Invention content
The application's aims to overcome that the above problem or at least partly solution or the alleviation above problem.
According to the one side of the application, a kind of distance measuring method is provided, is included the following steps：S2：First laser emitsDevice emits first laser to the first object to be measured；S4：Imaging system receives first object to be measured and reflects the first laserThe first the reflected beams obtained, and obtain the first object to be measured that first the reflected beams are formed in the imaging systemImage, and the axial direction of the imaging system is parallel with the direction of the first laser；S6：According to formulaCalculate instituteFirst laser transmitter is stated to the first distance of first object to be measured；Wherein, D1For the first laser transmitter to instituteState the distance of the first object to be measured, A1The distance of axis for the first laser transmitter to the imaging system, f1It is describedThe equivalent focal length of imaging system, P1For the distance of the axis of the first object to be measured image to the imaging system.
Optionally, include before the step S2：Step S1：According to formulaCalculate the imaging systemEquivalent focal length, wherein f1For the equivalent focal length of the imaging system, P0It is for target image to the imaging of known targetThe distance of the axis of system, D0For the first laser transmitter to the distance of the known target, A0Emit for the first laserDevice to the axis of the imaging system distance.
Optionally, the step S4 includes：S41：The first object to be measured image is converted into HSV moulds from RGB patternsFormula；S42：Remove the color other than the color of the first laser in the first object to be measured image；S43：Pass through heightThis filtering algorithm and speck detection algorithm detect the first tested point in the first object to be measured image；Wherein, P1It is describedThe distance of axis of first tested point to the imaging system in first object to be measured image.
Optionally, the distance measuring method further includes：S8：Second laser transmitter emits second laser to the second mesh to be measuredMark；S10：Imaging system receives second object to be measured and reflects the second the reflected beams that the second laser is obtained, and obtainsObtain the second object to be measured image that second the reflected beams are formed in the imaging system, and the axial direction of the imaging systemIt is parallel with the direction of the second laser；S12：According to formulaThe second laser transmitter is calculated to describedThe distance of two object to be measured；Wherein, D2For the second laser transmitter to the distance of second object to be measured, A2It is describedSecond laser transmitter is to the distance of the axis of the imaging system, P2For the second object to be measured image to it is described atAs the distance of the axis of system.
Optionally, the step S10 includes：S101：The second object to be measured image is converted into HSV from RGB patternsPattern；S102：Remove the color other than the color of the second laser in the second object to be measured image；S103：It is logicalIt crosses Gaussian filter algorithm and speck detection algorithm detects the second tested point in the second object to be measured image；Wherein, P2ForThe distance of axis of second tested point to the imaging system.
Optionally, the distance measuring method further includes：S14：Pass through formulaIt is to be measured to calculate described firstLine between target and second object to be measured and the acute angle between the axis of the imaging system, wherein β is instituteState the acute angle between the axis of the line and the imaging system between the first object to be measured and second object to be measured.
Optionally, the distance measuring method further includes S0：It shows the first object to be measured image, and controls described first and swashThe position of optical transmitting set and the imaging system in water.
According to the another aspect of the application, a kind of range-measurement system is provided, including：First laser transmitter, for emittingFirst laser；Imaging system reflects the first the reflected beams that the first laser is obtained for receiving the first object to be measured, andObtain the first object to be measured image that first the reflected beams are formed in the imaging system, and the axis of the imaging systemTo parallel with the direction of the first laser；Computing device, for according to formulaCalculate the first laser hairEmitter to first object to be measured the first distance；Wherein, D1For the first laser transmitter to the described first mesh to be measuredTarget distance, A1The distance of axis for the first laser transmitter to the imaging system, f1For the imaging system etc.Imitate focal length, P1For the distance of the axis of the first object to be measured image to the imaging system.
Optionally, the range-measurement system further includes：Second laser transmitter, for emitting first laser.
Optionally, the range-measurement system further includes：Display device, for showing the first object to be measured image；And controlDevice processed, for controlling the position of the first laser transmitter and the imaging system in water.
The distance measuring method and range-measurement system of the application (only need to analyze an image due to need to only analyze object to be measured imageData), it is therefore desirable to it calculates and the data volume of processing analysis is seldom, it is smaller to occupy analysis resource.Into without large-scale pointDesorption device, it is small and at low cost.
Further, the distance measuring method of the application and range-measurement system can be controlled by control device laser beam emitting device andThe underwater position of imaging system.Therefore range-measurement system can be facilitated freely to move under water, facilitates the operation of ranging.
According to the accompanying drawings to the detailed description of the specific embodiment of the application, those skilled in the art will be moreAbove-mentioned and other purposes, the advantages and features of the application are illustrated.
Specific implementation mode
Fig. 1 and Fig. 4 is please referred to, in one embodiment of the application, distance measuring method includes the following steps：S2：First laser is sent outEmitter emits first laser to the first object to be measured；S4：It is to be measured that imaging system (shown by box as dashed lines) receives firstThe first the reflected beams that target reflection first laser is obtained, and obtain the first the reflected beams are formed in imaging systems firstObject to be measured image, and the axial direction of imaging system is parallel with the direction of first laser；S6：According to formulaCalculate theFirst distance of one laser emitter to the first object to be measured；Wherein, D1For first laser transmitter to the first object to be measuredDistance, A1For the distance of the axis of first laser transmitter to imaging system, f1For the equivalent focal length of imaging system, P1It is firstObject to be measured image to the axis of imaging system distance.Imaging system in the present embodiment is camera.When imaging system isWhen camera, magazine camera lens receives the first the reflected beams that the first object to be measured reflection first laser is obtained, the reflected beamsBy being located on the bottom edge or bottom plate of camera after camera lens.But it is not limited thereto, those skilled in the art can be according to realityBorder situation uses other imaging systems.In use, so that the axis direction of camera and the laser emitter direction of laser emitterParallel, reflection of the laser Jing Guo object to be measured is mapped to by camera lens on camera negative, and shows the laser by anti-on egative filmThe image (i.e. a red point) penetrated.Finally, computing device need to only analyze the image, due to P1It can be obtained by measuring, A1It can be withIt is obtained by measuring.Therefore knowing camera focus parameter f1In the case of, according to above-mentioned formula, you can show that Laser emission fillsSet the distance between object to be measured.
In order to which the reflected image of laser is clearly apparent, need egative film being placed at the focal length of camera lens.I.e. camera lens withThe distance between egative film f1To be equal to the focal length of camera lens.And the focal length parameter of camera can not directly obtain sometimes.ThereforeFurther include the steps that calculating lens focus before starting measurement distance in one embodiment of the application.Such as step S1：RootAccording to formulaCalculate camera focus.Wherein P0The target image and camera axis that are known target on egative film itBetween distance, D0For the distance between first laser transmitter to known target, A0For first laser transmitter to camera axis itBetween distance.Laser is mapped in target known to the distance between laser emitter, is then swashed by above-mentioned stepsImaging of the light on egative film.Due to being imaged the distance P between projection of the camera lens on egative film0It can be obtained, be swashed by measuringThe distance between optical transmitting set and target D0It is known that laser hair sets the distance between device and camera axis A0Measurement can be passed throughIt obtains.Therefore it can have calculated that the focal length of camera lens is f1How much.
Fig. 2 is please referred to, in practical applications, the laser image obtained sometimes is unintelligible.Therefore it needs at imageReason.Therefore, in one embodiment of the application, step S4 includes：S41：First object to be measured image is converted into from RGB patternsHSV patterns；S42：By the first object to be measured image filtering, with the color in addition to the color for eliminating first laser；S43：It is logicalCross the first tested point in Gaussian filter algorithm and speck detection algorithm the first object to be measured image of detection；Wherein, P1It is firstThe distance between first tested point and camera axis in object to be measured image.Wherein, RGB patterns (three primary colors pattern) color mouldFormula is a kind of color standard of industrial quarters, be by red (R), green (G), blue (B) three Color Channels variation and theyMutual is superimposed to obtain miscellaneous color, and RGB is the color for representing three channels of red, green, blue, this markStandard includes almost all colours that human eyesight can perceive, and is to use most wide one of color system at present.HSV(Hue,Saturation, Value) it is a kind of color space created in 1978 by A.R.Smith according to the intuitive nature of color,Claim hexagonal pyramid model (Hexcone Model).After above-mentioned processing, only it is left red laser figure on photo egative filmPicture, other interference images are filtered, and are conducive to the analysis to image.
Please refer to Fig. 1 and Fig. 5, it is sometimes desirable to the target of a measurement distance not instead of point, a face.Therefore, at thisApply in an embodiment, distance measuring method further includes：S8：Second laser transmitter emits second laser to the second object to be measured；S10：It is anti-that imaging system (shown by box as dashed lines) receives the second object to be measured reflected second laser is obtained secondIrradiating light beam, and obtain the second object to be measured image that the second the reflected beams are formed in imaging systems, and the axial direction of imaging systemIt is parallel with the direction of second laser；S12：According to formulaSecond laser transmitter is calculated to the second object to be measuredDistance；Wherein, D2For second laser transmitter to the distance of the second object to be measured, A2For second laser transmitter to imaging systemAxis distance, P2For the distance of the second object to be measured image to the axis of imaging system.Ranging side in the present embodimentMethod, it is identical as above-mentioned distance measuring method, it repeats no more.It can be obtained by multiple laser beam emitting devices by the above methodThe distance of each point in the object to be measured in face to laser beam emitting device.
Fig. 3 is please referred to, in one embodiment of the application, step S10 includes：S101：By the second object to be measured image from RGBPattern is converted into HSV patterns；S102：By the second object to be measured image filtering, in addition to the color for eliminating second laserColor；S103：The second tested point in the second object to be measured image is detected by Gaussian filter algorithm and speck detection algorithm；ItsIn, P2For the second tested point and the distance between imaging device axis in the second object to be measured image.Figure in the present embodimentPicture processing method is same as described above, repeats no more.
Sometimes distance is only just known that not enough, it is also necessary to know angle of the planar target relative to laser beam emitting device.CauseThis, in one embodiment of the application, distance measuring method further includes：S14：Pass through formulaIt is to be measured to calculate firstThe angle between line and second direction between target and the second object to be measured.
The application also provides a kind of range-measurement system, uses any one of the above distance measuring method.Range-measurement system includes：At least oneA laser emitter, imaging device, image display device, computing device.
In one embodiment of the application, range-measurement system further includes sealing device, and laser emitter, imaging device, image are aobviousShowing device, computing device are arranged in sealing device.
In one embodiment of the application, range-measurement system further includes power supply, is shown to laser emitter, imaging device, imageDevice and computing device power supply.
In one embodiment of the application, range-measurement system further includes mobile display device and control device, for receiving and showingShow the image and result of calculation that computing device is sent, and transmittable instruction control laser beam emitting device transmitting laser and control laserThe position of emitter in water.Wherein control device control be located at sealing device on propeller either propeller or otherEquipment to achieve the purpose that sealing device is pushed to move in water, and then reaches mobile laser emitter and imaging system existsThe purpose of position in water.
In one embodiment of the application, range-measurement system further includes camera device, the finger of laser beam emitting device and camera deviceIt is parallel to axis.Camera device calculates extremely for recording the image data for including laser point information, while by image information transmissionComputing device.Data are uploaded to mobile display device by computing device.In the present embodiment, computing device is embedded imageProcessing system, but not limited to this.
In one embodiment of the application, range-measurement system provided herein makes in closely (within 10 meters) laser rangingThe requirement of used time, the parallelism precision δ between light and camera normal are provided by error precision requirement ε.Due to A ＜ ＜ D, closelyAs provide maximum deviation precision be δ=10-4ε, if it is desired to measurement accuracy error is ε=10mm, then δ=0.001 °=3.6 "(rad).
Above-mentioned each technical characteristic can be freely combined under the premise of not conflicting, and solve skill to be solved by this inventionArt problem belongs to the application scope of protection.
The preferable specific implementation mode of the above, only the application, but the protection domain of the application is not limited thereto,Any one skilled in the art is in the technical scope that the application discloses, the change or replacement that can be readily occurred in,It should all cover within the protection domain of the application.Therefore, the protection domain of the application should be with scope of the claimsSubject to.