CN120178258A - Laser ranging method and system - Google Patents

Abstract

The invention relates to the technical field of laser ranging, in particular to a laser ranging method and a system, wherein the method comprises the steps of adopting a laser range finder to send a laser beam to a first to-be-measured point at a first site, and collecting first laser receiving and transmitting data; the method comprises the steps of calculating a first relative position of a first to-be-measured point, adopting a laser range finder to send out laser beams to a second to-be-measured point at a second position point, collecting second laser receiving and transmitting data, calculating the second relative position of the second to-be-measured point, respectively calculating a plurality of target distances of the first to-be-measured point and the second to-be-measured point, calculating the difference degree between any target distance D1 and the rest distance D2, and identifying the target distance D1 as a qualified measured value when the difference degree belongs to a second threshold range. The laser ranging technology provided by the invention enables the user to stand at the third point outside the two points, and can also directly measure the distance between the two points, thereby improving the flexibility and convenience of ranging.

Description

Laser ranging method and system

Technical Field

The invention relates to the technical field of laser ranging, in particular to a laser ranging method and system.

Background

Laser ranging (LASER DISTANCE measuring) is to use a laser as a light source for ranging. A continuous laser and a pulse laser are classified according to the manner in which laser light operates. For example, a gas laser such as helium-neon, argon ion, krypton-cadmium, etc. may be used for phase laser ranging while a solid-state laser such as ruby, neodymium glass, etc. may be used for pulse laser ranging.

For example, patent application CN119620095A discloses a laser ranging method and device based on an attitude sensor, the method includes that S1, when linear distance between a first to-be-measured point and a second to-be-measured point is measured, a first distance value is measured at a first emission point, S2, first space coordinate information and first angle information are obtained through the attitude sensor, S3, when the first to-be-measured point moves to a second emission point, a second distance value is measured at the second emission point, S4, second space coordinate information and second angle information are obtained through the attitude sensor, S5, space coordinate information of the first to-be-measured point is calculated according to the first space coordinate information, the first angle information and the first distance value by using a space-to-attitude angle conversion algorithm, and space coordinate information of the second to-be-measured point is calculated, and S6, the linear distance value between the first to-be-measured point and the second to-be-measured point is calculated. The distance measuring method does not need to carry out laser distance measurement on one of the two to-be-measured points, and improves the efficiency and convenience of the laser distance measuring process.

For example, patent application CN105589076A discloses a remote two-point distance measuring device and a measuring method thereof, the distance measuring device comprises a rod body, an angle measuring module, a distance measuring module and a calculating control module, wherein the angle measuring module comprises a flat plate, the flat plate is connected with the rod body, angle scales are arranged on the flat plate, a fixed end fixed on the flat plate, a movable end with one end hinged on the flat plate, the distance measuring module comprises a laser distance measuring cylinder fixed on the movable end and parallel to the movable end, and the calculating control module is connected with the angle measuring module and the distance measuring module through a circuit and receives distance information and angle information so as to realize two-point distance measurement.

However, the applicant has noted that conventional measurement schemes are often suitable for indoor measurements, and that measurement data in an outdoor measurement environment is very susceptible to environmental effects, resulting in inaccurate measurements.

Therefore, there is a need for a laser measurement technique suitable for outdoor measurement.

Disclosure of Invention

The invention aims to provide a laser ranging method which partially solves or alleviates the defects in the prior art, can improve the ranging accuracy, and particularly reduces or relieves errors caused by human factors or environmental factors.

In order to solve the technical problems, the invention adopts the following technical scheme:

in a first aspect of the present invention, there is provided a laser ranging method comprising the steps of:

the method comprises the steps of obtaining a measurement position, wherein the measurement position is a first relative position or a second relative position, and the step of obtaining the measurement position comprises the following steps:

a laser range finder is adopted at a first site to send out a laser beam to a first to-be-detected point, and first laser receiving and transmitting data are collected;

calculating a first relative position of the first to-be-measured point according to the first laser receiving and transmitting data;

Transmitting a laser beam to a second to-be-detected point at a second position by adopting the laser range finder, and collecting second laser receiving and transmitting data;

calculating a second relative position of the second to-be-measured point according to the second laser receiving and transmitting data;

Respectively calculating at least three target distances according to at least three groups of measurement positions, wherein one group of measurement positions comprises a first relative position and a second relative position;

Calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein L2= (D1-D2)/reference distance value, and the reference distance value is D1 or D2;

when the difference degree belongs to a second threshold range, identifying the target distance D1 as a qualified measurement value;

and generating a recommended measurement result according to the qualified measurement value.

In some embodiments, a reduced error method is used to obtain a measured position, such as a first relative position or a second relative position, comprising the steps of:

s1011, adopting the laser range finder to emit visible light beams to the corresponding to-be-detected points;

S1012, acquiring a first motion acceleration of the laser range finder in a first period;

S1013, generating first shake data according to the first motion acceleration;

S1014, when the first jitter data is smaller than a first jitter threshold value, marking the corresponding first time period as a type of time period;

s1015, judging whether the total duration of the time periods of the type which are continuously generated currently is greater than a first time duration threshold, if yes, entering S1016;

s1016, adopting the laser range finder to emit laser beams to a first to-be-measured point or a second to-be-measured point in a second period, and recording corresponding laser emission and receiving data;

S1017, calculating at least one measuring position of the first to-be-measured point or the second to-be-measured point under the second period according to the laser emission and receiving data, wherein the measuring position is marked with a time tag.

In some embodiments, the step of calculating the target spacing comprises:

screening at least one first target point from the plurality of first relative positions, and screening at least one second target point from the plurality of second relative positions;

and calculating at least one target distance according to the at least one first target point and the at least one second target point.

In some embodiments, the measurement location is marked with a time tag, and before calculating the measurement location, the method further comprises the step of performing a second type of filtering operation on the measurement location, comprising the steps of:

Acquiring second motion acceleration recorded by the laser range finder at a plurality of moments in the second period;

generating second shake data according to the second motion acceleration;

When the second jitter data is larger than a second jitter threshold value, identifying the measurement position at the corresponding moment as a second abnormal point;

calculating second adjacent time intervals of at least two adjacent class-II abnormal points;

When the second adjacent time intervals among the plurality of class-II abnormal points are smaller than a preset second time interval, identifying the corresponding plurality of class-II abnormal points as a second filtering point set;

acquiring a first moment of a head abnormal point and a second moment of a tail abnormal point in the second filtering point set;

and identifying the measurement position outside the interval from the first moment to the second moment as a target point.

In some embodiments, the measurement location is marked with a time tag, and before calculating the measurement location, further comprising the steps of:

Calculating a difference between at least two adjacent measurement locations;

Identifying at least one of the measurement positions, for which the difference is greater than a preset first threshold, as a class of outliers;

Acquiring a first adjacent time interval of at least two adjacent abnormal points;

When the first adjacent time intervals among the plurality of abnormal points are smaller than a preset first time interval, identifying the corresponding abnormal points as a first filtering point set;

acquiring a third moment of a head abnormal point and a fourth moment of a tail abnormal point in the first filtering point set;

And identifying the relative position outside the interval from the third time to the fourth time as a target point.

In some embodiments, before calculating the first relative position, or calculating the second relative position, the method further comprises the steps of:

Acquiring a target curve generated by the target point and the corresponding moment;

smoothing the target curve to obtain a new target curve;

and calculating position characteristic values of a plurality of points in the new target curve, and taking the position characteristic values as the first relative position or the second relative position, wherein the position characteristic values are average values, modes or median values of the positions of the plurality of points.

In some embodiments, the smoothing process includes one or more of:

moving average, gaussian filtering, median filtering, kalman filtering.

In some embodiments, further comprising:

Acquiring a first distance value and a second distance value generated by the laser emission and receiving data, wherein the first distance value is the distance from a first to-be-measured point to a first locus, and the second distance value is the distance from a second to-be-measured point to a second locus;

calculating a difference degree L1 between the first distance value and the second distance value, wherein the calculation rule of the difference degree L1 is as follows:

L1= (first distance value-second distance value)/reference distance value, wherein the reference distance value is the first distance value or the second distance value;

when the difference degree L1 belongs to a first threshold range, a first prompt signal is sent out, and the first prompt signal is used for reminding a user of paying attention to whether a laser emission path of the laser range finder is blocked or not.

The invention also provides a laser ranging system, which comprises:

the measuring module is used for acquiring a measuring position, wherein the measuring position is a first relative position or a second relative position, and the measuring module comprises:

The measuring sub-module is used for sending out a laser beam to a first to-be-measured point by adopting a laser range finder at a first position and collecting first laser receiving and transmitting data, and sending out a laser beam to a second to-be-measured point by adopting the laser range finder at a second position and collecting second laser receiving and transmitting data;

The first calculation sub-module is used for calculating a first relative position of the first to-be-measured point according to the first laser receiving and transmitting data and calculating a second relative position of the second to-be-measured point according to the second laser receiving and transmitting data;

The second calculation sub-module is used for respectively calculating at least three target distances according to at least three groups of measurement positions, wherein one group of measurement positions comprises a first relative position and a second relative position;

The difference evaluation sub-module is used for calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein the L2= (D1-D2)/reference distance value is D1 or D2;

The difference evaluation module is used for calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein the L2= (D1-D2)/reference distance value is D1 or D2;

The qualified recognition module is used for recognizing the target distance D1 as a qualified measurement value when the difference degree belongs to a second threshold range;

And the recommendation output module is used for generating a recommended measurement result according to the qualified measurement value.

In some embodiments, further comprising:

The rotating speed measuring module is used for emitting a light source to the surface of the object to be measured, when the object to be measured rotates, the reflecting sheet of the object to be measured can reflect corresponding reflected light, and the rotating speed of the object to be measured is calculated according to the received reflected light.

The beneficial technical effects are as follows:

The application provides a two-point distance measuring method suitable for a complex environment. In particular, the method is suitable for two-point ranging in outdoor scenes. The applicant has noted that ranging in complex environments, especially outdoor environments, may be subject to multiple disturbances by the superposition of human and environmental factors. In this regard, the application provides a step-by-step and hierarchical data filtering technology from different measuring stages (such as a data acquisition stage, a data processing stage and a data calculation stage), which can comprehensively reduce the interference of human factors and environmental factors on measurement, and can reserve more reliable data to a greater extent, so as to avoid adverse effects on the reliability of the data caused by the filtering process.

Specifically, for the data acquisition stage, the invention provides a measurement technology of a drop error method, so as to try to filter the deviation generated by vibration of a range finder in the early stage of laser receiving and transmitting.

For the data processing stage, the invention provides two types of filtering operation based on jitter degree filtering for human errors, so that human errors can be removed to a greater degree in the early stage of data calculation. And, directly based on the time interval generated by the jitter degree, the local overall filtering is carried out on a series of data points, so that the bad interference of the jitter factor on the data is reduced or reduced to a large extent.

Aiming at the data processing stage, the invention also provides a type of filtering operation realized based on the data difference value aiming at the synthetic errors of human beings, environments (such as flying obstacles) and the like, and in the type of filtering operation, the invention further carries out local integral filtering on the data in the frequent fluctuation time interval based on the density degree of abnormal points.

Preferably, the second class filtering operation may be performed first, and then the first class filtering operation may be performed on the data obtained based on the second class filtering operation.

Preferably, before the data smoothing operation, the method and the device can extract and filter the mass measurement points in a segmented way through the second-class filtering operation and the first-class filtering operation in sequence so as to remove local data with larger error interference. The pre-segment filtering can reduce the difficulty of the smoothing process, avoid the interference of the smoothing process (or ensure that the number of abnormal points in the core data of the smoothing process is relatively controllable), and further improve the accuracy and reliability of the smoothing process.

Furthermore, for the data calculation stage, the invention also provides a method for carrying out data filtering by integrating the measurement difference (such as the difference degree of the first relative position and the second relative position) of the first to-be-measured point and the second to-be-measured point, so as to further reduce or relieve the interference of manual operation on the measurement result.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived from these drawings without inventive faculty.

Fig. 1 is a flowchart of a laser ranging method according to an exemplary embodiment of the invention;

FIG. 2 is a schematic diagram of a reduced error process of laser ranging according to an exemplary embodiment of the invention;

FIG. 3 is a schematic diagram illustrating a filtering process of laser ranging according to an exemplary embodiment of the present invention;

Fig. 4 is a schematic block diagram of a laser ranging system according to an exemplary embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In this document, suffixes such as "module", "component", or "unit" used to represent elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

The terms "upper," "lower," "inner," "outer," "front," "rear," "one end," "the other end," and the like herein refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "mounted," "configured," "connected," and the like, as used herein, are intended to be interpreted broadly, unless otherwise specifically stated and defined, and they may be fixedly connected, detachably connected, or integrally connected, mechanically connected, directly connected, indirectly connected via an intermediary, or communicate between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Herein, "and/or" includes any and all combinations of one or more of the associated listed items.

Herein, "plurality" means two or more, i.e., it includes two, three, four, five, etc.

As used in this specification, the term "about" is typically expressed as +/-5% of the value, more typically +/-4% of the value, more typically +/-3% of the value, more typically +/-2% of the value, even more typically +/-1% of the value, and even more typically +/-0.5% of the value.

In this specification, certain embodiments may be disclosed in a format that is within a certain range. It should be appreciated that such a description of "within a certain range" is merely for convenience and brevity and should not be construed as a inflexible limitation on the disclosed ranges. Accordingly, the description of a range should be considered to have specifically disclosed all possible sub-ranges and individual numerical values within that range. For example, the description of ranges 1-6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within this range, e.g., 1,2,3,4,5, and 6. The above rule applies regardless of the breadth of the range.

Example 1

Referring to fig. 1, the invention provides a laser ranging method, which comprises the following steps:

the method comprises the steps of obtaining a measurement position, wherein the measurement position is a first relative position or a second relative position, and the step of obtaining the measurement position comprises the following steps:

a laser range finder is adopted at a first site to send out a laser beam to a first to-be-detected point, and first laser receiving and transmitting data are collected;

calculating a first relative position of the first to-be-measured point according to the first laser receiving and transmitting data;

it should be noted that, in some embodiments, the measured positions are collectively referred to as a first relative position, a second relative position, or a measured position may also be referred to as a relative position. Can adopt the point to be measured is collectively called a first to-be-measured point and a second to-be-measured point.

For example, in some embodiments, a laser rangefinder is used to emit at least one beam of laser light to a first point to be measured, and the coordinates (e.g., the current coordinate position of the laser rangefinder) of the first point and the emission angle are recorded, and the receiving time of the reflected laser signal is recorded at the same time, so that the distance between the emission position and the first point to be measured is calculated according to a pulse method or a phase method, or the correlation between the first point to be measured and the emission position can be calculated.

For example, in some embodiments, the relative positions may be described in terms of the spacing between points to be measured and sites.

Or in some embodiments, the relative position may be described in terms of spatial coordinates of the point to be measured.

Transmitting a laser beam to a second to-be-detected point at a second position by adopting the laser range finder, and collecting second laser receiving and transmitting data;

calculating a second relative position of the second to-be-measured point according to the second laser receiving and transmitting data;

preferably, the second relative position of the second point to be measured can be obtained by adopting the same measuring method as the first relative position.

And calculating a target distance (or a measuring result) according to the at least one first relative position and the at least one second relative position, namely calculating the distance between the first to-be-measured point and the second to-be-measured point.

In this embodiment, the coordinates of the first point to be measured and the coordinates of the second point to be measured (for example, the relative positional relationship between the first point to be measured and the second point to be measured) are obtained, and then the space between the two points to be measured can be indirectly calculated through space coordinate transformation.

In some embodiments, the coordinates or relative positional relationship of the first and second sites may be measured using an attitude sensor. For example, the attitude sensor may employ a high-precision Inertial Measurement Unit (IMU), which is a six-axis sensor including a three-axis gyroscope and a three-axis accelerometer, the accelerometer detects an acceleration signal, and the gyroscope detects an angular velocity signal, measures an angular velocity and an acceleration of the photometry distance meter in a three-dimensional space, and calculates an attitude of the laser distance meter based on the angular velocity and the acceleration, thereby capturing tilt and rotation information of the laser distance meter in real time, and accurately positioning a spatial position and an orientation.

In some embodiments, the laser rangefinder may employ the laser rangefinder disclosed in patent application 202411796303.9.

Further, in some embodiments, the step of calculating the target distance from the at least one first relative position and the at least one second relative position comprises:

Respectively calculating at least three target distances according to at least three groups of measurement positions, wherein one group of measurement positions comprises a first relative position and a second relative position;

Calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein L2= (D1-D2)/reference distance value, and the reference distance value is D1 or D2;

when the degree of difference falls within a second threshold range, the target distance D1 is identified as a qualified measurement value, and conversely, the target distance D1 may be identified as a disqualified measurement value (i.e., an outlier)

And generating a recommended measurement result according to the qualified measurement value.

Further, in some embodiments, the step of generating a recommended measurement from the qualifying measurement comprises:

and calculating the characteristic values of at least two qualified measurement values, and taking the characteristic values as recommended measurement results.

Preferably, a plurality of acceptable measurement values are obtained and the characteristic value is an average or mode of the plurality of acceptable measurement values.

In this embodiment, an error filtering method is provided. Specifically, in the actual measurement process, multiple groups of lasers can be emitted in a short time, multiple target distances are correspondingly calculated, and abnormal points are screened out.

It can be understood that the laser ranging method provided by the invention can perform two-point ranging, namely, a user can stand at a position outside a second to-be-measured point of a first to-be-measured point, and the distance between the first to-be-measured point and the second to-be-measured point is measured. For example, the laser ranging method may be used to measure the spacing between two walls.

However, the applicant has noted that in complex environments, environmental changes may interfere with the measurement results. For example, taking the example of measuring the distance between two buildings, a user can stand at a position between the two buildings, and a laser range finder is adopted to respectively emit a plurality of laser beams back and forth to two opposite wall surfaces of the two buildings, so as to correspondingly calculate a plurality of target distances. The error filtering method provided by the invention can avoid or reduce the influence of errors. For example, when a laser beam encounters a fault, such as a fault typically a flying object (e.g., a bird, a fallen leaf, or an unmanned aerial vehicle), the measured target distance value at that time suddenly decreases (so that the distance between the first to-be-measured point and the flying object is actually measured), so that the abnormal point can be eliminated by filtering, so as to improve accuracy.

In some embodiments, the method includes measuring the relative position using a reduced error method. Specifically, at least one first relative position of a first to-be-measured point and at least one second relative position of a second to-be-measured point are respectively obtained through a laser range finder by adopting a falling error method (namely, a measuring position is obtained by adopting the falling error method);

Specifically, referring to fig. 2, the step of measuring the relative position by the error-reduction method includes:

s1011, adopting the laser range finder to emit visible light beams to the corresponding to-be-detected points;

for example, in some embodiments, the visible light beam may be red light. The visible light beam is used as an auxiliary positioning means, and a user can determine the position of the selected to-be-measured point through the incidence point of the visible light beam.

S1012, acquiring a first motion acceleration (for example, a rotational acceleration of an angle) of the laser range finder in a first period;

for example, in some embodiments, the jitter of the laser rangefinder may be measured from a tri-axis gyroscope and a tri-axis accelerometer.

S1013, determining first shake data according to the first motion acceleration;

For example, in some embodiments, the first motion acceleration is a rotational acceleration of an angle, or the first motion acceleration is a rate of change of position, and correspondingly, the first jitter data may be characterized directly with the first motion acceleration. Or in some embodiments the first jitter data may be an average of the first motion acceleration.

And S1014, marking the corresponding first time period as a type of time period when the first jitter data is smaller than a first jitter threshold value, and marking the time period as a type of time period when the laser range finder approaches to be relatively static.

S1015, judging whether the total duration of the time periods of the type which are continuously generated currently is greater than a first time period threshold, if yes, entering S1016, or in other embodiments, if no, considering that the laser range finder may have jitter, and in this case, acquiring laser emission and receiving data has larger error. Thus in some embodiments, no laser emission or acquisition of laser emission and reception data is performed in this case.

S1016, adopting the laser range finder to emit laser beams to a first to-be-measured point or a second to-be-measured point in a second period, and recording corresponding laser emission and receiving data;

For example, in some embodiments, the laser beam may be disposed parallel to the visible light to facilitate visual positioning by the user. Or the laser beam may be approximately parallel to the visible beam.

That is, it is preferable that the recording of the data of the laser beam is started only when the laser rangefinder is in a state approaching a relatively stationary state, in order to filter or avoid adverse effects of jitter on the measurement results.

S1017, calculating at least one measuring position of the first to-be-measured point or the second to-be-measured point under the second period according to the laser emission and receiving data, wherein the measuring position is marked with a time tag.

For example, in some embodiments, a laser beam firing switch (e.g., which may be a push button switch, or may be a touch key on a display screen of the laser rangefinder) is provided on the laser rangefinder, and the laser beam may be activated in response to a switch signal when the user presses or clicks the switch. However, under the action of the pressing force, the laser distance measuring instrument may generate a certain degree of jitter, so that errors are generated in measurement acquisition of data (such as an emission angle) of the laser beam.

In this regard, the error reduction method measurement technique proposed in the present embodiment can select the data acquisition time to reduce error interference generated by manual operation of the user.

For another example, in some embodiments, the user may choose different points to be measured in a test manner, and the laser rangefinder tends to move with the manual operation of the user, so that a certain degree of jitter may be generated.

In some embodiments, the step of calculating the target spacing comprises:

screening at least one first target point from the plurality of first relative positions, and screening at least one second target point from the plurality of second relative positions;

and calculating at least one target distance according to the at least one first target point and the at least one second target point.

Preferably, in some embodiments, when the user performs one relative position measurement on the first to-be-measured point, the laser beam may be repeatedly emitted for a plurality of times in a short time, so as to obtain a plurality of relative positions, and an appropriate point is selected from the plurality of relative positions to be used as the target point. In particular, due to the speed characteristics of the laser, hundreds or even thousands of relative positions can be measured within 1s, and the filtering operation proposed by the present application can comprehensively process hundreds or thousands of relative positions to obtain a reliable measurement result.

For example, when the laser beam is in the path from the laser rangefinder, back through the point to be measured, and again from the laser rangefinder, if the middle is affected by an obstacle, such as a fallen leaf or bird, interference may cause the first relative position obtained at that time to be different from the first relative position in the conventional case, the present invention provides a dual-type filtering operation to eliminate or mitigate the error.

In some embodiments, as shown in FIG. 3, before calculating the first relative position, or calculating the second relative position (i.e., before calculating the measurement position), further comprising the steps of performing a second type of filtering operation on the measurement position, comprising the steps of:

acquiring second motion acceleration recorded by the laser range finder at a plurality of moments in the second period;

generating second shake data according to the second motion acceleration;

When the second jitter data is larger than a second jitter threshold value, identifying the measurement position at the corresponding moment as a second abnormal point;

calculating second adjacent time intervals of at least two adjacent class-II abnormal points;

When the second adjacent time intervals among the plurality of class-II abnormal points are smaller than a preset second time interval, identifying the corresponding plurality of class-II abnormal points as a second filtering point set;

for example, in some embodiments, if normal points exist at intervals between a plurality of class-two abnormal points, the abnormal points and the normal points in the time interval can be locally eliminated, i.e. the measurement points in the local time interval are filtered.

And identifying the measurement position outside the interval from the first moment to the second moment as a target point.

In other words, in this embodiment, the measurement result (or referred to as a measurement point) in the time interval may be filtered, and the final calculation process of the target pitch is not involved.

For example, in the present embodiment, when it is detected that there is abnormal jitter during a second period (e.g., a measurement period) (e.g., when the second jitter data is greater than a second jitter threshold), the measurement data (e.g., the relative position) generated at the corresponding time is identified as the second type of abnormal point. When there are a plurality of types of outliers whose timings are similar to each other within a certain period, all measurement data in a time zone covered by the plurality of types of outliers may be filtered and eliminated (or, alternatively, fragmented and eliminated).

Therefore, in this embodiment, the error due to the human is eliminated from the manual operation level of the user.

In some embodiments, before calculating the measured position, the method further comprises the step of performing a type of filtering operation on the relative position, comprising the steps of:

Calculating a difference between at least two adjacent measurement locations;

Identifying at least one of the measurement positions, for which the difference is greater than a preset first threshold, as a class of outliers;

For example, in some embodiments, when two widely differing data points (i.e., relative positions) are identified, both data points may be considered outliers.

Acquiring a first adjacent time interval of at least two adjacent abnormal points;

When the first adjacent time intervals among the plurality of abnormal points are smaller than a preset first time interval, identifying the corresponding abnormal points as a first filtering point set;

acquiring a third moment of a head abnormal point and a fourth moment of a tail abnormal point in the first filtering point set;

and identifying the measurement position outside the interval from the third time to the fourth time as a target point.

That is, in the present embodiment, when a plurality of types of outliers are relatively densely generated over a period of time, the data under the local period of time may be subjected to the whole-block filtering (or, the segment filtering).

In this embodiment, the artificial cause and the environmental cause are comprehensively eliminated in combination from the environmental interference level.

Of course, this type of filtering operation also eliminates erroneous data points caused by environmental obstructions.

In some embodiments, before calculating the first relative position, or calculating the second relative position (i.e. before calculating the measured position), further comprising the steps of:

Acquiring a target curve generated by the target point and the corresponding moment;

smoothing the target curve to obtain a new target curve;

and calculating position characteristic values of a plurality of points in the new target curve, and taking the position characteristic values as the first relative position or the second relative position, wherein the position characteristic values are average values, modes or median values of the positions of the plurality of points.

In this embodiment, for a vast number of relative position measurements, they are preferably identified in the form of curves, and the data is further filtered and filtered using smoothing.

It is worth noting that the present invention can adopt a double-layer or multi-layer filtering technique (or smoothing technique) to comprehensively screen massive data points such as relative positions, wherein one or two types of filtering methods can eliminate obvious abnormal points before curve smoothing so as to reduce the difficulty of smoothing processing. In terms of the alternative, the preprocessing is performed by adopting a first-class or second-class filtering method, so that error guidance generated in the smoothing process by a large error can be avoided, and the reliability of the smoothing process is improved.

In some embodiments, the smoothing process includes one or more of:

moving average, gaussian filtering, median filtering, kalman filtering.

In some embodiments, further comprising:

Acquiring a first distance value and a second distance value generated by the laser emission and receiving data, wherein the first distance value is the distance from a first to-be-measured point to a first locus, and the second distance value is the distance from a second to-be-measured point to a second locus;

calculating a difference degree L1 between the first distance value and the second distance value, wherein the calculation rule of the difference degree L1 is as follows:

L1= (first distance value-second distance value)/reference distance value, wherein the reference distance value is the first distance value or the second distance value;

when the difference degree L1 belongs to a first threshold range, a first prompt signal is sent out, and the first prompt signal is used for reminding a user of paying attention to whether a laser emission path of the laser range finder is blocked or not.

For example, since the laser may be in a state invisible to naked eyes or inconvenient to observe, when a user wears the long-sleeve garment and the cuffs are large, the user may have an improper operation angle, which may cause the laser beam to be directly blocked by the sleeves, and error interference caused by improper operation may be avoided or reduced by comparing the difference of the distance values.

Preferably, aiming at the sleeve shielding problem, the invention can also intelligently prompt the user in the early stage of measurement.

For example, a user typically stands between a first point to be measured and a second point to be measured, that is, the degree of deviation of the distance between the first point to be measured and the second point to be measured is typically too great. Therefore, if the deviation of the distance between the current position of the user and the first and second points to be detected is detected to be larger, for example, if the distance between the user and the first point to be detected is detected to be ten meters, but the distance between the user and the second point to be detected is 8cm, the shielding interference possibly occurs in the laser transmission process between the second points to be detected is primarily suspected.

For example, in some embodiments, the alert signal may be in the form of a signal light, or it may be in the form of a voice notification.

For another example, in some embodiments, a display screen is provided on the laser rangefinder that can electronically display the relevant data, e.g., it can output a final measurement, and, for example, the display screen can give a warning of an error signal when there is an improper operation.

Further, in some embodiments, the display screen may also have an interactive function, that is, the user may give a corresponding operation signal by touching the display screen. For example, an electronic selection button is provided on the display screen, such as a selection box for turning on a visible light beam, turning on a laser beam, calculating a distance, etc., and a user can perform a two-point distance measurement operation by means of one hand of the electronic display screen.

Example two

Referring to fig. 4, the present invention further provides a laser ranging system, including:

the measuring module is used for acquiring a measuring position, wherein the measuring position is a first relative position or a second relative position, and the measuring module comprises:

The measuring sub-module is used for sending out a laser beam to a first to-be-measured point by adopting a laser range finder at a first position and collecting first laser receiving and transmitting data, and sending out a laser beam to a second to-be-measured point by adopting the laser range finder at a second position and collecting second laser receiving and transmitting data;

The first calculation sub-module is used for calculating a first relative position of the first to-be-measured point according to the first laser receiving and transmitting data and calculating a second relative position of the second to-be-measured point according to the second laser receiving and transmitting data;

The second calculation sub-module is used for respectively calculating at least three target distances according to at least three groups of measurement positions, wherein one group of measurement positions comprises a first relative position and a second relative position;

The difference evaluation sub-module is used for calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein the L2= (D1-D2)/reference distance value is D1 or D2;

The qualified recognition module is used for recognizing the target distance D1 as a qualified measurement value when the difference degree belongs to a second threshold range;

And the recommendation output module is used for generating a recommended measurement result according to the qualified measurement value.

It will be appreciated that the present invention can implement the method or the steps described in any of the foregoing embodiments, and will not be described herein.

In some embodiments, the system further comprises:

The rotating speed measuring module is used for emitting a light source to the surface of the object to be measured, when the object to be measured rotates, the reflecting sheet of the object to be measured can reflect corresponding reflected light, and the rotating speed of the object to be measured is calculated according to the received reflected light.

That is, based on the rotational speed measurement module, the rangefinder is also capable of measuring the movement of a moving object, such as rotational speed.

For example, in some embodiments, the further workflow of the rotational speed measurement module is as follows:

the method comprises the steps of sending out laser beams at intervals according to a set period, wherein the laser beams generate reflected beams when encountering a reflector of an object to be detected, the reflected beams are then received by a rotating speed measuring module, and the rotating speed measuring module records the incident angles corresponding to the reflected beams at the same time;

Wherein, because the object to be measured is in the rotating process, the incident angles of the reflected light beams reflected at different moments are different when the reflected light beams are incident to the receiving end of the rotating speed measuring module, how the angle change is related to the rotation speed of the object to be measured, and then the rotation speed of the object to be measured can be calculated indirectly according to the angle change conditions at different moments.

It should be noted that, in this document, 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 one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a computer terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims (10)

1. The laser ranging method is characterized by comprising the following steps:

the method comprises the steps of obtaining a measurement position, wherein the measurement position is a first relative position or a second relative position, and the step of obtaining the measurement position comprises the following steps:

a laser range finder is adopted at a first site to send out a laser beam to a first to-be-detected point, and first laser receiving and transmitting data are collected;

calculating a first relative position of the first to-be-measured point according to the first laser receiving and transmitting data;

Transmitting a laser beam to a second to-be-detected point at a second position by adopting the laser range finder, and collecting second laser receiving and transmitting data;

calculating a second relative position of the second to-be-measured point according to the second laser receiving and transmitting data;

Respectively calculating at least three target distances according to at least three groups of measurement positions, wherein one group of measurement positions comprises a first relative position and a second relative position;

Calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein L2= (D1-D2)/reference distance value, and the reference distance value is D1 or D2;

when the difference degree belongs to a second threshold range, identifying the target distance D1 as a qualified measurement value;

and generating a recommended measurement result according to the qualified measurement value.

2. The laser ranging method as claimed in claim 1, wherein the measuring position is obtained by a down-error method, comprising the steps of:

S1011, adopting the laser range finder to emit visible light beams to a first to-be-measured point or a second to-be-measured point;

S1012, acquiring a first motion acceleration of the laser range finder in a first period;

S1013, generating first shake data according to the first motion acceleration;

S1014, when the first jitter data is smaller than a first jitter threshold value, marking the corresponding first time period as a type of time period;

s1015, judging whether the total duration of the time periods of the type which are continuously generated currently is greater than a first time duration threshold, if yes, entering S1016;

S1016, adopting the laser range finder to emit laser beams to the first to-be-detected point or the second to-be-detected point in a second period, and recording corresponding laser emission and receiving data;

S1017, calculating at least one measuring position of the first to-be-measured point or the second to-be-measured point under the second period according to the laser emission and receiving data, wherein the measuring position is marked with a time tag.

3. The laser ranging method as claimed in claim 2, wherein the step of calculating the target pitch comprises:

screening at least one first target point from the plurality of first relative positions, and screening at least one second target point from the plurality of second relative positions;

and calculating at least one target distance according to the at least one first target point and the at least one second target point.

4. A laser ranging method as claimed in claim 3, further comprising the step of performing a second type filtering operation on the measurement location prior to calculating the measurement location, comprising the steps of:

acquiring second motion acceleration recorded by the laser range finder at a plurality of moments in a second period;

generating second shake data according to the second motion acceleration;

when the second jitter data is larger than a second jitter threshold value, identifying the measurement position at the corresponding moment as a second type abnormal point;

calculating second adjacent time intervals of at least two adjacent class-II abnormal points;

When the second adjacent time intervals among the plurality of class-II abnormal points are smaller than a preset second time interval, identifying the corresponding plurality of class-II abnormal points as a second filtering point set;

acquiring a first moment of a head abnormal point and a second moment of a tail abnormal point in the second filtering point set;

and identifying the measurement position outside the interval from the first moment to the second moment as a target point.

5. A laser ranging method as claimed in claim 3, further comprising the step of, prior to calculating the measurement location:

Calculating a difference between at least two adjacent measurement locations;

Identifying at least one of the measurement positions, for which the difference is greater than a preset first threshold, as a class of outliers;

Acquiring a first adjacent time interval of at least two adjacent abnormal points;

When the first adjacent time intervals among the plurality of abnormal points are smaller than a preset first time interval, identifying the corresponding abnormal points as a first filtering point set;

acquiring a third moment of a head abnormal point and a fourth moment of a tail abnormal point in the first filtering point set;

and identifying the measurement position outside the interval from the third time to the fourth time as a target point.

6. A laser ranging method as claimed in claim 4 or 5, further comprising the step of, prior to calculating the measurement location:

Acquiring a target curve generated by the target point and the corresponding moment;

smoothing the target curve to obtain a new target curve;

and calculating position characteristic values of a plurality of points in the new target curve, and taking the position characteristic values as the first relative position or the second relative position, wherein the position characteristic values are average values, modes or median values of the positions of the plurality of points.

7. The laser ranging method as claimed in claim 6, wherein the smoothing process includes one or more of:

moving average, gaussian filtering, median filtering, kalman filtering.

8. The laser ranging method as claimed in claim 1, further comprising:

Acquiring a first distance value and a second distance value generated by laser emission and receiving data, wherein the first distance value is the distance between a first to-be-measured point and a first locus, and the second distance value is the distance between a second to-be-measured point and a second locus;

calculating a difference degree L1 between the first distance value and the second distance value, wherein a calculation rule of the difference degree L1 is as follows:

l1= (first distance value-second distance value)/reference distance value, wherein the reference distance value is the first distance value or the second distance value;

when the difference degree L1 belongs to a first threshold range, a first prompt signal is sent out, and the first prompt signal is used for reminding a user of paying attention to whether a laser emission path of the laser range finder is blocked or not.

9. A laser ranging system, comprising:

the measuring module is used for acquiring a measuring position, wherein the measuring position is a first relative position or a second relative position, and the measuring module comprises:

The measuring sub-module is used for sending out a laser beam to a first to-be-measured point by adopting a laser range finder at a first position and collecting first laser receiving and transmitting data, and sending out a laser beam to a second to-be-measured point by adopting the laser range finder at a second position and collecting second laser receiving and transmitting data;

The first calculation sub-module is used for calculating a first relative position of the first to-be-measured point according to the first laser receiving and transmitting data and calculating a second relative position of the second to-be-measured point according to the second laser receiving and transmitting data;

The second calculation sub-module is used for respectively calculating at least three target distances according to at least three groups of measurement positions, wherein one group of measurement positions comprises a first relative position and a second relative position;

The difference evaluation sub-module is used for calculating the difference degree L2 between any one of the target distances D1 and at least one of the target distances D2, wherein the L2= (D1-D2)/reference distance value is D1 or D2;

The qualified recognition module is used for recognizing the target distance D1 as a qualified measurement value when the difference degree belongs to a second threshold range;

And the recommendation output module is used for generating a recommended measurement result according to the qualified measurement value.

10. The laser ranging system as set forth in claim 9, further comprising:

The rotating speed measuring module is used for emitting a light source to the surface of the object to be measured, when the object to be measured rotates, the reflecting sheet of the object to be measured can reflect corresponding reflected light, and the rotating speed of the object to be measured is calculated according to the received reflected light.