A laser ranging method and system

Abstract

The application relates to the technical field of laser ranging, in particular to a laser ranging method and system, which comprises the following steps: a laser ranging instrument is used to emit a laser beam to a first to-be-measured point at a first position point, and first laser transceiving data is collected; the first relative position of the first to-be-measured point is calculated; the laser ranging instrument is used to emit a laser beam to a second to-be-measured point at a second position point, and second laser transceiving data is collected; the second relative position of the second to-be-measured point is calculated; a plurality of target distances of the first and second to-be-measured points are calculated respectively; the difference degree between any target distance D1 and the remaining distance D2 is calculated, and when the difference degree belongs to a second threshold range, the target distance D1 is identified as a qualified measurement value. Based on the laser ranging technology provided by the application, a user can directly measure the distance between two points when standing at a third point outside the two points, and the flexibility and convenience of distance measurement are improved.

Description

[0001] Divisional application This application is a divisional application of the patent application filed on May 23, 2025 [Application No.: CN202510672264.X, Invention Title: A Laser Ranging Method and System]. Technical Field

[0002] This invention relates to the field of laser ranging technology, and specifically to a laser ranging method and system. Background Technology

[0003] Laser distance measuring uses a laser as the light source to measure distance. Based on the laser's operating mode, it can be divided into continuous lasers and pulsed lasers. For example, gas lasers such as helium-neon, argon-ion, and krypton-cadmium can be used in continuous output mode for phase-based laser distance measuring; while solid-state lasers such as ruby ​​and neodymium glass can be used for pulsed laser distance measuring.

[0004] For example, patent application CN119620095A discloses a laser ranging method and apparatus based on an attitude sensor. The method includes: S1, when measuring the straight-line distance between a first and a second point to be measured, obtaining a first distance value at a first emission point; S2, obtaining first spatial coordinate information and first angle information through an attitude sensor; S3, after moving from the first emission point to the second emission point, obtaining a second distance value at the second emission point; S4, obtaining second spatial coordinate information and second angle information through an attitude sensor; S5, calculating the spatial coordinate information of the first point to be measured using a spatial pose angle conversion algorithm based on the first spatial coordinate information, the first angle information, and the first distance value, and calculating the spatial coordinate information of the second point to be measured; S6, calculating the straight-line distance between the first and second points to be measured. This ranging method eliminates the need for laser ranging at one of the two points to be measured, improving the efficiency and convenience of the laser ranging process.

[0005] For example, patent application CN105589076A discloses a two-point distance measuring device and its measurement method. The distance measuring device includes: a rod, an angle measuring module, a distance measuring module, and a calculation and control module. The angle measuring module includes: a plate; the plate is connected to the rod and has angle scales; a fixed end fixed to the plate; and a movable end hinged to the plate at one end. The distance measuring module includes: a laser distance measuring tube, which is fixed to the movable end and parallel to the movable end. The calculation and control module is connected to the angle measuring module and the distance measuring module through a circuit and receives distance and angle information to realize two-point distance measurement.

[0006] However, the applicant noted that traditional measurement methods are often suitable for indoor measurements, while outdoor measurement data are very easily affected by the environment, leading to inaccurate measurements.

[0007] Therefore, there is an urgent need for a laser measurement technology suitable for outdoor measurements. Summary of the Invention

[0008] The purpose of this invention is to provide a laser ranging method that partially solves or alleviates the above-mentioned shortcomings of the prior art, and can improve the accuracy of ranging, especially reducing or mitigating errors caused by human factors or environmental factors.

[0009] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution: A first aspect of the present invention is to provide a laser ranging method, comprising the steps of: Obtaining a measurement position, wherein the measurement position is a first relative position or a second relative position; wherein the step of obtaining the measurement position includes: A laser rangefinder is used at the first location to emit a laser beam toward the first point to be measured, and the first laser transmission and reception data is collected. Calculate the first relative position of the first test point based on the first laser transceiver data; At the second location, the laser rangefinder emits a laser beam toward the second point to be measured and collects the second laser transmission and reception data. Calculate the second relative position of the second test point based on the second laser transceiver data; At least three target distances are calculated based on at least three sets of measurement positions, where one set of measurement positions includes a first relative position and a second phase position; Calculate the difference L2 between any one target distance D1 and at least one other target distance D2; L2 = (D1 - D2) / reference distance value; where the reference distance value is D1 or D2; When the degree of difference falls within the second threshold range, the target spacing D1 is identified as a qualified measurement value. Recommended measurement results are generated based on the qualified measurement values.

[0010] In some embodiments, the measurement position, such as a first relative position or a second relative position, is obtained using an error reduction method, which includes the following steps: S1011, The laser rangefinder emits a visible beam toward the corresponding point to be measured; S1012, Obtain the first motion acceleration of the laser rangefinder in the first time period; S1013, Generate first jitter data based on the first motion acceleration; S1014, when the first jitter data is less than the first jitter threshold, the corresponding first time period is marked as a type of time period; S1015, determine whether the total duration of the currently continuously generated first type of time period is greater than the first duration threshold; if so, proceed to S1016. S1016, In the second time period, the laser rangefinder is used to emit a laser beam toward the first or second point to be measured, and the corresponding laser emission and reception data are recorded. S1017, calculate at least one of the measurement positions of the first or second test point during the second time period based on the laser emission and reception data, and the measurement positions are marked with time labels.

[0011] In some embodiments, the step of calculating the target spacing includes: At least one first target point is selected from a plurality of first relative positions, and at least one second target point is selected from a plurality of second relative positions; At least one target distance is calculated based on at least one first target point and at least one second target point.

[0012] In some embodiments, the measurement location is labeled with a time tag, and before calculating the measurement location, the method further includes the step of performing a two-type filtering operation on the measurement location; this includes the steps of: Obtain the second motion acceleration recorded by the laser rangefinder at multiple moments within the second time period; The second jitter data is generated based on the second motion acceleration; When the second jitter data is greater than the second jitter threshold, the measurement position at the corresponding time is identified as a type II anomaly. Calculate the second adjacent time interval between at least two adjacent Type II anomalies; When the second adjacent time interval between multiple types of anomalies is less than the preset second time interval, the corresponding multiple types of anomalies are identified as a second set of filtering points. Obtain the first moment of the first anomaly point and the second moment of the last anomaly point in the second set of filter points; The measurement locations outside the interval between the first and second time points are identified as target points.

[0013] In some embodiments, the measurement location is labeled with a time tag, and the step of calculating the measurement location is further included: Calculate the difference between at least two adjacent measurement locations; At least one of the measurement locations where the difference is greater than a preset first threshold is identified as an anomaly. Obtain the first adjacent time interval of at least two adjacent anomalies of the same type; When the first adjacent time interval between multiple anomalous points of the same type is less than the preset first time interval, the corresponding multiple anomalous points of the same type are identified as the first set of filtering points. Obtain the third moment of the first anomaly point and the fourth moment of the last anomaly point in the first set of filtering points; The relative position outside the interval between the third and fourth time points is identified as the target point.

[0014] In some embodiments, before calculating the first relative position or the second relative position, the method further includes the step of: Obtain the target curve generated from the target point and the corresponding time. The target curve is smoothed to obtain a new target curve; Calculate the positional feature values ​​of multiple points in the new target curve, and use the positional feature values ​​as the first relative position or the second relative position, wherein the positional feature values ​​are the average, mode or median of the positions of the multiple points.

[0015] In some embodiments, the smoothing process includes one or more of the following: Moving average method, Gaussian filter, median filter, Kalman filter.

[0016] In some embodiments, it also includes: Obtain a first distance value and a second distance value generated from the laser emission and reception data, wherein the first distance value is the distance between the first test point and the first position point, and the second distance value is the distance between the second test point and the second position point; Calculate the degree of difference L1 between the first distance value and the second distance value. The calculation rule for the degree of difference L1 is as follows: L1 = (first distance value - second distance value) / reference distance value; where the reference distance value is either the first distance value or the second distance value; When the degree of difference L1 falls within the first threshold range, a first prompt signal is issued. The first prompt signal is used to remind the user to pay attention to whether the laser emission path of the laser rangefinder is blocked.

[0017] The present invention also provides a laser ranging system, comprising: A measurement module is used to acquire a measurement position, wherein the measurement position is a first relative position or a second relative position; the measurement module includes: The measurement submodule is used to emit a laser beam from a laser rangefinder at a first location point to a first measurement point and collect first laser transmission and reception data; and to emit a laser beam from the laser rangefinder at a second location point to a second measurement point and collect second laser transmission and reception data. The first calculation submodule is used to calculate the first relative position of the first test point based on the first laser transceiver data; and to calculate the second relative position of the second test point based on the second laser transceiver data. The second calculation submodule is used to calculate at least three target distances based on at least three sets of measurement positions, wherein one set of measurement positions includes a first relative position and a second phase position; The difference assessment submodule is used to calculate the degree of difference L2 between any one of the target distances D1 and at least one of the other target distances D2; L2 = (D1 - D2) / reference distance value; wherein, the reference distance value is D1 or D2; The difference assessment module is used to calculate the degree of difference L2 between any one of the target distances D1 and at least one other target distance D2; L2 = (D1 - D2) / reference distance value; wherein the reference distance value is D1 or D2; The qualified identification module is used to identify the target spacing D1 as a qualified measurement value when the degree of difference falls within the second threshold range; The recommended output module is used to generate recommended measurement results based on the qualified measurement values.

[0018] In some embodiments, it also includes: The rotation speed measurement module is used to emit a light source to the surface of the object under test. When the object under test rotates, the reflector of the object under test will reflect the corresponding reflected light. The rotation speed of the object under test is calculated based on the received reflected light.

[0019] Beneficial technical effects: This invention provides a two-point distance measurement method suitable for complex environments, particularly outdoor scenarios. The applicant notes that distance measurement in complex environments, especially outdoors, can face multiple interferences caused by the combined effects of human and environmental factors. To address this, this application provides a step-by-step, hierarchical data filtering technique for different measurement stages (such as data acquisition, data processing, and data calculation). This data filtering technique comprehensively reduces the interference from both human and environmental factors on the measurement, while retaining a greater amount of reliable data, thus preventing the filtering process from negatively impacting data reliability.

[0020] Specifically, for the data acquisition stage, this invention provides an error reduction measurement technique to attempt to filter out deviations caused by the vibration of the rangefinder during the early stage of laser transmission and reception.

[0021] For the data processing stage, this invention provides a two-type filtering operation based on jitter level to address human error, thereby significantly reducing human error in the early stages of data computation. Furthermore, it directly performs localized overall filtering on a series of data points based on the time interval where jitter occurs, greatly minimizing or reducing the adverse interference caused by jitter on the data.

[0022] For the data processing stage, this invention also provides a type of filtering operation based on data difference to address the combined errors caused by human factors and the environment (such as flight obstacles). In this type of filtering operation, this invention further performs localized overall filtering on data in the frequent fluctuation time interval based on the density of outliers.

[0023] Preferably, a second-class filtering operation can be performed first, and then a first-class filtering operation can be performed on the data obtained based on the second-class filtering operation.

[0024] Preferably, before performing data smoothing, the present invention sequentially performs two types of filtering operations and one type of filtering operation to extract fragmented filtering from a massive number of measurement points, thereby eliminating localized data with large error interference. This pre-processed fragmented filtering can reduce the difficulty of smoothing and avoid interference to the smoothing process (or, in other words, ensure that the number of outliers in the core data of the smoothing process is relatively controllable), thereby improving the accuracy and reliability of the smoothing process.

[0025] Furthermore, for the data calculation stage, the present invention also provides a method for data filtering based on the measurement differences between the first and second test points (such as the degree of difference between the first and second relative positions), so as to further reduce or mitigate the interference of human operation on the measurement results. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0027] Figure 1 This is a schematic flowchart of a laser ranging method in an exemplary embodiment of the present invention; Figure 2 This is a schematic diagram of the error reduction process for laser ranging in an exemplary embodiment of the present invention; Figure 3 This is a schematic diagram of the filtering process for laser ranging in an exemplary embodiment of the present invention; Figure 4 This is a schematic diagram of the module structure of a laser ranging system in an exemplary embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0029] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" may be used interchangeably.

[0030] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0033] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0034] As used in this specification, the term "about" typically means + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0035] In this specification, certain embodiments may be disclosed in a range-bound format. It should be understood that this "range-bound" description is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered as having specifically disclosed all possible subranges and the individual numerical values ​​within those ranges. For example, a description of the range 1-6 should be considered as having specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and the individual numbers within those ranges, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0036] Example 1 See Figure 1 As shown, the present invention provides a laser ranging method, including the following steps: Obtaining a measurement position, wherein the measurement position is a first relative position or a second relative position; wherein the step of obtaining the measurement position includes: A laser rangefinder is used at the first location to emit a laser beam toward the first point to be measured, and the first laser transmission and reception data is collected. Calculate the first relative position of the first test point based on the first laser transceiver data; It should be noted that, in some embodiments of the present invention, the measurement position is collectively referred to as the first relative position and the second relative position, or the measurement position may also be referred to as the relative position. The point to be measured may be collectively referred to as the first point to be measured and the second point to be measured.

[0037] For example, in some embodiments, a laser rangefinder is used to emit at least one laser beam to the first point to be measured, and the coordinates of the first point (e.g., the current coordinate position of the laser rangefinder) and the emission angle are recorded. At the same time, the reception time of the received reflected laser signal is recorded, so that the distance between the emission position and the first point to be measured can be calculated according to the pulse method or the phase method. In other words, the relevant positional relationship between the first point to be measured and the emission position can be calculated.

[0038] For example, in some embodiments, the relative position can be described by the distance between the point to be measured and the site.

[0039] Alternatively, in some embodiments, the relative position can be described using the spatial coordinates of the point to be measured.

[0040] At the second location, the laser rangefinder emits a laser beam toward the second point to be measured and collects the second laser transmission and reception data. Calculate the second relative position of the second test point based on the second laser transceiver data; Preferably, the second relative position of the second point to be measured can be obtained using the same measurement method as the first relative position.

[0041] The target distance (or measurement result) is calculated based on at least one first relative position and at least one second relative position, that is, the distance between the first and second measured points is calculated.

[0042] In this embodiment, by obtaining the coordinates of the first point and the second point (such as their relative positional relationship), and simultaneously obtaining the coordinates of the relative positions of the first and second test points, the distance between the two test points can be indirectly calculated through spatial coordinate transformation.

[0043] In some embodiments, the coordinates or relative positional relationship between the first and second points can be measured using an attitude sensor. For example, the attitude sensor can be a high-precision inertial measurement unit (IMU), which is a six-axis sensor including a three-axis gyroscope and a three-axis accelerometer. The accelerometer detects acceleration signals, while the gyroscope detects angular velocity signals. The angular velocity and acceleration of the laser rangefinder in three-dimensional space are measured, and the attitude of the laser rangefinder is calculated accordingly. This allows for real-time capture of the tilt and rotation information of the laser rangefinder, enabling precise positioning of its spatial location and orientation.

[0044] In some embodiments, the laser rangefinder may employ the laser rangefinder device disclosed in patent application 202411796303.9.

[0045] Furthermore, in some embodiments, the step of calculating the target distance based on at least one first relative position and at least one second relative position includes: At least three target distances are calculated based on at least three sets of measurement positions, where one set of measurement positions includes a first relative position and a second phase position; Calculate the difference L2 between any one target distance D1 and at least one other target distance D2; L2 = (D1 - D2) / reference distance value; where the reference distance value is D1 or D2; When the degree of difference falls within the second threshold range, the target spacing D1 is identified as a qualified measurement value; conversely, the target spacing D1 can be identified as an unqualified measurement value (i.e., an outlier). Recommended measurement results are generated based on the qualified measurement values.

[0046] Furthermore, in some embodiments, the step of generating recommended measurement results based on the qualified measurement values ​​includes: Calculate the characteristic values ​​of at least two qualified measurements and use these characteristic values ​​as the recommended measurement results.

[0047] Preferably, multiple qualified measurement values ​​are obtained, and the characteristic value is the average or mode of the multiple qualified measurement values.

[0048] This embodiment provides an error filtering method. Specifically, in the actual measurement process, multiple sets of lasers can be emitted in a short time to calculate the distance between multiple targets and filter out abnormal points.

[0049] It is understood that the laser ranging method provided by this invention can perform two-point ranging, meaning that the user can stand at a position outside the first and second measurement points to measure the distance between them. For example, this laser ranging method can be used to measure the distance between two walls.

[0050] However, the applicant noted that in complex environments, environmental changes may interfere with the measurement results. For example, taking the measurement of the distance between two buildings as an example, a user can stand between the two buildings and use a laser rangefinder to emit multiple laser beams back and forth onto the two opposite walls of the two buildings, calculating multiple target distances accordingly. The error filtering method provided by this invention can avoid or reduce the impact of errors. For example, when the laser beam encounters a faulty object, such as a flying object (e.g., a bird, a fallen leaf, or a drone), the measured target distance value will suddenly decrease at that moment (if the actual distance being measured is between the first point to be measured and the flying object). Therefore, this abnormal point can be eliminated by filtering to improve accuracy.

[0051] In some embodiments, the method includes measuring the relative position using an error reduction method. Specifically, the error reduction method is used to obtain at least one first relative position of a first point to be measured and at least one second relative position of a second point to be measured using a laser rangefinder (i.e., obtaining the measurement position using the error reduction method). Specifically, see Figure 2 As shown, the steps for obtaining the relative position using the error reduction method include: S1011, The laser rangefinder emits a visible beam toward the corresponding point to be measured; For example, in some embodiments, the visible light beam can be red light. Here, the visible light beam serves as an auxiliary positioning method, allowing the user to determine the location of the selected measurement point by observing the incident point of the visible light beam.

[0052] S1012, Obtain the first motion acceleration of the laser rangefinder during the first time period (e.g., it can be the rotational acceleration of the angle). For example, in some embodiments, the jitter of the laser rangefinder can be measured using a three-axis gyroscope and a three-axis accelerometer.

[0053] S1013, determine the first jitter data based on the first motion acceleration; For example, in some embodiments, the first motion acceleration is the rotational acceleration of the angle, or the first motion acceleration is the rate of change of position; correspondingly, the first jitter data can be directly characterized using the first motion acceleration. Alternatively, in some embodiments, the first jitter data can be the average value of the first motion acceleration.

[0054] S1014, when the first jitter data is less than the first jitter threshold, the corresponding first time period is marked as a type of time period; normally, when the laser rangefinder approaches relative stillness, the time period is marked as a type of time period.

[0055] S1015, determine whether the total duration of the currently continuously generated time period of the first type is greater than the first duration threshold. If yes, proceed to S1016; or, in some embodiments, if S1015 is negative, it can be considered that the laser rangefinder may have jitter, and in this case, there will be a large error in collecting laser emission and reception data. Therefore, in some embodiments, laser emission or collection of laser emission and reception data is not performed in this case.

[0056] S1016, In the second time period, the laser rangefinder is used to emit a laser beam toward the first or second point to be measured, and the corresponding laser emission and reception data are recorded. For example, in some embodiments, the laser beam may be positioned parallel to visible light to facilitate visual positioning by the user. Alternatively, the laser beam may be approximately parallel to the visible light beam.

[0057] In other words, preferably, data recording of the laser beam is only initiated when the laser rangefinder is in a state of near-relative stillness, in order to filter out or avoid the adverse effects of jitter on the measurement results.

[0058] S1017, calculate at least one of the measurement positions of the first or second test point during the second time period based on the laser emission and reception data, and the measurement positions are marked with time labels.

[0059] For example, in some embodiments, the laser rangefinder is equipped with a laser beam emission switch (such as a push-button switch or a touch button on the laser rangefinder's display screen). When the user presses or clicks the switch, the laser beam can be activated in response to the switch signal. However, the pressure applied may cause the laser rangefinder to vibrate to some extent, resulting in errors in the measurement and acquisition of laser beam data (such as emission angle).

[0060] In response, the error reduction measurement technique proposed in this embodiment can select the data acquisition time to reduce the error interference caused by manual operation by the user.

[0061] For example, in some embodiments, the user may initially select different test points on a test basis. At this time, the laser rangefinder will often move with the user's manual operation, which will cause a certain degree of shaking.

[0062] In some embodiments, the step of calculating the target spacing includes: At least one first target point is selected from a plurality of first relative positions, and at least one second target point is selected from a plurality of second relative positions; At least one target distance is calculated based on at least one first target point and at least one second target point.

[0063] Preferably, in some embodiments, when a user performs a relative position measurement on the first point to be measured, the laser beam can be emitted repeatedly within a short period of time to obtain multiple relative positions, and a suitable point can be selected from these multiple relative positions as the target point. In particular, due to the speed characteristics of laser, hundreds or even thousands of relative positions can be measured in just 1 second, and the filtering operation proposed in this application can comprehensively process these hundreds or thousands of relative positions to obtain a reliable measurement result.

[0064] For example, when a laser beam travels from the laser rangefinder, passes the point to be measured, and returns to the laser rangefinder, if it is affected by obstacles such as fallen leaves or birds, the first relative position obtained at that moment may differ from the first relative position under normal circumstances. To address this, the present invention provides a dual-class filtering operation to eliminate or mitigate the error.

[0065] In some embodiments, see Figure 3 As shown, before calculating the first relative position or the second relative position (that is, before calculating the measured position), the method further includes the step of performing a second-class filtering operation on the measured position; this includes the following steps: Acquire the second motion acceleration recorded by the laser rangefinder at multiple moments within the second time period; The second jitter data is generated based on the second motion acceleration; When the second jitter data is greater than the second jitter threshold, the measurement position at the corresponding time is identified as a type II anomaly. Calculate the second adjacent time interval between at least two adjacent Type II anomalies; When the second adjacent time interval between multiple types of anomalies is less than the preset second time interval, the corresponding multiple types of anomalies are identified as a second set of filtering points. Obtain the first moment of the first abnormal point and the second moment of the last abnormal point in the second set of filtered points; for example, in some embodiments, there may be normal points between multiple types of abnormal points, so the abnormal points and normal points in this time interval can be locally eliminated, that is, the measurement points in this local time interval are filtered.

[0066] The measurement locations outside the interval between the first and second time points are identified as target points.

[0067] In other words, in this embodiment, the measurement results (or measurement points) within the time interval can be filtered out and not included in the final calculation of the target distance.

[0068] For example, in this embodiment, when abnormal jitter is detected during the second time period (e.g., the measurement period) (e.g., when the second jitter data is greater than the second jitter threshold), the measurement data (e.g., relative position) generated at the corresponding time is identified as a type II anomaly. Furthermore, when multiple type II anomalies exist within a certain time period, all measurement data within the time interval covered by these multiple type II anomalies can be filtered out (or, fragmented elimination can be performed).

[0069] Therefore, this embodiment actually eliminates human-caused errors from the user's manual operation level.

[0070] In some embodiments, prior to calculating the measured position, the method further includes the step of performing a filtering operation on the relative position; this includes the steps of: Calculate the difference between at least two adjacent measurement locations; At least one of the measurement locations where the difference is greater than a preset first threshold is identified as an anomaly. For example, in some embodiments, when two data points with significant differences (i.e., relative positions) are identified, both data points can be considered as outliers.

[0071] Obtain the first adjacent time interval of at least two adjacent anomalies of the same type; When the first adjacent time interval between multiple anomalous points of the same type is less than the preset first time interval, the corresponding multiple anomalous points of the same type are identified as the first set of filtering points. Obtain the third moment of the first anomaly point and the fourth moment of the last anomaly point in the first set of filtering points; The measurement locations outside the interval between the third and fourth time points are identified as target points.

[0072] In other words, in this embodiment, when multiple Class I anomalies are generated relatively densely over a period of time, the data in a local time period can be filtered in whole blocks (or, in other words, filtered in segments).

[0073] In this embodiment, both human-caused and environmental causes are comprehensively eliminated from the perspective of environmental interference.

[0074] Of course, this type of filtering operation can also eliminate erroneous data points caused by environmental obstacles.

[0075] In some embodiments, before calculating the first relative position or the second relative position (i.e., before calculating the measured position), the method further includes the step of: Obtain the target curve generated from the target point and the corresponding time. The target curve is smoothed to obtain a new target curve; Calculate the positional feature values ​​of multiple points in the new target curve, and use the positional feature values ​​as the first relative position or the second relative position, wherein the positional feature values ​​are the average, mode or median of the positions of the multiple points.

[0076] In this embodiment, for the massive amount of relative position measurement results, it is preferable to identify them as curves and use smoothing processing to further filter and screen the data.

[0077] It is worth noting that this invention can employ dual-layer or multi-layer filtering techniques (or smoothing techniques) to comprehensively screen massive amounts of data points, such as relative positions. One or two types of filtering methods can eliminate obvious outliers before curve smoothing, thus reducing the difficulty of the smoothing process. In other words, using one or two types of filtering methods for preprocessing can prevent large errors from misleading the smoothing process and improve its reliability.

[0078] In some embodiments, the smoothing process includes one or more of the following: Moving average method, Gaussian filter, median filter, Kalman filter.

[0079] In some embodiments, it also includes: Obtain a first distance value and a second distance value generated from the laser emission and reception data, wherein the first distance value is the distance between the first test point and the first position point, and the second distance value is the distance between the second test point and the second position point; Calculate the degree of difference L1 between the first distance value and the second distance value. The calculation rule for the degree of difference L1 is as follows: L1 = (first distance value - second distance value) / reference distance value; where the reference distance value is either the first distance value or the second distance value; When the degree of difference L1 falls within the first threshold range, a first prompt signal is issued. The first prompt signal is used to remind the user to pay attention to whether the laser emission path of the laser rangefinder is blocked.

[0080] For example, since the laser may be invisible to the naked eye or inconvenient to observe, when the user is wearing long-sleeved clothing with large cuffs, and the user's operating angle is improper, the laser beam may be directly blocked by the sleeve. In this regard, the error interference caused by improper operation can be avoided or reduced by comparing the difference in distance values.

[0081] Preferably, to address the issue of sleeves obstructing the measurement, the present invention can also provide intelligent prompts to the user in the early stages of measurement.

[0082] For example, users typically stand between the first and second test points for measurement, meaning the distance deviation between the first and second test points is usually too large. Therefore, if a large distance deviation is detected between the user's current location and the first and second test points—for example, if the user is 10 meters away from the first test point but 8 cm away from the second test point—it is preliminarily suspected that there may be obstruction or interference during laser transmission between the two test points.

[0083] For example, in some embodiments, the prompt signal can be delivered in the form of a signal light, or it can be delivered in the form of a voice notification.

[0084] For example, in some embodiments, the laser rangefinder is equipped with a display screen that can electronically display relevant data, such as outputting the final measurement result, or providing an error signal when there is an operational error.

[0085] Furthermore, in some embodiments, the display screen may also have interactive functionality, meaning that the user can provide corresponding operation signals by touching the display screen. For example, the display screen provides electronic selection buttons, such as selection boxes for turning on the visible light beam, turning on the laser beam, calculating distance, etc., allowing the user to complete two-point distance measurement operations with one hand using the electronic display screen.

[0086] Example 2 See Figure 4 As shown, the present invention also provides a laser ranging system, comprising: A measurement module is used to acquire a measurement position, wherein the measurement position is a first relative position or a second relative position; the measurement module includes: The measurement submodule is used to emit a laser beam from a laser rangefinder at a first location point to a first measurement point and collect first laser transmission and reception data; and to emit a laser beam from the laser rangefinder at a second location point to a second measurement point and collect second laser transmission and reception data. The first calculation submodule is used to calculate the first relative position of the first test point based on the first laser transceiver data; and to calculate the second relative position of the second test point based on the second laser transceiver data. The second calculation submodule is used to calculate at least three target distances based on at least three sets of measurement positions, wherein one set of measurement positions includes a first relative position and a second phase position; The difference assessment submodule is used to calculate the degree of difference L2 between any one of the target distances D1 and at least one of the other target distances D2; L2 = (D1 - D2) / reference distance value; wherein, the reference distance value is D1 or D2; The qualified identification module is used to identify the target spacing D1 as a qualified measurement value when the degree of difference falls within the second threshold range; The recommended output module is used to generate recommended measurement results based on the qualified measurement values.

[0087] It is understood that the present invention can implement the methods or steps described in any of the above embodiments, and will not be repeated here.

[0088] In some embodiments, the system further includes: The rotation speed measurement module is used to emit a light source to the surface of the object under test. When the object under test rotates, the reflector of the object under test will reflect the corresponding reflected light. The rotation speed of the object under test is calculated based on the received reflected light.

[0089] In other words, based on the rotation speed measurement module, this rangefinder can also measure the motion of moving objects, such as their rotation speed.

[0090] For example, in some embodiments, the further workflow of the speed measurement module is as follows: The laser beam is emitted at set intervals; when the laser beam encounters the reflector of the object under test, it will generate a reflected beam, which is then received by the rotation speed measurement module, which also records the incident angle corresponding to the reflected beam. Since the object under test is rotating, the incident angle of the reflected light beam when it is incident on the receiving end of the rotation speed measurement module is different at different times. The change of the angle is related to the rotation speed of the object under test. Therefore, the rotation speed of the object under test can be indirectly calculated based on the change of the angle at different times.

[0091] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0092] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a computer terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0093] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A laser ranging method, characterized in that, Including the following steps: Obtaining a measurement position, wherein the measurement position is a first relative position or a second relative position; wherein the step of obtaining the measurement position includes: A laser rangefinder is used at the first location to emit a laser beam toward the first point to be measured, and the first laser transmission and reception data is collected. Calculate the first relative position of the first test point based on the first laser transceiver data; At the second location, the laser rangefinder emits a laser beam toward the second point to be measured and collects the second laser transmission and reception data. Calculate the second relative position of the second test point based on the second laser transceiver data; The target spacing is calculated based on at least one first relative position and at least one second relative position; The method uses an error reduction approach to obtain the relative position, and includes the following steps: S1011, The laser rangefinder emits a visible beam toward the first or second point to be measured; S1012, Obtain the first motion acceleration of the laser rangefinder in the first time period; S1013, Generate first jitter data based on the first motion acceleration; S1014, when the first jitter data is less than the first jitter threshold, the corresponding first time period is marked as a type of time period; S1015, determine whether the total duration of the currently continuously generated first type of time period is greater than the first duration threshold; if so, proceed to S1016. S1016, In the second time period, the laser rangefinder is used to emit a laser beam toward the first or second point to be measured, and the corresponding laser emission and reception data are recorded. S1017, calculate at least one measurement position of the first or second test point in the second time period based on the laser emission and reception data, and the measurement position is marked with a time label; Before calculating the measured location, the following steps are also included: The laser rangefinder records the second motion acceleration at multiple moments within the second time period. The second jitter data is generated based on the second motion acceleration; When the second jitter data is greater than the second jitter threshold, the measurement position at the corresponding time is identified as a type II anomaly. Calculate the second adjacent time interval between at least two adjacent Type II anomalies; When the second adjacent time interval between multiple types of anomalies is less than the preset second time interval, the corresponding multiple types of anomalies are identified as a second set of filtering points. Obtain the first moment of the first anomaly point and the second moment of the last anomaly point in the second set of filter points; The measurement locations outside the interval between the first and second time points are identified as target points.

2. The laser ranging method according to claim 1, characterized in that, The steps for calculating the target spacing include: At least one first target point is selected from a plurality of first relative positions, and at least one second target point is selected from a plurality of second relative positions; At least one target distance is calculated based on at least one first target point and at least one second target point.

3. The laser ranging method according to claim 2, characterized in that, Before calculating the measured location, the following steps are also included: Calculate the difference between at least two adjacent measurement locations; At least one of the measurement locations where the difference is greater than a preset first threshold is identified as an anomaly. Obtain the first adjacent time interval of at least two adjacent anomalies of the same type; When the first adjacent time interval between multiple anomalous points of the same type is less than a preset first time interval, the corresponding multiple anomalous points of the same type are identified as a first set of filtering points. Obtain the third moment of the first anomaly point and the fourth moment of the last anomaly point in the first set of filtering points; The measurement locations outside the interval between the third and fourth time points are identified as target points.

4. A laser ranging method according to claim 1 or 3, characterized in that, Before calculating the measured location, the following steps are also included: Obtain the target curve generated from the target point and the corresponding time. The target curve is smoothed to obtain a new target curve; Calculate the positional feature values ​​of multiple points in the new target curve, and use the positional feature values ​​as the first relative position or the second relative position, wherein the positional feature values ​​are the average, mode or median of the positions of the multiple points.

5. The laser ranging method according to claim 4, characterized in that, The smoothing process includes one or more of the following: Moving average method, Gaussian filter, median filter, Kalman filter.

6. The laser ranging method according to claim 1, characterized in that, The visible light beam is red light; And / or, the laser rangefinder is equipped with a display screen, which is capable of displaying the target distance; And / or, the method further includes: Acquire a first distance value and a second distance value generated from laser emission and reception data, wherein the first distance value is the distance between the first test point and the first position point, and the second distance value is the distance between the second test point and the second position point; Calculate the degree of difference L1 between the first distance value and the second distance value. The calculation rule for the degree of difference L1 is as follows: L1 = (first distance value - second distance value) / reference distance value; where the reference distance value is either the first distance value or the second distance value; When the degree of difference L1 falls within the first threshold range, a first prompt signal is issued. The first prompt signal is used to remind the user to pay attention to whether the laser emission path of the laser rangefinder is blocked.

7. The laser ranging method according to claim 6, characterized in that, The first prompt signal is delivered via signal light or voice notification.

8. A laser ranging system, characterized in that, include: The measurement module is used to acquire the measurement position, which is either a first relative position or a second relative position; The measurement module includes: The measurement submodule is used to emit a laser beam from a laser rangefinder at a first location point to a first measurement point and collect first laser transmission and reception data; and to emit a laser beam from the laser rangefinder at a second location point to a second measurement point and collect second laser transmission and reception data. The first calculation submodule is used to calculate the first relative position of the first test point based on the first laser transceiver data; and to calculate the second relative position of the second test point based on the second laser transceiver data. The second calculation submodule is used to calculate at least three target distances based on at least three sets of measurement positions, wherein one set of measurement positions includes a first relative position and a second relative position; Laser ranging systems are also used for: The laser rangefinder emits a visible beam toward the first or second point to be measured. The first acceleration of the laser rangefinder during the first time period is obtained; First jitter data is generated based on the first motion acceleration; When the first jitter data is less than the first jitter threshold, the corresponding first time period is marked as a type of time period; Determine whether the total duration of the currently continuously generated time period is greater than a first duration threshold. If so, in the second time period, use the laser rangefinder to emit a laser beam to the first or second test point and record the corresponding laser emission and reception data. Calculate at least one measurement position of the first or second test point in the second time period based on the laser emission and reception data, and mark the measurement position with a time label. Before calculating the measured position, the system is also used to: The laser rangefinder records the second motion acceleration at multiple moments within the second time period. The second jitter data is generated based on the second motion acceleration; When the second jitter data is greater than the second jitter threshold, the measurement position at the corresponding time is identified as a type II anomaly. Calculate the second adjacent time interval between at least two adjacent Type II anomalies; When the second adjacent time interval between multiple types of anomalies is less than the preset second time interval, the corresponding multiple types of anomalies are identified as a second set of filtering points. Obtain the first moment of the first anomaly point and the second moment of the last anomaly point in the second set of filter points; The measurement locations outside the interval between the first and second time points are identified as target points.

9. The laser ranging system according to claim 8, characterized in that, Also includes: The rotation speed measurement module is used to emit a light source to the surface of the object under test. When the object under test rotates, the reflector of the object under test will reflect the corresponding reflected light. The rotation speed of the object under test is calculated based on the received reflected light.

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