CN101776758B - Distance meter for measuring distance between two target points - Google Patents
Distance meter for measuring distance between two target points Download PDFInfo
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- CN101776758B CN101776758B CN201010111601A CN201010111601A CN101776758B CN 101776758 B CN101776758 B CN 101776758B CN 201010111601 A CN201010111601 A CN 201010111601A CN 201010111601 A CN201010111601 A CN 201010111601A CN 101776758 B CN101776758 B CN 101776758B
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Abstract
The invention discloses a distance meter for measuring the distance between two target points, comprising a first laser, a second laser, an image sensor, a numeric operation module and a display screens, wherein the first laser emits a laser beam to a first target point and the second laser emits a laser beam to a second target point, thereby obtaining a first emission angle and a second emission angle; the image sensor is used for receiving reflected laser beams of the first target point and the second target point and sending the first image information and the second image information formed by the reflected laser beams to the numeric operation module; and the numeric operation module is used for obtaining distance data between the first target point and the second target point and sending the distance data to the display screen for displaying. The invention provides a brand new distance measuring mode which can conveniently and effectively measure the distance between each pair of points. When in use, the first laser fixedly points to the target points, and the second laser is manually adjusted to align with the target points, thus a user can use the distace meter by hands.
Description
Technical field
The present invention relates to a kind of ranging technology, specifically, relate to a kind of stadimeter of measuring distance between two impact points.
Background technology
Laser range finder is in light weight, volume is little, speed simple to operate is fast and accurately; Its error is merely 1/5th of other optical range finder and arrives hundreds of/one; Thereby be widely used in topographical surveying; The battlefield is measured, and tank, aircraft, naval vessels and cannon are measured the height of cloud layer, aircraft, guided missile and artificial satellite etc. to the range finding of target.Simultaneously, also be the important technology equipment that improves high tank, aircraft, naval vessels and gun precision.
Laser range finder is the instrument that utilizes laser that the distance of target is accurately measured.Existing laser range finder penetrates a branch of very thin laser to target when work, by photovalve receiving target laser light reflected bundle, timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from the observer.If it is t that light is propagated at A, B point-to-point transmission round trip required time in air with speed c; Then A, B distance between two points D can represent with D=ct/2; D representes A, B distance between two points in the formula, and c representes the speed that light is propagated in atmosphere, and t representes that light comes and goes the once required time of A, B.Can know by following formula, measure A, B,, can be divided into two kinds of measurement forms of pulsed and phase type usually according to the difference of Measuring Time method apart from being actually the time t that wants measuring light to propagate.Phase type is the frequency with radio wave band, laser beam is carried out amplitude modulation(PAM) and measure light modulated coming and going the phase delay that survey line is once produced, again according to modulation light wavelength, the distance of this phase delay representative that converts.
But, above-mentioned laser ranging technique for electron device require high, so, cause the manufacturing cost of laser range finder high, limited on a large scale and promoted the use of.
As shown in Figure 1, be the structural representation of Image sensor apparatus in the prior art.The structure of Image sensor apparatus 100 comprises: imageing sensor 101 and camera lens 102.Image sensor apparatus 100 can be selected DV or digital camera for use.Imageing sensor can form view data with the light that shines on it.Imageing sensor can adopt CCD imageing sensor (CCD, Charge Coupled Device) or complementary matal-oxide semiconductor (Complementary Metal-OxideSemiconductor).
Summary of the invention
The technical matters that the present invention solved provides a kind of stadimeter of measuring distance between two impact points, can measure the distance between any 2 easily and effectively.
Technical scheme is following:
A kind of stadimeter of measuring distance between two impact points comprises first laser instrument, Image sensor apparatus and display screen, and said Image sensor apparatus comprises camera lens and imageing sensor, also comprises: numerical operation module and support; Wherein,
First laser instrument is used for to first impact point and second impact point difference emission of lasering beam, and obtains to correspond respectively to first emission angle and second emission angle of said first impact point and second impact point;
Imageing sensor is used to receive the reflection lasering beam of said first impact point and second impact point, and first image information and second image information that said reflection lasering beam is formed send to said numerical operation module;
Support, the crossbeam of said support are provided with laser instrument rotating shaft, crossbeam rotating shaft and Image sensor apparatus rotating shaft; Said laser instrument is fixed on the said crossbeam through said laser instrument rotating shaft, and said Image sensor apparatus is fixed on the said crossbeam through said Image sensor apparatus rotating shaft, and said crossbeam is fixed on the said support through said crossbeam rotating shaft;
The numerical operation module; Be used to receive said first image information and second image information; Confirm first reflection angle according to said first image information, draw said camera lens to the distance between said first impact point according to the distance between said first reflection angle, first emission angle and said first laser instrument and the camera lens from the reflector laser of said first impact point; Confirm second reflection angle according to said second image information, draw said camera lens to the distance between said second impact point according to the distance between said second reflection angle, second emission angle and said first laser instrument and the camera lens from the reflector laser of said second impact point; Difference according to first reflection angle and second reflection angle draws the reflector laser angle; According to said reflector laser angle; And said camera lens obtains the range data between said first impact point and second impact point to distance between said first impact point and said camera lens to the distance between said second impact point, and said range data is sent to said display screen;
Display screen is used to receive said range data and demonstration.
Said two impact points and first laser instrument, imageing sensor are on same plane.
Further: also comprise second laser instrument, said second laser instrument is used for to the second impact point emission of lasering beam, and said first laser instrument is used for to the first impact point emission of lasering beam; Said numerical operation module draws said camera lens to the distance between said second impact point according to the distance between said second reflection angle, second emission angle and said second laser instrument and the camera lens; According to said reflector laser angle; And said camera lens obtains the range data between said first impact point and second impact point to distance between said first impact point and said camera lens to the distance between said second impact point, and said range data is sent to said display screen.
Further: the distance between said first laser instrument and second laser instrument and the camera lens is that first laser instrument and second laser instrument arrive the distance between the said optical center point.
Further: said first emission angle or second emission angle are the right angle.
Further: also comprise mainboard, said numerical operation module and display screen are arranged on the said mainboard, and said mainboard is used to said numerical operation module and display screen provides circuit.
Further: at said camera lens front end optical filter is set, said optical filter is used to filter out stray light.
Further: said imageing sensor adopts CCD imageing sensor or complementary matal-oxide semiconductor.
Further: be provided with the reflective light-passing board of auxiliary range finding at the front end one setpoint distance place of said first laser instrument.
The technique effect that technical scheme of the present invention is brought comprises:
1, the present invention is different fully with existing laser ranging technique; A kind of brand-new distance measuring method is provided, can have measured the distance between any 2 easily and effectively, because the range finding account form is simple; So can reduce requirement greatly, be convenient to large tracts of land and promote to electronic equipments.
2, in activities such as building operation, construction and installation, house measurement; Often need to measure distance between two points; The method that is adopted at present adopts tape measure or tape measure to measure basically; Usually need two people to carry out during measurement, because of site environment is complicated, measurement point is difficult for arriving even can not arriving, bring inconvenience sometimes to measurement.And the present invention is easy to use, is very suitable for using under the complex conditions.
3, the present invention " finding is promptly measured " only needs device is placed on measurement point, institute's emitted laser is pointed to two impact points of required measurement and can be seen measurement data; Only need a people just can measure the distance between 2 during use, need not arrive any point in 2.
Description of drawings
Fig. 1 is the structural representation of Image sensor apparatus in the prior art;
Fig. 2 utilizes a light source to measure the work synoptic diagram of the stadimeter of distance between two impact points among the present invention;
Fig. 3 utilizes two light sources to measure the work synoptic diagram of the stadimeter of distance between two impact points among the present invention;
Fig. 4 is the algorithm synoptic diagram that Fig. 2 example draws distance between two impact points among the present invention;
Fig. 5 is the algorithm synoptic diagram that Fig. 3 example draws distance between two impact points among the present invention;
Fig. 6 is the synoptic diagram that draws the reflection ray angle after CCD tilts among the present invention;
Fig. 7 is the work synoptic diagram that is provided with the stadimeter of laser instrument rotating shaft, crossbeam rotating shaft and Image sensor apparatus rotating shaft among the present invention;
Fig. 8 is an algorithm synoptic diagram of measuring emission angle among the present invention;
Embodiment
Stadimeter provided by the present invention adopts a kind of brand-new distance measuring method, can conveniently measure two distances between the impact point effectively.With the lasing light emitter is light source point, is the light reflection spot with first impact point, is optical receiver point with the Image sensor apparatus, makes up first triangle; With the lasing light emitter is light source point, is the light reflection spot with second impact point, is optical receiver point with the Image sensor apparatus, makes up second triangle; Light source point is launched laser to impact point; Obtain the reflection angle of two reflection lasering beams respectively through Image sensor apparatus; And then obtain the angle of two bundles between the reflector lasers; Under the known situation of the distance between optical receiver point and the light source point, just can utilize the triangle principle to obtain distance between two impact points, reach the purpose of range finding.
Below with reference to exemplary preferred embodiments and reference drawings, technical scheme of the present invention is elaborated.
As shown in Figure 2, be to utilize a light source to measure the work synoptic diagram of the stadimeter of distance between two impact points among the present invention.In this preferred embodiment, laser instrument 201 and Image sensor apparatus 100 are point-blank; When measure between distant object point 206 and the impact point 207 apart from the time, laser instrument 201 is respectively to impact point 206 and impact point 207 emission of lasering beam, Image sensor apparatus 100 is caught the laser beam that impact point 206 and impact point 207 reflect.
The structure of stadimeter comprises: laser instrument 201, crossbeam 202, Image sensor apparatus 100, mainboard 203, and be arranged on the numerical operation module 204 and display screen 205 on the mainboard 203.Wherein, laser instrument 201 is fixed on the crossbeam 202 with Image sensor apparatus 100, and laser instrument 201 is used for to impact point 206 and impact point 207 difference emission of lasering beam as light source; Impact point 206 and the laser beam of impact point 207 difference reflected illumination to self; Image sensor apparatus 100 is used for the laser beam that captured target point 206 and impact point 207 reflect, and the image information that twice laser beam forms is sent to numerical operation module 204; Numerical operation module 204 receives image information, and luminous point is to the distance of setting between the basic point on the mensuration image information.Be set with in the numerical operation module 204 camera lens 102 central points to the distance between the CCD101 and camera lens 102 to the distance between the laser instrument 201, numerical operation module 204 draws two groups of reflection lasering beams according to luminous point to the distance between the setting basic point and camera lens 102 central points to the distance between the CCD101 horizontal sextant angle.The emission angle of laser beam obtains according to the actual shifts of laser instrument.Angle between the two bundle reflector lasers is the poor of each bundle reflector laser horizontal sextant angle.So, can draw impact point 206 to the distance between the impact point 207 to the distance between the laser instrument 201 according to angle between the emission angle of laser beam, reflection angle, the reflection ray and camera lens 102.Numerical operation module 204 shows impact point 206 to sending to display screen 205 apart from the form with data between the impact point 207.Mainboard 203 is used to numerical operation module 204 and with display screen 205 Circuits System is provided.
Mainboard 203, numerical operation module 204 and display screen 205 can be arranged on the crossbeam 202; Wherein, Display screen 205 is arranged on the mainboard 203 with numerical operation module 204, and numerical operation module 204 can adopt independent circuit separately with display screen 205, and mainboard 203 can omit in this case.In addition, laser instrument 201, Image sensor apparatus 100 and mainboard 203 also can be arranged on dedicated enclosure or the parts, can omit the crossbeam 202 here like this.
Measure for ease, can dispose a support that plays fixation, stadimeter is fixed on this support through crossbeam 202 for stadimeter.In order effectively to catch the laser beam that reflects, can optical filter be set at camera lens 102 front ends, can effectively filter out stray light through optical filter.
As shown in Figure 3, be to utilize two light sources to measure the work synoptic diagram of the stadimeter of distance between two impact points among the present invention.This preferred embodiment is equivalent to Fig. 2 example has increased a laser instrument 208.Between measuring target point 206 and the impact point 207 apart from the time; Laser instrument 201 is to impact point 206 emission of lasering beam; With impact point 207 difference emission of lasering beam, laser instrument 208 is to impact point 207 emission of lasering beam, and impact point 206 arrives the laser beam of self with impact point 207 difference reflected illumination; The laser beam that Image sensor apparatus 100 captured target points 206 and impact point 207 reflect, and the image information that twice laser beam forms sent to numerical operation module 204.
Angle between the two bundle reflector lasers still is the poor of each bundle reflector laser horizontal sextant angle.So according to the angle between the emission angle of laser beam, reflection angle, the reflection ray, and camera lens 102 just can draw impact point 206 to the distance between the impact point 207 to distance between the laser instrument 201 and camera lens 102 to the distance between the laser instrument 208.
During use, laser instrument 201 fixed directional impact points 206, another laser instrument 208 manual adjustment aim at the mark a little 207, and the user is hand-held can be used.
As shown in Figure 4, be the algorithm synoptic diagram that Fig. 2 example draws distance between two impact points among the present invention.Target setting point 206 is some C1; Impact point 207 is some C2, and laser instrument 201 is some B, and baseline passes camera lens 102 central point O; The vertical intersection point of baseline and CCD101 is to set basic point P; The laser beam that the C1 point reflection is returned forms luminous point A1 at CCD101, and the laser beam that the C2 point reflection is returned forms luminous point A2 at CCD101, and CCD101 is parallel with line segment BO; To the emission angle R5 of C1 emitted laser bundle is 90 ° of angles, is R1 to the emission angle of C2 emitted laser bundle.
The emission angle of laser beam obtains according to the actual shifts of laser instrument 201, i.e. emission angle=90 °-deviation angle, and for example, when deviation angle was 0, emission angle was 90, when deviation angle was 45 °, emission angle was 45 °.
When laser is mapped on the CCD101, can on CCD101, form luminous point, if the luminous point that laser beam forms on CCD101 is bigger, the center of then getting this luminous point is as an A1 or A2.Like this, O, A1, P will constitute a right-angle triangle OA1P, and O, A2, P will constitute a right-angle triangle OA2P.C2, O and B, and C1, O and B will constitute two triangle C2OB and C 1OB, wherein C1OB is a right-angle triangle, R5 is the right angle.
Because CCD101 is parallel with line segment BO, so ∠ OA1P=R3, R3=arctgOP/A1P, OP represent the length of line segment OP, and A1P represents the length of line segment A1P; ∠ OA2P=R2, R2=arctgOP/A2P, OP represent the length of line segment OP, and A2P represents the length of line segment A2P.So, utilize CCD101 to obtain the horizontal sextant angle R3 of the laser beam that C1 reflects to the distance of O, luminous point A1 to the distance of setting basic point P; Utilize CCD101 to obtain the horizontal sextant angle R2 of the laser beam that C2 reflects to the distance of O, luminous point A2 to the distance of setting basic point P.R2-R3=R4, R4 are the angle between the two bundle reflector lasers.C1O=BO/cosR3, line segment BO represent the distance between the laser instrument 201 to camera lens 102 central point O, and line segment C1O represents C1 to the distance between the central point O; Known R1, R2 and line segment BO can draw the length of line segment C2O, and line segment C2O represents the distance of C2 to central point O; And then, under the situation of the length of the length of known line segment C2O, line segment C 1O and R4, just can obtain the length of line segment C 1C2, line segment C 1C2 represents the distance between impact point 206 and the impact point 207.
As shown in Figure 5, be to draw in Fig. 3 example the algorithm synoptic diagram of distance between two impact points among the present invention.Target setting point 206 is some C1, and impact point 207 is some C2, and laser instrument 201 is some B1; Laser instrument 208 is some B2; Baseline passes camera lens 102 central point O, and the vertical intersection point of baseline and CCD101 is to set basic point P, and the laser beam that the C1 point reflection is returned forms luminous point A1 at CCD101; The laser beam that the C2 point reflection is returned forms luminous point A2 at CCD101, and CCD101 is parallel with line segment BO; To the emission angle R5 of C1 emitted laser bundle is 90 ° of angles, is R1 to the emission angle of C2 emitted laser bundle.
Like this, O, A1, P will constitute a right-angle triangle OA1P, and O, A2, P will form right angle triangle OA2P.C2, O and B, and C1, O and B will constitute two triangle C2OB and C 1OB, wherein C1OB is a right-angle triangle, R5 is the right angle.
Can obtain the distance between impact point 206 and the impact point 207 equally according to above-mentioned principle.
As shown in Figure 6, be the synoptic diagram that draws the reflection ray angle after CCD tilts among the present invention.When impact point 206 distance lasers 201 are nearer; Laser instrument 201 is equally with perpendicular to the horizontal direction emission of lasering beam; Because it is bigger that the laser beam that impact point 206 or impact point 207 reflect tilts, laser beam might be beaten less than on the CCD101, makes CCD101 effectively not form images.In order to address this problem, during stabilized image sensing apparatus 100, make Image sensor apparatus 100 certain angle that tilts in advance, make CCD101 no longer parallel, but form one less than 90 ° angle with line segment BO.In this preferred embodiment, the angle between CCD101 and the line segment BO is a 45.Establish a three way relationship according to Fig. 4 and Fig. 5 exemplary method, the extended line of line segment OA1 and horizontal intersection point are Q.The angle of CCD101 after C1 reflection lasering beam that setting obtains at this moment and the inclination is ∠ c, and the pitch angle of CCD101 is ∠ d (being CCD101 and horizontal angle), and then the angle of C1 reflection lasering beam horizontal direction is ∠ c-∠ d=R3.As a same reason, can draw R2.
The algorithm that Fig. 4 to Fig. 6 describes is solidificated in the numerical operation module 204, like this, after numerical operation module 204 receives image information, just can draw the distance between 2 at once, and this range data is sent to display screen 205 shows.
As shown in Figure 7, be the work synoptic diagram that is provided with the stadimeter of laser instrument rotating shaft 703, laser instrument rotating shaft 704, crossbeam rotating shaft 702 and Image sensor apparatus rotating shaft 701 among the present invention.In order further to be convenient to the laser beam that measuring distance and seizure reflect, crossbeam 202 is provided with laser instrument rotating shaft 703, laser instrument rotating shaft 704, crossbeam rotating shaft 702 and Image sensor apparatus rotating shaft 701; Laser instrument 201 is fixed on the crossbeam 202 through laser instrument rotating shaft 703; Laser instrument 208 is fixed on the crossbeam 202 through laser instrument rotating shaft 704; Laser instrument 201, laser instrument 208 can be realized horizontally rotating through laser instrument rotating shaft 703, laser instrument rotating shaft 704 so that aim at the mark a little 206 with impact point 207; Image sensor apparatus 100 is fixed on the crossbeam 202 through this Image sensor apparatus rotating shaft 701, and Image sensor apparatus 100 can be realized horizontally rotating through Image sensor apparatus rotating shaft 701, so that catch the laser beam that reflects; When stadimeter was fixed on the support, stadimeter was realized the vertical direction rotation through crossbeam rotating shaft 602.Through operate lasers rotating shaft 703, laser instrument rotating shaft 704, crossbeam rotating shaft 702 and Image sensor apparatus rotating shaft 701, can easily realize aiming at the mark a little 206, impact point 207 and catch the laser beam that reflects.
As shown in Figure 8, be the algorithm synoptic diagram of measuring emission angle among the present invention.The present invention has provided other a kind of technical scheme that obtains emission angle; A reflective light-passing board 801 of auxiliary range finding is set at the front end one setpoint distance place of laser instrument 201 or laser instrument 208, and the reflective light-passing board 801 of auxiliary range finding is the eyeglasses of not only can printing opacity but also can be reflective.If the reflective spot of reflective light-passing board 801 reflection lasers 208 emission of lasering beam of auxiliary range finding is E, cross some E and do vertical line to line segment B1B2, meet at a D.After the reflective light-passing board 801 laser light reflected bundles of auxiliary range finding are captured by Image sensor apparatus 100, will draw reflection angle R6; The length that can obtain line segment OD according to length and the angle R6 of line segment ED, because line segment OB2 is known, so, can further obtain the length of line segment DB2, last, can draw emission angle R1 according to the length of line segment DB2 and the length of line segment ED.
Algorithm in this preference is solidificated in the numerical operation module 204.
Claims (8)
1. a stadimeter of measuring distance between two impact points comprises first laser instrument, Image sensor apparatus and display screen, and said Image sensor apparatus comprises camera lens and imageing sensor, it is characterized in that, also comprises: numerical operation module and support; Wherein,
First laser instrument is used for to first impact point and second impact point difference emission of lasering beam, and obtains to correspond respectively to first emission angle and second emission angle of said first impact point and second impact point;
Imageing sensor is used to receive the reflection lasering beam of said first impact point and second impact point, and first image information and second image information that said reflection lasering beam is formed send to said numerical operation module;
Support, the crossbeam of said support are provided with laser instrument rotating shaft, crossbeam rotating shaft and Image sensor apparatus rotating shaft; Said laser instrument is fixed on the said crossbeam through said laser instrument rotating shaft, and said Image sensor apparatus is fixed on the said crossbeam through said Image sensor apparatus rotating shaft, and said crossbeam is fixed on the said support through said crossbeam rotating shaft;
The numerical operation module; Be used to receive said first image information and second image information; Confirm first reflection angle according to said first image information, draw said camera lens to the distance between said first impact point according to the distance between said first reflection angle, first emission angle and said first laser instrument and the camera lens from the reflector laser of said first impact point; Confirm second reflection angle according to said second image information, draw said camera lens to the distance between said second impact point according to the distance between said second reflection angle, second emission angle and said first laser instrument and the camera lens from the reflector laser of said second impact point; Difference according to first reflection angle and second reflection angle draws the reflector laser angle; According to said reflector laser angle; And said camera lens obtains the range data between said first impact point and second impact point to distance between said first impact point and said camera lens to the distance between said second impact point, and said range data is sent to said display screen;
Display screen is used to receive said range data and demonstration;
Said two impact points and first laser instrument, imageing sensor are on same plane.
2. the stadimeter of distance between two impact points of mensuration as claimed in claim 1; It is characterized in that: also comprise second laser instrument; Said second laser instrument is used for to the second impact point emission of lasering beam, and said first laser instrument is used for to the first impact point emission of lasering beam; Said numerical operation module draws said camera lens to the distance between said second impact point according to the distance between said second reflection angle, second emission angle and said second laser instrument and the camera lens; According to said reflector laser angle; And said camera lens obtains the range data between said first impact point and second impact point to distance between said first impact point and said camera lens to the distance between said second impact point, and said range data is sent to said display screen.
3. the stadimeter of distance between two impact points of mensuration as claimed in claim 2 is characterized in that: the distance between said first laser instrument and second laser instrument and the camera lens is that first laser instrument and second laser instrument arrive the distance between the said optical center point.
4. the stadimeter of distance between according to claim 1 or claim 2 two impact points of mensuration, it is characterized in that: said first emission angle or second emission angle are the right angle.
5. like the stadimeter of distance between claim 1 or two impact points of 2 described mensuration; It is characterized in that: also comprise mainboard; Said numerical operation module and display screen are arranged on the said mainboard, and said mainboard is used to said numerical operation module and display screen provides circuit.
6. the stadimeter of distance between two impact points of mensuration as claimed in claim 1, it is characterized in that: at said camera lens front end optical filter is set, said optical filter is used to filter out stray light.
7. the stadimeter of distance between two impact points of mensuration as claimed in claim 1 is characterized in that: said imageing sensor adopts CCD imageing sensor or complementary matal-oxide semiconductor.
8. the stadimeter of distance between two impact points of mensuration as claimed in claim 1 is characterized in that: be provided with the reflective light-passing board of auxiliary range finding at the front end one setpoint distance place of said first laser instrument.
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| CN201010111601A CN101776758B (en) | 2010-02-09 | 2010-02-09 | Distance meter for measuring distance between two target points |
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| WO2013029246A1 (en) * | 2011-08-31 | 2013-03-07 | Chen Chi-Hung | Three-directional laser ranging device |
| CN205581299U (en) * | 2015-05-25 | 2016-09-14 | 北京雷动云合智能技术有限公司 | High accuracy camera chip multiple spot range unit that dual laser markd |
| CN107167109B (en) * | 2017-05-05 | 2023-02-24 | 西安工业大学 | Method and device for measuring plane space deflection angle by two-point laser |
| EP3467541B1 (en) * | 2017-10-05 | 2022-01-05 | Leica Geosystems AG | Sensor module |
| 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 |
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