Three-way laser ranging method, device, equipment and medium

Abstract

The invention relates to a three-way laser ranging method and device, equipment and a medium. The method comprises the following steps: acquiring a laser echo signal reflected from a target object; transmitting the laser echo signal to an image sensor to obtain a three-way light spot image; performing morphological feature recognition on the three-way light spot image, judging whether the light spot of the three-way light spot image has abnormal deformation or not, obtaining a light spot recognition result, and obtaining a stability index of the light spot form in each direction based on the light spot recognition result; carrying out validity marking on the distance measurement data in each direction according to the light spot identification result to obtain effective direction distance measurement data, and generating an integrity index of the distance measurement data; and carrying out flight time calculation based on the effective direction distance measurement data to obtain three-dimensional coordinates of the target object. The method has the effect of improving the reliability of laser measurement.

Description

Technical Field

[0001] The present application relates to the technical field of laser ranging, and in particular, to a three-direction laser ranging method, device, equipment and medium. Background Art

[0002] With the development of industrial automation and intelligent manufacturing, laser ranging, as an important means of non-contact measurement, has been widely used in the fields of industrial inspection, spatial positioning, robot navigation, etc. Traditional laser ranging technology mainly uses single-point or single-line lasers, combined with mechanical scanning structures to obtain two-dimensional or three-dimensional spatial coordinate information. To improve the spatial resolution ability, some solutions use multi-sensor fusion or rotating scanning components to achieve three-dimensional modeling.

[0003] When the existing ranging systems face complex working conditions, they mainly rely on filtering algorithms to remove noise, but lack a recognition mechanism for the authenticity of laser echo signals. In particular, they are unable to determine whether the laser spot has deformed due to the interference of the reflecting surface, which may mislead the distance judgment. In addition, the existing systems usually use a unified threshold for processing the three-axis ranging data, and fail to independently identify and differentially process the spot characteristics in each direction, which limits the measurement stability and accuracy.

[0004] The above existing technical solutions have the following defects: current three-dimensional laser ranging devices are prone to spot distortion in complex reflective environments, lacking an interference judgment and elimination mechanism based on the spot morphology, resulting in a decrease in ranging accuracy or even misjudgment, and there is room for improvement. Summary of the Invention

[0005] In order to improve the reliability of laser measurement, the present application provides a three-direction laser ranging method, device, equipment and medium.

[0006] The first invention object of the present application is achieved by the following technical solutions: A three-direction laser ranging method, the three-direction laser ranging method includes: Obtaining a laser echo signal reflected from a target object; Transmitting the laser echo signal to an image sensor to obtain a three-direction spot image; Performing morphological feature recognition on the three-direction spot image to determine whether the spot of the three-direction spot image has abnormal deformation, obtaining a spot recognition result, and obtaining a stability index of the spot morphology in each direction based on the spot recognition result; Performing validity marking on the ranging data in each direction respectively according to the spot recognition result to obtain valid directional ranging data, and generating an integrity index of the ranging data; Calculating the time of flight based on the valid directional ranging data to obtain the three-dimensional coordinates of the target object; Comprehensively analyze the three-dimensional coordinates and the recognition results of the light spots in each direction, generate corresponding credibility marks for each group of ranging results based on the integrity index of the ranging data and the stability index of the light spot morphology, and output the three-dimensional ranging results including the credibility marks.

[0007] By adopting the above technical solution, by acquiring the laser echo signal reflected from the target object, the basic data of the distance information between the target object and the ranging device in the three-dimensional space can be obtained, thereby providing the original support for subsequent direction positioning and coordinate calculation; by transmitting the laser echo signal to the image sensor to obtain the three-way light spot image, the reflected signal can be converted into the processable image data with two-dimensional characteristics, thereby enhancing the resolution and stability of the subsequent recognition and processing; by performing morphological feature recognition on the three-way light spot image and obtaining the stability index of the light spot morphology in each direction, it is possible to judge whether there is abnormal deformation and the degree of consistency of the deformation of the light spots in different directions, thereby improving the recognition ability and robustness of the ranging process to abnormal interference signals; by performing validity marking on the ranging data in each direction according to the light spot recognition result and generating the integrity index of the ranging data, it is possible to achieve the elimination and compensation recognition of invalid ranging data, thereby avoiding the interference of incorrect ranging information on the overall coordinate calculation accuracy; by calculating the flight time based on the effective direction ranging data to obtain the three-dimensional coordinates of the target object, the spatial position of the target in the three-dimensional coordinate system can be accurately located, thereby meeting the high-precision measurement requirements in complex environments; by comprehensively analyzing the three-dimensional coordinates and the light spot recognition results, generating credibility marks based on the integrity and stability indexes and outputting the ranging results, it is possible to achieve the quality grading and transparency of the measurement results, thereby enhancing the reliability and decision-making support ability of the measurement system in applications such as industry, navigation, and positioning.

[0008] In one example of the present application, it can be further configured that: the acquiring the laser echo signal reflected from the target object includes: Emitting laser beams to the target object along three mutually perpendicular directions of X, Y, and Z respectively; Receiving the laser echo signal reflected from the target object, and establishing an echo data channel for each direction respectively to achieve synchronous acquisition, so as to obtain the laser echo signal.

[0009] By adopting the above technical solution, by emitting laser beams to the target object along three mutually perpendicular directions of X, Y, and Z respectively, synchronous detection of distances in different directions in the three-dimensional space can be achieved, thereby enhancing the overall coverage ability of the measurement system for the spatial scene; by establishing an echo data channel for each direction respectively to achieve synchronous acquisition, misjudgment caused by signal aliasing in different directions can be avoided, thereby improving the synchronism and independence of multi-direction ranging data and ensuring the accuracy of the ranging results.

[0010] In one example, the present application can be further configured such that transmitting the laser echo signal to the image sensor and obtaining the three-direction spot image includes: Guiding the laser echo signal to the image sensor through an optical guiding mechanism; Recording the laser spot image frames in the X, Y, and Z directions respectively by the image sensor, and performing timestamp marking on the laser spot image frames.

[0011] By adopting the above technical solution, guiding the laser echo signal to the image sensor through the optical guiding mechanism can optimize the incident path and imaging angle of the echo signal, thereby improving the clarity and alignment of the spot image collected by the image sensor; recording the laser spot image frames in the X, Y, and Z directions respectively by the image sensor and performing timestamp marking can achieve the timing correspondence between the image data and the ranging events, thereby enhancing the data fusion and synchronization processing capabilities.

[0012] In one example, the present application can be further configured such that performing morphological feature recognition on the three-direction spot image includes: Performing contour extraction and center positioning operations on the three-direction spot image by using an image processing algorithm to obtain the contour shape of the three-direction spot image; Calculating the roundness, eccentricity, and intensity gradient distribution of the spot according to the contour shape to determine whether it is in a normal state.

[0013] By adopting the above technical solution, performing contour extraction and center positioning operations on the three-direction spot image by using an image processing algorithm can identify the features of the spot boundary and the core area in the image, thereby improving the detection ability of the image recognition algorithm for abnormal spot morphologies; judging the spot state by calculating the roundness, eccentricity, and intensity gradient distribution according to the contour shape can quantify the change in the reflection quality and identify abnormal ranging signals caused by irregular reflections, thereby enhancing the stability and discriminability of the ranging system under non-ideal reflection conditions.

[0014] In one example, the present application can be further configured such that respectively performing validity marking on the ranging data in each direction according to the spot recognition result to obtain valid direction ranging data includes: Comparing the spot recognition result with a preset deformation threshold, identifying the ranging data in the abnormal direction, and adding a corresponding logical mark to the ranging data in each direction; When it is detected that the ranging data in the first direction is invalid, constructing a two-dimensional plane space model based on the valid direction ranging data in the second and third directions; Performing projection compensation calculation on the first direction through a geometric derivation method to generate an estimated distance value to obtain the valid direction ranging data.

[0015] By adopting the above technical solution, by comparing the spot recognition result with a preset deformation threshold to identify abnormal direction data and adding a logical mark, it is possible to mark and isolate the ranging values corresponding to the deformed spots, thereby avoiding interference of abnormal data with the overall three-dimensional ranging calculation; when the first direction data is invalid, by constructing a two-dimensional plane space model based on the valid data of the second and third directions and performing projection compensation on the first direction to generate an estimated value, it is possible to compensate for the missing distance information through geometric inversion in the case of partial ranging channel failures, thereby improving the fault tolerance ability and result continuity of the ranging system and meeting the ranging requirements under complex or incomplete echo conditions.

[0016] In one example, the present application can be further configured as: before comparing the spot recognition result with the preset deformation threshold, the three-way laser ranging method further includes: Obtaining the measurement environment data of the target item and setting the deformation recognition sensitivity according to the measurement environment data; Dynamically adjusting the preset deformation threshold according to the deformation recognition sensitivity and historical ranging samples.

[0017] By adopting the above technical solution, by obtaining the measurement environment data of the target item to set the deformation recognition sensitivity, it is possible to make personalized adjustments to the judgment conditions for abnormal recognition according to factors such as ambient light intensity and material reflection characteristics, thereby enhancing the adaptability of the system in diverse application scenarios; by dynamically adjusting the preset deformation threshold in combination with the deformation recognition sensitivity and historical ranging samples, it is possible to continuously optimize the judgment criteria according to the actual recognition effect, thereby enhancing the recognition accuracy and anti-interference ability of the system for abnormal spots in complex backgrounds.

[0018] In one example, the present application can be further configured as: generating a corresponding credibility mark for each group of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology includes: Performing weighted fusion on the integrity index of the ranging data and the stability index of the spot morphology to generate a quality score for each group of data; Marking corresponding mark information for the ranging result according to the quality score to generate the credibility mark.

[0019] By adopting the above technical solution, by performing weighted fusion on the integrity index of the ranging data and the stability index of the spot morphology to generate a data quality score, it is possible to quantify the reliability level of the measurement path on which the three-dimensional coordinate result depends, thereby providing an objective evaluation basis for judging whether the data is credible; by marking corresponding mark information for the ranging result according to the quality score to generate a credibility mark, it is possible to visually classify and output data of different quality levels, thereby facilitating reasonable decision-making by the system or manual operation in the data processing and screening links.

[0020] The second inventive object of the present application is achieved by the following technical solutions: A three-way laser ranging device, the three-way laser ranging device comprising: A laser emission module for acquiring a laser echo signal reflected from a target object; An image acquisition module for transmitting the laser echo signal to an image sensor to acquire a three-way spot image; A spot recognition module for performing morphological feature recognition on the three-way spot image, determining whether the spot of the three-way spot image undergoes abnormal deformation, obtaining a spot recognition result, and acquiring a stability index of the spot morphology in each direction based on the spot recognition result; A marking module for respectively performing validity marking on the ranging data in each direction according to the spot recognition result, obtaining valid direction ranging data, and generating an integrity index of the ranging data; A coordinate calculation module for performing a time-of-flight calculation based on the valid direction ranging data to acquire the three-dimensional coordinates of the target object; A result output module for comprehensively analyzing the three-dimensional coordinates and the spot recognition results in each direction, generating a corresponding credibility mark for each group of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology, and outputting a three-dimensional ranging result including the credibility mark.

[0021] By adopting the above technical solutions, by setting the laser emission module to acquire the laser echo signal reflected from the target object, it is possible to provide the original data input for three-way distance measurement, thereby constructing a ranging starting point for the three-dimensional space; by setting the image acquisition module to convert the echo signal into a spot image, it is possible to realize the graphical representation of the laser signal, thereby providing an image basis for the subsequent morphology recognition algorithm; by setting the spot recognition module to recognize abnormal deformation and generate a stability index, it is possible to improve the perception ability of the ranging system for abnormal spots, thereby enhancing the result screening accuracy; by setting the marking module to mark the validity and generate an integrity index, it is possible to realize the real-time recognition and classification of invalid data, thereby ensuring the reliability of coordinate calculation; by setting the coordinate calculation module to perform a time-of-flight calculation based on the valid data, it is possible to acquire the accurate three-dimensional coordinate values of the target object, thereby realizing precise positioning; by setting the result output module to fuse the coordinate result and the recognition result to output the credibility mark, it is possible to provide the three-dimensional ranging information with credibility classification for the external system, thereby enhancing the intelligence and controllability of the ranging system in industrial applications.

[0022] The third object of the present application is achieved by the following technical solutions: A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned three-way laser ranging method are implemented.

[0023] The above-mentioned fourth objective of this application is achieved through the following technical solutions: A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned three-way laser ranging method are implemented.

[0024] In summary, this application includes the following beneficial technical effects: 1. By acquiring the laser echo signal reflected from the target object, the basic data of the distance information between the target object and the ranging device in the three-dimensional space can be obtained, thus providing the original support for subsequent direction positioning and coordinate calculation; by transmitting the laser echo signal to the image sensor to obtain the three-way spot image, the reflected signal can be converted into processable image data with two-dimensional characteristics, thus enhancing the resolution and stability of subsequent recognition processing; by performing morphological feature recognition on the three-way spot image and obtaining the stability index of the spot morphology in each direction, it is possible to judge whether there is abnormal deformation and the degree of consistency of the deformation of the spots in different directions, thus improving the recognition ability and robustness of the ranging process to abnormal interference signals. 2. By marking the validity of the ranging data in each direction according to the spot recognition result and generating the integrity index of the ranging data, the elimination and compensation recognition of invalid ranging data can be realized, thus avoiding the interference of incorrect ranging information on the overall coordinate calculation accuracy; by calculating the time of flight based on the effective direction ranging data to obtain the three-dimensional coordinates of the target object, the spatial position of the target in the three-dimensional coordinate system can be accurately located, thus meeting the high-precision measurement requirements in complex environments; by comprehensively analyzing the three-dimensional coordinates and the spot recognition result, generating a credibility mark based on the integrity and stability indexes and outputting the ranging result, the quality grading and transparency of the measurement result can be realized, thus enhancing the reliability and decision-making support ability of the measurement system in applications such as industry, navigation, and positioning. Description of the Drawings

[0025] Figure 1 is a flowchart of a three-way laser ranging method in an embodiment of this application; Figure 2 is an implementation flowchart of step S10 in a three-way laser ranging method in an embodiment of this application; Figure 3 is an implementation flowchart of step S20 in a three-way laser ranging method in an embodiment of this application; Figure 4It is the implementation flowchart of step S30 in a three-way laser ranging method according to an embodiment of the present application; Figure 5 It is the implementation flowchart of step S40 in a three-way laser ranging method according to an embodiment of the present application; Figure 6 It is another implementation flowchart of step S40 in a three-way laser ranging method according to an embodiment of the present application; Figure 7 It is the implementation flowchart of step S60 in a three-way laser ranging method according to an embodiment of the present application; Figure 8 It is a principle block diagram of a three-way laser ranging device according to an embodiment of the present application; Figure 9 It is a schematic diagram of the device according to an embodiment of the present application. Specific embodiments

[0026] The present application will be further described in detail below with reference to the accompanying drawings.

[0027] In one embodiment, as Figure 1 shown, the present application discloses a three-way laser ranging method, which specifically includes the following steps: S10: Obtain the laser echo signal reflected from the target object.

[0028] Specifically, before performing the three-way laser ranging operation, the laser control program starts each emission channel, and sequentially or simultaneously emits laser beams with a set pulse width and power in the X, Y, and Z directions. After the laser beams propagate through space, they irradiate the surface of the target object to be measured and undergo diffuse reflection or specular reflection. Part of the reflected signal is collected by the receiving unit of the ranging device. During the collection process, the incident time, intensity, and voltage waveform are sampled in real time and encoded into an echo data frame. Each frame of data contains meta-information such as the laser channel number, timestamp, and received intensity. The echo data is then cached in the original data buffer for subsequent image processing calls. The entire process is synchronized and scheduled through a high-frequency trigger mechanism to ensure the consistency of the three-way echo data timing, and is applicable to target objects with different reflection conditions such as smooth metal surfaces, plastic surfaces, or rough surfaces.

[0029] S20: Transmit the laser echo signal to the image sensor to obtain a three-way spot image.

[0030] Specifically, a light guiding control process is performed on the received laser echo signal. The laser signal is guided to different incident paths of the image acquisition module through a preset optical coupling component including a collimating lens, a beam splitter, and a reflecting prism, so that the reflected light in the X, Y, and Z directions is respectively irradiated onto three corresponding photosensitive regions on the image sensor chip. Different regions have independent exposure control and pixel sampling circuits for respectively recording the laser spot morphologies in the corresponding directions. During the image acquisition process, exposure time, gain coefficient, and frame rate parameters are configured to ensure that the brightness balance and edge sharpness of the spot image meet the recognition requirements. Each image frame is automatically marked with a laser channel number and a system timestamp after acquisition and temporarily stored in the image buffer for subsequent analysis. The image frame can be a grayscale image or a pseudo-color enhanced image, and the image size is usually set to 640×480 or 1280×1024 pixels to ensure sufficient recognition accuracy.

[0031] S30: Perform morphological feature recognition on the three-direction spot images, determine whether the spots in the three-direction spot images have abnormal deformations, obtain the spot recognition result, and obtain the stability index of the spot morphologies in each direction based on the spot recognition result.

[0032] Specifically, load the three-direction spot image frames from the image buffer, and sequentially perform image preprocessing operations, including histogram equalization, background difference, and Gaussian filtering for noise reduction, to enhance the image contrast and suppress background interference. Subsequently, use edge detection algorithms such as Canny or Sobel operators to extract the spot edges, and combine connected component analysis and minimum circumscribed ellipse fitting methods to extract the spot geometric shape parameters, including contour area, major and minor axis lengths, roundness, eccentricity, and brightness centroid position. Then, compare the morphological parameters of the current image frame with the same-direction spot morphological data of several historical frames, and calculate the change amplitude and fluctuation trend as the morphological stability index in this direction. If the spot morphology shows severe deformation, sudden change in eccentricity, or brightness discontinuity in multiple consecutive frames, it is recorded as an abnormal spot and the abnormal level is marked in the recognition result. The finally formed spot recognition result structure includes multiple fields such as whether the current spot is abnormal, abnormal type, and stability score for subsequent calls.

[0033] S40: According to the spot recognition result, respectively perform validity marking on the ranging data in each direction to obtain valid direction ranging data, and generate the integrity index of the ranging data.

[0034] Specifically, compare the three-way spot recognition result with the set spot validity determination criterion to determine whether the spots in the X, Y, and Z directions in the current acquisition cycle have the required morphological characteristics and are in a stable state. If the spot in a certain direction is marked as abnormal or the stability score is lower than the threshold, mark the ranging data corresponding to that direction as invalid. At the same time, add a failure flag bit for that direction in the ranging result structure and record the rejection reason and spot abnormality type. If the data in a certain direction is valid, retain its time-of-flight data for subsequent calculation. At the same time, count the validity marks of the three directions to determine the number of valid directions in the current ranging cycle. If all three directions are valid, the integrity index is "complete"; if one direction fails, the integrity index is "partially complete"; if two directions fail, it is "low integrity". This index is used for subsequent credibility scoring and triggering judgment of the coordinate compensation strategy.

[0035] S50: Calculate the time of flight based on the valid direction ranging data to obtain the three-dimensional coordinates of the target object.

[0036] Specifically, for the direction marked as valid, extract the time-of-flight value of that direction from the echo data structure. Multiply the time of flight by half of the laser propagation speed, i.e., the speed of light, to calculate the target distance value of that direction. For the case where all three directions are valid, directly use the distance values in the X, Y, and Z directions to form the target point coordinate vector in the three-dimensional rectangular coordinate system. If one direction fails, call the space reconstruction module to estimate and compensate the target position. Use the known distance data of the two directions and the fixed geometric relationship or incident angle information of the light source in the measurement system to establish a two-dimensional geometric model, and inversely deduce the estimated distance of the third direction through the trigonometric derivation method or the back-projection algorithm, and then combine it into a complete three-dimensional coordinate value. After all calculations are completed, encapsulate the three-dimensional coordinate value into a coordinate structure and record whether the coordinate calculation path is a compensation calculation for subsequent reference in credibility scoring.

[0037] S60: Conduct comprehensive analysis on the three-dimensional coordinates and the spot recognition results in each direction. Based on the integrity index of the ranging data and the stability index of the spot morphology, generate corresponding credibility marks for each group of ranging results and output the three-dimensional ranging results including the credibility marks.

[0038] Specifically, the three-dimensional coordinates, spot recognition results, integrity index, and stability score generated in the current ranging cycle are jointly input into the credibility calculation module. The quality level of this set of coordinates is calculated through a weighted scoring model, where the influence weight of the integrity index is 40%, and the average value of the stability score has an influence weight of 60%. If the scoring result falls into the high credibility interval, it is marked as "high credibility"; if it falls into the middle interval, it is marked as "medium credibility"; if the score is too low, it is marked as "low credibility". This credibility label is bound to the three-dimensional coordinates to form a set of output data structures, which include: three-dimensional coordinate values, coordinate calculation source marks, credibility levels, spot recognition states in each direction, and stability raw values. At the same time, this result is sent to the external interface module for the upper control system or human-machine interface to call, and can also be recorded in the local log for subsequent analysis and measurement result traceability.

[0039] By adopting the above technical solutions, by acquiring the laser echo signal reflected from the target object, the basic data of the distance information between the target object and the ranging device in the three-dimensional space can be obtained, thus providing the original support for subsequent direction positioning and coordinate calculation; by transmitting the laser echo signal to the image sensor to obtain the three-way spot image, the reflected signal can be converted into processable image data with two-dimensional characteristics, thus enhancing the resolution and stability of subsequent recognition processing; by performing morphological feature recognition on the three-way spot image and obtaining the stability index of the spot morphology in each direction, it is possible to judge whether there is abnormal deformation and the degree of consistency of the deformation of the spots in different directions, thus improving the recognition ability and robustness of the ranging process to abnormal interference signals; by marking the validity of the ranging data in each direction according to the spot recognition results and generating the integrity index of the ranging data, it is possible to achieve the elimination and compensation recognition of invalid ranging data, thus avoiding the interference of incorrect ranging information on the overall coordinate calculation accuracy; by calculating the time of flight based on the effective direction ranging data to obtain the three-dimensional coordinates of the target object, the spatial position of the target in the three-dimensional coordinate system can be accurately located, thus meeting the high-precision measurement requirements in complex environments; by comprehensively analyzing the three-dimensional coordinates and spot recognition results, generating a credibility label based on the integrity and stability indexes and outputting the ranging result, it is possible to achieve the quality grading and transparency of the measurement results, thus enhancing the reliability and decision-making support capabilities of the measurement system in applications such as industry, navigation, and positioning.

[0040] In one embodiment, as Figure 2 shown, in step S10, that is, acquiring the laser echo signal reflected from the target object, specifically includes: S11: Emitting laser beams along three mutually perpendicular directions of X, Y, and Z to the target object respectively.

[0041] Specifically, the laser emission control module is called to activate the laser devices corresponding to the X, Y, and Z directions respectively. According to the current configuration file, the emission angle, power level, and pulse frequency parameters of the laser are loaded. The spatial orthogonality between the three laser beams is calibrated through a stepping adjustment mechanism to ensure that their emission directions are perpendicular to each other. After executing the laser initialization instruction, the emission commands in the three directions are triggered sequentially or the three-channel pulsed laser beams are triggered simultaneously in parallel. During the emission process, the emission timestamp information in each direction is recorded in real time for subsequent echo pairing. Each laser beam forms a reflection after propagating in space and irradiating the surface of the target object, providing a signal source for subsequent reception and imaging.

[0042] S12: Receive the laser echo signal reflected from the target object, and establish echo data channels for each direction respectively to achieve synchronous acquisition, obtaining the laser echo signal.

[0043] Specifically, immediately enter the receiving monitoring state after the laser emission. According to the emission timing or tag information in the three directions, the corresponding receiving channels are opened respectively. The laser echo signal reflected from the target object is collected through a photodetector and converted into an analog electrical signal. After the signal is collected, level amplification, analog-to-digital conversion, and signal filtering processes are performed sequentially. A buffer area is configured separately for each direction to store the corresponding echo raw data frame. To achieve time synchronization and independent analysis of multi-direction signals, a laser channel identifier, signal intensity, and acquisition timestamp are marked for each channel, and a three-channel parallel echo data structure is constructed for subsequent imaging processing operations of the guiding image sensor.

[0044] In one embodiment, as Figure 3 shown, in step S20, the laser echo signal is transmitted to the image sensor to obtain a three-way spot image, specifically including: S21: Guide the laser echo signal to the image sensor through an optical guiding mechanism.

[0045] Specifically, the laser echo signals received from multiple directions enter the optical path control module. The beam shaping and collimation are realized by using a combination of multiple lenses. The optical path of the laser echo is redirected by setting optical devices with different refractive indices or reflecting surfaces. The laser beams in each direction are guided to be projected onto the preset areas on the image sensor respectively, including a beam splitter prism or a reflecting mirror with a fixed angle setting to adjust the incident angle and beam position, so that the three laser beams fall on the non-overlapping photosensitive areas on the surface of the image sensor chip respectively, ensuring the channel isolation and spatial mapping accuracy during the image data acquisition process, and laying a foundation for subsequent multi-channel image frame decoupling and feature extraction.

[0046] S22: Record the laser spot image frames in the X, Y, and Z directions respectively through the image sensor, and mark the laser spot image frames with timestamps.

[0047] Specifically, after the laser echo signal enters the photosensitive area of the image sensor, it is converted into pixel grayscale information. The image data of the photosensitive area is synchronously read in regions through the high-frame-rate image acquisition logic. The spot image frames from the X, Y, and Z directions are respectively recorded. The image frames are numbered and classified by channel and compressed and encoded into the image buffer. At the same time, meta-information such as the laser channel number, acquisition trigger time, and signal intensity is bound to the image frames. These meta-information fields are marked through the image frame header structure in a unified format to achieve frame-to-frame traceability and timing association in the subsequent process. This timestamp serves as an important reference field for subsequent analysis of spot stability and spot anomaly synchronization.

[0048] In one embodiment, as Figure 4 shown, in step S30, that is, morphological feature recognition is performed on the three-way spot image, specifically including: S31: Use an image processing algorithm to perform contour extraction and center positioning operations on the three-way spot image to obtain the contour shape of the three-way spot image.

[0049] Specifically, after loading the three-way spot image data into the image buffer, call the image preprocessing process to perform background denoising, image normalization, and brightness enhancement processing on the input image. After enhancing the edge contrast, apply an edge extraction algorithm such as the Sobel operator or the Canny operator to identify the contour boundary of the spot. The boundary contour pixel points are formed into a closed area and subjected to boundary smoothing and polygon fitting operations. Subsequently, calculate the minimum circumscribed circle or minimum circumscribed ellipse of the spot area, and at the same time extract the geometric center of the spot as the center point for morphological analysis. The above contour and center parameters are used as the contour recognition results of the current image frame and stored in the structured recognition result list for subsequent morphological calculation calls.

[0050] S32: Calculate the roundness, eccentricity, and intensity gradient distribution of the spot according to the contour shape to determine whether it is in a normal state.

[0051] Specifically, perform morphological parameter calculations on the contour recognition results of each image frame. First, calculate the ratio of the major axis to the minor axis of the fitted ellipse to obtain the eccentricity parameter. At the same time, calculate the ratio of the contour length of the spot area to the equivalent circumference to obtain the roundness index. Then perform a gray gradient scan inside the spot area, statistically analyze the uniformity of the gray change from the center to the edge of the image and form an intensity gradient distribution map. Compare the above three parameters with the preset spot feature model. If each index is within the normal fluctuation range, it is determined that the spot is in a normal state. If the roundness decreases, the eccentricity increases, or the intensity gradient changes abnormally steeply, it is marked as a possible abnormal spot, and the abnormal level is recorded as a reference basis for subsequent judgment of the validity of the ranging data.

[0052] In one embodiment, as Figure 5As shown, in step S40, that is, according to the spot recognition result, the ranging data in each direction is respectively marked for validity to obtain valid ranging data in the direction, which specifically includes: S41: Compare the spot recognition result with a preset deformation threshold, identify the ranging data in the abnormal direction, and add a corresponding logical mark to the ranging data in each direction.

[0053] Specifically, after completing the three-direction spot recognition, extract the morphological feature values such as roundness, eccentricity, and gray gradient in each direction and compare them item by item with the preset deformation threshold. If a certain feature parameter exceeds the threshold range, it is determined that the spot in the direction has abnormal deformation, record the index of the abnormal direction and add a logical invalid mark to the ranging data structure. The mark field includes the abnormal type code, the name of the influencing index, and the specific value exceeding the threshold. At the same time, bind this abnormal information in the data quality label for subsequent credibility calculation and processing. If the spot feature values in a certain direction are all within the threshold range, the corresponding ranging data is marked as the valid state and given a normal weight. The entire logical marking process is executed independently by direction to ensure the traceability and processing independence of each ranging dimension.

[0054] S42: If it is detected that the ranging data in the first direction is invalid, based on the valid ranging data in the second and third directions, construct a two-dimensional plane space model.

[0055] Specifically, after identifying that the ranging data in the first direction is invalid, call the compensation modeling module, extract the distance values in the second and third directions and the known installation positions and emission angle information of the corresponding laser emitters in the space coordinate system, construct the spatial connection line and included angle between the ranging points in these two directions, and project the effective ranging results in the second and third directions onto the constructed two-dimensional plane by using the three-dimensional space vector projection relationship to form a geometric model with known side length and included angle relationship as the estimation basis. The constructed plane model is the body reference framework for this compensation action, and record the direction index, parameter values, and configuration status participating in the modeling in the data structure for subsequent projection calculation calls and compensation accuracy evaluation.

[0056] S43: Perform projection compensation calculation on the first direction through geometric derivation to generate an estimated distance value to obtain valid ranging data in the direction.

[0057] Specifically, after the two-dimensional plane space model is established, the spatial relative position of the target point in the plane is calculated according to the measured distance values and the included angle relationship in the second direction and the third direction. Then, in combination with the position of the laser emission reference point in the first direction in the global coordinate system and the emission direction vector, the distance from the target point to the laser emission reference point in the first direction is inversely calculated using the cosine theorem or the space projection formula. This estimated distance value is written into the field originally marked as invalid in the ranging data structure, and its status flag is updated to the type of "compensation valid". At the same time, the calculation path label and compensation source description are attached for subsequent credibility analysis or anomaly analysis tracking.

[0058] In one embodiment, as Figure 6 shown, before step S41, that is, before comparing the spot recognition result with the preset deformation threshold, this three-way laser ranging method further includes: S401: Obtain the measurement environment data of the target item, and set the deformation recognition sensitivity according to the measurement environment data.

[0059] Specifically, in the ranging initialization stage or at periodic intervals, the environment detection module is called to obtain the environmental parameters of the current measurement area, including but not limited to environmental brightness values, the type of the target object's surface material, the change range of laser reflection intensity, and the complexity of the interference background, etc. After normalizing the above environmental data, the sensitivity configuration module is called to automatically adjust the sensitivity parameters of the deformation recognition algorithm according to the degree of influence of the environment on the spot, such as the fluctuation range of the threshold upper and lower limits, the length of the abnormal mutation detection window, and the residual tolerance value of the fitting model, etc., so as to improve the fault tolerance of abnormal recognition under complex or extreme environmental conditions, and improve the recognition accuracy under stable standard environmental conditions, ensuring that the abnormal judgment always adapts to environmental changes.

[0060] S402: Dynamically adjust the preset deformation threshold according to the deformation recognition sensitivity and historical ranging samples.

[0061] Specifically, after each round of ranging is completed, the current spot recognition parameters and sensitivity configuration items are recorded and compared with the typical spot shapes under similar environmental conditions in the historical ranging sample library. The statistical range and average variation amplitude of parameters such as historical spot roundness and eccentricity are extracted, and the adaptability of the original threshold is dynamically evaluated by calculating the position and change trend of the current recognition parameters in the historical distribution. If the current recognition sample deviates from the historical distribution center by more than the set interval, the judgment threshold of the corresponding parameter is adjusted. The updated dynamic threshold is used for the next round of abnormal recognition judgment, and at the same time, the threshold adjustment log is retained for model learning and system stability evaluation.

[0062] In one embodiment, as Figure 7As shown, in step S60, based on the integrity index of the ranging data and the stability index of the spot morphology, a corresponding credibility mark is generated for each group of ranging results, specifically including: S61: Weightedly fuse the integrity index of the ranging data and the stability index of the spot morphology to generate a quality score for each group of data.

[0063] Specifically, the integrity index recorded in the three-dimensional ranging data structure and the stability score extracted from the spot recognition results in each direction are used as input items and are respectively assigned corresponding weights. For example, the weight of the integrity index is 40% and the weight of the stability index is 60%. After normalizing each index, a weighted summation operation is performed to obtain a percentage-based quality score value. This score value quantifies the overall reliability of the current three-dimensional ranging data in terms of structural integrity and spot morphology consistency. The score value can be used to customize the credibility division rules in different application scenarios, and can also be used to dynamically adjust the ranging output accuracy level and data usage priority.

[0064] S62: Mark the corresponding mark information for the ranging result according to the quality score to generate a credibility mark.

[0065] Specifically, read the quality score corresponding to each group of three-dimensional ranging results and compare it with the preset credibility level interval. If the score value is higher than the set upper limit, it is marked as highly credible; if the score value is in the middle interval, it is marked as moderately credible; if it is lower than the lower limit, it is marked as lowly credible. Each level mark information includes the credibility level, the score value range, the level weight, and the judgment basis number. This mark information is packaged and output together with the coordinate data for external call, and is also written into the historical result data cache for subsequent statistical analysis and measurement accuracy trend tracking. It can also be used in real-time image linkage presentation to distinguish different levels of measurement results by color for users to quickly judge the data availability.

[0066] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0067] In one embodiment, a three-way laser ranging device is provided, and this three-way laser ranging device corresponds one-to-one with the three-way laser ranging method in the above embodiment. As Figure 8 shown, this three-way laser ranging device includes a laser emission module, an image acquisition module, a spot recognition module, a marking module, a coordinate calculation module, and a result output module. The detailed description of each functional module is as follows: The laser emission module is used to acquire the laser echo signal reflected from the target object; The image acquisition module is used to transmit the laser echo signal to the image sensor to acquire a three-way spot image; The spot recognition module is used to perform morphological feature recognition on the three-direction spot image, determine whether the spot of the three-direction spot image undergoes abnormal deformation, obtain the spot recognition result, and acquire the stability index of the spot morphology in each direction based on the spot recognition result; The marking module is used to respectively perform validity marking on the ranging data in each direction according to the spot recognition result, obtain the valid direction ranging data, and generate the integrity index of the ranging data; The coordinate calculation module is used to calculate the flight time based on the valid direction ranging data and obtain the three-dimensional coordinates of the target object; The result output module is used to comprehensively analyze the three-dimensional coordinates and the spot recognition results in each direction, generate corresponding credibility marks for each group of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology, and output the three-dimensional ranging results including the credibility marks.

[0068] Optionally, the laser emission module includes: The emission sub-module is used to emit laser beams to the target object along three mutually perpendicular directions of X, Y, and Z respectively; The acquisition sub-module is used to receive the laser echo signals reflected from the target object, and establish echo data channels for each direction respectively to achieve synchronous acquisition, and obtain the laser echo signals.

[0069] Optionally, the image acquisition module includes: The guiding sub-module is used to guide the laser echo signals to the image sensor through the optical guiding mechanism; The recording sub-module is used to respectively record the laser spot image frames in the X, Y, and Z directions through the image sensor, and perform timestamp marking on the laser spot image frames.

[0070] Optionally, the spot recognition module includes: The image processing sub-module is used to perform contour extraction and center positioning operations on the three-direction spot image by using image processing algorithms, and obtain the contour shape of the three-direction spot image; The judgment sub-module is used to calculate the roundness, eccentricity, and intensity gradient distribution of the spot according to the contour shape to judge whether it is in a normal state.

[0071] Optionally, the marking module includes: The comparison sub-module is used to compare the spot recognition result with the preset deformation threshold, identify the ranging data in the abnormal direction, and add corresponding logical marks to the ranging data in each direction; The model construction sub-module is used to construct a two-dimensional plane space model based on the valid direction ranging data in the second direction and the third direction when it is detected that the ranging data in the first direction is invalid; A compensation sub-module, which is used to perform projection compensation calculation on the first direction through geometric derivation to generate an estimated distance value, so as to obtain effective direction ranging data.

[0072] Optionally, the three-way laser ranging device further includes: An environmental data acquisition module, which is used to acquire the measurement environmental data of the target object and set the deformation recognition sensitivity according to the measurement environmental data; An adjustment module, which is used to dynamically adjust the preset deformation threshold according to the deformation recognition sensitivity and historical ranging samples.

[0073] Optionally, the result output module includes: A fusion sub-module, which is used to perform weighted fusion on the integrity index of the ranging data and the spot shape stability index to generate the quality score of each group of data; A marking sub-module, which is used to mark the corresponding marking information for the ranging result according to the quality score to generate a credibility mark.

[0074] For the specific limitations of a three-way laser ranging device, reference can be made to the limitations of a three-way laser ranging method in the above text, which will not be elaborated here. Each module in the above three-way laser ranging device can be implemented in whole or in part by software, hardware and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0075] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 9 shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a three-way laser ranging method.

[0076] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented: Obtain the laser echo signal reflected from the target object; Transmit the laser echo signal to an image sensor to obtain a three-way spot image; Perform morphological feature recognition on the three-direction spot image, determine whether the spot of the three-direction spot image has abnormal deformation, obtain the spot recognition result, and obtain the stability index of the spot morphology in each direction based on the spot recognition result; Perform validity marking on the ranging data in each direction according to the spot recognition result, obtain the valid direction ranging data, and generate the integrity index of the ranging data; Perform time-of-flight calculation based on the valid direction ranging data to obtain the three-dimensional coordinates of the target object; Perform comprehensive analysis on the three-dimensional coordinates and the spot recognition results in each direction, and generate corresponding credibility marks for each group of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology, and output the three-dimensional ranging results including the credibility marks.

[0077] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: Obtain the laser echo signal reflected from the target object; Transmit the laser echo signal to an image sensor to obtain a three-direction spot image; Perform morphological feature recognition on the three-direction spot image, determine whether the spot of the three-direction spot image has abnormal deformation, obtain the spot recognition result, and obtain the stability index of the spot morphology in each direction based on the spot recognition result; Perform validity marking on the ranging data in each direction according to the spot recognition result, obtain the valid direction ranging data, and generate the integrity index of the ranging data; Perform time-of-flight calculation based on the valid direction ranging data to obtain the three-dimensional coordinates of the target object; Perform comprehensive analysis on the three-dimensional coordinates and the spot recognition results in each direction, and generate corresponding credibility marks for each group of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology, and output the three-dimensional ranging results including the credibility marks.

[0078] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0080] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A three-way laser ranging method, characterized in that, The described three-way laser ranging method includes: Obtaining a laser echo signal reflected from a target object; Transmitting the laser echo signal to an image sensor to obtain a three-way spot image; Performing morphological feature recognition on the three-way spot image, determining whether the spots in the three-way spot image are abnormally deformed, obtaining a spot recognition result, and obtaining a stability index of the spot morphology in each direction based on the spot recognition result; Performing validity marking on the ranging data in each direction respectively according to the spot recognition result to obtain valid direction ranging data, and generating an integrity index of the ranging data; Calculating the flight time based on the valid direction ranging data to obtain the three-dimensional coordinates of the target object; Performing comprehensive analysis on the three-dimensional coordinates and the spot recognition results in each direction, generating a corresponding credibility mark for each group of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology, and outputting a three-dimensional ranging result including the credibility mark.

2. The three-way laser ranging method according to claim 1, characterized in that The obtaining of the laser echo signal reflected from the target object includes: Respectively emitting laser beams in three mutually perpendicular directions of X, Y, and Z to the target object; Receiving the laser echo signal reflected from the target object, and respectively establishing an echo data channel for each direction to achieve synchronous acquisition to obtain the laser echo signal.

3. A three-way laser ranging method according to claim 1, characterized in that, The transmitting of the laser echo signal to the image sensor to obtain a three-way spot image includes: Guiding the laser echo signal to the image sensor through an optical guiding mechanism; Recording the laser spot image frames in the X, Y, and Z directions respectively by the image sensor, and performing timestamp marking on the laser spot image frames.

4. A three-way laser ranging method according to claim 1, characterized in that The performing of morphological feature recognition on the three-way spot image includes: Using an image processing algorithm to perform contour extraction and center positioning operations on the three-way spot image to obtain the contour shape of the three-way spot image; Calculating the roundness, eccentricity, and intensity gradient distribution of the spot according to the contour shape to determine whether it is in a normal state.

5. A three-way laser ranging method according to claim 1, characterized in that, The performing of validity marking on the ranging data in each direction respectively according to the spot recognition result to obtain valid direction ranging data includes: Comparing the spot recognition result with a preset deformation threshold, identifying the ranging data in the abnormal direction, and adding a corresponding logical mark to the ranging data in each direction; If it is detected that the ranging data in the first direction is invalid, based on the valid direction ranging data in the second and third directions, constructing a two-dimensional plane space model; Performing projection compensation calculation on the first direction through a geometric derivation method to generate an estimated distance value to obtain the valid direction ranging data.

6. A three-way laser ranging method according to claim 5, characterized in that, Before comparing the spot recognition result with the preset deformation threshold, the three-way laser ranging method further includes: Obtaining the measurement environment data of the target item, and setting the deformation recognition sensitivity according to the measurement environment data; Dynamically adjusting the preset deformation threshold according to the deformation recognition sensitivity and historical ranging samples.

7. A three-way laser ranging method according to claim 1, characterized in that The integrity index based on the ranging data and the stability index of the spot morphology, generating corresponding credibility marks for each set of ranging results includes: Performing weighted fusion on the integrity index of the ranging data and the stability index of the spot morphology to generate a quality score for each set of data; Marking corresponding mark information for the ranging results according to the quality score to generate the credibility marks.

8. A three-way laser ranging device, characterized in that, The three-way laser ranging device includes: A laser emission module, configured to obtain a laser echo signal reflected from a target object; An image acquisition module, configured to transmit the laser echo signal to an image sensor to obtain a three-way spot image; A spot recognition module, configured to perform morphological feature recognition on the three-way spot image, determine whether the spot of the three-way spot image has abnormal deformation, obtain a spot recognition result, and obtain a stability index of the spot morphology in each direction based on the spot recognition result; A marking module, configured to perform validity marking on the ranging data in each direction respectively according to the spot recognition result to obtain valid direction ranging data, and generate an integrity index of the ranging data; A coordinate calculation module, configured to perform a flight time calculation based on the valid direction ranging data to obtain the three-dimensional coordinates of the target object; A result output module, configured to perform comprehensive analysis on the three-dimensional coordinates and the spot recognition results in each direction, generate corresponding credibility marks for each set of ranging results based on the integrity index of the ranging data and the stability index of the spot morphology, and output the three-dimensional ranging results including the credibility marks.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the three-way laser ranging method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the three-way laser ranging method according to any one of claims 1 to 7 are implemented.

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