CN112083436B - Method, device and equipment for correcting light-storage distance-measuring error and laser distance-measuring instrument - Google Patents
Method, device and equipment for correcting light-storage distance-measuring error and laser distance-measuring instrument Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The application relates to a method, a device, equipment and a laser range finder for correcting a light storage range error. The method for correcting the light-accumulating distance error comprises the steps of obtaining first time and second time of return of reflected laser pulses; determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time; determining a light storage error value according to the concentrated light intensity based on the error function; and correcting the nominal ranging value according to the light storage error value to obtain a target ranging value. The method for correcting the light-accumulating distance-measuring error can obtain the light-accumulating error value generated by accumulation of light energy, so that the nominal distance-measuring value can be corrected, and an accurate target distance-measuring value can be obtained.
Description
Technical Field
The present application relates to the field of laser technologies, and in particular, to a method, an apparatus, a device, and a laser range finder for correcting a light storage ranging error.
Background
The laser range finder generally adopts a time-of-flight method for ranging, and the specific process is as follows: the laser range finder emits laser pulse to the measured object, and simultaneously controls an internal timing device to start timing; when the laser pulse meets the object to be measured, the laser pulse is reflected back and received by a photoelectric sensor in the laser range finder; the photoelectric sensor generates an electric pulse signal to control the timing device to stop timing; the controller in the laser range finder can calculate the distance between the measured object and the laser range finder according to the time recorded by the timing device and the light speed.
However, the photoelectric sensor needs to collect enough reflected light to generate an electric pulse signal, and the accumulation process of the light energy needs a certain time, and the accumulation time can be counted into the flight time to be larger than the actual flight time, so that the finally calculated distance between the measured object and the laser range finder is larger than the actual value.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, apparatus, device, and laser range finder for correcting a range error (hereinafter referred to as a light-storage range error) generated by a light energy accumulation time.
In one aspect, an embodiment of the present application provides a method of correcting a light-storage ranging error, including:
acquiring the return time of the reflected laser pulse to obtain first time and second time;
Determining a concentrated light intensity of the reflected laser pulse according to the first time and the second time;
Determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value;
and correcting the nominal ranging value according to the light storage error value to obtain a target ranging value.
In one embodiment, the method of determining the error function comprises:
and determining the error function according to the collected light intensity data set and the light storage error data set, wherein the collected light intensity data set and the light storage error data set are all data sets obtained through experiments.
In one embodiment, the error function is:
Wherein Y is the light storage error value, X is the collected light intensity, A, B, C and D are coefficients of the error function.
In one embodiment, the determining the collected light intensity of the reflected laser pulse according to the first time and the second time includes:
And calculating a difference value between the second time and the first time, and determining the concentrated light intensity of the reflected laser pulse according to the difference value.
In one embodiment, the method for determining the nominal ranging value includes:
Acquiring the time of transmitting the laser pulse to obtain a third time;
and determining the nominal ranging value according to the first time, the third time and the light speed, wherein the light speed is used for representing the propagation speed of the emitting laser pulse and the reflecting laser pulse.
In one embodiment, correcting the nominal ranging value according to the ranging correction value to obtain the target ranging value includes:
And calculating the difference value between the nominal ranging value and the light storage error value to obtain the target ranging value.
In another aspect, one embodiment of the present application provides a laser rangefinder comprising:
The laser emission device is used for sending emission laser pulses to the measured object;
The laser receiving device is used for receiving reflected laser pulses returned by the measured object;
The laser receiving device is used for sending a first trigger signal and a second trigger signal to the timing device after receiving the reflected laser pulse, wherein the first trigger signal is used for controlling the timing device to record a first time, and the second trigger signal is used for controlling the timing device to record a second time;
And the control device is in signal connection with the laser emission device and the timing device and is used for controlling the laser emission device to send the emission laser pulse and controlling the timing device to start timing to obtain a third time value, and meanwhile, the control device is used for executing the method for correcting the light storage ranging error provided by the embodiment.
In still another aspect, an embodiment of the present application further provides an apparatus for correcting a light-storing distance error, including:
The acquisition module is used for acquiring the time of the return of the reflected laser pulse to obtain a first time and a second time;
The determining module is used for determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time;
The determining module is further used for determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value;
and the acquisition module is also used for correcting the nominal ranging value according to the light storage error value to obtain a target ranging value.
An embodiment of the application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the method as provided in the above embodiment when the computer program is executed by the processor.
An embodiment of the application also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method as provided by the above embodiments.
The embodiment of the application provides a method, device equipment and a laser range finder for correcting a light storage range error. The method for correcting the light storage ranging error comprises the steps of obtaining first time and second time of return of reflected laser pulse; determining a concentrated light intensity of the reflected laser pulse according to the first time and the second time; determining a light storage error value according to the collected light intensity based on an error function; and correcting the nominal ranging value according to the light storage error value to obtain a target ranging value. The method for correcting the light accumulation distance error provided by the application determines the concentrated light intensity through the first time and the second time. And if the collected light intensity is related to the time of light energy accumulation, based on an error function, a light accumulation error value generated by light energy accumulation can be obtained according to the collected light intensity, so that the nominal ranging value can be corrected, and the accurate target ranging value can be obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for different persons skilled in the art.
Fig. 1 is a schematic structural diagram of a laser range finder according to an embodiment of the present application;
FIG. 2 is a schematic diagram showing the relationship between the electrical signal generated by the laser receiving device and time according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for correcting a range error according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating a method for correcting a range error according to an embodiment of the present application;
FIG. 5 is a flowchart illustrating a method for correcting a range error according to an embodiment of the present application;
FIG. 6 is a schematic diagram of an apparatus for correcting a ranging error according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Reference numerals illustrate:
10. A laser range finder; 11. a laser emitting device; 12. a laser receiving device; 13. a timing device; 14. a control device; 20. an object to be measured; 30. and means for correcting the range error of the stored light.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present application provides a laser rangefinder 10 that can be used to measure a distance between the laser rangefinder 10 and an object 20 under test. The laser distance meter 10 comprises a laser emitting device 11, a laser receiving device 12, a timing device 13 and a control device 14.
The laser emitting device 11 is used for sending emitted laser pulses to the object 20 to be measured. The laser emitting device 11 may be various lasers or may be a laser emitting tube. The present embodiment does not impose any limitation on the kind and structure of the laser emitting device 11 and the like as long as the functions thereof can be realized. The laser light receiving device 12 is used for receiving reflected laser light pulses reflected by the object 20 to be measured. The laser receiving device 12 may be a photo sensor. The present embodiment does not impose any limitation on the kind and structure of the laser light receiving device 12 and the like.
The timer 13 is in signal connection with the laser receiver 12. After the laser receiving device 12 receives the reflected laser pulse, it sends a first trigger signal and a second trigger signal to the timing device 13, where the first trigger signal is used to control the timing device 13 to record the first time, and the second trigger signal is used to control the timing device 13 to record the second time. When the laser receiving device 12 receives the reflected laser pulse, the output signal voltage goes through several stages of starting to climb from 0, climbing to the trigger threshold V D of the timer 13, continuing to climb to the highest point of the voltage, descending from the highest point to the trigger threshold V D of the timer 13, and continuing to descend until 0. The output signal voltage climbs to a trigger threshold V D of the timing device 13 to be a first trigger signal; the output signal voltage drops from the highest point to the trigger threshold V D of the timer 13 as the second trigger signal. The present embodiment is not limited in kind and structure of the timer device 13, as long as the functions thereof can be realized.
The control device 14 is in signal connection with the laser emitting device 11 and the timing device 13. The control device 14 is configured to control the laser emitting device 11 to emit the laser pulse, and at the same time, control the timing device 13 to start timing, so as to obtain the third time. The control device 14 is also configured to perform a method of correcting a light-storage distance error as provided in the following embodiment. The control device 14 may be a computer device, a microprocessor chip or other device, which may be, but is not limited to, an industrial computer, a notebook computer, a smart phone, a tablet computer, a portable wearable device, etc.
Referring to fig. 2, in one embodiment, the laser receiving device 12 is a photo sensor that can convert an optical signal into an electrical signal. It is assumed that the time of flight of the emitted laser pulse and the reflected laser pulse returned from the object under test at the time just reaching the photo sensor is t 0, where t 0 is the time of flight in the ideal state, i.e., the time of flight obtained when the light-accumulating distance-measuring error is not present. FIG. 2 shows the relationship between the response curve and response time of a photo-sensor after three representative reflected laser pulses of low intensity, medium intensity and high intensity reach the photo-sensor, wherein curve A represents the reflected laser pulse of low intensity, curve B represents the reflected laser pulse of medium intensity, and curve C represents the reflected laser pulse of high intensity; v D represents the voltage value at which the output voltage of the photo-sensor can trigger the timing of the timing device 13. Since the voltage V D can be output only when the photo-sensor receives enough light signals, a certain time is required until the reflected laser pulse reaches the photo-sensor until the photo-sensor outputs the voltage V D in the normal operation state. In fig. 2, t 1 represents the time when the output voltage value of the photo-sensor rises to V D after the low-intensity reflected laser pulse reaches the photo-sensor, that is, the light energy accumulation time of the low-intensity reflected laser pulse is t 1-t0, and the time error generated by using the low-intensity reflected laser pulse is t 1-t0;t2, which represents the time when the output voltage value of the photo-sensor rises to V D after the medium-intensity reflected laser pulse reaches the photo-sensor, that is, the light energy accumulation time of the medium-intensity reflected laser pulse is t 2-t0, the time error generated by the reflected laser pulse with medium intensity is t 2-t0;t3, which means the time when the output voltage value of the photoelectric sensor rises to V D after the reflected laser pulse with high intensity reaches the photoelectric sensor, that is, the light energy accumulation time of the reflected laser pulse with high intensity is t 3-t0, and the time error generated by the reflected laser pulse with high intensity is t 3-t0. As can be seen from fig. 2, the magnitude of the time error is related to the time of accumulation of the light energy of the laser pulse, which is related to the collected light intensity of the laser pulse. The magnitude of the time error may cause an error in the nominal ranging value.
Referring to fig. 3, an embodiment of the present application provides a method for correcting a light-storing distance error, and the embodiment uses a control device as an execution subject to describe the method for correcting the light-storing distance error. The method comprises the following steps:
S100, acquiring the time of the return of the reflected laser pulse, and obtaining a first time and a second time.
The reflected laser pulse refers to the laser pulse returned by the measured object, in other words, the reflected laser pulse refers to the laser pulse received by the photoelectric sensor in the laser range finder. The timing device is triggered to start timing, and the timing device can count time as long as the output voltage of the photoelectric sensor is larger than or equal to the threshold voltage. After receiving the reflected laser pulse, the photoelectric sensor outputs voltage reaching threshold voltage value capable of triggering the timing device along with accumulation of light energy, and the timing device starts timing; when the light energy is accumulated to the highest value, the output voltage of the photoelectric sensor is reduced, and when the output voltage of the photoelectric sensor is smaller than the threshold voltage value, the timing device stops timing. The first time is the time recorded by the timing device when the output voltage of the photoelectric sensor rises to trigger the timing device. The second time is the time recorded by the timing device when the output voltage of the photoelectric sensor drops to the point that the timing device cannot be triggered. The control means may acquire the first time and the second time recorded by the timing means.
S200, determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time;
the time at which the reflected laser pulse is accumulated on the photo-sensor can be used to characterize the concentrated intensity of the reflected laser pulse. The energy of the reflected laser pulse is accumulated on the photoelectric sensor, the first time recorded by the timing device is recorded when the output voltage of the photoelectric sensor reaches a threshold voltage value capable of triggering the timing device, and the second time recorded by the timing device is recorded when the output voltage of the photoelectric sensor drops to the threshold voltage value incapable of triggering the timing device. From the first time and the second time, the concentration of the target concentration pulse can be determined.
S300, determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value.
S400, correcting the nominal ranging value according to the light storage error value to obtain a target ranging value.
Because the error function can be used for representing the relation between the collected light intensity and the light accumulation error value, the control device can calculate the ranging error value generated by light energy accumulation according to the collected light intensity of the reflected laser pulse based on the error function. The control device can obtain an accurate target ranging value through calculation according to the light storage error value and the nominal ranging value obtained by using the laser range finder. The method for obtaining the error function and the specific method for correcting the nominal ranging value according to the light storage error value are not limited in this embodiment, as long as the function thereof can be realized.
The method for correcting the light-accumulating distance error provided by the embodiment can determine the concentrated light intensity through the acquired first time and second time. Because the collected light intensity is related to the time of light energy accumulation, the light accumulation error value generated by the light energy accumulation can be obtained according to the collected light intensity based on an error function, so that the nominal ranging value can be corrected, and an accurate target ranging value can be obtained. In addition, the method for correcting the light storage ranging error is convenient and simple to realize and has strong practicability.
Referring to fig. 4, in one embodiment, step S200 determines the collected light intensity of the reflected laser pulse according to the first time and the second time, including:
s210, calculating a difference value between the second time and the first time, and determining the concentrated light intensity of the reflected laser pulse according to the difference value.
According to the description in the above embodiments, the concentrated light intensity of the reflected laser pulse is related to the magnitude of the time error. As shown in fig. 2, t 1 may represent a first time of the low-intensity reflected laser pulse and t 1 ' may represent a second time of the low-intensity reflected laser pulse. The first time is the time when the light energy of the reflected laser pulse is accumulated in the photoelectric sensor and can trigger the timing device to work, and the second time is the time when the light energy of the reflected laser pulse is attenuated to the condition that the timing device cannot be triggered to work. The concentrated intensity of the reflected laser pulses can be characterized by the difference between the second time and the first time.
With continued reference to fig. 4, in one embodiment, a method of determining the error function includes:
S310, determining an error function according to the collected light intensity data set and the light storage error data set, wherein the collected light intensity data set and the light storage error data set are all data sets obtained through experiments.
In a specific embodiment, the specific process of obtaining the collected light intensity data set and the light storage error data set according to the experiment is as follows: the adopted laser emission device is a laser emission tube, the average emission power of the laser emission tube is 25W, the single pulse time width of the laser is 5ns, and the wavelength of the laser is 905nm; the laser receiving device is a silicon-based avalanche photodiode; the object to be measured is a reflecting target plate, the distance between the fixed reflecting target plate and the laser emitting device is L0, and the angle between the emitted laser pulse emitted by the laser emitting device and the reflecting target plate is 90 degrees. Under the experimental condition, the light collecting intensity of the reflected laser is only related to the light reflecting rate of the target plate, and the light reflecting papers with different reflecting rates are stuck on the light reflecting target plate, or two kinds of light reflecting papers with different reflecting rates are stuck in parallel in a facula area on the light reflecting target plate, and the comprehensive light collecting intensity can be changed by changing the area ratio of the two kinds of light reflecting papers, so that more than dozens of comprehensive light collecting intensity can be obtained by only using the two pieces of light reflecting papers with different reflecting rates. For example: for the distance between the fixed reflecting target plate and the laser emitting device to be L0, under the first concentrated light intensity, the obtained nominal ranging value is L1, and the light storage error value is L1-L0; under the second concentrated light intensity, the obtained nominal ranging value is L2, and the light storage error value is L2-L0; and under the third concentrated light intensity, the obtained nominal ranging value is L3, and the light storage error value is L3-L0. Similarly, through multiple experiments, a collected light intensity data set and a light storage error data set corresponding to the collected light intensity data set one by one can be obtained, and the relationship between the collected light intensity and the light storage error value can be obtained through fitting the collected light intensity data set and the light storage error data set, namely, an error function can be obtained. The specific method for obtaining the collected light intensity data set and the light storage error data set in this embodiment is not limited, as long as the functions thereof can be realized.
In one embodiment, the expression for the error function is: Wherein Y is a light storage error value, X is a collected light intensity, A, B, C and D are coefficients of an error function. Under the experimental conditions in the above specific examples, the coefficients a=112.174, b=1.39, c=13.633, d= 23.412 of the error function were obtained. The coefficient of the error function is related to the conditions of the emission power of the laser emission device, the pulse width and wavelength of the laser pulse, the aperture of the receiver, the sensitivity of the photoelectric sensor, and the like in the experiment, and the coefficient of the error function is not limited in this embodiment. The error function provided by the embodiment can calculate the light storage error value, so that the nominal ranging value is corrected by using the light storage error value, and a more accurate target ranging value can be obtained.
Referring to fig. 5, in one embodiment, the method for determining the nominal ranging value includes:
S410, acquiring the time of transmitting the laser pulse, and obtaining a third time.
The laser pulse emission refers to the laser pulse emitted by the laser emitting device to the object to be measured. The control device controls the timing device to start timing while controlling the laser emitting device to emit laser pulses, and the time recorded by the timing device is the third time. The control means may acquire the third time recorded by the timing means.
And S420, determining a nominal ranging value according to the first time, the third time and the light speed, wherein the light speed is used for representing the propagation speed of the emitted laser pulse and the reflected laser pulse.
The propagation speeds of the emitted laser pulse and the reflected laser pulse in the air are the same, and are both denoted as the light speed. The difference between the first time and the third time is noted as the time of flight of the emitted laser pulse and the return of the reflected laser pulse. The control device multiplies the flight time by the speed of light and divides the multiplied speed of light by 2 to obtain a nominal ranging value, namely the distance between the laser range finder and the measured object. In this embodiment, the method for calculating the nominal ranging value is simple and intuitive and easy to understand.
With continued reference to fig. 5, in one embodiment, step S400 corrects the nominal ranging value according to the light storage error value to obtain a target ranging value, including:
S430, calculating a difference value between the nominal ranging value and the light storage error value to obtain a target ranging value.
Because the laser receiving device can not immediately send the trigger signal when receiving the reflected laser pulse, the trigger signal can be sent to the timing device after waiting for a period of time to accumulate enough reflected laser pulse energy, so that the timing device starts timing, the flight time measured by the laser range finder is longer than the actual flight time of transmitting the laser pulse and returning the reflected laser pulse, and the nominal ranging value calculated according to the flight time measured by the laser range finder is longer than the target ranging value. The control device subtracts the calculated nominal ranging value from the light storage error value to obtain an accurate target ranging value. In this embodiment, the method for calculating a more accurate target ranging value is convenient and simple.
It should be understood that, although the steps in the flowcharts in the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or other steps.
Referring to fig. 6, an apparatus 30 for correcting a light-storing distance error according to an embodiment of the present application includes an acquisition module 100 and a determination module 200. Wherein,
The acquisition module 100 is configured to acquire a time for returning the reflected laser pulse, so as to obtain a first time and a second time;
The determining module 200 is configured to determine a collected light intensity of the reflected laser pulse according to the first time and the second time;
The determining module 200 is further configured to determine a light storage error value according to the collected light intensity based on an error function, where the error function is used to characterize a relationship between the collected light intensity and the light storage error value;
The obtaining module 100 is further configured to correct the nominal ranging value according to the light storage error value to obtain a target ranging value.
In one embodiment, the determining module 200 is further configured to determine an error function according to a collected light intensity data set and a light storage error data set, where the collected light intensity data set and the light storage error data set are both experimentally obtained data sets.
In one embodiment, the determining module 200 is further configured to calculate a difference between the second time and the second time, and determine the laser intensity of the reflected laser pulse based on the difference.
In one embodiment, the determining module 200 is further configured to obtain a time when the emitted laser pulse is sent, and obtain a third time; a nominal ranging value is determined based on the first time, the third time, and the speed of light, wherein the speed of light is used to characterize the speeds at which the transmitted laser pulses and the reflected laser pulses propagate.
In one embodiment, the obtaining module 100 is further configured to calculate a difference between the nominal ranging value and the light storage error value to obtain the target ranging value.
For a specific limitation of the device 30 for correcting a light-storing distance error, reference may be made to the above limitation of the method for correcting a light-storing distance error, and the description thereof will not be repeated here. The individual modules of the means 30 for correcting the optical storage distance error may be implemented in whole or in part by software, hardware, and combinations thereof. The above devices, modules or units may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above devices or modules.
Referring to fig. 7, in one embodiment, a computer device is provided, which may be a server, and an internal structure thereof may be as shown in fig. 7. The computer device includes a processor, memory, network interface, and database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media, internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store the error function, the first time, the second time, etc. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer device, when executed by the processor, implements a method of correcting a light accumulating distance error.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor, the processor when executing the computer program performing the steps of:
acquiring the return time of the reflected laser pulse to obtain first time and second time;
Determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time;
determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value;
and correcting the nominal ranging value according to the light storage error value to obtain a target ranging value.
In one embodiment, the processor when executing the computer program further performs the steps of: and determining an error function according to the collected light intensity data set and the light storage error data set, wherein the collected light intensity data set and the light storage error data set are all data sets obtained through experiments.
In one embodiment, the processor when executing the computer program further performs the steps of: and calculating a difference between the second time and the first time, and determining the concentrated light intensity of the reflected laser pulse according to the difference.
In one embodiment, the processor when executing the computer program further performs the steps of: acquiring the time of transmitting the laser pulse to obtain a third time; a nominal ranging value is determined based on the first time, the third time, and the speed of light, wherein the speed of light is used to characterize the speeds at which the transmitted laser pulses and the reflected laser pulses propagate.
In one embodiment, the processor when executing the computer program further performs the steps of: and calculating the difference value between the nominal ranging value and the light storage error value to obtain a target ranging value.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the return time of the reflected laser pulse to obtain first time and second time;
Determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time;
determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value;
and correcting the nominal ranging value according to the light storage error value to obtain a target ranging value.
In one embodiment, the computer program when executed by the processor further performs the steps of: and determining an error function according to the collected light intensity data set and the light storage error data set, wherein the collected light intensity data set and the light storage error data set are all data sets obtained through experiments.
In one embodiment, the computer program when executed by the processor further performs the steps of: and calculating a difference between the second time and the first time, and determining the concentrated light intensity of the reflected laser pulse according to the difference.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the time of transmitting the laser pulse to obtain a third time; a nominal ranging value is determined based on the first time, the third time, and the speed of light, wherein the speed of light is used to characterize the speeds at which the transmitted laser pulses and the reflected laser pulses propagate.
In one embodiment, the computer program when executed by the processor further performs the steps of: and calculating the difference value between the nominal ranging value and the light storage error value to obtain a target ranging value.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A method of correcting a light accumulating distance error, comprising:
acquiring the return time of the reflected laser pulse to obtain first time and second time; the first time is the time when the output voltage of the photoelectric sensor rises to the time capable of triggering the timing device, and the second time is the time when the output voltage of the photoelectric sensor falls to the time incapable of triggering the timing device;
Determining a concentrated light intensity of the reflected laser pulse according to the first time and the second time;
Determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value; the light accumulation error value refers to a value generated by accumulation of light energy between the first time and the time when the reflected laser pulse reaches the photoelectric sensor;
correcting the nominal ranging value according to the light storage error value to obtain a target ranging value;
the determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time comprises the following steps:
And calculating a difference value between the second time and the first time, and determining the concentrated light intensity of the reflected laser pulse according to the difference value.
2. The method of claim 1, wherein the method of determining the error function comprises:
and determining the error function according to the collected light intensity data set and the light storage error data set, wherein the collected light intensity data set and the light storage error data set are all data sets obtained through experiments.
3. The method of claim 1, wherein the error function is:
Y= (a-D)/[ 1+ (X/C) B ] +d, where Y is the light storage error value, X is the collected light intensity, A, B, C and D are coefficients of the error function.
4. The method of claim 1, wherein the reflected laser pulse is a laser pulse returned from the object under test.
5. The method of claim 1, wherein the determining of the nominal ranging value comprises:
Acquiring the time of transmitting the laser pulse to obtain a third time;
and determining the nominal ranging value according to the first time, the third time and the light speed, wherein the light speed is used for representing the propagation speed of the emitting laser pulse and the reflecting laser pulse.
6. The method of claim 1, wherein correcting the nominal ranging value based on the light storage error value to obtain the target ranging value comprises:
And calculating the difference value between the nominal ranging value and the light storage error value to obtain the target ranging value.
7. A laser rangefinder, characterized by comprising:
The laser emission device is used for sending emission laser pulses to the measured object;
The laser receiving device is used for receiving reflected laser pulses returned by the measured object;
The laser receiving device is used for sending a first trigger signal and a second trigger signal to the timing device after receiving the reflected laser pulse, wherein the first trigger signal is used for controlling the timing device to record a first time, and the second trigger signal is used for controlling the timing device to record a second time;
And the control device is in signal connection with the laser emitting device and the timing device and is used for controlling the laser emitting device to send the emitted laser pulse and controlling the timing device to start timing so as to obtain a third time value, and meanwhile, the control device is used for executing the method for correcting the light storage ranging error according to any one of claims 1 to 6.
8. An apparatus for correcting a light-accumulating distance error, comprising:
the acquisition module is used for acquiring the time of the return of the reflected laser pulse to obtain a first time and a second time; the first time is the time when the output voltage of the photoelectric sensor rises to the time capable of triggering the timing device, and the second time is the time when the output voltage of the photoelectric sensor falls to the time incapable of triggering the timing device;
The determining module is used for determining the concentrated light intensity of the reflected laser pulse according to the first time and the second time;
The determining module is further used for determining a light storage error value according to the collected light intensity based on an error function, wherein the error function is used for representing the relation between the collected light intensity and the light storage error value; the light accumulation error value refers to a value generated by accumulation of light energy between the first time and the time when the reflected laser pulse reaches the photoelectric sensor;
The acquisition module is also used for correcting the nominal ranging value according to the light storage error value to obtain a target ranging value;
the determining module comprises a determining unit, and is specifically configured to calculate a difference between the second time and the first time, and determine the collected light intensity of the reflected laser pulse according to the difference.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
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