CN113009454A - Laser ranging target and ranging method - Google Patents

Abstract

The embodiment of the application provides a laser ranging target and a ranging method, wherein the laser ranging target comprises: a base; the horizontal rotating motor is connected with the base through a connecting piece and rotates along the circumferential direction of the connecting piece; the bracket is arranged on the horizontal rotating motor; the vertical rotating motor is arranged on the bracket, and the rotating plane of the vertical rotating motor is vertical to the rotating plane of the horizontal rotating motor; the prism is connected with the vertical rotating motor through a rod piece; and the photosensitive array is arranged on the back surface of the prism, and the center of the photosensitive array is positioned on the optical axis of the prism. By implementing the embodiment of the application, the angle of the prism can be flexibly adjusted, the laser drop point of the laser range finder can be rapidly dropped on the center of the photosensitive array, meanwhile, due to the reflection effect of the prism, the defect that the photosensitive array is insensitive to the sensing of the laser due to the long-distance transmission of the laser can be overcome, and the measurement precision is improved.

Description

Laser ranging target and ranging method

Technical Field

The application relates to the technical field of engineering measurement, in particular to a laser ranging target and a ranging method.

Background

Laser distance measuring (laser distance measuring) is a technical means for measuring distance by using a laser as a light source. Lasers can be classified into continuous lasers and pulsed lasers according to the way they operate. Helium neon, argon ion, krypton cadmium and other gas lasers work in a continuous output state and are used for phase type laser ranging; the double heterogeneous gallium arsenide semiconductor laser is used for infrared distance measurement; solid lasers such as ruby and neodymium glass are used for pulse type laser ranging. The laser range finder not only can work day and night but also can improve the range finding precision compared with a photoelectric range finder because of the characteristics of good monochromaticity, strong directivity and the like of laser and the integrated electronic circuit.

Currently, in the field of engineering measurement using laser rangefinders, laser ranging targets often used are marked with prisms, reflective stickers, and photosensitive arrays. The prism and the reflecting sticker form a target, and the target and the laser range finder work cooperatively, so that a more accurate and stable laser distance value can be obtained, but the laser drop point of the laser range finder cannot be quickly and accurately aligned to the center of the prism. The photosensitive array is matched with the laser range finder, and the laser range finder can be quickly and accurately aligned to the center of the photosensitive array, but the distance measurement precision is relatively low.

Disclosure of Invention

An object of the embodiment of the application is to provide a laser ranging target and a ranging method, which can flexibly adjust the angle of a prism, can quickly enable a laser drop point of a laser range finder to fall on the center of a photosensitive array, and improve the measurement precision.

In a first aspect, an embodiment of the present application provides a laser ranging target, including:

a base;

the horizontal rotating motor is connected with the base through a connecting piece and rotates along the circumferential direction of the connecting piece;

the bracket is arranged on the horizontal rotating motor;

the vertical rotating motor is arranged on the bracket, and the rotating plane of the vertical rotating motor is vertical to the rotating plane of the horizontal rotating motor;

the prism is connected with the vertical rotating motor through a rod piece;

and the photosensitive array is arranged on the back surface of the prism, and the center of the photosensitive array is positioned on the optical axis of the prism.

In the implementation process, the horizontal rotation motor drives the support to rotate in the circumferential direction along the circumferential direction of the connecting piece, and further drives the prism and the photosensitive array to rotate in the circumferential direction, so that the prism and the photosensitive array are aligned to the laser range finder. The rotation plane of the vertical rotation motor is perpendicular to the rotation plane of the horizontal rotation motor, and the prism and the photosensitive array can be driven to rotate, so that the laser falling point of the laser range finder falls on the center of the photosensitive array, and the measurement accuracy is improved. Based on above-mentioned embodiment, can nimble angle of adjustment prism, can make laser range finder's laser placement fall on photosensitive array's center fast, simultaneously, because the reflection of prism is used, can overcome the great shortcoming of photosensitive array distance measurement error that leads to because of the long-distance transmission of laser, improved measurement accuracy.

Further, the photosensitive array comprises an optical fiber array and a photosensitive sensor array; the receiving surface of the optical fiber array is connected with the photosensitive sensor array.

In the implementation process, the receiving surface of the optical fiber array has finer resolution, and the measurement precision of the laser range finder can be improved.

Further, the shape of the photosensitive array is any one of a circle, a rectangle and a square.

In the implementation process, the photosensitive arrays in different shapes can be used in different application scenes, and the measurement accuracy of the laser ranging target is improved.

In a second aspect, the present application provides a laser ranging method applied to a laser ranging target including the first aspect, the method including:

aligning the center of a laser drop point of a laser range finder to the center of the photosensitive array;

rotating the laser range finder target to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular;

rotating the laser ranging target to enable the laser drop point to be opposite to the center of the prism;

and acquiring the distance from the laser range finder to the laser range target.

In the implementation process, the center of the laser landing point of the laser range finder is firstly aligned to the center of the photosensitive array, and at the moment, the laser of the laser range finder may not vertically enter the photosensitive array. In order to enable laser of the laser range finder to vertically enter the photosensitive array, the laser range finder target is rotated through the horizontal rotating motor and the vertical rotating motor, and the relative angle between the laser range finder target and the laser range finder is adjusted; when the shape of the spot area of the laser landing point of the laser range finder is circular, the center of the laser landing point is right at the center of the photosensitive array at the moment, and the laser is vertically incident on the photosensitive array. And finally, rotating the laser ranging target again to enable the laser drop point to be over against the center of the prism, so that the accurate laser distance can be obtained by utilizing the reflecting prism. And the error of the distance from the laser range finder to the laser range target is measured to be the minimum. Based on the above embodiments, the laser distance can be measured quickly and accurately.

Further, the step of aligning the center of the laser landing point of the laser range finder with the center of the photosensitive array includes:

rotating the laser range finder to enable a laser drop point of the laser range finder to fall on the laser range finding target;

rotating the laser range finder target to enable a laser drop point of the laser range finder to fall on the photosensitive array;

acquiring the coordinate of the center of a laser drop point of the laser range finder;

and rotating the laser range finder according to the coordinates of the center of the laser drop point of the laser range finder and the coordinates of the center of the photosensitive array, so that the center of the laser drop point of the laser range finder is aligned with the center of the photosensitive array.

In the implementation process, in order to align the center of the laser falling point of the laser range finder to the center of the photosensitive array, the laser range finder is firstly rotated to align the laser range finder to the laser range finding target, and the laser falling point is positioned on the laser range finding target at the moment. And then the laser falling point of the laser range finder falls on the photosensitive array through the action of the horizontal rotating motor. Furthermore, the coordinates of the center of the laser drop point on the photosensitive array are obtained, and the overlapping degree of the center of the laser drop point of the current laser range finder and the center of the photosensitive array can be judged through the coordinates of the center of the laser drop point, so that the angle of the laser range finder can be adjusted according to the coordinates of the center of the laser drop point. Based on the above embodiment, the laser range finder and the laser range target can be respectively rotated at different stages, so that the laser landing point of the laser range finder can rapidly land on the laser array. Meanwhile, the laser range finder is finely adjusted through the coordinate of the center of the laser drop point of the laser range finder, so that the center of the laser drop point of the laser range finder is rapidly coincided with the center of the photosensitive array.

Further, the step of rotating the laser range finder according to the coordinates of the center of the laser landing point of the laser range finder and the coordinates of the center of the photosensitive array to align the coordinates of the center of the laser landing point of the laser range finder and the center of the photosensitive array includes:

calculating a coordinate difference value of the coordinate of the center of the laser drop point of the laser range finder and the coordinate of the center of the photosensitive array;

judging whether the coordinate difference value is smaller than a preset coordinate threshold value or not;

if so, judging that the center of a laser drop point of the laser range finder is aligned with the center of the photosensitive array;

if not, calculating a first rotation angle according to the coordinate difference; rotating the laser range finder according to the first rotation angle; and recalculating a coordinate difference value between the coordinate of the center of the laser landing point of the laser range finder and the coordinate of the center of the photosensitive array.

In the implementation process, the coordinate of the center of the photosensitive array is generally fixed, the coordinate difference between the coordinate of the center of the laser drop point of the laser range finder and the coordinate of the center of the photosensitive array is calculated to reflect the coincidence degree of the center of the laser drop point and the center of the photosensitive array, and when the coordinate difference is smaller than a preset coordinate threshold value, the coincidence degree of the laser drop point of the laser range finder and the center of the photosensitive array can be judged to be higher, and the coincidence of the center of the laser range finder and the center of the photosensitive array can be approximately judged; when the coordinate difference is not smaller than the coordinate threshold, the contact ratio between the laser falling point of the laser range finder and the center of the photosensitive array is low, a first rotation angle is calculated according to the coordinate difference, and the holder of the laser range finder is rotated according to the first rotation angle; continuously calculating the coordinate difference value of the coordinate of the center of the laser drop point of the laser range finder and the coordinate of the center of the photosensitive array, and judging whether the coordinate difference value is smaller than a coordinate threshold value; and repeating the steps until the coordinate difference value is smaller than a preset coordinate threshold value. Based on above-mentioned embodiment, can aim at photosensitive array's center with laser range finder's laser drop point effectively, further make the accuracy promotion of the laser distance that laser range finder surveyed.

Further, the step of rotating the laser ranging target to make the shape of a spot area of a laser landing point of the laser range finder be circular includes:

acquiring a profile equation of an ellipse representing a laser landing point of the laser range finder on the photosensitive array;

calculating a first angle value of a major axis of the ellipse and a transverse axis of the photosensitive array;

and rotating the laser ranging target according to the first angle value to enable the shape of a light spot area of a laser falling point of the laser range finder to be circular.

In the implementation process, an equation of the outline of the ellipse is fitted on the photosensitive array, a first angle value formed by the long axis of the ellipse and the transverse axis of the photosensitive array is calculated according to the outline equation of the ellipse, and the laser ranging target is rotated according to the first angle value until the light spot area of the laser landing point of the laser range finder is circular. With the above embodiment, the shape of the spot region where the laser beam lands can be quickly adjusted to a circular shape.

Further, the step of rotating the laser ranging target according to the first angle value to make a spot area of a laser landing point of the laser range finder be circular in shape includes:

judging whether the first angle value is 90 degrees or not;

if so, acquiring a first length difference value of the long axis of the ellipse and the short axis of the ellipse, and rotating the laser range finding target according to the first length difference value to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular;

if not, after the laser ranging target is rotated rightwards by a first preset angle value, a second angle value of the long axis of the ellipse and the transverse axis of the photosensitive array is calculated, and the laser ranging target is rotated according to the first angle value and the second angle value, so that the shape of a light spot area of a laser drop point of the laser range finder is circular.

In the implementation process, whether the first angle value is 90 degrees or not is judged, if the first angle value is 90 degrees, the first length difference value of the long axis and the short axis can be further obtained, the laser ranging target is adjusted according to the first length difference value of the long axis and the short axis, and the shape of a light spot area of a laser falling point of the laser range finder is circular. If the first angle value is not 90 degrees, the laser ranging target is rotated rightwards by the first preset angle value through horizontally rotating the motor, the second angle value of the long axis of the ellipse and the transverse axis of the photosensitive array is recalculated, and the laser ranging target is rotated through horizontally rotating the motor according to the first angle value and the second angle value. Based on the above embodiment, the plane of laser incidence can be made perpendicular to the photosensitive array.

Further, the step of rotating the laser ranging target according to the first angle value and the second angle value includes:

judging whether the first angle value is larger than the second angle value;

if yes, rotating the laser ranging target to the left according to a second preset angle value, and recalculating the first angle values of the long axis of the ellipse and the transverse axis of the photosensitive array;

the second preset angle value is twice the first preset angle value;

if not, recalculating the first angle values of the major axis of the ellipse and the transverse axis of the photosensitive array.

In the implementation process, the size relation between the second angle value and the first angle value calculated originally is judged, if the first angle value is larger than the second angle value, the rotation direction is wrong at the moment, and the laser ranging target is rotated in the left reverse direction by using the second preset angle value through the horizontal rotation motor, so that the shape of a light spot area of a laser falling point of the laser range finder is circular. If the first angle value is smaller than or equal to the second angle value, recalculating the first angle values of the major axis of the ellipse and the transverse axis of the photosensitive array, and judging whether the first angle values are 90 degrees. Based on the above embodiment, the plane on which the laser of the laser range finder is incident can be made perpendicular to the photosensitive array.

Further, the step of rotating the laser ranging target according to the first length difference to make a spot area of a laser landing point of the laser range finder be circular in shape includes:

judging whether the first length difference value is 0 or not;

if so, judging that the shape of a light spot area of a laser drop point of the current laser range finder is circular;

if not, the laser ranging target is rotated upwards by a first preset angle value, a second length difference value of the lengths of the long axis of the ellipse and the short axis of the ellipse is obtained, and the laser ranging target is rotated according to the first length difference value and the second length difference value, so that the shape of a light spot area of a laser drop point of the laser range finder is circular.

In the implementation process, the circle may be an ellipse with the same major axis and minor axis, and therefore, when the first length difference is 0, the area of the laser spot at the laser landing point may be considered to be a circle, that is, the laser of the laser range finder is vertically incident to the photosensitive array. When the first length difference is not 0, the laser ranging target is continuously rotated according to the first preset angle value through the vertical rotating motor, the second length difference of the long axis of the ellipse and the short axis of the ellipse is continuously obtained, and the laser ranging target is rotated according to the first length difference and the second length difference. Based on the above embodiment, the laser vertical incidence photosensitive array of the laser range finder can be ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a front view of a structural component of a laser ranging target provided in an embodiment of the present application;

FIG. 2 is a side view of the structural components of a laser ranging target provided by an embodiment of the present application;

fig. 3 is a schematic flowchart of a laser ranging method according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart illustrating the alignment of the center of the laser landing point of the laser range finder with the center of the photosensitive array in the embodiment of the present application;

FIG. 5 is a schematic flow chart of a rotary laser rangefinder in an embodiment of the present application;

FIG. 6 is a schematic flow chart illustrating the process of rotating the laser range finder target to make the shape of the spot area of the laser landing point of the laser range finder be circular in the embodiment of the present application;

FIG. 7 is a schematic diagram of a laser range finder provided in an embodiment of the present application with laser light impinging on a photosensitive array;

FIG. 8 is a schematic diagram of a laser profile of a laser rangefinder provided in an embodiment of the present application over a photosensitive array;

FIG. 9 is a schematic view illustrating a process of rotating a laser ranging target according to a first angle value in an embodiment of the present application;

FIG. 10 is a schematic view of a process for rotating a laser range target according to a first angle value and a second angle value according to an embodiment of the present disclosure;

fig. 11 is a schematic flow chart illustrating the process of rotating the laser ranging target according to the first length difference in the embodiment of the present application.

Icon: 1-a base; 2-a connector; 3-horizontally rotating the motor; 4-a scaffold; 5-vertically rotating the motor; 6-a prism; 7-photosensitive array.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In the field of engineering measurements with laser rangefinders, laser range targets often used are marked with prisms, reflective stickers, and photosensitive arrays. The prism and the reflecting sticker form a target, and the prism and the reflecting sticker work with the laser range finder in a cooperative mode, so that a more accurate and stable laser distance value can be obtained, but the laser falling point of the laser range finder cannot be quickly and accurately aligned to the center of the target. The photosensitive array is matched with the laser range finder, and the laser range finder can be quickly and accurately aligned with the photosensitive array, but the distance measurement precision is relatively low.

Example 1

In order to solve the above problem, the present application provides a laser ranging target, referring to fig. 1 and 2, including:

abase 1;

the horizontalrotating motor 3 is connected with thebase 1 through the connectingpiece 2, and the horizontalrotating motor 3 also rotates along the circumferential direction of the connectingpiece 2;

thebracket 4 is arranged on the horizontalrotating motor 3;

the verticalrotating motor 5 is arranged on thebracket 4, and the rotating plane of the verticalrotating motor 5 is vertical to the rotating plane of the horizontalrotating motor 3;

theprism 6 is connected with the verticalrotating motor 5 through a rod piece;

and thephotosensitive array 7 is arranged on the back of theprism 6, and the center of thephotosensitive array 7 is positioned on the optical axis of theprism 6.

Horizontal rotation motor 3 drivessupport 4 along 2 circumferential direction of connecting piece, drivessupport 4 and carries out circumferential direction, further drivesprism 6 andphotosensitive array 7 and carries out circumferential direction, makesprism 6 andphotosensitive array 7 aim at laser range finder. The rotation plane of thevertical rotation motor 5 is perpendicular to the rotation plane of thehorizontal rotation motor 3, and theprism 6 and thephotosensitive array 7 can be driven to rotate, so that the laser falling point of the laser range finder falls on the center of thephotosensitive array 7, and the measurement precision is improved. Based on above-mentioned embodiment, can adjust the angle ofprism 6 in a flexible way, can make laser range finder's laser placement fall onphotosensitive array 7's center fast, simultaneously, because the reflection ofprism 6, can overcome the long-distance transmission of laser and the great shortcoming ofphotosensitive array 7 distance measurement error that leads to, improved measurement accuracy.

In a possible embodiment, thebase 1 is a telescopic centering rod;

in one possible embodiment, thephotosensitive array 7 comprises an array of optical fibers and an array of photosensitive sensors;

wherein, the receiving surface of the optical fiber array is connected with the photosensitive sensor array.

The receiving surface of the optical fiber array has finer resolution, and the measurement precision of the laser range finder can be improved.

In one possible embodiment, thephotosensitive array 7 is in the shape of any one of a circle, a rectangle, and a square. Thephotosensitive arrays 7 in different shapes can be used in different application scenes, and the measurement accuracy of the laser ranging target is improved.

Example 2

Referring to fig. 3, a distance measurement method provided in an embodiment of the present application is applied to the laser distance measurement target inembodiment 1, and the method includes:

s1: aligning the center of a laser drop point of a laser range finder to the center of the photosensitive array;

s2: rotating the laser range finder target to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular;

s3: rotating the laser ranging target to enable the laser to be opposite to the center of the prism;

s4: and acquiring the distance from the current laser range finder to the laser range target.

First, the center of the laser landing point of the laser range finder is aligned with the center of the photosensitive array, and the laser of the laser range finder may not be vertically incident to the photosensitive array. In order to enable laser of the laser range finder to vertically enter the photosensitive array, the laser range finder target is rotated through the horizontal rotating motor and the vertical rotating motor, and the relative angle between the laser range finder target and the laser range finder is adjusted; when the shape of the spot area of the laser landing point of the laser range finder is circular, the center of the laser landing point is right at the center of the photosensitive array at the moment, and the laser is vertically incident on the photosensitive array. And finally, rotating the laser ranging target again to enable the laser drop point to be over against the center of the prism, so that the accurate laser distance can be obtained by utilizing the reflecting prism. And the error of the distance from the laser range finder to the laser range target is measured to be the minimum. Based on the above embodiments, the laser distance can be measured quickly and accurately.

Illustratively, facing the laser of the laser rangefinder toward the center of the prism is achieved by rotating the laser rangefinder target 180 degrees horizontally.

It is noted that the operations of S1 and S2 may be repeated in order to improve the accuracy of the measurement and to overcome errors due to environmental factors. For example, after the step S2 is completed, it is found that the shape of the spot area where the laser of the laser range finder is located is circular or the laser of the laser range finder is not located at the center of the photosensitive array, and the step S1 may be performed again and the step S2 may be continued.

Referring to fig. 4, in one possible implementation, S1 includes the following sub-steps:

s11: rotating the laser range finder to enable a laser drop point of the laser range finder to fall on a laser range finding target;

s12: rotating the laser range finding target to enable a laser drop point of the laser range finder to fall on a photosensitive array of the laser range finding target;

s13: acquiring the coordinate of the center of a laser drop point of a laser range finder;

s14: and rotating the laser range finder according to the coordinates of the center of the laser drop point of the laser range finder and the coordinates of the center of the photosensitive array, so that the center of the laser drop point of the laser range finder is aligned with the center of the photosensitive array.

In order to align the center of a laser drop point of the laser range finder with the center of the photosensitive array, the laser range finder is rotated firstly, the laser range finder is aligned with the laser range finding target, and the laser drop point is positioned on the laser range finding target at the moment. Then, the laser falling point of the laser range finder falls on the photosensitive array through the action of the horizontal rotating motor. Furthermore, the coordinates of the center of the laser drop point on the photosensitive array are obtained, and the coincidence degree of the center of the laser drop point of the current laser range finder and the center of the photosensitive array can be judged through the coordinates of the center of the laser drop point, so that the angle of the laser range finder can be adjusted according to the coordinates of the center of the laser drop point. Based on the above embodiment, the laser range finder and the laser range target can be respectively rotated at different stages, so that the laser landing point of the laser range finder rapidly lands on the photosensitive array. Meanwhile, the laser range finder is finely adjusted through the coordinate of the center of the laser drop point of the laser range finder, so that the center of the laser drop point of the laser range finder is rapidly coincided with the center of the photosensitive array.

Referring to fig. 5, in one possible implementation, S14 includes the following sub-steps:

s141: calculating a coordinate difference value of the coordinate of the center of a laser drop point of the laser range finder and the coordinate of the center of the photosensitive array;

s142: judging whether the coordinate difference value is smaller than a preset coordinate threshold value or not; if yes, go to S143; if not, executing S144;

s143: judging that the center of a laser drop point of the laser range finder is aligned with the center of the photosensitive array;

s144: calculating a first rotation angle according to the coordinate difference; rotating the laser range finder according to the first rotation angle;

it is noted that S141 may be continued after S144 is performed until the center of the laser landing point of the laser range finder is aligned with the center of the photosensitive array. That is, the coordinate difference between the coordinates of the center of the laser landing point of the laser range finder and the coordinates of the center of the photosensitive array is calculated after S144.

The coordinate of the center of the photosensitive array is generally fixed, the coordinate difference value of the coordinate of the center of the laser falling point of the laser range finder and the coordinate of the center of the photosensitive array reflects the coincidence degree of the center of the laser falling point and the center of the photosensitive array, when the coordinate difference value is smaller than a preset coordinate threshold value, the coincidence degree of the laser falling point of the laser range finder and the center of the photosensitive array can be judged to be higher, and the coincidence of the center of the laser falling point of the laser range finder and the center of the photosensitive array can be approximately judged; when the coordinate difference is not smaller than the coordinate threshold, the contact ratio between the laser falling point of the laser range finder and the center of the photosensitive array is low, a first rotation angle is calculated according to the coordinate difference, and the holder of the laser range finder is rotated according to the first rotation angle; continuously calculating the coordinate difference value of the coordinate of the center of the laser drop point of the laser range finder and the coordinate of the center of the photosensitive array, and judging whether the coordinate difference value is smaller than a coordinate threshold value; and repeating the steps until the coordinate difference value is smaller than a preset coordinate threshold value. Based on above-mentioned embodiment, can aim at photosensitive array's center with laser range finder's laser drop point effectively, further make the accuracy promotion of the laser distance that laser range finder surveyed.

Referring to fig. 6, in one possible implementation, S2 includes the following sub-steps:

s21: acquiring an outline equation of an ellipse representing a laser landing point of the laser range finder on the photosensitive array;

s22: calculating a first angle value of a major axis of the ellipse and a transverse axis of the photosensitive array;

s23: and rotating the laser ranging target according to the first angle value to enable the shape of a light spot area of a laser falling point of the laser range finder to be circular.

Referring to fig. 7 and 8, the laser beam is normally a cone, so the landing point of the laser beam on the photosensitive array is an elliptical area. The optical signal output by the photosensitive array is converted into an electric signal, an elliptical profile equation can be fitted on the photosensitive array, a first angle value of a long axis of an ellipse and a transverse axis of the photosensitive array is calculated according to the elliptical profile equation, and the laser ranging target is rotated according to the first angle value until the shape of a light spot area of a laser falling point of the laser range finder is circular. When the laser spot area of the laser landing point of the laser range finder is circular, the laser of the laser range finder is vertically incident to the photosensitive array at the moment. With the above embodiment, the shape of the spot region where the laser beam lands can be quickly adjusted to a circular shape.

In an exemplary embodiment, the obtaining of the elliptic equation may be obtained by first obtaining a coordinate value of a photosensitive sensor of the laser landing point on the photosensitive array, and then fitting an equation of a profile of the laser landing point of the laser range finder according to the photosensitive coordinate value. The coordinates of the center of the laser drop point can be obtained by obtaining an equation of an ellipse and then obtaining the coordinates of the center of the laser drop point through the equation of the ellipse.

In the above embodiment, an equation of the elliptical profile is fitted on the photosensitive array, a first angle value formed by the major axis of the ellipse and the transverse axis of the photosensitive array is calculated according to the equation of the elliptical profile, and the laser ranging target is rotated according to the first angle value until the spot area of the laser landing point of the laser range finder is circular. With the above embodiment, the shape of the spot region where the laser beam lands can be quickly adjusted to a circular shape.

Typically, the calculation is performed in a rectangular coordinate system with the center of the photosensitive array as the origin.

Referring to fig. 9, in one possible implementation, S23 includes the following sub-steps:

s231: judging whether the first angle value is 90 degrees or not; if yes, go to S232; if not, executing S233;

s232: acquiring a first length difference value of the long axis of the ellipse and the short axis of the ellipse, and rotating the laser ranging target according to the first length difference value to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular;

s233: and after the laser ranging target is rotated rightwards by the first preset angle value, calculating a second angle value of the long axis of the ellipse and the transverse axis of the photosensitive array, and rotating the laser ranging target according to the first angle value and the second angle value to enable the shape of a light spot area of a laser landing point of the laser range finder to be circular.

Illustratively, the second predetermined angle value is 3 °.

In the above embodiment, it is first determined whether the first angle value is 90 °, and if the first angle value is 90 °, a first length difference between the long axis and the short axis may be further obtained, and the laser range finder may adjust the laser range finder target according to the first length difference between the long axis and the short axis, so that the shape of the spot area of the laser landing point of the laser range finder is circular. If the first angle value is not 90 degrees, the laser ranging target is rotated rightwards by the first preset angle value through the horizontal rotation motor, the second angle value of the long shaft and the transverse shaft of the photosensitive array is recalculated, and the laser ranging target is rotated through the horizontal rotation motor according to the first angle value and the second angle value. Based on the above embodiment, the plane of laser incidence can be made perpendicular to the photosensitive array.

Referring to fig. 10, in one possible implementation, S233 may include the following sub-steps:

s2331: judging whether the first angle value is larger than the second angle value; if yes, S2332; if not, go to S2333;

s2332: rotating the laser ranging target to the left according to a second preset angle value;

s2333: the first angle values of the major axis of the ellipse and the transverse axis of the photosensitive array are recalculated.

After S2332 and S2333 are performed, it is determined again whether the first angle value is 90 °, that is, after S2332 and S2333 are performed, S231 is continuously performed.

Wherein the second predetermined angle value is twice the first predetermined angle value.

It is noted that the second predetermined angle value is twice the first predetermined angle value; exemplarily, when the second preset angle value is 3 °, the third preset angle value is 6 °.

In the above embodiment, the relationship between the second angle value and the first angle value calculated originally is determined, if the first angle value is greater than the second angle value, which indicates that the rotation direction is wrong, the laser range finder is rotated in the left reverse direction by the second preset angle value through the horizontal rotation motor, so that the shape of the spot area of the laser drop point of the laser range finder is circular. If the first angle value is smaller than or equal to the second angle value, the first angle value of the long axis of the ellipse and the transverse axis of the photosensitive array is continuously calculated, and whether the first angle value is 90 degrees or not is judged. Based on the above embodiment, the plane on which the laser of the laser range finder is incident can be made perpendicular to the photosensitive array.

Referring to fig. 11, in one possible implementation, S232 includes the following sub-steps:

s2321: judging whether the first length difference value is 0 or not; if yes, executing S2322; if not, S2333;

s2322: judging that the shape of a light spot area of a laser drop point of the current laser range finder is circular;

s2323: and rotating the laser ranging target upwards by using the first preset angle value to obtain a second length difference value of the lengths of the long axis of the ellipse and the short axis of the ellipse, and rotating the laser ranging target according to the first length difference value and the second length difference value to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular.

The circle may be an ellipse with the same major axis and minor axis, so that when the first length difference is 0, the area of the laser spot at the laser landing point may be considered to be a circle, that is, the laser of the laser range finder is perpendicularly incident on the photosensitive array. When the first length difference is not 0, the laser ranging target is continuously rotated according to the first preset angle value through the vertical rotating motor, the second length difference of the long axis of the ellipse and the short axis of the ellipse is continuously obtained, and the laser ranging target is rotated according to the first length difference and the second length difference. Based on the above embodiment, the laser vertical incidence photosensitive array of the laser range finder can be ensured.

In a possible embodiment, the step of rotating the laser ranging target according to the first length difference and the second length difference in S2323 to make the shape of the spot area of the laser landing point of the laser range finder be a circle includes the following sub-steps:

judging whether the second length difference is larger than the first length difference or not;

and if so, rotating the laser ranging target downwards by a second preset angle value.

If not, acquiring a first length difference value.

S2421 continues to be determined according to whether the first length difference is 0.

It should be noted that, in the above embodiment, in order to make the center of the laser landing point coincide with the center of the laser array, and the shape of the spot area of the laser landing point is circular on the photosensitive array, the above operation process may be repeatedly performed.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims (10)

1. A laser ranging target, comprising:

a base;

the horizontal rotating motor is connected with the base through a connecting piece and rotates along the circumferential direction of the connecting piece;

the bracket is arranged on the horizontal rotating motor;

the vertical rotating motor is arranged on the bracket, and the rotating plane of the vertical rotating motor is vertical to the rotating plane of the horizontal rotating motor;

the prism is connected with the vertical rotating motor through a rod piece;

and the photosensitive array is arranged on the back surface of the prism, and the center of the photosensitive array is positioned on the optical axis of the prism.

2. The laser ranging target of claim 1, wherein the photosensitive array comprises an array of optical fibers and an array of photosensitive sensors; the receiving surface of the optical fiber array is connected with the photosensitive sensor array.

3. The laser ranging target according to claim 1, wherein the photosensitive array is any one of circular, rectangular and square in shape.

4. A ranging method applied to the laser ranging target according to any one of claims 1 to 3, wherein the method comprises:

aligning the center of a laser drop point of a laser range finder to the center of the photosensitive array;

rotating the laser range finder target to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular;

rotating the laser ranging target to enable the laser drop point to be opposite to the center of the prism;

and acquiring the distance from the laser range finder to the laser range target.

5. The method of claim 4, wherein the step of aligning the center of the laser landing point of the laser range finder with the center of the photosensitive array comprises:

rotating the laser range finder to enable a laser drop point of the laser range finder to fall on the laser range finding target;

rotating the laser range finder target to enable a laser drop point of the laser range finder to fall on the photosensitive array;

acquiring the coordinate of the center of a laser drop point of the laser range finder;

and rotating the laser range finder according to the coordinates of the center of the laser drop point of the laser range finder and the coordinates of the center of the photosensitive array, so that the center of the laser drop point of the laser range finder is aligned with the center of the photosensitive array.

6. The method of claim 5, wherein the step of rotating the laser range finder according to the coordinates of the center of the laser landing point of the laser range finder and the coordinates of the center of the photosensitive array to align the coordinates of the center of the laser landing point of the laser range finder and the center of the photosensitive array comprises:

calculating a coordinate difference value of the coordinate of the center of the laser drop point of the laser range finder and the coordinate of the center of the photosensitive array;

judging whether the coordinate difference value is smaller than a preset coordinate threshold value or not;

if so, judging that the center of a laser drop point of the laser range finder is aligned with the center of the photosensitive array;

if not, calculating a first rotation angle according to the coordinate difference; rotating the laser range finder according to the first rotation angle; and recalculating a coordinate difference value between the coordinate of the center of the laser landing point of the laser range finder and the coordinate of the center of the photosensitive array.

7. The range finding method of claim 4, wherein the step of rotating the laser range finder target to make a spot area of a laser landing point of the laser range finder circular in shape comprises:

acquiring a profile equation of an ellipse representing a laser landing point of the laser range finder on the photosensitive array;

calculating a first angle value of a major axis of the ellipse and a transverse axis of the photosensitive array;

and rotating the laser ranging target according to the first angle value to enable the shape of a light spot area of a laser falling point of the laser range finder to be circular.

8. The method as claimed in claim 7, wherein the step of rotating the laser ranging target according to the first angle value to make the shape of the spot area of the laser landing point of the laser range finder circular comprises:

judging whether the first angle value is 90 degrees or not;

if so, acquiring a first length difference value of the long axis of the ellipse and the short axis of the ellipse, and rotating the laser range finding target according to the first length difference value to enable the shape of a light spot area of a laser drop point of the laser range finder to be circular;

if not, after the laser ranging target is rotated rightwards by a first preset angle value, a second angle value of the long axis of the ellipse and the transverse axis of the photosensitive array is calculated, and the laser ranging target is rotated according to the first angle value and the second angle value, so that the shape of a light spot area of a laser drop point of the laser range finder is circular.

9. The method of claim 8, wherein the step of rotating the laser ranging target according to the first and second angular values comprises:

judging whether the first angle value is larger than the second angle value;

if yes, rotating the laser ranging target to the left according to a second preset angle value, and recalculating the first angle values of the long axis of the ellipse and the transverse axis of the photosensitive array;

the second preset angle value is twice the first preset angle value;

if not, recalculating the first angle values of the major axis of the ellipse and the transverse axis of the photosensitive array.

10. The method of claim 8, wherein the step of rotating the laser ranging target according to the first length difference to make the spot area of the laser landing point of the laser range finder circular in shape comprises:

judging whether the first length difference value is 0 or not;

if so, judging that the shape of a light spot area of a laser drop point of the current laser range finder is circular;

if not, the laser ranging target is rotated upwards by a first preset angle value, a second length difference value of the lengths of the long axis of the ellipse and the short axis of the ellipse is obtained, and the laser ranging target is rotated according to the first length difference value and the second length difference value, so that the shape of a light spot area of a laser drop point of the laser range finder is circular.

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