Distance measuring method, laser distance measuring equipment, distance measuring device and electronic equipment

Abstract

The embodiment of the invention provides a distance measurement method, laser distance measurement equipment, a distance measurement device and electronic equipment, and relates to the technical field of laser distance measurement. According to the specific implementation scheme, the method comprises the steps of obtaining an observation image, currently collected by an image collection assembly in the laser distance measurement equipment, of a to-be-measured scene, and obtaining a preset coordinate position; wherein the preset coordinate position represents a coordinate position corresponding to a current aiming position of a laser assembly in the laser ranging equipment in the current observation image; cutting a first image area containing a preset coordinate position in the current observation image to obtain a current local image; and in the process of carrying out distance measurement by using the laser assembly, displaying the current observation image in the display interface, and displaying the image content of the current local image in a second display area in the display interface in an overlapping manner. Therefore, through the scheme, the target to be subjected to distance measurement can be effectively observed in the distance measurement process.

Description

Technical Field

[0001] The present application relates to the technical field of laser ranging, and in particular to a ranging method, a laser ranging device, a ranging apparatus and an electronic device. Background Art

[0002] At present, when a laser ranging device measures the distance to a target to be measured, it is necessary to aim at the target to be measured through a ranging cross. However, the ranging cross is superimposed on the observation image of the target to be measured, which will affect the user's observation of the target to be measured. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a distance measurement method, a laser distance measurement device, a distance measurement apparatus and an electronic device, so as to effectively observe the target to be measured during the distance measurement process. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a ranging method, the method comprising:

[0005] Acquire an observation image of the scene to be measured currently acquired by the image acquisition component in the laser ranging device, and acquire a preset coordinate position; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the laser ranging device in the current observation image;

[0006] Cropping the first image region including the preset coordinate position in the current observation image to obtain a current local image;

[0007] In the process of using the laser assembly to measure the distance, the current observation image is displayed in the display interface, and the image content of the current local image is superimposed and displayed in the second display area of ​​the display interface.

[0008] Optionally, the step of cropping the first image region including the preset coordinate position in the current observation image to obtain the current local image includes:

[0009] Get the preset cropping size;

[0010] The first image region centered at the preset coordinate position in the current observation image is cropped according to the acquired cropping size to obtain a current partial image.

[0011] Optionally, before overlaying and displaying the image content of the current partial image in the second display area in the display interface, the method further includes:

[0012] Scaling the cropped partial image according to the size relationship between the second display area and the first image area, so that the scaled partial image has the same size as the second display area;

[0013] Overlaying and displaying the image content of the current partial image in the second display area in the display interface includes:

[0014] The zoomed partial image is displayed in a superimposed manner in a second display area in the display interface.

[0015] Optionally, before cropping the first image region including the preset coordinate position in the current observation image to obtain the current partial image, the method further includes:

[0016] Performing target detection on the foreground object in the current observation image to obtain at least one detection frame;

[0017] The area to which the detection frame including the preset coordinate position belongs is determined as the first image area.

[0018] Optionally, the acquired preset coordinate position is predetermined by:

[0019] Adjusting the posture of the laser assembly and / or the image acquisition assembly so that the image acquisition assembly can acquire an image of the aiming position of the laser assembly;

[0020] The coordinate position of the aiming position of the laser assembly in the image captured by the image acquisition assembly is determined as the preset coordinate position.

[0021] In a second aspect, an embodiment of the present application provides a laser ranging device, including an image acquisition component, an image processing component, an image display component, and a laser component;

[0022] The image acquisition component is used to acquire an observation image of the scene to be measured;

[0023] The image processing component is used to obtain the preset coordinate position and the observation image currently collected by the image acquisition component; crop the first image area containing the preset coordinate position in the current observation image to obtain the current local image; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the current observation image;

[0024] The image display component is used to display the current observation image in the display interface and to overlay and display the image content of the current local image in the second display area in the display interface during the process of using the laser component to measure the distance;

[0025] The laser assembly is used to measure the distance of the current aiming position.

[0026] In a third aspect, an embodiment of the present application provides a distance measuring device, the device comprising:

[0027] An acquisition module is used to acquire an observation image of the scene to be measured currently acquired by the image acquisition component in the laser ranging device, and to acquire a preset coordinate position; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the laser ranging device in the current observation image;

[0028] A cropping module, used for cropping the first image area containing the preset coordinate position in the current observation image to obtain a current local image;

[0029] The display module is used to display the current observation image in the display interface and to overlay the image content of the current local image in the second display area of ​​the display interface during the process of using the laser assembly to measure the distance.

[0030] Optionally, the cutting module includes:

[0031] Get submodule, used to get the preset cropping size;

[0032] The cropping submodule is used to crop the first image area centered at the preset coordinate position in the current observation image according to the acquired cropping size to obtain the current local image.

[0033] Optionally, the device further comprises:

[0034] a scaling processing module, configured to scale the cropped partial image according to the size relationship between the second display area and the first image area before the display module overlays and displays the image content of the current partial image in the second display area of ​​the display interface, so that the scaled partial image has the same size as the second display area;

[0035] The display module is specifically used for:

[0036] The zoomed partial image is displayed in a superimposed manner in a second display area in the display interface.

[0037] Optionally, the device further comprises:

[0038] A target detection module, configured to perform target detection on a foreground object in the current observation image to obtain at least one detection frame before the cropping module crops the first image region containing the preset coordinate position in the current observation image to obtain the current partial image;

[0039] The determination module is used to determine the area to which the detection frame including the preset coordinate position belongs as the first image area.

[0040] Optionally, the acquired preset coordinate position is predetermined by:

[0041] Adjusting the posture of the laser assembly and / or the image acquisition assembly so that the image acquisition assembly can acquire an image of the aiming position of the laser assembly;

[0042] The coordinate position of the aiming position of the laser assembly in the image captured by the image acquisition assembly is determined as the preset coordinate position.

[0043] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0044] Memory, used to store computer programs;

[0045] The processor is used to implement any of the above-mentioned distance measurement methods when executing the program stored in the memory.

[0046] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the ranging method described in any one of the above is implemented.

[0047] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes executable instructions. When the executable instructions are executed on a computer, the computer executes any of the above-mentioned ranging methods.

[0048] Beneficial effects of the embodiments of the present application:

[0049] In the solution provided by the embodiment of the present application, since the current partial image is obtained by cropping the first image area containing the preset coordinate position in the current observation image, the preset coordinate position indicates the coordinate position corresponding to the current aiming position of the laser assembly in the current observation image, and therefore, the image content of the partial image is the image of the surrounding area of ​​the current aiming position of the laser assembly. During the ranging process, by displaying the current observation image in the display interface, the image content of the current partial image is superimposed and displayed in the second display area of ​​the display interface, so that the user can observe the surrounding area of ​​the aiming position of the laser assembly during the ranging process. Then, when the laser assembly aims at the target to be ranged, the image content of the partial image is the image content of the target to be ranged, so that the present solution can achieve effective observation of the target to be ranged during the ranging process. Compared with the solution of aiming with the ranging cross in the ranging process, the present solution does not need to superimpose and display the ranging cross on the observation image during the ranging process, which solves the problem that the ranging cross is superimposed on the observation image and affects the user's observation of the target to be ranged.

[0050] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0052] Figure 1 A flow chart of a distance measurement method provided in an embodiment of the present application;

[0053] Figure 2 Another flow chart of the ranging method provided in the embodiment of the present application;

[0054] Figure 3 A schematic diagram of the structure of a laser ranging device provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of an observation image provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of a ranging scenario provided in an embodiment of the present application;

[0057] Figure 6 A flowchart of a specific example of a distance measurement method provided in an embodiment of the present application;

[0058] Fig. 7AA schematic diagram of another observation image provided in an embodiment of the present application;

[0059] Figure 7B A schematic diagram of a partial image provided in an embodiment of the present application;

[0060] Figure 8 A schematic diagram of an observation image superimposed with a local image provided in an embodiment of the present application;

[0061] Fig. 9 A schematic diagram of the structure of a distance measuring device provided in an embodiment of the present application;

[0062] Fig.10 A block diagram of an electronic device for implementing a distance measurement method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0064] Below, the professional terms involved in the embodiments of the present application are first introduced:

[0065] Laser ranging: Laser ranging is a technology that uses laser to measure distance. Its working principle is to emit a laser beam to the target to be measured and measure the time or phase change of the reflected beam to calculate the distance between the laser emission end and the target to be measured.

[0066] Rangefinder cross: Also known as rangefinder grid or rangefinder graticule, it is a special marking system in optical instruments such as telescopes, sights or other observation equipment. It usually consists of a series of lines, dots, circles or other graphics to help users aim accurately.

[0067] The distance measurement method provided in the embodiment of the present application can be applied to various electronic devices, such as personal computers, servers, and other devices with data processing capabilities. In addition, it is understood that the distance measurement method provided in the embodiment of the present application can be implemented by software, hardware, or a combination of software and hardware.

[0068] like Figure 1 As shown, a distance measurement method provided in an embodiment of the present application includes steps S101-S103:

[0069] S101, obtaining an observation image of a scene to be measured currently collected by an image acquisition component in a laser ranging device, and obtaining a preset coordinate position; wherein the preset coordinate position represents: a coordinate position corresponding to a current aiming position of a laser component in the laser ranging device in a current observation image;

[0070] Exemplarily, the laser ranging device is a device that can use laser to measure distance, such as a laser ranging telescope. In the laser ranging device, the image acquisition component is an image acquisition sensor for image acquisition; the laser component is used to emit a laser beam for ranging. For example, when it is necessary to measure the distance of a target A to be measured, the laser ranging telescope can be used to observe the target A to be measured, so that the image acquisition component in the laser ranging telescope can capture an observation image of the scene to be measured containing the target A to be measured.

[0071] It is understandable that in practical applications, after the position and posture of the laser ranging device is fixed, the image acquisition component can collect an image within the field of view corresponding to the current position and posture, and the image is the observation image of the scene to be measured. When the position and posture of the laser ranging device changes, the collected observation image will also change.

[0072] In this embodiment, the preset coordinate position indicates the coordinate position corresponding to the current aiming position of the laser assembly in the current observation image. For example, if the laser assembly aims at point B on the target A to be measured, then in the observation image captured by the image acquisition component, the coordinate position of point B in the observation image is the preset coordinate position.

[0073] It can be understood that after the image acquisition component and the laser component in the laser ranging device are calibrated, that is, after the relative posture of the image acquisition component and the laser component is fixed, even if the laser ranging device is continuously moved during the subsequent ranging process, the coordinates of the aiming position of the laser component in the observed image are fixed.

[0074] For example, if the relative position of the image acquisition component and the laser component in the laser distance measuring device is fixed, the coordinates of the aiming position of the laser component in the observed image are (x1, y1), then (x1, y1) is recorded as the preset coordinate position. When the user uses the laser distance measuring device to measure distance, no matter how the laser distance measuring device is moved, the coordinates of the current aiming position of the laser component in the current observed image are (x1, y1). Therefore, when the image area containing the aiming position of the laser component is subsequently cropped from the observed image, the preset coordinate position is directly used for cropping.

[0075] Optionally, in one implementation, the acquired preset coordinate position is predetermined by steps A1-A2:

[0076] A1, adjusting the posture of the laser assembly and / or the image acquisition assembly so that the image acquisition assembly can acquire an image of the aiming position of the laser assembly;

[0077] A2, determining the coordinate position of the aiming position of the laser assembly in the image captured by the image acquisition assembly as a preset coordinate position.

[0078] In this implementation, the relevant technicians can adjust the posture of the laser component and / or the image acquisition component so that the image acquisition component can capture the image of the aiming position of the laser component. Then, the posture of the laser component and the image acquisition component is fixed, and the coordinate position of the current aiming position of the laser component in the image captured by the image acquisition component is recorded in a designated storage position in the laser ranging device. The recorded coordinate position is the preset coordinate position. Exemplarily, in a calibration method, a laser beam can be emitted by a laser component, and then the posture of the image acquisition component is adjusted so that the image acquisition component can capture an image of a light spot formed by the landing point of the laser beam. At this time, the position of the light spot can be recorded to obtain the preset coordinate position. Thus, when executing the ranging method provided in the embodiment of the present application, the preset coordinate position can be obtained from the designated storage position.

[0079] S102, cropping a first image region including a preset coordinate position in a current observation image to obtain a current local image;

[0080] It can be understood that since the preset coordinate position indicates the coordinate position corresponding to the current aiming position of the laser assembly in the current observation image, the first image area containing the preset coordinate position in the current observation image is the surrounding area of ​​the current aiming position of the laser assembly. Then, when the laser assembly aims at the target to be measured, the first image area is the area where the target to be measured is located. By cropping the first image area in the observation image, a partial image of the area where the target to be measured is located can be obtained.

[0081] Optionally, in one implementation, cropping the first image region including the preset coordinate position in the current observation image to obtain the current partial image may include steps B1-B2:

[0082] B1, obtain the preset cropping size;

[0083] B2, cropping a first image region centered at a preset coordinate position in the current observation image according to the acquired cropping size to obtain a current partial image.

[0084] In this implementation, relevant technical personnel can pre-set the size of the cropping size according to needs and store it in a designated storage address, so that when the observed image is cropped, the preset cropping size is obtained from the designated storage address as the size of the first image area, and the first image area centered on the preset coordinate position in the current observed image is cropped according to the preset cropping size to obtain a local image of a fixed size as the current local image.

[0085] Exemplarily, the preset cropping size can be 200px×200px, 300px×200px, and so on. In actual applications, the size of the cropping size can be set according to the size of the display interface that displays the observation image in the laser ranging device. For example, the length of the cropping size is set to 1 / 4 of the length of the display interface, the width of the cropping size is set to 1 / 2 of the width of the display interface, and so on.

[0086] S103, in the process of using the laser assembly to measure the distance, display the current observation image in the display interface, and overlay and display the image content of the current local image in the second display area in the display interface.

[0087] In this embodiment, in the process of using the laser component to measure the distance, the image display component in the laser distance measuring device is used to display the current observation image in the display interface, and to superimpose and display the image content of the current local image in the second display area in the display interface. Exemplarily, in actual applications, a display frame of a fixed size can be displayed at a specified coordinate position in the display interface, and the display frame is the second display area. Then, while displaying the current observation image in the display interface, the image content of the current local image is superimposed and displayed in the second display area. The size and display position of the second display area can be set by relevant technicians based on experience, and the embodiments of the present application do not limit this.

[0088] Exemplarily, in a laser ranging telescope, the image display component is the eyepiece in the telescope, that is, the eyepiece presents a display interface for displaying the observation image. Then, during the ranging process, the current observation image is displayed in the eyepiece of the telescope, and the image content of the current local image is superimposed on the displayed observation image.

[0089] It can be understood that the current local image is obtained by cropping the first image area containing the current aiming position of the laser assembly in the current observation image, and therefore, the image content of the local image is the image of the surrounding area of ​​the current aiming position of the laser assembly. When the laser assembly is aimed at the target to be measured, the image content of the local image is the image content of the target to be measured. Therefore, during the ranging process, by superimposing and displaying the image content of the current local image in the second display area of ​​the display interface while displaying the observation image, the user can observe the surrounding area of ​​the aiming position of the laser assembly during the ranging process, thereby realizing the observation of the target to be measured.

[0090] In addition, since this solution will superimpose and display the image content of the target to be measured in the display interface when measuring the distance for the target to be measured, compared with superimposing and displaying the ranging cross on the observation image, this solution does not affect the user's observation of the target to be measured. Moreover, if the ranging cross is superimposed and displayed on the observation image, when it is necessary to zoom in and observe a certain area in the observation image, the ranging cross will move outside the display interface, that is, the ranging cross is not displayed in the display interface, and the user cannot aim according to the ranging cross. In this solution, when the user needs to zoom in and observe a certain area in the observation image, the image content of the current local image is still superimposed and displayed in the second display area of ​​the display interface. Since the image content of the local image represents the surrounding area of ​​the aiming position of the laser component, the user can clearly know the aiming position of the current laser component according to the image content of the local image displayed in the display interface, so that the user can accurately aim at the target to be measured.

[0091] Optionally, in an implementation manner, before overlaying and displaying the image content of the current partial image in the second display area in the display interface, the method may further include:

[0092] According to the size relationship between the second display area and the first image area, scaling the cropped partial image so that the scaled partial image has the same size as the second display area;

[0093] Accordingly, in this implementation, superimposing and displaying the image content of the current partial image in the second display area in the display interface may include:

[0094] The zoomed partial image is displayed in a superimposed manner in the second display area of ​​the display interface.

[0095] In this implementation, before the image content of the current local image is superimposed and displayed in the second display area, the local image can be scaled so that the scaled local image has the same size as the second display area. Thus, the scaled local image is superimposed and displayed in the second display area, so that the second display area can display the complete image content of the cropped local image.

[0096] For example, the ratio of the length of the second display area to the first image area can be calculated to obtain the first coefficient, and the ratio of the width of the second display area to the first image area can be calculated to obtain the second coefficient. Then, the length of the partial image is enlarged by the first coefficient, and the width of the partial image is enlarged by the second coefficient to obtain the partial image after scaling.

[0097] In the solution provided by the embodiment of the present application, since the current partial image is obtained by cropping the first image area containing the preset coordinate position in the current observation image, the preset coordinate position indicates the coordinate position corresponding to the current aiming position of the laser assembly in the current observation image, and therefore, the image content of the partial image is the image of the surrounding area of ​​the current aiming position of the laser assembly. During the ranging process, by displaying the current observation image in the display interface, the image content of the current partial image is superimposed and displayed in the second display area of ​​the display interface, so that the user can observe the surrounding area of ​​the aiming position of the laser assembly during the ranging process. Then, when the laser assembly aims at the target to be ranged, the image content of the partial image is the image content of the target to be ranged, so that the present solution can achieve effective observation of the target to be ranged during the ranging process. Compared with the solution of aiming with the ranging cross in the ranging process, the present solution does not need to superimpose and display the ranging cross on the observation image during the ranging process, which solves the problem that the ranging cross is superimposed on the observation image and affects the user's observation of the target to be ranged.

[0098] Optionally, in another embodiment of the present application, Figure 1 Based on the embodiment shown in the figure, in step S102, the first image region containing the preset coordinate position in the current observation image is cropped to obtain the current partial image. Figure 2 As shown, steps S201-S202 may also be included:

[0099] S201, performing target detection on a foreground object in a current observation image to obtain at least one detection frame;

[0100] S202: Determine the area to which the detection frame including the preset coordinate position belongs as the first image area.

[0101] In this embodiment, after the current observation image is acquired, target detection algorithms such as YOLO (You Only Look Once, an object detection system for computer vision tasks) and R-CNN (Region-based Convolutional Neural Networks, an algorithm for target detection using deep learning) can be used to perform target detection on the foreground object in the current observation image, thereby obtaining at least one detection frame.

[0102] After obtaining at least one detection frame, the area to which the detection frame containing the preset coordinate position belongs can be determined as the first image area according to the coordinate position of each detection frame. Therefore, the first image area in the observed image can be directly cropped to obtain the current local image.

[0103] Exemplarily, after obtaining at least one detection frame, for each detection frame, the coordinates of each vertex of the detection frame can be obtained, and then based on the coordinates of each vertex, it is determined whether the preset coordinate position is within the area to which the detection frame belongs. If so, the detection frame is a detection frame that contains the preset coordinate position.

[0104] It can be understood that by performing target detection on the foreground object in the current observation image, at least one detection frame is obtained, and the area to which the detection frame containing the preset coordinate position belongs is determined as the first image area, so that when the first image area in the observation image is cropped, a partial image containing the complete foreground object can be cropped. Then, when the laser component is aimed at the target to be measured, the detection frame containing the preset coordinate position is the detection frame corresponding to the target to be measured, and by cropping the area to which the detection frame belongs, a partial image containing the complete target to be measured can be obtained. Then, during the ranging process, the current partial image is superimposed and displayed in the second display area in the display interface, so that the observation of the complete target to be measured can be achieved.

[0105] Corresponding to the above method embodiment, the present application embodiment also provides a laser ranging device, such as Figure 3 As shown, it includes an image acquisition component 310, an image processing component 320, an image display component 330 and a laser component 340;

[0106] An image acquisition component 310 is used to acquire an observation image of the scene to be measured;

[0107] The image processing component 320 is used to obtain the preset coordinate position and the observation image currently collected by the image acquisition component 310; crop the first image area containing the preset coordinate position in the current observation image to obtain the current local image; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component 340 in the current observation image;

[0108] The image display component 330 is used to display the current observation image in the display interface and to overlay and display the image content of the current local image in the second display area in the display interface during the process of measuring the distance using the laser component 340;

[0109] The laser assembly 340 is used to measure the distance of the current aiming position.

[0110] In this embodiment, the image acquisition component includes devices such as image acquisition sensors, the image processing component includes devices such as processors, the image display component includes devices such as displays, and the laser component includes devices such as lasers.

[0111] The functions of the various components included in the laser ranging device provided in the embodiment of the present application have been introduced in the above method embodiment and will not be repeated here.

[0112] In order to better understand the distance measurement method provided by the present application, a specific example is introduced below.

[0113] At present, when performing laser ranging on a target to be measured, it is usually necessary to first use a ranging cross to aim at the target to be measured, and the ranging cross superimposed on the observation image will affect the user's observation of the target to be measured. Figure 4 As shown in the figure, when the laser ranging device is used to aim at the target to be measured, in the collected observation image, the ranging cross is superimposed and displayed on the target to be measured in the observation image, thereby affecting the user's observation of the target to be measured. In addition, if the user needs to zoom in on the observation image presented in the display interface, the ranging cross may not be on the display interface, thereby affecting the aiming and ranging of the target to be measured.

[0114] In order to solve the above problem, this example provides a distance measurement method, which crops the local image at the laser aiming position and uses the cropped local image to assist in distance measurement.

[0115] like Figure 5 As shown, when the user needs to measure the distance of the target to be measured, the user will first align the objective lens in the laser ranging telescope with the target to be measured. Then, the user observes the target to be measured through the eyepiece (corresponding to the image display component mentioned above). The laser ranging telescope also includes a laser ranging module (corresponding to the laser component mentioned above) and a digital image processor (corresponding to the image acquisition component and the image processing component mentioned above).

[0116] Combine the following Figure 6 The specific process of the distance measurement method provided in this example is introduced, including steps S601-S605:

[0117] S601, collecting observation images of the target to be observed;

[0118] When measuring the distance of a target to be measured, after the objective lens in the laser ranging telescope is aimed at the target to be measured, the digital image processor collects the observation image of the target to be measured and saves it. The target to be measured can be a building, a vehicle, a person, etc.

[0119] S602, obtaining the coordinate position marked in advance;

[0120] That is, before ranging, the position of the laser ranging module is adjusted so that the aiming position of the laser ranging module is displayed in the eyepiece. At this time, the aiming position of the laser ranging module is marked, and the marked coordinate position (corresponding to the preset coordinate position mentioned above) is recorded. When measuring the distance, the pre-marked coordinate position is obtained from the storage address where the pre-marked coordinate position is recorded.

[0121] S603, in the observed image, cropping the image of the target to be measured at the coordinate position marked in advance to obtain a local image;

[0122] For example, in the observed image, the area of ​​the predetermined cropping size centered on the pre-marked coordinate position is cropped to obtain a local image. In the ranging process, if the laser ranging module is aimed at the center position of the target to be measured, and the collected observation image is as follows Fig. 7A As shown in , the local image that needs to be cropped in the observed image is an area with a predetermined cropping size and centered at the center of the target to be measured. At this time, the position of the local image that needs to be cropped is as follows: Figure 7B The dotted area is shown in .

[0123] S604, displaying the observed image in the display interface, and superimposing the image content of the local image on the displayed observed image;

[0124] In this example, after obtaining the partial image, the partial image can also be reduced or enlarged. Then, when displaying the observed image in the display interface of the eyepiece, a display frame of a fixed size (corresponding to the second display area mentioned above) can be superimposed in the display interface of the eyepiece to display the image content of the partial image in the display frame. For example, if the size of the cropped partial image is smaller than the size of the display frame, the size of the partial image can be enlarged and displayed in the display frame. Exemplarily, the observed image superimposed with the partial image is as follows: Figure 8 As shown, through this Figure 8 From the image content of the partial image displayed in , it can be known that the target to be measured aimed at by the current laser ranging module is the person in the observed image.

[0125] S605, aiming and ranging are performed using the displayed partial image.

[0126] During the ranging process, the user can observe the local image in real time, so as to determine the aiming position of the current laser ranging module based on the local image, thereby achieving aiming and ranging through the displayed local image.

[0127] It can be seen that, through this solution, by superimposing and displaying the local image at the laser aiming position on the observation image, the user's observation of the target to be measured during the ranging process can be satisfied. There is no need to use the ranging cross to aim at the target to be measured, which solves the problem that the ranging cross superimposed on the observation image will affect the user's observation of the target to be measured. In addition, when the user needs to zoom in on a certain area in the observation image, the image content of the current local image is still superimposed and displayed in the display interface. Therefore, according to the image content of the local image displayed in the display interface, the user can clearly know the aiming position of the current laser component, so that the user can accurately aim at the target to be measured.

[0128] Based on the solution of the present application, it is possible to aim and measure the distance to the target to be measured without using a ranging cross. Therefore, the solution can also be applied to some ranging scenarios where it is not allowed to display a ranging cross in the observation image.

[0129] Corresponding to the above method embodiment, the present application embodiment also provides a laser distance measuring device, such as Fig. 9 As shown, the device comprises:

[0130] The acquisition module 910 is used to acquire the observation image of the scene to be measured currently acquired by the image acquisition component in the laser ranging device, and to acquire the preset coordinate position; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the laser ranging device in the current observation image;

[0131] A cropping module 920, configured to crop a first image region including the preset coordinate position in the current observation image to obtain a current local image;

[0132] The display module 930 is used to display the current observation image in the display interface and to overlay the image content of the current local image in the second display area of ​​the display interface during the process of using the laser assembly to measure the distance.

[0133] Optionally, the cutting module 920 includes:

[0134] Get submodule, used to get the preset cropping size;

[0135] The cropping submodule is used to crop the first image area centered at the preset coordinate position in the current observation image according to the acquired cropping size to obtain the current local image.

[0136] Optionally, the device further comprises:

[0137] a scaling processing module, configured to scale the cropped partial image according to the size relationship between the second display area and the first image area before the display module 930 overlays and displays the image content of the current partial image in the second display area of ​​the display interface, so that the scaled partial image has the same size as the second display area;

[0138] The display module 930 is specifically used for:

[0139] The zoomed partial image is displayed in a superimposed manner in a second display area in the display interface.

[0140] Optionally, the device further comprises:

[0141] A target detection module, configured to perform target detection on a foreground object in the current observation image before the cropping module 920 crops the first image region containing the preset coordinate position in the current observation image to obtain the current partial image, and obtain at least one detection frame;

[0142] The determination module is used to determine the area to which the detection frame including the preset coordinate position belongs as the first image area.

[0143] Optionally, the acquired preset coordinate position is predetermined by:

[0144] Adjusting the posture of the laser assembly and / or the image acquisition assembly so that the image acquisition assembly can acquire an image of the aiming position of the laser assembly;

[0145] The coordinate position of the aiming position of the laser assembly in the image captured by the image acquisition assembly is determined as the preset coordinate position.

[0146] In the technical solution of the present application, operations such as acquisition, storage, use, processing, transmission, provision and disclosure of images involved are all carried out with the user's authorization.

[0147] The present application also provides an electronic device, such as Fig.10 As shown, including:

[0148] Memory 1001, used for storing computer programs;

[0149] The processor 1002 is used to implement the steps of any of the above-mentioned ranging methods when executing the program stored in the memory 1001; and the above-mentioned electronic device may also include a communication bus and / or a communication interface, and the processor 1002, the communication interface, and the memory 1001 communicate with each other through the communication bus.

[0150] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0151] The communication interface is used for communication between the above electronic device and other devices.

[0152] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0153] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0154] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned ranging methods are implemented.

[0155] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any distance measurement method in the above embodiments.

[0156] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0157] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0158] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, electronic device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0159] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A distance measurement method, characterized in that: The method comprises: Acquire an observation image of the scene to be measured currently acquired by the image acquisition component in the laser ranging device, and acquire a preset coordinate position; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the laser ranging device in the current observation image; Cropping the first image region including the preset coordinate position in the current observation image to obtain a current local image; In the process of using the laser assembly to measure the distance, the current observation image is displayed in the display interface, and the image content of the current local image is superimposed and displayed in the second display area of ​​the display interface.

2. The method according to claim 1, characterized in that The step of cropping the first image region including the preset coordinate position in the current observation image to obtain the current partial image comprises: Get the preset cropping size; The first image region centered at the preset coordinate position in the current observation image is cropped according to the acquired cropping size to obtain a current partial image.

3. The method according to claim 1, characterized in that Before overlaying and displaying the image content of the current partial image in the second display area in the display interface, the method further includes: Scaling the cropped partial image according to the size relationship between the second display area and the first image area, so that the scaled partial image has the same size as the second display area; Overlaying and displaying the image content of the current partial image in the second display area in the display interface includes: The zoomed partial image is displayed in a superimposed manner in a second display area in the display interface.

4. The method according to claim 1, characterized in that: Before clipping the first image region including the preset coordinate position in the current observation image to obtain the current partial image, the method further includes: Performing target detection on the foreground object in the current observation image to obtain at least one detection frame; The area to which the detection frame including the preset coordinate position belongs is determined as the first image area.

5. The method according to any one of claims 1 to 4, characterized in that: The acquired preset coordinate position is predetermined by: Adjusting the posture of the laser assembly and / or the image acquisition assembly so that the image acquisition assembly can acquire an image of the aiming position of the laser assembly; The coordinate position of the aiming position of the laser assembly in the image captured by the image acquisition assembly is determined as the preset coordinate position.

6. A laser distance measuring device, characterized in that: It includes an image acquisition component, an image processing component, an image display component and a laser component; The image acquisition component is used to acquire an observation image of the scene to be measured; The image processing component is used to obtain the preset coordinate position and the observation image currently collected by the image acquisition component; crop the first image area containing the preset coordinate position in the current observation image to obtain the current local image; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the current observation image; The image display component is used to display the current observation image in the display interface and to overlay and display the image content of the current local image in the second display area in the display interface during the process of using the laser component to measure the distance; The laser assembly is used to measure the distance of the current aiming position.

7. A distance measuring device, characterized in that: The device comprises: An acquisition module is used to acquire an observation image of the scene to be measured currently acquired by the image acquisition component in the laser ranging device, and to acquire a preset coordinate position; wherein the preset coordinate position represents: the coordinate position corresponding to the current aiming position of the laser component in the laser ranging device in the current observation image; A cropping module, used for cropping the first image area containing the preset coordinate position in the current observation image to obtain a current local image; The display module is used to display the current observation image in the display interface and to overlay the image content of the current local image in the second display area of ​​the display interface during the process of using the laser assembly to measure the distance.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-5 when executing a program stored in a memory.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

10. A computer program product, characterized in that The computer program product comprises executable instructions, and when the executable instructions are executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 5.

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