Distance measurement method, binocular distance measurement system and laser online detection equipment

Abstract

The invention provides a distance measurement method, a binocular distance measurement system and laser online detection equipment. The distance measuring method comprises the following steps: irradiating the liquid level of molten metal by using laser to form a light spot; respectively acquiring N frames of liquid level images by using two cameras, and extracting pixel coordinates of light spots in the images; calculating the parallax of each frame of image according to the pixel coordinates; calculating an average parallax according to the parallax; calculating a sight distance standard deviation according to the parallax and the average parallax; judging the value range of the effective parallax according to the average parallax and the sight distance standard deviation, and calculating the average value of the effective parallax; the distance between the light spot and the base line is calculated according to the average value of the effective parallax, the focal length of the cameras and the length of the base line of the two cameras, so that the position of the liquid level is determined, the laser excitation position of the LIBS is adjusted in real time, errors caused by transient, irregular and violent fluctuation of the liquid level can be effectively reduced, and the laser detection precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of molten metal detection, and in particular to a distance measurement method, a binocular distance measurement system and laser online detection equipment. Background Art

[0002] When using laser-induced breakdown spectroscopy (LIBS) to detect molten metal in a smelter, changes in the liquid level will have a significant impact on the spectral intensity and the test results. Usually, the LIBS laser excitation position is the average value of the liquid level under normal fluctuations, but in the process of a smelter, it is easy to cause short-term irregular and violent fluctuations in the liquid level. Using the average position of the liquid level at this time will cause large errors in laser detection. Summary of the invention

[0003] In order to solve the problems existing in the prior art, one of the objectives of the present invention is to provide a distance measurement method.

[0004] The present invention provides the following technical solutions: A distance measurement method is applied to a binocular distance measurement system, wherein the binocular distance measurement system includes two cameras; The ranging method comprises: Use laser to irradiate the liquid surface of molten metal to form a light spot; Using the two cameras to respectively acquire N frames of images of the liquid surface, and extracting pixel coordinates of the light spots in the images; Calculate the disparity of each frame of the image according to the pixel coordinates; Calculating an average disparity based on the disparity; Calculate the standard deviation of viewing distance according to the disparity and the average disparity; Determining a value range of effective disparity according to the average disparity and the viewing distance standard deviation, and calculating an average value of the effective disparity; The distance between the light spot and the baseline is calculated according to the average value of the effective parallax, the focal length of the camera, and the length of the baselines of the two cameras.

[0005] As a further optional solution to the distance measurement method, the average parallax is , the standard deviation of the sight distance is , the effective parallax is ; The step of determining the value range of the effective disparity according to the average disparity and the viewing distance standard deviation comprises: determining a state of the liquid level; When the liquid level is in an irregular and violent fluctuation state, the effective parallax value range is , Among them, 1≤k1≤1.5; When the liquid level is in a stable state, the effective parallax range is , Among them, 2≤k2≤3.

[0006] As a further optional solution to the distance measurement method, the camera includes a first camera and a second camera, and a line connecting the first camera and the second camera is horizontal; The step of using the two cameras to respectively acquire N frames of images of the liquid surface and extracting the pixel coordinates of the light spots in the images comprises: Use the first camera to acquire N frames of images of the liquid surface, and extract the pixel coordinates of the light spot in the image ; Use the second camera to acquire N frames of images of the liquid surface, and extract the pixel coordinates of the light spot in the image ; Wherein, N is an integer greater than 1, and t is a positive integer not greater than N.

[0007] Another object of the present invention is to provide a binocular distance measurement system.

[0008] The present invention provides the following technical solutions: A binocular distance measurement system is applied to laser online detection equipment. The binocular distance measurement system is used to execute the above-mentioned distance measurement method. The binocular distance measurement system comprises a laser sight, a data processing unit and two cameras. The data processing unit is electrically connected to the two cameras respectively.

[0009] As a further optional solution for the binocular ranging system, the binocular ranging system also includes a first outer filter, which is arranged corresponding to the camera, and the first outer filter is used to reduce the intensity of light entering the corresponding camera.

[0010] As a further optional solution for the binocular ranging system, the binocular ranging system also includes a second outer filter, which is stacked with the first outer filter, and the second outer filter includes at least one of a narrowband filter, a band-stop filter and a high-pass filter.

[0011] As a further optional solution to the binocular ranging system, the binocular ranging system further comprises a rotating lens, the rotating lens is arranged corresponding to the camera, and at least two of a narrow-band filter, a band-stop filter and a high-pass filter are arranged on the rotating lens; Among them, the narrow-band filter is adapted to the laser sight, the band-stop filter is adapted to the molten metal, and the high-pass filter is adapted to the laser online detection equipment.

[0012] As a further optional solution for the binocular ranging system, the binocular ranging system also includes a fixing member, at least one of the cameras is slidably disposed on the fixing member along the direction of the line connecting the two cameras, and is detachably connected to the fixing member.

[0013] As a further optional solution to the binocular ranging system, the wavelength range of the laser emitted by the laser sight is 532±10nm; and / or The binocular distance measurement system also includes a ball joint, and the laser sight is arranged on the ball joint.

[0014] Another object of the present invention is to provide a laser online detection device.

[0015] The present invention provides the following technical solutions: A laser online detection device comprises the above binocular distance measurement system.

[0016] The embodiments of the present invention have the following beneficial effects: When using laser induced breakdown spectroscopy to detect molten metal, a laser is used to illuminate the liquid surface of the molten metal to form a light spot. At the same time, two cameras are used to obtain N frames of liquid surface images respectively, and the pixel coordinates of the light spot in the image are extracted. According to the coordinates of each pixel, the parallax, average parallax, and standard deviation of the viewing distance of each frame of the image are calculated, and the range of the effective parallax is further determined to calculate the average value of the effective parallax. Finally, the distance between the light spot and the baseline can be calculated based on the average value of the effective parallax, the focal length of the camera, and the length of the baseline of the two cameras, thereby determining the position of the liquid surface. In this way, the LIBS laser excitation position can be adjusted in real time, which can effectively reduce the errors caused by the temporary irregular and violent fluctuations of the liquid surface and improve the accuracy of laser detection.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1A flow chart of the steps of a distance measurement method provided by an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of a binocular distance measurement system provided by an embodiment of the present invention is shown; Figure 3 The overall structure schematic diagram of a binocular distance measurement system provided by an embodiment of the present invention is shown; Figure 4 A partial structural schematic diagram of a binocular ranging system provided by an embodiment of the present invention is shown.

[0020] Description of main component symbols: 100-camera; 110-first camera; 120-second camera; 200-light spot; 300-laser aimer; 400-data processing unit; 500-ball joint; 600-fixing part; 610-base plate; 620-first mounting plate; 630-second mounting plate; 640-third mounting plate; 650-fourth mounting plate; 651-lens holder; 700-first outer filter; 800-second outer filter; 900-rotating lens. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0026] Taking the measurement of molten chalcopyrite in a smelting plant as an example, the molten chalcopyrite flows into the next process link through a chute, and the liquid level of the molten chalcopyrite in the chute fluctuates. When laser spectroscopy is used to analyze the grade of molten metal, the laser excitation position is usually the average height of the liquid level under normal fluctuations.

[0027] In order to prevent the slag mouth from being blocked by the cooled brass slag, workers need to knock off the cooled slag in time. The upstream slag falling into the chute will cause the liquid level to fluctuate greatly in a short time. If the laser excitation position is not adjusted accordingly, it will cause a large error in laser detection.

[0028] For the above questions, please refer to Figure 1 This embodiment provides a distance measurement method, which is applied to a binocular distance measurement system. The distance measurement method is used to determine the laser excitation position of a molten metal laser online detection device. Figure 2 , wherein the binocular ranging system includes two cameras 100 .

[0029] The ranging method comprises the following steps: S1, using laser to irradiate the liquid surface of molten metal to form a light spot 200.

[0030] It should be noted that current binocular cameras are sensitive to lighting conditions, and molten metal is a high-temperature melt, which will produce strong infrared radiation and visible light reflection, resulting in blurred images or insufficient contrast, affecting the accuracy of the binocular matching algorithm.

[0031] In this regard, a laser is used to illuminate the liquid surface of the molten metal to form a light spot 200 on the liquid surface, and the light spot 200 is used to represent the liquid surface position, which is convenient for the camera 100 to focus, thereby helping to improve the picture clarity and the accuracy of parallax matching.

[0032] In some embodiments, the laser is a green laser with a wavelength range of 532±10 nm. In contrast, the thermal radiation emitted by molten metal is concentrated in the infrared and red light range (550–1050 nm), and the wavelength range of the green laser is highly distinguishable from this range, which can produce a clear contrast and is easy for the camera 100 to capture.

[0033] S2, using two cameras 100 to respectively acquire N frames of images of the liquid surface, and extracting the pixel coordinates of the light spot 200 in the image.

[0034] Specifically, after acquiring the image of the liquid surface, an image processing algorithm is used to identify the position of the light spot 200 in the image, so as to extract the corresponding pixel coordinates.

[0035] In some embodiments, the camera 100 includes a first camera 110 and a second camera 120. The line connecting the first camera 110 and the second camera 120 is horizontal and parallel to the liquid surface.

[0036] Accordingly, the steps of using two cameras 100 to respectively acquire N frames of liquid surface images and extracting pixel coordinates of the light spot 200 in the images include: Use the first camera 110 to obtain N frames of liquid surface images, and extract the pixel coordinates of the light spot 200 in the image .

[0037] Use the second camera 120 to obtain N frames of liquid surface images, and extract the pixel coordinates of the light spot 200 in the image .

[0038] Wherein, N is an integer greater than 1, and t is a positive integer not greater than N.

[0039] Understandably, is the pixel coordinate of the light spot 200 in the t-th frame image acquired by the first camera 110, is the pixel coordinate of the light spot 200 in the t-th frame image acquired by the second camera 120 , and x is the coordinate of the light spot 200 along the line connecting the first camera 110 and the second camera 120 .

[0040] S3, calculating the disparity of each frame image according to the pixel coordinates.

[0041] Specifically, the disparity of the t-th frame image is ,but: .

[0042] S4, calculating an average disparity according to the disparity.

[0043] Specifically, the average disparity is ,but: .

[0044] S5, calculating the viewing distance standard deviation according to the disparity and the average disparity.

[0045] Specifically, the standard deviation of the sight distance is ,but: .

[0046] S6, judging the value range of the effective disparity according to the average disparity and the standard deviation of the viewing distance, and calculating the average value of the effective disparity.

[0047] In some embodiments, the average parallax is , the standard deviation of the sight distance is , the effective parallax is .

[0048] Accordingly, the step of determining the value range of the effective disparity according to the average disparity and the standard deviation of the viewing distance includes: Determine the status of the liquid level.

[0049] When the liquid surface is in an irregular and violent fluctuation state, the effective parallax range is , Among them, 1≤k1≤1.5.

[0050] When the liquid level is in a stable state, the effective parallax range is , Among them, 2≤k2≤3.

[0051] It should be noted that irregular and violent fluctuations in the liquid level are usually caused by worker operation or process. When the liquid level is in an irregular and violent fluctuation state, a smaller k1 is selected as the standard deviation of the line of sight. The coefficient of Strict filtering.

[0052] On the contrary, when the liquid level fluctuation is relatively stable, a larger k2 is selected as the standard deviation of the line of sight. The coefficient only filters out 5%-1% of the timing parallax.

[0053] Thus, the irregular and drastic fluctuations of the page caused by workers or processes can be excluded, and a series of effective parallaxes can be obtained, and then the average value of the effective parallax can be calculated, which is recorded as .

[0054] S7 , calculating the distance between the light spot 200 and the baseline according to the average value of the effective parallax, the focal length of the camera 100 , and the length of the baseline of the two cameras 100 .

[0055] Specifically, let the focal length of the camera 100 be f, the length of the baseline be B, and the distance between the light spot 200 and the baseline be Z, then: .

[0056] Since the position of the camera 100 is predetermined, that is, the height of the baseline is known, after calculating the distance between the light spot 200 and the baseline, the average height of the liquid surface can be determined as the LIBS laser excitation position.

[0057] In summary, when laser induced breakdown spectroscopy is used to detect molten metal, a laser is used to irradiate the liquid surface of the molten metal to form a light spot 200. At the same time, two cameras 100 are used to obtain N frames of liquid surface images respectively, and the pixel coordinates of the light spot 200 in the image are extracted. According to the coordinates of each pixel, the parallax, average parallax, and standard deviation of the viewing distance of each frame of the image are calculated, and the range of the effective parallax is further determined, so as to calculate the average value of the effective parallax. Finally, the distance between the light spot 200 and the baseline can be calculated based on the average value of the effective parallax, the focal length of the camera 100, and the length of the baseline of the two cameras 100, so as to determine the position of the liquid surface, so as to adjust the LIBS laser excitation position in real time, which can effectively reduce the errors caused by the temporary irregular and violent fluctuations of the liquid surface and improve the accuracy of laser detection.

[0058] This embodiment also provides a binocular distance measurement system, which is applied to laser online detection equipment. The binocular distance measurement system is used to execute the above distance measurement method to determine the laser excitation position of the molten metal laser online detection equipment.

[0059] Please also read Figure 3 and Figure 4 The above binocular distance measurement system includes a laser sight 300, a data processing unit 400 and two cameras 100, and the data processing unit 400 is electrically connected to the two cameras 100 respectively.

[0060] When in use, the laser sight 300 emits a laser to illuminate the liquid surface of the molten metal, thereby forming a light spot 200. After the two cameras 100 acquire the image of the page, the data processing unit 400 processes the image, extracts the pixel coordinates of the light spot 200 in the image, and calculates the parallax, average parallax, standard deviation of viewing distance, average value of effective parallax, and the distance between the light spot 200 and the baseline.

[0061] In some embodiments, the wavelength of the laser emitted by the laser aimer 300 is in the range of 532±10 nm.

[0062] At this time, the laser sight 300 emits a green laser. In contrast, the thermal radiation emitted by the molten metal is concentrated in the infrared and red light range (550-1050nm), and the wavelength range of the green laser is highly distinguishable from this range, which can produce a clear contrast and is easy for the camera 100 to capture.

[0063] In some embodiments, the binocular ranging system further includes a ball joint 500 , and the laser sight 300 is disposed on the ball joint 500 .

[0064] The ball joint 500 makes the laser sight 300 more flexible and can be adjusted quickly. When in use, the ball joint 500 is fixed to a suitable position of the laser online detection device.

[0065] In some embodiments, the binocular distance measurement system further includes a fixing member 600. At least one camera 100 is slidably disposed on the fixing member 600 along the direction of the connection line of the two cameras 100, and is detachably connected to the fixing member 600.

[0066] When in use, the camera 100 is slid on the fixing member 600 according to the required measuring range on site, and the measuring range is adjusted by changing the length of the baselines of the two cameras 100. After the measuring range is determined, the camera 100 is fixed.

[0067] Specifically, the fixing member 600 includes a bottom plate 610 and a first mounting plate 620 which are perpendicular to each other. The bottom plate 610 is fixed on the laser online detection device, and the first mounting plate 620 is connected to the bottom plate 610. Both cameras 100 are slidably arranged on the first mounting plate 620, and are detachably connected to the first mounting plate 620 by screws and nuts.

[0068] Optionally, the fixing member 600 further includes a second mounting plate 630. The second mounting plate 630 is parallel to the first mounting plate 620 and is located on the side of the first mounting plate 620 away from the liquid surface. The data processing unit 400 uses a circuit board, which is fixedly arranged on the second mounting plate 630 and connected to the two cameras 100 through a flexible flat cable.

[0069] In some embodiments, the binocular distance measurement system further includes a first outer filter 700. The first outer filter 700 is disposed corresponding to the camera 100, and the first outer filter 700 is used to reduce the intensity of light entering the corresponding camera 100.

[0070] When in use, the first outer filter 700 can avoid detail loss caused by overexposure by reducing the intensity of light entering the camera 100 , thereby helping the camera 100 to capture the details of the light spot 200 more accurately.

[0071] Exemplarily, the first outer filter 700 is a Neutral Density Filter (ND filter), which can reduce the intensity of light of all wavelengths without changing the spectral distribution, and thus can reduce the intensity of light entering the lens of the camera 100 .

[0072] Specifically, the fixing member 600 further includes a third mounting plate 640. The third mounting plate 640 is parallel to the first mounting plate 620 and is located on a side of the first mounting plate 620 away from the second mounting plate 630. The first outer filter 700 is disposed on the third mounting plate 640.

[0073] Furthermore, the binocular distance measurement system further includes a second outer filter 800. The second outer filter 800 is stacked with the first outer filter 700 and fixed together on the third mounting plate 640. In addition, the second outer filter 800 includes at least one of a narrowband filter, a band-stop filter and a high-pass filter.

[0074] The narrowband filter is adapted to the laser sight 300, and its central wavelength is 532nm, allowing light in the 532±10nm band to pass through. When used, the narrowband filter can enhance the effect of the green light spot 200, which is beneficial for the camera 100 to capture the details of the light spot 200 more accurately.

[0075] The band-stop filter is adapted to the molten metal and can block the passage of 600-1050nm light. When used, the band-stop filter can suppress the high-intensity infrared radiation and visible light reflection generated by the molten metal, and is also conducive to the camera 100 to more accurately capture the details of the light spot 200.

[0076] The high-pass filter is compatible with the laser online detection device, allowing light above the 1050nm band to pass through. Accordingly, the laser excited by the laser online detection device is usually 1064nm, so the high-pass filter can enhance the effect of the laser detection spot 200 captured by the camera 100.

[0077] Therefore, each second outer filter 800 can be used in combination with the first outer filter 700 according to on-site needs to cope with complex on-site environments.

[0078] In some embodiments, the binocular distance measurement system further includes a rotating lens 900. The rotating lens 900 is arranged corresponding to the camera 100, and at least two of a narrow-band filter, a band-stop filter, and a high-pass filter are arranged on the rotating lens 900.

[0079] Among them, the narrowband filter is adapted to the laser aimer 300, the band-stop filter is adapted to the molten metal, and the high-pass filter is adapted to the laser online detection equipment, and their functions are not described in detail here.

[0080] Specifically, the fixing member 600 further includes a fourth mounting plate 650. The fourth mounting plate 650 is parallel to the first mounting plate 620 and is located on the side of the second mounting plate 630 away from the first mounting plate 620. A lens bracket 651 is provided on the fourth mounting plate 650, and the lens bracket 651 is provided corresponding to the rotating lens 900. The rotating lens 900 is rotatably provided on the corresponding lens bracket 651 and is connected to the lens bracket 651 by screws.

[0081] When in use, the rotating lens 900 is adjusted according to the needs on site, and after the applied filter is determined, it is pressed and connected to the lens bracket 651 by screws.

[0082] In particular, the first outer filter 700, the camera 100 and the lens holder 651 are connected by long screws. Similar to the camera 100, the first outer filter 700 is slidably disposed on the third mounting plate 640 and is detachably connected to the third mounting plate 640 by screws and nuts; the lens holder 651 is slidably disposed on the fourth mounting plate 650 and is detachably connected to the fourth mounting plate 650 by screws and nuts.

[0083] In summary, when the binocular ranging system executes the ranging method, it eliminates the violent fluctuations of the liquid level caused by worker operation or process influence through multi-frame image analysis, so that the laser online detection equipment can find the accurate excitation position.

[0084] In addition, the binocular distance measurement system selects filters according to the wavelength released by the molten metal, the wavelength of the laser sight 300, or the wavelength of the laser excited by the laser online detection device, and selects the passable and blocked bands to suppress the influence of the molten metal and enhance the wavelength signal of the laser, thereby capturing the light spot 200 on the surface of the high-temperature molten metal, reducing the influence of the background light on the image, and improving the image quality, so that the stereo matching algorithm can more easily identify the correspondence of the light spot 200, thereby improving the accuracy of the disparity map and the accuracy of the depth map. According to different on-site conditions, different filters can be replaced to enhance the contrast of the light spot 200 in the picture.

[0085] This embodiment also provides a laser online detection device, including the above-mentioned binocular ranging system.

[0086] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0087] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0088] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A distance measurement method, characterized in that: Applied to a binocular ranging system, the binocular ranging system comprises two cameras; The ranging method comprises: Use laser to irradiate the liquid surface of molten metal to form a light spot; Using the two cameras to respectively acquire N frames of images of the liquid surface, and extracting pixel coordinates of the light spots in the images; Calculate the disparity of each frame of the image according to the pixel coordinates; Calculating an average disparity based on the disparity; Calculate the standard deviation of viewing distance according to the disparity and the average disparity; Determining a value range of effective disparity according to the average disparity and the viewing distance standard deviation, and calculating an average value of the effective disparity; The distance between the light spot and the baseline is calculated according to the average value of the effective parallax, the focal length of the camera, and the length of the baselines of the two cameras.

2. The distance measurement method according to claim 1, characterized in that: The average disparity is , the standard deviation of the sight distance is , the effective parallax is ; The step of determining the value range of the effective disparity according to the average disparity and the viewing distance standard deviation comprises: determining a state of the liquid level; When the liquid level is in an irregular and violent fluctuation state, the effective parallax value range is ， Among them, 1≤k1≤1.5; When the liquid level is in a stable state, the effective parallax range is ， Among them, 2≤k2≤3.

3. The distance measurement method according to claim 1 or 2, characterized in that: The camera comprises a first camera and a second camera, and a connection line between the first camera and the second camera is horizontal; The step of using the two cameras to respectively acquire N frames of images of the liquid surface and extracting the pixel coordinates of the light spots in the images comprises: Use the first camera to acquire N frames of images of the liquid surface, and extract the pixel coordinates of the light spot in the image ; Use the second camera to acquire N frames of images of the liquid surface, and extract the pixel coordinates of the light spot in the image ; Wherein, N is an integer greater than 1, and t is a positive integer not greater than N.

4. A binocular distance measurement system, characterized in that: Applied to laser online detection equipment, the binocular ranging system is used to execute the ranging method described in any one of claims 1 to 3, and the binocular ranging system includes a laser sight, a data processing unit and two cameras, and the data processing unit is electrically connected to the two cameras respectively.

5. The binocular distance measurement system according to claim 4, characterized in that: The binocular distance measurement system also includes a first outer filter, which is arranged corresponding to the camera and is used to reduce the intensity of light entering the corresponding camera.

6. The binocular distance measurement system according to claim 5, characterized in that: The binocular ranging system also includes a second outer filter, which is stacked with the first outer filter, and the second outer filter includes at least one of a narrowband filter, a band-stop filter and a high-pass filter.

7. The binocular distance measurement system according to claim 4, characterized in that: The binocular ranging system further comprises a rotating lens, the rotating lens is arranged corresponding to the camera, and at least two of a narrow-band filter, a band-stop filter and a high-pass filter are arranged on the rotating lens; Among them, the narrow-band filter is adapted to the laser sight, the band-stop filter is adapted to the molten metal, and the high-pass filter is adapted to the laser online detection equipment.

8. The binocular distance measurement system according to any one of claims 4 to 7, characterized in that: The binocular distance measurement system also includes a fixing member, and at least one of the cameras is slidably disposed on the fixing member along the direction of the connection line between the two cameras and is detachably connected to the fixing member.

9. The binocular distance measurement system according to any one of claims 4 to 7, characterized in that: The wavelength range of the laser emitted by the laser sight is 532±10nm; and / or The binocular distance measurement system also includes a ball joint, and the laser sight is arranged on the ball joint.

10. A laser online detection device, characterized in that: A binocular ranging system comprising any one of claims 5-9.

Images