CN101788670A - Distance measuring instrument - Google Patents
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- CN101788670A CN101788670A CN201010111588A CN201010111588A CN101788670A CN 101788670 A CN101788670 A CN 101788670A CN 201010111588 A CN201010111588 A CN 201010111588A CN 201010111588 A CN201010111588 A CN 201010111588A CN 101788670 A CN101788670 A CN 101788670A
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Abstract
The invention discloses a distance measuring instrument, comprising a laser, and an image sensing device which comprises a lens and an image sensor and further comprises a numeric operation module and a display module, wherein the image sensor is used for receiving a laser beam reflected by a target point and sending image information formed by the laser beam to the numeric operation module; the numeric operation module is used for receiving the image information, measuring the distance between a light spot and a set base point in the image information, and obtains a reflective angle of the reflected laser beam according to the above distance and the distance between the lens and the image sensor; the numeric operation module obtains distance data between local position and the target point according to an emission angle of the laser beam, the reflective angle and the distance between the lens and the laser, and sends the distance data to the display screen; and the display screen is used for receiving and displaying the distance data. The distance measuring instrument can greatly reduce the requirement for electronic instruments owing to simple distance measuring algorithm thereof.
Description
Technical Field
The present invention relates to a distance measuring technology, and more particularly, to a distance measuring device for measuring a distance between a local target point and a target point.
Background
The laser range finder has light weight, small volume, simple operation, high speed and accuracy, and the error is only one fifth to one hundred times of that of other optical range finders, so the laser range finder is widely used for topographic survey, battlefield survey, ranging of a tank, an airplane, a naval vessel and a gun to a target, measuring the height of a cloud layer, an airplane, a missile and a satellite, and the like. Meanwhile, the device is also an important technical device for improving the precision of high tanks, airplanes, naval vessels and artillery.
A laser rangefinder is an instrument that accurately measures the distance to a target using laser light. In the conventional laser distance measuring instrument, a thin laser beam is emitted to a target during operation, a photoelectric element receives the laser beam reflected by the target, and a timer measures the time from the emission to the reception of the laser beam to calculate the distance from an observer to the target. If the time required for light to travel in the air at a speed c to make a round trip between two points A, B is t, the distance D between two points A, B can be represented by D ═ ct/2, where D represents the distance between two points A, B, c represents the speed of light traveling in the atmosphere, and t represents the time required for light to make a round trip A, B. From the above formula, the distance to be measured A, B is actually the time t of light propagation to be measured, and the measurement method can be generally divided into two measurement forms, pulse type and phase type. The phase type is a method in which a laser beam is amplitude-modulated at a frequency in a radio band, a phase delay generated once by a modulated light traverse is measured, and a distance represented by the phase delay is converted according to a wavelength of the modulated light.
However, the above laser ranging technology has extremely high requirements for electronic devices, so that the manufacturing cost of the laser range finder is high, and the wide-range popularization and use are limited.
Fig. 1 is a schematic structural diagram of an image sensor device in the prior art. The structure of the image sensor 100 includes: an image sensor 101 and a lens 102. The image sensor 100 may be a digital video camera or a digital still camera. The image sensor is capable of forming image data from light irradiated thereto. The image sensor may employ a Charge Coupled Device (CCD) or a Complementary Metal-oxide semiconductor (Complementary Metal-oxide semiconductor).
Disclosure of Invention
The invention solves the technical problem of providing a range finder, which can greatly reduce the requirements on electronic instruments due to simple range finding algorithm.
The technical scheme is as follows:
a distance measuring instrument comprises a laser and an image sensing device, wherein the image sensing device comprises a lens and an image sensor, and further comprises a numerical value operation module and a display screen; wherein,
the image sensor is used for receiving the laser beam reflected by the target point and sending image information formed by the laser beam to the numerical operation module;
the numerical operation module is used for receiving the image information, measuring the distance between a light spot in the image information and a set base point, and obtaining the reflection angle of the reflected laser beam according to the distance and the distance between the lens and the image sensor; the numerical operation module obtains distance data from a local position to the target point according to the emission angle of the laser beam, the reflection angle and the distance between the lens and the laser, and sends the distance data to the display screen;
and the display screen is used for receiving and displaying the distance data.
Further: and the center point O of the lens is perpendicular to the image sensor to form a perpendicular line, the intersection point of the perpendicular line and the image sensor is a set base point P, and the center point O, the set base point P and the light spot A form a right triangle POA.
Further: the laser is used as a light source point, the target point is used as a light reflection point, the image sensing device is used as a light receiving point, and the light source point, the light reflection point and the light receiving point form a right triangle relation.
Further: if a plane formed by the image sensor is parallel to a line segment BO, the value of the angle OAP is an included angle COB between the reflected laser and the line segment BO; and if the angle CBO is a right angle, obtaining the length value of the line segment CB according to the length of the line segment BO and the value of the angle OAP, wherein the length value of the line segment CB is the distance from the local to the target point.
Further: if the plane formed by the image sensor and the line segment BO form a first rotation angle, the numerical value of the included angle between the reflected laser and the line segment BO is the difference value between the angle OAP and the first rotation angle.
Further: if the light source point B forms a second angle of rotation, the value of angle CBO is equal to 90 degrees minus the second angle of rotation; and obtaining the distance from the local to the target point according to the values of the angle CBO, the angle COB and the line segment BO.
Further: the numerical operation module and the display screen are arranged on a mainboard of the range finder, and the mainboard is used for providing a circuit for the numerical operation module and the display screen.
Further: angle OAP is arctgOP/PA, OP represents the length of line segment OP, PA represents the length of line segment PA; CB ═ BO × tgOAP, BO represents the length of line segment BO.
Further: the laser and the image sensing device are arranged on the cross beam of the bracket.
Further: the beam is provided with a laser rotating shaft, a beam rotating shaft and an image sensing device rotating shaft; the laser is fixed on the cross beam through the laser rotating shaft, the image sensing device is fixed on the cross beam through the image sensing device rotating shaft, and the cross beam is fixed on the support through the cross beam rotating shaft.
The technical effects brought by the technical scheme of the invention comprise:
1. the invention is completely different from the existing laser ranging technology, provides a brand new ranging mode, can greatly reduce the requirements on electronic instruments due to simple ranging algorithm, and is convenient for large-area popularization.
2. In activities such as building construction, building installation, house measurement and the like, the distance between two points often needs to be measured, the currently adopted method basically adopts a tape measure or a tape measure for measurement, two persons are often needed for measurement, and sometimes, the measurement is inconvenient because the field environment is complicated, and the measurement point is difficult to reach or even cannot reach. The invention is convenient to use and is very suitable for being used under complex conditions.
3. The 'what you see is what you see' of the invention, only need to place the apparatus on a point, point the laser that is launched to another point that needs to be measured and can see the measured data; when the device is used, only one person is needed to measure the distance, two points are measured only by reaching one point, and the other point can be a position which is difficult to reach or can not reach.
Drawings
FIG. 1 is a schematic diagram of an image sensor device according to the prior art;
FIG. 2 is a schematic diagram of the operation of the rangefinder of the present invention;
FIG. 3 is a schematic diagram of the present invention showing the angle of the reflected light and the distance between the reflection points;
FIG. 4 is a schematic diagram of the operation of the image sensor of the photocharge coupling device of the present invention tilted at an angle of 45 °;
FIG. 5 is a schematic diagram of the angle of the reflected light of the CCD after tilting according to the present invention;
FIG. 6 is a schematic diagram of the operation of the distance measuring device of the present invention having a laser rotation axis, a beam rotation axis and an image sensor rotation axis;
FIG. 7 is a schematic diagram of the range finder of the present invention having a laser rotation axis, a beam rotation axis and an image sensor rotation axis, wherein the exit angle is not 90 °;
FIG. 8 is a schematic diagram of the angle of the reflected light and the distance between the reflection points obtained when the exit angle is not 90 degrees according to the present invention;
FIG. 9 is a schematic diagram of the present invention for deriving the angle of the reflected ray and the distance of the reflected point of the example of FIG. 8.
Detailed Description
The invention provides a brand-new distance measuring method which can conveniently and effectively measure the distance between a target position and a distance meter. The method comprises the steps of taking a laser source as a light source point, taking a target point as a light reflection point, taking an image sensing device as a light receiving point, constructing a triangular relation among the light source point, the light source reflection point and the light receiving point, obtaining an included angle (namely a reflection angle) between the reflection point and the light source point through the image sensing device, obtaining a distance between a local target point through the distance between the light receiving point and the light source point and the distance between the local target point and the laser beam through the emission angle and the reflection angle of the laser beam, and achieving the purpose of distance measurement. For the sake of calculation, the emission angle of the laser beam is generally a right angle.
When the image sensor employs a CCD, the above-described reflection angle is obtained by:
making a vertical line through the lens 102 and perpendicular to the plane of the CCD101, and taking the intersection point of the vertical line and the CCD101 as a set base point; if the structure of the image sensing device 100 is determined, the distance from the CCD101 to the lens 102 is determined. When laser is irradiated onto the CCD101, a light spot is formed on the CCD101, and the distance from the light spot to the set base point is obtained; thus, the lens 102, the light spot, and the set base point form a right triangle, and the angle between the reflected laser light and the CCD101 is obtained by the distance from the CCD101 to the lens 102 and the distance from the light spot to the set base point. If the CCD101 is parallel to the line connecting the light source point and the light receiving point, the angle between the reflected laser light and the CCD101 is equal to the reflection angle; if the CCD101 has a rotation angle, the angle between the reflecting point and the light source point is equal to the angle between the reflected laser light and the CCD101 minus the rotation angle.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
Fig. 2 is a schematic diagram showing the operation of the distance measuring device of the present invention. In the preferred embodiment, the laser 201 and the image sensor 100 are aligned; when the distance to the target point 206 is measured, the laser 201 emits a laser beam at an angle perpendicular to the straight line (i.e. the emission angle is a right angle), and the image sensor 100 captures the laser beam reflected by the target point 206.
The structure of the range finder includes: the system comprises a laser 201, a beam 202, an image sensing device 100, a main board 203, a numerical operation module 204 and a display screen 205, wherein the numerical operation module 204 and the display screen 205 are arranged on the main board 203; the laser 201 and the image sensing device 100 are fixed on the beam 202, and the laser 201 is used as a light source for emitting a laser beam to the target point 206; the target 206 reflects the laser beam irradiated to the target, and the image sensing device 100 is configured to capture the laser beam reflected by the target 206 and send image information formed by the laser beam to the numerical operation module 204; the numerical operation module 204 receives the image information, measures the distance between the light spot on the image information and the set base point, meanwhile, the numerical operation module 204 sets the distance between the central point of the lens 102 and the CCD101 and the distance between the lens 102 and the laser 201, the numerical operation module 204 obtains the reflection angle of the laser beam according to the distance between the light spot and the set base point and the distance between the central point of the lens 102 and the CCD101, obtains the distance between the target point 206 and the laser 201 according to the reflection angle and the distance between the lens 102 and the laser 201, and sends the distance to the display screen 205 in a data form for displaying; the main board 203 is used for providing a circuit system for the numerical operation module 204 and the display screen 205. The main board 203, the numerical operation module 204 and the display screen 205 can be disposed on the beam 202, wherein the display screen 205 and the numerical operation module 204 are disposed on the main board 203, and the main board 203 is used for providing a circuit system for the numerical operation module 204 and the display screen 205. Of course, the numerical operation module 204 and the display screen 205 may each be implemented by a separate circuit, in which case the main board 203 may be omitted. In addition, the laser 201, the image sensor apparatus 100, and the main board 203 may be disposed on a dedicated housing or component, so that the beam 202 may be omitted.
For the convenience of measurement, the distance measuring device may be provided with a fixing bracket to which the distance measuring device is fixed by the cross member 202. In order to effectively capture the reflected laser beam, a filter may be disposed at the front end of the lens 102, and the filter may effectively filter out the interference light.
Fig. 3 is a schematic diagram of the present invention showing the angle of the reflected light and the distance between the reflection points. The target point 206 is set as a point C, the laser 201 is set as a point B, the base line passes through the central point O of the lens 102, the vertical intersection point of the base line and the CCD101 is set as a base point P, the laser beam forms a point A on the CCD101, the CCD101 is parallel to a line segment BO, and the angle of the CBO is 90 degrees. If the spot formed on the CCD101 by the laser beam is large, the center of the spot is taken as a point a.
Since the CCD101 is parallel to the line segment BO, the angle c is equal to the angle a, the angle c represents the included angle between the reflected laser beam and the CCD101, and the angle a represents the included angle of the reflected laser beam in the horizontal direction; the angle c is arctgOP/PA, OP represents the length of the line segment OP, and PA represents the length of the line segment PA; CB ═ BO × tg ═ a, BO represents the length of the line segment BO, and CB is the distance data of the laser 201 to the target point 206. The way of measuring the distance from the distance meter to the target point 206 is fixed in the numerical operation module 204, that is, after the length of the line segment PA is measured by the numerical operation module 204, the distance data from the distance meter to the target point 206 can be obtained by using the formula ═ bcctop/PA and ═ BO × tg ═ a.
Fig. 4 is a schematic diagram showing the operation of the image sensor 100 of the photocharge coupling device of the present invention tilted at an angle of 45 °. When the target point 206 is closer to the laser 201, the laser 201 also emits a laser beam in a direction perpendicular to the horizontal direction, and since the laser beam reflected by the target point 206 is inclined more, the laser beam may not hit the CCD101, so that the CCD101 cannot image effectively. To solve this problem, when fixing the image sensor 100, the image sensor 100 is tilted in advance by a certain angle, so that the CCD101 is no longer parallel to the line BO, but forms an included angle smaller than 90 °. In the preferred embodiment, the angle between the CCD101 and the line BO is 45 °.
Fig. 5 is a schematic diagram of the angle of the reflected light after the CCD is tilted according to the present invention. The triangular relationship is established according to the method in fig. 3, with the intersection point of the extension of the line segment OA and the horizontal line being Q. And setting the included angle between the reflected laser beam obtained at the moment and the inclined CCD101 as ^ c, and the inclined angle of the CCD101 as ^ d (namely the included angle between the CCD101 and a horizontal line), so that the included angle of the reflected laser beam in the horizontal direction is ^ c- ^ d.
The way of measuring the distance from the distance meter to the target point 206 is fixed in the numerical operation module 204, that is, after the length of the line segment PA is measured by the numerical operation module 204, the distance data from the distance meter to the target point 206 can be obtained by using the formulas of ═ c ═ arctgOP/PA and CB ═ BO × tg (× (α c — arc).
As shown in fig. 6, it is a schematic diagram of the operation of the distance measuring device of the present invention having a laser rotation shaft 601, a beam rotation shaft 602, and an image sensing device rotation shaft 603. In order to further facilitate the distance measurement and the capture of the reflected laser beam, a laser rotating shaft 601, a beam rotating shaft 602 and an image sensing device rotating shaft 603 are arranged on the beam 202; the laser 201 is fixed on the beam 202 through the laser rotating shaft 601, and the laser 201 can horizontally rotate through the laser rotating shaft 601 so as to be aligned with the target point 206; the image sensor 100 is fixed on the beam 202 by the image sensor rotating shaft 603, and the image sensor 100 can horizontally rotate by the image sensor rotating shaft 603, so as to capture the reflected laser beam; when the distance meter is fixed on the bracket, the distance meter rotates in the vertical direction through the beam rotating shaft 602. By operating the laser rotating shaft 601, the beam rotating shaft 602, and the image sensing device rotating shaft 603, the alignment of the target point 206 and the capturing of the reflected laser beam can be conveniently achieved.
As shown in fig. 7, it is a schematic diagram of the distance measuring device of the present invention, which is provided with a laser rotating shaft, a beam rotating shaft and an image sensing device rotating shaft, when the outgoing angle is not 90 °. The horizontal angle of the laser beam emission is 76.4 deg., and the horizontal angle of the laser beam reflected by the target point 206 is 71.8 deg..
Fig. 8 is a schematic diagram of the angle of the reflected light and the distance between the reflection points obtained when the exit angle is not 90 °. Setting a target point 206 as a point C, setting a laser 201 as a point B, passing a base line through a central point O of a lens 102, setting a vertical intersection point of the base line and the CCD101 as a set base point P, forming a point A on the CCD101 by a laser beam, and enabling the CCD101 to be parallel to a line segment BO; and (4) making a vertical line to the line segment BO through the point C, wherein the intersection point is D.
Since the CCD101 is parallel to the line segment BO, the angle c is equal to the angle a, the angle c represents the included angle between the reflected laser beam and the CCD101, and the angle a represents the included angle of the reflected laser beam in the horizontal direction; the angle c is arctgOP/PA, OP represents the length of the line segment OP, and PA represents the length of the line segment PA; the angle b is the firing angle of the laser 201, and the angle b is 90 minus the offset angle of the laser 201.
From the above relationship, it follows: BO is BD + DO, CD is tga × DO, CD is tgb × BD, BO represents the length of the line segment BO, CD is the distance from the range finder to the target point 206, BO represents the distance from the laser 201 to the center point O of the lens 102; the distance CD from the rangefinder to the target point 206 is obtained from the above relationship.
Similarly, the calculation method for measuring the distance from the distance meter to the target point 206 is fixed in the numerical operation module 204, that is, after the length of the line segment PA is measured by the numerical operation module 204, the distance data of the target point 206 can be obtained, and the distance data is sent to the display screen 205 for display.
As shown in fig. 9, a schematic diagram of the angle of the reflected ray and the distance of the reflection point of the example of fig. 8 is obtained in the present invention. Setting a target point 206 as a point C, a laser 201 as a point B, a center of a lens 102 as a point O, and BO as a horizontal line, wherein a vertical intersection point of a base line passing through the center point O of the lens 102 and the CCD101 is a set base point P, a laser beam forms a point A on the CCD101, and an intersection point of an extension line of a line segment OA and the horizontal line is Q; the included angle between the ejected laser beam and the line segment BO is < b, the included angle formed by the reflected laser beam and the CCD101 is < c, the horizontal included angle of the CCD101 is < d, and the included angle of the reflected laser beam in the horizontal direction is < c- < d.
After the length of the line segment PA is measured by the numerical operation module 204, the angle of the line segment PA can be obtained by using the formula of ═ c ═ arctgOP/PA, and the angle d is set when the CCD101 is inclined, so that the included angle in the horizontal direction of the reflected laser beam can be obtained as ═ c-; the angle b is the firing angle of the laser 201, and the angle b is 90 minus the offset angle of the laser 201.
From the above relationship, it follows: BO ═ BD + DO, CD ═ tg (° c-d) × DO, CD ═ tgb × BD, BO represents the length of line segment BO, CD is the distance between the rangefinder and target point 206, BO represents the distance between laser 201 and central point O of lens 102; the distance CD from the rangefinder to the target point 206 is obtained from the above relationship.
Similarly, the calculation method for measuring the distance from the distance meter to the target point 206 is fixed in the numerical operation module 204, that is, after the length of the line segment PA is measured by the numerical operation module 204, the distance data of the target point 206 can be obtained, and the distance data is sent to the display screen 205 for display.
Claims (10)
1. A range finder, includes laser instrument and image sensing device, image sensing device includes camera lens and image sensor, its characterized in that: the system also comprises a numerical value operation module and a display screen; wherein,
the image sensor is used for receiving the laser beam reflected by the target point and sending image information formed by the laser beam to the numerical operation module;
the numerical operation module is used for receiving the image information, measuring the distance between a light spot in the image information and a set base point, and obtaining the reflection angle of the reflected laser beam according to the distance and the distance between the lens and the image sensor; the numerical operation module obtains distance data from a local position to the target point according to the emission angle of the laser beam, the reflection angle and the distance between the lens and the laser, and sends the distance data to the display screen;
and the display screen is used for receiving and displaying the distance data.
2. The rangefinder of claim 1, wherein: and the center point O of the lens is perpendicular to the image sensor to form a perpendicular line, the intersection point of the perpendicular line and the image sensor is a set base point P, and the center point O, the set base point P and the light spot A form a right triangle POA.
3. The range finder as claimed in any of claims 1 or 2, wherein: the laser is used as a light source point, the target point is used as a light reflection point, the image sensing device is used as a light receiving point, and the light source point, the light reflection point and the light receiving point form a right triangle relation.
4. The rangefinder of claim 2, wherein: if a plane formed by the image sensor is parallel to a line segment BO, the value of the angle OAP is an included angle COB between the reflected laser and the line segment BO; and if the angle CBO is a right angle, obtaining the length value of the line segment CB according to the length of the line segment BO and the value of the angle OAP, wherein the length value of the line segment CB is the distance from the local to the target point.
5. The rangefinder of claim 4, wherein: if the plane formed by the image sensor and the line segment BO form a first rotation angle, the numerical value of the included angle between the reflected laser and the line segment BO is the difference value between the angle OAP and the first rotation angle.
6. The rangefinder of claim 4, wherein: if the light source point B forms a second angle of rotation, the value of angle CBO is equal to 90 degrees minus the second angle of rotation; and obtaining the distance from the local to the target point according to the values of the angle CBO, the angle COB and the line segment BO.
7. The rangefinder of claim 1, wherein: the numerical operation module and the display screen are arranged on a mainboard of the range finder, and the mainboard is used for providing a circuit for the numerical operation module and the display screen.
8. The rangefinder of claim 4, wherein: angle OAP is arctgOP/PA, OP represents the length of line segment OP, PA represents the length of line segment PA; CB ═ BO × tgOAP, BO represents the length of line segment BO.
9. The rangefinder of claim 1, wherein: the laser and the image sensing device are arranged on the cross beam of the bracket.
10. The rangefinder of claim 9, wherein: the beam is provided with a laser rotating shaft, a beam rotating shaft and an image sensing device rotating shaft; the laser is fixed on the cross beam through the laser rotating shaft, the image sensing device is fixed on the cross beam through the image sensing device rotating shaft, and the cross beam is fixed on the support through the cross beam rotating shaft.
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| CN201010111588A CN101788670A (en) | 2010-02-09 | 2010-02-09 | Distance measuring instrument |
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| CN102650691A (en) * | 2011-02-24 | 2012-08-29 | 原相科技股份有限公司 | Distance measuring system and method with correcting function |
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| CN103698768A (en) * | 2014-01-21 | 2014-04-02 | 杭州先临三维科技股份有限公司 | Distance measuring device and distance measurement method of point-source hologram |
| CN107153183A (en) * | 2017-07-18 | 2017-09-12 | 丹阳市瑞华光学元件有限公司 | A kind of vehicle-mounted laser rangefinder |
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| CN109683168A (en) * | 2018-12-28 | 2019-04-26 | 珠海凯浩电子有限公司 | A kind of geometric method laser imaging range unit and its measurement method |
| CN112129261A (en) * | 2020-09-10 | 2020-12-25 | 国网福建省电力有限公司 | Variable-angle range finder and using method thereof |
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| CN102650691A (en) * | 2011-02-24 | 2012-08-29 | 原相科技股份有限公司 | Distance measuring system and method with correcting function |
| CN102650691B (en) * | 2011-02-24 | 2014-01-22 | 原相科技股份有限公司 | Distance measuring system and method with correcting function |
| CN103063273A (en) * | 2012-12-18 | 2013-04-24 | 中冶长天国际工程有限责任公司 | Method, controller and system for detecting feed layer thickness of sintering trolley |
| CN103063273B (en) * | 2012-12-18 | 2015-07-29 | 中冶长天国际工程有限责任公司 | A kind of method, controller and system detecting pallet thickness of feed layer |
| CN103698768A (en) * | 2014-01-21 | 2014-04-02 | 杭州先临三维科技股份有限公司 | Distance measuring device and distance measurement method of point-source hologram |
| CN103698768B (en) * | 2014-01-21 | 2016-05-25 | 杭州先临三维科技股份有限公司 | Point-source hologram range unit and distance-finding method |
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| WO2018082184A1 (en) * | 2016-11-01 | 2018-05-11 | 广州视源电子科技股份有限公司 | Distance measurement method and device, camera, and mobile terminal |
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Application publication date: 20100728 |