CN108286958A - A kind of distance measuring method and range-measurement system - Google Patents
A kind of distance measuring method and range-measurement system Download PDFInfo
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- CN108286958A CN108286958A CN201810118069.2A CN201810118069A CN108286958A CN 108286958 A CN108286958 A CN 108286958A CN 201810118069 A CN201810118069 A CN 201810118069A CN 108286958 A CN108286958 A CN 108286958A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005259 measurement Methods 0.000 title claims abstract description 29
- 238000003384 imaging method Methods 0.000 claims abstract description 77
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 101100117236 Drosophila melanogaster speck gene Proteins 0.000 claims description 6
- 230000001154 acute effect Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 abstract description 5
- 238000007789 sealing Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/32—Measuring distances in line of sight; Optical rangefinders by focusing the object, e.g. on a ground glass screen
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
This application discloses a kind of distance measuring method and range-measurement system, the distance measuring method includes the following steps S2：First laser transmitter emits first laser to the first object to be measured；S4：Imaging system receives first object to be measured and reflects the first the reflected beams that the first laser is obtained, and the first object to be measured image that first the reflected beams are formed in the imaging system is obtained, and the axial direction of the imaging system is parallel with the direction of the first laser；S6：According to formulaThe first laser transmitter is calculated to the first distance of first object to be measured.The distance measuring method and range-measurement system of the application is due to need to only analyze object to be measured image (only need to analyze an image data), it is therefore desirable to calculate and the data volume of processing analysis is seldom, it is smaller to occupy analysis resource.It is small and at low cost into the analytical equipment without large size.
Description
Technical field
This application involves a kind of distance measuring method and range-measurement systems.
Background technology
Currently, rangefinder has been widely used for various scenes.But the distance measuring method of existing rangefinder is complicated, needs
It calculates and the data volume of processing is huge, cause and calculate the bulky and of high cost of analyzing device.
Invention content
The application's aims to overcome that the above problem or at least partly solution or the alleviation above problem.
According to the one side of the application, a kind of distance measuring method is provided, is included the following steps：S2：First laser emits
Device emits first laser to the first object to be measured；S4：Imaging system receives first object to be measured and reflects the first laser
The first the reflected beams obtained, and obtain the first object to be measured that first the reflected beams are formed in the imaging system
Image, and the axial direction of the imaging system is parallel with the direction of the first laser；S6：According to formulaCalculate institute
First laser transmitter is stated to the first distance of first object to be measured；Wherein, D1For the first laser transmitter to institute
State the distance of the first object to be measured, A1The distance of axis for the first laser transmitter to the imaging system, f1It is described
The equivalent focal length of imaging system, P1For the distance of the axis of the first object to be measured image to the imaging system.
Optionally, include before the step S2：Step S1：According to formulaCalculate the imaging system
Equivalent focal length, wherein f1For the equivalent focal length of the imaging system, P0It is for target image to the imaging of known target
The distance of the axis of system, D0For the first laser transmitter to the distance of the known target, A0Emit for the first laser
Device to the axis of the imaging system distance.
Optionally, the step S4 includes：S41：The first object to be measured image is converted into HSV moulds from RGB patterns
Formula；S42：Remove the color other than the color of the first laser in the first object to be measured image；S43：Pass through height
This filtering algorithm and speck detection algorithm detect the first tested point in the first object to be measured image；Wherein, P1It is described
The distance of axis of first tested point to the imaging system in first object to be measured image.
Optionally, the distance measuring method further includes：S8：Second laser transmitter emits second laser to the second mesh to be measured
Mark；S10：Imaging system receives second object to be measured and reflects the second the reflected beams that the second laser is obtained, and obtains
Obtain the second object to be measured image that second the reflected beams are formed in the imaging system, and the axial direction of the imaging system
It is parallel with the direction of the second laser；S12：According to formulaThe second laser transmitter is calculated to described
The distance of two object to be measured；Wherein, D2For the second laser transmitter to the distance of second object to be measured, A2It is described
Second laser transmitter is to the distance of the axis of the imaging system, P2For the second object to be measured image to it is described at
As the distance of the axis of system.
Optionally, the step S10 includes：S101：The second object to be measured image is converted into HSV from RGB patterns
Pattern；S102：Remove the color other than the color of the second laser in the second object to be measured image；S103：It is logical
It crosses Gaussian filter algorithm and speck detection algorithm detects the second tested point in the second object to be measured image；Wherein, P2For
The distance of axis of second tested point to the imaging system.
Optionally, the distance measuring method further includes：S14：Pass through formulaIt is to be measured to calculate described first
Line between target and second object to be measured and the acute angle between the axis of the imaging system, wherein β is institute
State the acute angle between the axis of the line and the imaging system between the first object to be measured and second object to be measured.
Optionally, the distance measuring method further includes S0：It shows the first object to be measured image, and controls described first and swash
The position of optical transmitting set and the imaging system in water.
According to the another aspect of the application, a kind of range-measurement system is provided, including：First laser transmitter, for emitting
First laser；Imaging system reflects the first the reflected beams that the first laser is obtained for receiving the first object to be measured, and
Obtain the first object to be measured image that first the reflected beams are formed in the imaging system, and the axis of the imaging system
To parallel with the direction of the first laser；Computing device, for according to formulaCalculate the first laser hair
Emitter to first object to be measured the first distance；Wherein, D1For the first laser transmitter to the described first mesh to be measured
Target distance, A1The distance of axis for the first laser transmitter to the imaging system, f1For the imaging system etc.
Imitate focal length, P1For the distance of the axis of the first object to be measured image to the imaging system.
Optionally, the range-measurement system further includes：Second laser transmitter, for emitting first laser.
Optionally, the range-measurement system further includes：Display device, for showing the first object to be measured image；And control
Device processed, for controlling the position of the first laser transmitter and the imaging system in water.
The distance measuring method and range-measurement system of the application (only need to analyze an image due to need to only analyze object to be measured image
Data), it is therefore desirable to it calculates and the data volume of processing analysis is seldom, it is smaller to occupy analysis resource.Into without large-scale point
Desorption device, it is small and at low cost.
Further, the distance measuring method of the application and range-measurement system can be controlled by control device laser beam emitting device and
The underwater position of imaging system.Therefore range-measurement system can be facilitated freely to move under water, facilitates the operation of ranging.
According to the accompanying drawings to the detailed description of the specific embodiment of the application, those skilled in the art will be more
Above-mentioned and other purposes, the advantages and features of the application are illustrated.
Description of the drawings
Some specific embodiments of the application are described in detail by way of example rather than limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is the flow chart according to the distance measuring method of the application one embodiment；
Fig. 2 is the particular flow sheet of step S4 in the distance measuring method according to the application one embodiment；
Fig. 3 is the flow chart of step S10 in the distance measuring method according to the application one embodiment；
Fig. 4 is the principle schematic according to the range-measurement system of the application one embodiment；
Fig. 5 is the principle schematic according to the range-measurement system of the application one embodiment.
Specific implementation mode
Fig. 1 and Fig. 4 is please referred to, in one embodiment of the application, distance measuring method includes the following steps：S2：First laser is sent out
Emitter emits first laser to the first object to be measured；S4：It is to be measured that imaging system (shown by box as dashed lines) receives first
The first the reflected beams that target reflection first laser is obtained, and obtain the first the reflected beams are formed in imaging systems first
Object to be measured image, and the axial direction of imaging system is parallel with the direction of first laser；S6：According to formulaCalculate the
First distance of one laser emitter to the first object to be measured；Wherein, D1For first laser transmitter to the first object to be measured
Distance, A1For the distance of the axis of first laser transmitter to imaging system, f1For the equivalent focal length of imaging system, P1It is first
Object to be measured image to the axis of imaging system distance.Imaging system in the present embodiment is camera.When imaging system is
When camera, magazine camera lens receives the first the reflected beams that the first object to be measured reflection first laser is obtained, the reflected beams
By being located on the bottom edge or bottom plate of camera after camera lens.But it is not limited thereto, those skilled in the art can be according to reality
Border situation uses other imaging systems.In use, so that the axis direction of camera and the laser emitter direction of laser emitter
Parallel, reflection of the laser Jing Guo object to be measured is mapped to by camera lens on camera negative, and shows the laser by anti-on egative film
The image (i.e. a red point) penetrated.Finally, computing device need to only analyze the image, due to P1It can be obtained by measuring, A1It can be with
It is obtained by measuring.Therefore knowing camera focus parameter f1In the case of, according to above-mentioned formula, you can show that Laser emission fills
Set the distance between object to be measured.
In order to which the reflected image of laser is clearly apparent, need egative film being placed at the focal length of camera lens.I.e. camera lens with
The distance between egative film f1To be equal to the focal length of camera lens.And the focal length parameter of camera can not directly obtain sometimes.Therefore
Further include the steps that calculating lens focus before starting measurement distance in one embodiment of the application.Such as step S1：Root
According to formulaCalculate camera focus.Wherein P0The target image and camera axis that are known target on egative film it
Between distance, D0For the distance between first laser transmitter to known target, A0For first laser transmitter to camera axis it
Between distance.Laser is mapped in target known to the distance between laser emitter, is then swashed by above-mentioned steps
Imaging of the light on egative film.Due to being imaged the distance P between projection of the camera lens on egative film0It can be obtained, be swashed by measuring
The distance between optical transmitting set and target D0It is known that laser hair sets the distance between device and camera axis A0Measurement can be passed through
It obtains.Therefore it can have calculated that the focal length of camera lens is f1How much.
Fig. 2 is please referred to, in practical applications, the laser image obtained sometimes is unintelligible.Therefore it needs at image
Reason.Therefore, in one embodiment of the application, step S4 includes：S41：First object to be measured image is converted into from RGB patterns
HSV patterns；S42：By the first object to be measured image filtering, with the color in addition to the color for eliminating first laser；S43：It is logical
Cross the first tested point in Gaussian filter algorithm and speck detection algorithm the first object to be measured image of detection；Wherein, P1It is first
The distance between first tested point and camera axis in object to be measured image.Wherein, RGB patterns (three primary colors pattern) color mould
Formula is a kind of color standard of industrial quarters, be by red (R), green (G), blue (B) three Color Channels variation and they
Mutual is superimposed to obtain miscellaneous color, and RGB is the color for representing three channels of red, green, blue, this mark
Standard includes almost all colours that human eyesight can perceive, and is to use most wide one of color system at present.HSV(Hue,
Saturation, Value) it is a kind of color space created in 1978 by A.R.Smith according to the intuitive nature of color,
Claim hexagonal pyramid model (Hexcone Model).After above-mentioned processing, only it is left red laser figure on photo egative film
Picture, other interference images are filtered, and are conducive to the analysis to image.
Please refer to Fig. 1 and Fig. 5, it is sometimes desirable to the target of a measurement distance not instead of point, a face.Therefore, at this
Apply in an embodiment, distance measuring method further includes：S8：Second laser transmitter emits second laser to the second object to be measured；
S10：It is anti-that imaging system (shown by box as dashed lines) receives the second object to be measured reflected second laser is obtained second
Irradiating light beam, and obtain the second object to be measured image that the second the reflected beams are formed in imaging systems, and the axial direction of imaging system
It is parallel with the direction of second laser；S12：According to formulaSecond laser transmitter is calculated to the second object to be measured
Distance；Wherein, D2For second laser transmitter to the distance of the second object to be measured, A2For second laser transmitter to imaging system
Axis distance, P2For the distance of the second object to be measured image to the axis of imaging system.Ranging side in the present embodiment
Method, it is identical as above-mentioned distance measuring method, it repeats no more.It can be obtained by multiple laser beam emitting devices by the above method
The distance of each point in the object to be measured in face to laser beam emitting device.
Fig. 3 is please referred to, in one embodiment of the application, step S10 includes：S101：By the second object to be measured image from RGB
Pattern is converted into HSV patterns；S102：By the second object to be measured image filtering, in addition to the color for eliminating second laser
Color；S103：The second tested point in the second object to be measured image is detected by Gaussian filter algorithm and speck detection algorithm；Its
In, P2For the second tested point and the distance between imaging device axis in the second object to be measured image.Figure in the present embodiment
Picture processing method is same as described above, repeats no more.
Sometimes distance is only just known that not enough, it is also necessary to know angle of the planar target relative to laser beam emitting device.Cause
This, in one embodiment of the application, distance measuring method further includes：S14：Pass through formulaIt is to be measured to calculate first
The angle between line and second direction between target and the second object to be measured.
The application also provides a kind of range-measurement system, uses any one of the above distance measuring method.Range-measurement system includes：At least one
A laser emitter, imaging device, image display device, computing device.
In one embodiment of the application, range-measurement system further includes sealing device, and laser emitter, imaging device, image are aobvious
Showing device, computing device are arranged in sealing device.
In one embodiment of the application, range-measurement system further includes power supply, is shown to laser emitter, imaging device, image
Device and computing device power supply.
In one embodiment of the application, range-measurement system further includes mobile display device and control device, for receiving and showing
Show the image and result of calculation that computing device is sent, and transmittable instruction control laser beam emitting device transmitting laser and control laser
The position of emitter in water.Wherein control device control be located at sealing device on propeller either propeller or other
Equipment to achieve the purpose that sealing device is pushed to move in water, and then reaches mobile laser emitter and imaging system exists
The purpose of position in water.
In one embodiment of the application, range-measurement system further includes camera device, the finger of laser beam emitting device and camera device
It is parallel to axis.Camera device calculates extremely for recording the image data for including laser point information, while by image information transmission
Computing device.Data are uploaded to mobile display device by computing device.In the present embodiment, computing device is embedded image
Processing system, but not limited to this.
In one embodiment of the application, range-measurement system provided herein makes in closely (within 10 meters) laser ranging
The requirement of used time, the parallelism precision δ between light and camera normal are provided by error precision requirement ε.Due to A ＜ ＜ D, closely
As provide maximum deviation precision be δ=10-4ε, if it is desired to measurement accuracy error is ε=10mm, then δ=0.001 °=3.6 "
(rad).
Above-mentioned each technical characteristic can be freely combined under the premise of not conflicting, and solve skill to be solved by this invention
Art problem belongs to the application scope of protection.
The preferable specific implementation mode of the above, only the application, but the protection domain of the application is not limited thereto,
Any one skilled in the art is in the technical scope that the application discloses, the change or replacement that can be readily occurred in,
It should all cover within the protection domain of the application.Therefore, the protection domain of the application should be with scope of the claims
Subject to.
Claims (10)
1. a kind of distance measuring method, includes the following steps：
S2：First laser transmitter emits first laser to the first object to be measured；
S4：Imaging system receives first object to be measured and reflects the first the reflected beams that the first laser is obtained, and obtains
Obtain the first object to be measured image that first the reflected beams are formed in the imaging system, and the axial direction of the imaging system
It is parallel with the direction of the first laser；
S6：According to formulaThe first laser transmitter is calculated to the first distance of first object to be measured；
Wherein, D1For the first laser transmitter to the distance of first object to be measured, A1For the first laser transmitter
To the distance of the axis of the imaging system, f1For the equivalent focal length of the imaging system, P1For the first object to be measured image
To the distance of the axis of the imaging system.
2. distance measuring method according to claim 1, which is characterized in that include before the step S2：
Step S1：According to formulaCalculate the equivalent focal length of the imaging system, wherein f1For the imaging system
Equivalent focal length, P0For known target target image to the imaging system axis distance, D0It is sent out for the first laser
Emitter is to the distance of the known target, A0The distance of axis for the first laser transmitter to the imaging system.
3. distance measuring method according to claim 1, which is characterized in that the step S4 includes：
S41：The first object to be measured image is converted into HSV patterns from RGB patterns；
S42：Remove the color other than the color of the first laser in the first object to be measured image；
S43：The first tested point in the first object to be measured image is detected by Gaussian filter algorithm and speck detection algorithm；
Wherein, P1For the distance of axis of first tested point to the imaging system in the first object to be measured image.
4. according to the distance measuring method described in claim 1-3 any one, which is characterized in that the distance measuring method further includes：
S8：Second laser transmitter emits second laser to the second object to be measured；
S10：Imaging system receives second object to be measured and reflects the second the reflected beams that the second laser is obtained, and obtains
Obtain the second object to be measured image that second the reflected beams are formed in the imaging system, and the axial direction of the imaging system
It is parallel with the direction of the second laser；
S12：According to formulaThe second laser transmitter is calculated to the distance of second object to be measured；
Wherein, D2For the second laser transmitter to the distance of second object to be measured, A2For the second laser transmitter
To the distance of the axis of the imaging system, P2For the axis of the second object to be measured image to the imaging system
The distance of line.
5. distance measuring method according to claim 4, which is characterized in that the step S10 includes：
S101：The second object to be measured image is converted into HSV patterns from RGB patterns；
S102：Remove the color other than the color of the second laser in the second object to be measured image；
S103：It is detected by Gaussian filter algorithm and speck detection algorithm second to be measured in the second object to be measured image
Point；
Wherein, P2The distance of axis for second tested point to the imaging system.
6. distance measuring method according to claim 5, which is characterized in that the distance measuring method further includes：
S14：Pass through formulaCalculate the company between first object to be measured and second object to be measured
Acute angle between line and the axis of the imaging system, wherein β are first object to be measured and second mesh to be measured
Line between mark and the acute angle between the axis of the imaging system.
7. distance measuring method according to claim 1, which is characterized in that the distance measuring method further includes S0：Show described
One object to be measured image, and control the position of the first laser transmitter and the imaging system in water.
8. a kind of range-measurement system, including：
First laser transmitter, for emitting first laser；
Imaging system reflects the first the reflected beams that the first laser is obtained for receiving the first object to be measured, and obtains
The first object to be measured image that first the reflected beams are formed in the imaging system, and the axial direction of the imaging system with
The direction of the first laser is parallel；
Computing device, for according to formulaThe first laser transmitter is calculated to first object to be measured
First distance；
Wherein, D1For the first laser transmitter to the distance of first object to be measured, A1For the first laser transmitter
To the distance of the axis of the imaging system, f1For the equivalent focal length of the imaging system, P1For the first object to be measured image
To the distance of the axis of the imaging system.
9. range-measurement system according to claim 8, which is characterized in that the range-measurement system further includes：
Second laser transmitter, for emitting first laser.
10. range-measurement system according to claim 8 or claim 9, which is characterized in that the range-measurement system further includes：
Display device, for showing the first object to be measured image；And
Control device, for controlling the position of the first laser transmitter and the imaging system in water.
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| CN110108253A (en) * | 2019-05-31 | 2019-08-09 | 烟台艾睿光电科技有限公司 | Distance measuring method, device, equipment and the readable storage device of monocular thermal infrared imager |
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| CN110108253A (en) * | 2019-05-31 | 2019-08-09 | 烟台艾睿光电科技有限公司 | Distance measuring method, device, equipment and the readable storage device of monocular thermal infrared imager |
| CN110108253B (en) * | 2019-05-31 | 2022-07-12 | 烟台艾睿光电科技有限公司 | Distance measuring method, device and equipment for monocular thermal infrared imager and readable storage equipment |
| CN112835062A (en) * | 2021-01-07 | 2021-05-25 | 深圳潜行创新科技有限公司 | Underwater ranging method, device, equipment and storage medium |
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Application publication date: 20180717 |