测距仪的矫正方法，其特征在于，所述对该路程s进行积分处理的步骤包括：The method for correcting an electro-optical distance meter according to claim 1, wherein the step of performing integration processing on the path s comprises:
    采用s＝∫ tcos θ d θ公式进行积分处理。The integration process is performed using the s=∫ tcos θ d θ formula.
  4. 一种光电测距仪的矫正方法，其特征在于，包括以下步骤：A method for correcting a photoelectric range finder, comprising the steps of:
    将陀螺仪安装于所述测距仪上；Mounting a gyroscope on the range finder;
    在所述测距仪通过所述待测曲线或曲面位置的过程中，采集所述测距仪的X，Y和Z三个方向的角速度；Collecting angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested;
    通过对时间的积分获取X，Y和Z三个方向的角度值；Obtain the angle values of the three directions of X, Y and Z by integrating the time;
    记录所述测距仪在X，Y和Z三个方向的角度值时通过的路程；Recording the distance traveled by the range finder in the angle values of the X, Y and Z directions;
    对该路程进行积分处理，从而得到矫正后的路程。The journey is integrated to obtain a corrected route.
  5. 一种光电测距仪的矫正系统，其特征在于，包括设置模块、检测模块、记录模块及处理模块；A correction system for a photoelectric range finder, comprising: a setting module, a detecting module, a recording module and a processing module;
    所述设置模块用于将测距仪置于待测曲线或曲面位置上，使所述测距仪通过所述待测曲线或曲面位置；The setting module is configured to place the range finder on a curved or curved surface to be tested, so that the range finder passes the position of the curve or curved surface to be tested;
    所述检测模块用于检测所述测距仪的水平倾角；The detecting module is configured to detect a horizontal tilt angle of the range finder;
    所述记录模块用于记录所述测距仪在水平倾角时通过的路程；The recording module is configured to record a distance that the range finder passes when it is at a horizontal inclination;
    所述处理模块用于对该路程进行积分处理，从而得到矫正后的路程。 The processing module is configured to perform integration processing on the route to obtain a corrected route.
  6. 根据权利要求5所述的光电测距仪的矫正系统，其特征在于，所述检测模块用于实时检测所述测距仪的水平倾角θ；The correction system of the photoelectric range finder according to claim 5, wherein the detecting module is configured to detect the horizontal tilt angle θ of the range finder in real time;
    所述记录模块用于记录所述测距仪在θ通过的路程t；The recording module is configured to record a distance t of the range finder passing by θ;
    所述记录模块还用于根据所述路程t获取实际路程s；The recording module is further configured to acquire an actual distance s according to the distance t;
    所述处理模块用于对该路程s进行积分处理，获取矫正后的距离。The processing module is configured to perform integration processing on the path s to obtain the corrected distance.
  7. 根据权利要求5所述的光电测距仪的矫正系统，其特征在于，A correction system for an electro-optical distance meter according to claim 5, wherein
    所述处理模块还用于采用s＝∫ tcos θ d θ公式进行积分处理。The processing module is further configured to perform integration processing using a formula of s=∫ tcos θ d θ.
  8. 一种光电测距仪的矫正系统，其特征在于，包括陀螺仪、采集模块、积分模块、路程模块及矫正模块；A correction system for a photoelectric range finder, comprising: a gyroscope, an acquisition module, an integration module, a path module and a correction module;
    所述陀螺仪安装于所述测距仪上；The gyroscope is mounted on the range finder;
    所述采集模块用于在所述测距仪通过所述待测曲线或曲面位置的过程中，采集所述测距仪的X，Y和Z三个方向的角速度；The collecting module is configured to collect angular velocities of the X, Y and Z directions of the range finder in the process of the distance measuring device passing the position of the curve or the curved surface to be tested;
    所述积分模块用于通过对时间的积分获取X，Y和Z三个方向的角度值；The integration module is configured to obtain angle values of three directions of X, Y and Z by integrating time;
    所述路程模块用于记录所述测距仪在X，Y和Z三个方向的角度值时通过的路程；The path module is configured to record a distance traveled by the range finder in the three directions of X, Y and Z directions;
    所述矫正模块用于对该路程进行积分处理，从而得到矫正后的路程。 The correction module is configured to integrate the path to obtain a corrected path.
PCT/CN2016/101961 2016-09-29 2016-10-13 Method and system for correcting electro-optical range finder WO2018058704A1 (en)

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