Ranging device and detection method thereof
By introducing first and second ranging modes into the ranging device and measuring distances with different compensation amounts, the problem of inaccurate ranging of optical anti-vibration devices in dynamic environments is solved, and accurate positioning of targets such as golf flagpoles is achieved in complex backgrounds.
Patent Information
- Application Number
- CN202110093331.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-01-25
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2041-01-25
AI Technical Summary
Existing optical anti-vibration laser ranging devices are difficult to effectively improve ranging accuracy in dynamic scanning environments, especially in the context of multiple targets. Furthermore, the optical anti-vibration function may have the opposite effect, affecting the target hit rate.
A ranging device is provided, which employs first and second ranging modes and performs ranging with different maximum movement compensation amounts. The first mode has a large compensation amount, while the second mode has a small compensation amount or close to zero. By switching modes and adjusting the compensation amount, the ranging accuracy is improved.
In dynamic scanning environments, the rangefinder's hit rate against multiple targets is improved, especially in situations where targets are difficult to hit, such as golf flagsticks, thus enhancing the accuracy and stability of the rangefinder.
Smart Images
Figure CN114791607B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a ranging device and its detection method, and more particularly to a method and apparatus for distance detection in a ranging device with anti-shake function. Background Technology
[0002] In recent years, laser rangefinders have replaced traditional ranging methods as the mainstream ranging system. A laser rangefinder emits laser pulses towards the object to be measured and starts timing; it stops timing when the reflected light is received. This time can be converted into the distance between the laser and the target. Due to the unique principle of lasers, measurements can be taken even if the target is inconvenient to approach.
[0003] Because laser rangefinders are used by hand to measure distances, even slight shaking by the user can affect the accuracy of the measurement. Therefore, optical image stabilization is applied to laser rangefinders to reduce the adverse effects of vibration on the measurement results. The principle of optical image stabilization is to use built-in lenses or photosensitive components to reverse-correct the horizontal or vertical movement of the rangefinder.
[0004] For example, optically stabilized laser rangefinders can be used in general rangefinding situations. The optical stabilization function can solve the problem of laser beams deviating from the target object due to vibrations caused by the user holding the device barehanded or involuntary movements when pressing the rangefinder button. This is especially true when the target is a small object that is difficult to hit, such as when aiming at a golf flagstick. Users usually habitually move the rangefinder back and forth over a wide range to scan and search for the flagstick position. Because the optical stabilization causes a pause when the sensor (gyro sensor or G-Sensor) moves at a constant speed, resulting in a zero acceleration value, the hit rate of the rangefinder on the flagstick will drop significantly, causing the reverse correction function of the optical stabilization to have the opposite effect. Figure 1 The display shows the signal result 100 obtained by the laser ranging device when the ranging device moves back and forth left and right, where the Figure 1 The vertical axis represents the voltage value (V), and the horizontal axis represents time (T). The larger the amplitude of the voltage value (V), the greater the motion compensation of the optical anti-shake. As shown in the figure, both the vertical motion signal 110 and the horizontal motion signal 120 deviate from their respective vertical center 112 and horizontal center 122. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to provide a distance detection method and apparatus for a distance measuring device, which can perform distance detection in a distance measuring device with shock resistance, in order to address the above-mentioned deficiencies of the prior art.
[0006] The technical solution adopted by this invention to solve its technical problem is to provide a distance detection method for a ranging device. First, a ranging device is used that can execute a first ranging mode and a second ranging mode, and the ranging device has a shock-absorbing module. When executing the first ranging mode, the shock-absorbing module is electrically connected to perform ranging, thereby obtaining a first ranging result, wherein the maximum movement compensation amount of the shock-absorbing module is a first maximum movement compensation amount. When executing the second ranging mode, the shock-absorbing module is electrically connected to perform ranging, thereby obtaining a second ranging result, wherein the maximum movement compensation amount of the shock-absorbing module is a second maximum movement compensation amount, and the first maximum movement compensation amount is greater than the second maximum movement compensation amount.
[0007] An embodiment of the present invention provides a ranging device comprising at least a ranging unit and a shock-absorbing module. The ranging unit comprises at least a transmitting module and a receiving module. The transmitting module emits a measuring beam, which is reflected by the target object to the receiving module. The shock-absorbing module comprises at least a processor. The transmitting module and the receiving module execute a shock-absorbing program to obtain a ranging result in a first ranging mode. The transmitting module and the receiving module execute the shock-absorbing program to fix the shock-absorbing module, thereby obtaining a ranging result in a second ranging mode.
[0008] In some embodiments, when the first ranging mode is executed, the ranging device is electrically connected to the anti-vibration module, the maximum movement compensation amount of which is a first maximum movement compensation amount. Movement compensation is calculated based on the first displacement of the ranging device, so that the anti-vibration module has the first maximum movement compensation amount and a first ranging result is obtained. When the second ranging mode is executed, the ranging device is electrically connected to the anti-vibration module, the maximum movement compensation amount of which is a second maximum movement compensation amount. Movement compensation is calculated based on the second displacement of the ranging device, so that the anti-vibration module has the second maximum movement compensation amount. The first maximum movement compensation amount is greater than the second maximum movement compensation amount, and the ranging device obtains candidate distances from a plurality of candidate targets. One of these candidate distances is selected as the second ranging result.
[0009] In some embodiments, the ranging device may include a mode switching module for switching between a first ranging mode and a second ranging mode. The ranging device further includes a processor that, when executing the second ranging mode, is electrically connected to an anti-vibration module. The ranging device moves by a second displacement to perform motion compensation calculation, thereby giving the anti-vibration module a second maximum motion compensation amount. The ranging device also obtains candidate distances from a plurality of candidate targets. The mode switching module further includes a setting that allows selecting one of these candidate distances as the second ranging result.
[0010] In some embodiments, it can be determined whether the ranging device has entered a second ranging mode. When the ranging device enters the second ranging mode, the shockproof module is electrically connected in the second ranging mode, and the shockproof module is made to perform movement compensation of a second maximum movement compensation amount, wherein the second maximum movement compensation amount is close to zero.
[0011] In some embodiments, it can be determined whether the displacement of the ranging device exceeds a default value, and then determine whether to execute a first ranging mode or a second ranging mode. When the displacement of the ranging device is less than the default value, it is determined that the ranging device enters the first ranging mode. When the displacement of the ranging device is greater than the default value, it is determined that the ranging device enters the second ranging mode.
[0012] The method described above can exist in the form of program code. When the program code is loaded and executed by a machine, the machine becomes an apparatus for implementing the present invention.
[0013] The ranging device and detection method of the present invention have the following beneficial effects: the technology of this invention can limit the anti-vibration compensation, make the second maximum movement compensation close to zero or make the second maximum movement compensation less than the first maximum movement compensation when dynamically scanning the environment, so as to make the second ranging mode consistent with the laser light emission position and the hand movement position compared with the first ranging mode, thereby finding the nearest target (e.g., but not limited to the target being a golf flag) in a background environment with multiple targets (e.g., but not limited to a forest background). Attached Figure Description
[0014] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings.
[0015] Figure 1 This displays the signal results obtained by the laser ranging device when the ranging device moves back and forth left and right under known technology.
[0016] Figure 2 This is a schematic diagram showing the distance detection device of the ranging device according to an embodiment of the present invention.
[0017] Figure 3 A flowchart illustrates a distance detection method using a ranging device according to an embodiment of the present invention.
[0018] Figure 4 This is a flowchart illustrating a method for determining the distance measurement result according to an embodiment of the present invention.
[0019] Figure 5 A flowchart illustrates a distance detection method using a ranging device according to another embodiment of the present invention.
[0020] Figure 6A flowchart illustrates a method for distance detection using a ranging device according to another embodiment of the present invention.
[0021] Figure 7 This displays the signal results obtained after implementing the distance detection method of the ranging device according to an embodiment of the present invention.
[0022] Figure 8 This shows an example of distance detection using a ranging device. Detailed Implementation
[0023] Figure 2 This illustrates a ranging device according to an embodiment of the present invention. It should be noted that the ranging device according to an embodiment of the present invention can be a ranging device 200 with shockproof functionality.
[0024] like Figure 2 As shown, the laser ranging device 200 includes at least a ranging unit 210 and a shock-absorbing module 220. The ranging unit 210 includes at least a transmitting module 212 and a receiving module 214. The transmitting module 212 can emit a measurement beam, which is reflected by the target object to the receiving module 214. The shock-absorbing module 220 includes at least a processor 222. The processor 222 uses the transmitting module 212 and the receiving module 214 to electrically connect the shock-absorbing module to obtain a first ranging result as a first ranging mode, wherein in the first ranging mode, the maximum movement compensation amount of the shock-absorbing module is a first maximum movement compensation amount, and uses the transmitting module 212 and the receiving module 214 to electrically connect the shock-absorbing module to obtain a second ranging result as a second ranging mode, wherein the maximum movement compensation amount of the shock-absorbing module is a second maximum movement compensation amount; wherein the first maximum movement compensation amount is greater than the second maximum movement compensation amount. The processor 222 can manage the hardware and software operations in the ranging device 200 and execute the distance detection method of the ranging device in this case. The relevant details will be explained later.
[0025] Figure 3 This invention demonstrates a distance detection method using a ranging device according to embodiments of the present invention. The distance detection method using a ranging device according to embodiments of the present invention is applicable to applications such as... Figure 2 Distance measuring device.
[0026] As in step S310, the ranging device executes both the first ranging mode and the second ranging mode. It is worth noting that the ranging device has an anti-vibration module. As in step S320, the first ranging mode is executed, the anti-vibration module is activated, and the ranging device's transmitting and receiving modules are used to perform ranging to obtain the first ranging result. Then, as in step S330, the second ranging mode is executed, the anti-vibration module is activated, and the ranging device's transmitting and receiving modules are used to perform ranging to obtain the second ranging result. It is noteworthy that in the first ranging mode, the maximum movement compensation amount of the anti-vibration module is the first maximum movement compensation amount. In the second ranging mode, the maximum movement compensation amount of the anti-vibration module is the second maximum movement compensation amount, wherein the first maximum movement compensation amount is greater than the second maximum movement compensation amount.
[0027] Figure 4 This invention demonstrates a method for determining the distance measurement result of a distance measurement operation according to an embodiment of the invention. In this embodiment, the distance measurement result is determined based on the distance detected in the distance measurement operation.
[0028] As in step S410, in this second ranging mode, the anti-vibration module is executed, and the ranging device obtains the candidate distances for the corresponding plurality of candidate targets. It should be noted that, based on the reciprocating movement of the ranging device, multiple results (candidate distances) can be measured. Then, one of these candidate distances is selected as the second ranging result. In one embodiment of this case, as in step S420, the smallest of these candidate distances is selected as the ranging result for the corresponding ranging operation. When the smallest distance is selected as the second ranging result, the ranging situation may be that there is a complex background behind the target object, such as when measuring the distance of a flagpole on a golf course, there is a forest behind the flagpole. If there are multiple obstacles in front of the target object, the largest distance may be selected as the second ranging result. Alternatively, the distance with the strongest signal may be selected as the second ranging result. As can be seen from the foregoing, the selection of one of these candidate distances as the ranging result for the corresponding ranging operation can be made according to the current ranging situation. In addition, the selection of one of these candidate distances as the ranging result for the corresponding ranging operation is not limited to the second ranging mode, but can also be made in the first ranging mode.
[0029] Figure 5 This invention illustrates a distance detection method using a ranging device according to another embodiment of the present invention. In this embodiment, when the ranging device reciprocates to measure distance and enters a second ranging mode, the anti-vibration module is still executed, wherein the second maximum movement compensation is close to zero, making the anti-vibration module appear to be stationary; or, the anti-vibration module can be directly turned off, in which case the second maximum movement compensation is equal to zero.
[0030] First, as in step S510, it is determined whether the ranging device has entered the second ranging mode. If the ranging device has not entered the second ranging mode (No in step S510), the determination in step S510 continues. If the ranging device has entered the second ranging mode (Yes in step S510), as in step S520, during the ranging operation, the second maximum movement compensation amount of the shock-absorbing module is controlled to be less than the first maximum movement compensation amount.
[0031] Figure 6 This invention illustrates a method for distance detection using a ranging device according to another embodiment of the invention. In this embodiment, the ranging device can automatically determine whether to enter a second ranging mode, and then begin controlling the second maximum movement compensation amount of the shock absorption module.
[0032] First, as in step S610, it is determined whether the displacement of the ranging device exceeds a default value. If the displacement of the ranging device does not exceed the default value (No in step S610), the determination in step S610 continues. If the displacement of the ranging device exceeds the default value (Yes in step S610), as in step S620, it is determined that the ranging device enters the second ranging mode, and the second maximum movement compensation amount of the anti-vibration module is controlled to be less than the first maximum movement compensation amount.
[0033] It is worth noting that in some embodiments, the ranging device may provide a mode switching module, wherein the mode switching module may be a menu or control key for the user to select to execute the first ranging mode or the second ranging mode, thereby enabling manual execution of the control operation of the second maximum movement compensation amount of the shock-absorbing module during the ranging operation; wherein the mode switching module further includes the ability to set one of these candidate distances as the second ranging result, wherein the minimum distance or the maximum distance or the distance with the maximum signal may be selected as the ranging result depending on the ranging situation.
[0034] On the other hand, in some embodiments, to address the image jitter issue when the anti-vibration module is off, an image rendering process can be performed on the image captured by the rangefinder when the anti-vibration program is off, so that the image acquired by the rangefinder is smoothly displayed in a viewfinder window of the rangefinder. Figure 2 (Not shown in the image).
[0035] Figure 7 This displays the signal result obtained after the distance detection method of the ranging device according to an embodiment of the present invention is implemented. During the ranging operation, when the ranging device enters the second ranging mode, the anti-vibration module is turned off at the second ranging mode time point ST, or the anti-vibration program is not turned off, but the second maximum movement compensation is close to zero. At this time, the signal result 700 obtained by the ranging device is... Figure 7The vertical axis represents the voltage value (V), and the horizontal axis represents time (T). A larger amplitude of the voltage value (V) indicates a greater movement compensation by the anti-vibration module. Figure 7 As shown in the figure, when the anti-vibration program is turned off or the second maximum movement compensation is close to zero, the vertical movement signal 710 and the horizontal movement signal 720 will be approximately static to stabilize the emitted laser optical axis; additionally, if the ranging device is in a reciprocating motion state (or scanning the target object back and forth) and is basically horizontal, then only the horizontal movement signal 720 can be made approximately static, while the vertical movement signal still has normal compensation (such as...). Figure 1 (as shown in vertical movement signal 110).
[0036] Figure 8 This example illustrates distance detection using a rangefinder. In this example, the user can move the rangefinder back and forth between scanning points A, B, C, and D in the viewfinder screen 800, allowing the rangefinder to obtain candidate distances for a plurality of candidate targets. It is important to note that based on the movement of the rangefinder, multiple results (candidate distances) can be measured. Then, as in step S420, the smallest of these candidate distances is selected as the distance measurement result for this measurement operation.
[0037] Therefore, the distance detection method and device of this invention can be used for distance detection in a shock-resistant distance measuring device. This technology can disable shock compensation, make the second maximum motion compensation close to zero, or make the second maximum motion compensation less than the first maximum motion compensation during dynamic scanning of the environment. This ensures that the second distance measuring mode matches the laser emission position and hand movement position with respect to the first distance measuring mode, thereby finding the nearest target (e.g., but not limited to, a golf flag) in a background environment with multiple targets (e.g., but not limited to a forest background).
[0038] The method, or a specific form or part thereof, of the present invention may exist in the form of program code. The program code may be contained in physical media, such as floppy disks, optical discs, hard disks, or any other machine-readable (e.g., computer-readable) storage media, or may be a computer program product, not limited to an external form, wherein when the program code is loaded and executed by a machine, such as a computer, that machine becomes an apparatus for participating in the present invention. The program code may also be transmitted via some transmission medium, such as wires or cables, optical fibers, or any transmission method, wherein when the program code is received, loaded, and executed by a machine, such as a computer, that machine becomes an apparatus for participating in the present invention. When implemented in a general-purpose processing unit, the program code, in conjunction with the processing unit, provides a unique apparatus that operates similarly to an application-specific logic circuit.
Claims
1. A distance measurement method, applicable to a distance measurement device, characterized in that, The method includes the following steps: The ranging device can be used to perform a first ranging mode and a second ranging mode, and the ranging device has an anti-vibration module; Determine whether the displacement of the ranging device exceeds a default value, and then determine whether to execute the first ranging mode or the second ranging mode. When the displacement of the ranging device is less than the default value, it is determined that the ranging device enters the first ranging mode; as well as When the displacement of the ranging device is greater than the default value, it is determined that the ranging device enters the second ranging mode. When the first ranging mode is executed, the shockproof module is electrically connected to perform ranging, thereby obtaining the first ranging result, wherein the maximum movement compensation amount of the shockproof module is the first maximum movement compensation amount; When the second ranging mode is executed, the shockproof module is electrically connected to perform ranging and obtain the second ranging result. The maximum movement compensation of the shockproof module is the second maximum movement compensation, and the first maximum movement compensation is greater than the second maximum movement compensation.
2. The ranging method as described in claim 1, characterized in that, It also includes the following steps: When the first ranging mode is executed, the ranging device is electrically connected to the anti-vibration module, and movement compensation calculation is performed based on the first displacement of the ranging device, so that the anti-vibration module has the first maximum movement compensation amount and obtains the first ranging result. When the second ranging mode is executed, the ranging device is electrically connected to the anti-vibration module, and the movement compensation calculation is performed based on the second displacement of the ranging device, so that the anti-vibration module has the second maximum movement compensation amount, and the ranging device obtains the candidate distance of the corresponding multiple candidate targets. as well as Select one of these candidate distances as the second ranging result.
3. The ranging method as described in claim 1, characterized in that, It also includes a mode switching module for switching between the first ranging mode and the second ranging mode; Furthermore, when the processor executes the second ranging mode, it electrically connects to the anti-vibration module, the ranging device moves by a second displacement to perform movement compensation calculation, thereby giving the anti-vibration module a second maximum movement compensation amount, and the ranging device obtains candidate distances for a corresponding plurality of candidate targets. The mode switching module further includes the ability to select one of these candidate distances as the second ranging result.
4. The ranging method as described in claim 1, characterized in that, It also includes the following steps: Determine whether the ranging device has entered the second ranging mode; and When the ranging device enters the second ranging mode, the shockproof module is electrically connected in the second ranging mode, and the shockproof module performs the second maximum movement compensation. Among them, the second maximum movement compensation amount is close to zero.
5. A ranging device, characterized in that, include The ranging unit includes at least a transmitting module and a receiving module. The transmitting module emits a measuring beam, which is reflected by the target object to the receiving module. as well as The anti-vibration module includes at least a processor, has a first anti-vibration program and a second anti-vibration program, and uses the transmitting module and the receiving module to execute the first anti-vibration program to obtain a ranging result as a first ranging mode; and uses the transmitting module and the receiving module to execute the second anti-vibration program to fix the anti-vibration module, so as to obtain a ranging result as a second ranging mode. The processor determines whether to execute the first ranging mode or the second ranging mode based on whether the displacement of the ranging device is greater than a default value. If the displacement of the ranging device is less than the default value, the first ranging mode is executed; otherwise, the second ranging mode is executed.
6. The ranging device as described in claim 5, characterized in that, When the processor executes the first ranging mode, it is electrically connected to the shock-absorbing module. The first shock-absorbing program of the shock-absorbing module executes a maximum movement compensation amount of a first maximum movement compensation amount. The processor performs movement compensation calculation based on the first displacement of the ranging device, so that the shock-absorbing module has the first maximum movement compensation amount and obtains a first ranging result. When the processor executes the second ranging mode, it is electrically connected to the shock-absorbing module. The second shock-absorbing program of the shock-absorbing module executes a maximum movement compensation amount of a second maximum movement compensation amount. The processor performs movement compensation calculation based on the second displacement of the ranging device, so that the shock-absorbing module has the second maximum movement compensation amount. The first maximum movement compensation amount is greater than the second maximum movement compensation amount, and the ranging device obtains candidate distances for a plurality of candidate targets, and selects one of these candidate distances as the second ranging result.
7. The ranging device as described in claim 6, characterized in that, in, The second maximum movement compensation is close to zero.
8. The ranging device as described in claim 5, characterized in that, The ranging device has a mode switching module for switching between the first ranging mode and the second ranging mode. When the processor executes the second ranging mode, it is electrically connected to the shockproof module. The maximum movement compensation amount of the shockproof module is the second maximum movement compensation amount. The ranging device moves by a second displacement to perform movement compensation calculation, so that the shockproof module has the second maximum movement compensation amount. The ranging device obtains the candidate distances of the corresponding plurality of candidate targets. The mode switching module further includes the ability to select one of these candidate distances as the second ranging result.
9. The ranging device as described in claim 6 or 8, characterized in that: The second distance measurement result is obtained by selecting the smallest distance from these candidate distances.
Citation Information
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