CN101776758A - Distance measuring instrument for measuring distance between two target points - Google Patents
Distance measuring instrument for measuring distance between two target points Download PDFInfo
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- CN101776758A CN101776758A CN201010111601A CN201010111601A CN101776758A CN 101776758 A CN101776758 A CN 101776758A CN 201010111601 A CN201010111601 A CN 201010111601A CN 201010111601 A CN201010111601 A CN 201010111601A CN 101776758 A CN101776758 A CN 101776758A
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Abstract
The invention discloses a distance meter for measuring the distance between two target points, which comprises: the system comprises a first laser, a second laser, an image sensing device, a numerical operation module and a display screen; the method comprises the following steps that a first laser emits laser beams to a first target point, a second laser emits laser beams to a second target point, and a first emission angle and a second emission angle are obtained; the image sensor is used for receiving the reflected laser beams of the first target point and the second target point and sending first image information and second image information formed by the reflected laser beams to the numerical operation module; the numerical operation module is used for obtaining distance data between the first target point and the second target point and sending the distance data to the display screen for displaying. The invention provides a brand-new distance measuring mode, which can conveniently and effectively measure the distance between any two points. When the laser is used, the first laser fixedly points to a target point, the second laser is manually adjusted to be aligned with the target point, and a user can use the laser by holding the laser with a hand.
Description
Technical Field
The present invention relates to a distance measuring technique, and more particularly, to a distance measuring instrument for measuring a distance between two target points.
Background
The laser range finder has light weight, small volume, simple operation, high speed and accuracy, and the error is only one fifth to one hundred times of that of other optical range finders, so the laser range finder is widely used for topographic survey, battlefield survey, ranging of a tank, an airplane, a naval vessel and a gun to a target, measuring the height of a cloud layer, an airplane, a missile and a satellite, and the like. Meanwhile, the device is also an important technical device for improving the precision of high tanks, airplanes, naval vessels and artillery.
A laser rangefinder is an instrument that accurately measures the distance to a target using laser light. In the conventional laser distance measuring instrument, a thin laser beam is emitted to a target during operation, a photoelectric element receives the laser beam reflected by the target, and a timer measures the time from the emission to the reception of the laser beam to calculate the distance from an observer to the target. If the time required for light to travel in the air at a speed c to make a round trip between two points A, B is t, the distance D between two points A, B can be represented by D ═ ct/2, where D represents the distance between two points A, B, c represents the speed of light traveling in the atmosphere, and t represents the time required for light to make a round trip A, B. From the above formula, the distance to be measured A, B is actually the time t of light propagation to be measured, and the measurement method can be generally divided into two measurement forms, pulse type and phase type. The phase type is a method in which a laser beam is amplitude-modulated at a frequency in a radio band, a phase delay generated once by a modulated light traverse is measured, and a distance represented by the phase delay is converted according to a wavelength of the modulated light.
However, the above laser ranging technology has extremely high requirements for electronic devices, so that the manufacturing cost of the laser range finder is high, and the wide-range popularization and use are limited.
Fig. 1 is a schematic structural diagram of an image sensor device in the prior art. The structure of the image sensor 100 includes: an image sensor 101 and a lens 102. The image sensor 100 may be a digital video camera or a digital still camera. The image sensor is capable of forming image data from light irradiated thereto. The image sensor may employ a Charge Coupled Device (CCD) or a Complementary Metal-oxide semiconductor (Complementary Metal-oxide semiconductor).
Disclosure of Invention
The invention solves the technical problem of providing a distance meter for measuring the distance between two target points, which can conveniently and effectively measure the distance between any two points.
The technical scheme is as follows:
a distance measuring instrument for measuring the distance between two target points comprises a first laser and an image sensing device, wherein the image sensing device comprises a lens and an image sensor, and the distance measuring instrument further comprises: a numerical operation module and a display screen; wherein,
the first laser is used for respectively emitting laser beams to a first target point and a second target point and obtaining a first emission angle and a second emission angle which respectively correspond to the first target point and the second target point;
the image sensor is used for receiving the reflected laser beams of the first target point and the second target point and sending first image information and second image information formed by the reflected laser beams to the numerical operation module;
the numerical operation module is used for receiving the first image information and the second image information, determining a first reflection angle of the reflected laser from the first target point according to the first image information, and obtaining the distance between the lens and the first target point according to the first reflection angle, the first emission angle and the distance between the first laser and the lens; determining a second reflection angle of the reflected laser from the second target point according to the second image information, and obtaining a distance between the lens and the second target point according to the second reflection angle, the second emission angle and the distance between the first laser and the lens; obtaining a reflected laser included angle according to the difference between the first reflection angle and the second reflection angle; obtaining distance data between the first target point and the second target point according to the reflected laser included angle, the distance between the lens and the first target point and the distance between the lens and the second target point, and sending the distance data to the display screen;
and the display screen is used for receiving and displaying the distance data.
Further: the laser device comprises a first laser, a second laser and a third laser, wherein the first laser is used for emitting laser beams to a first target point; the numerical operation module obtains the distance between the lens and the second target point according to the second reflection angle, the second emission angle and the distance between the second laser and the lens; and obtaining distance data between the first target point and the second target point according to the reflected laser included angle, the distance between the lens and the first target point and the distance between the lens and the second target point, and sending the distance data to the display screen.
Further: the distance between the first laser and the second laser and the lens is the distance between the first laser and the second laser and the central point of the lens.
Further: the first emission angle or the second emission angle is a right angle.
Further: the numerical operation module and the display screen are arranged on the mainboard, and the mainboard is used for providing a circuit for the numerical operation module and the display screen.
Further: the laser and the image sensing device are arranged on the cross beam of the bracket.
Further: the beam is provided with a laser rotating shaft, a beam rotating shaft and an image sensing device rotating shaft; the laser is fixed on the cross beam through the laser rotating shaft, the image sensing device is fixed on the cross beam through the image sensing device rotating shaft, and the cross beam is fixed on the support through the cross beam rotating shaft.
Further: and an optical filter is arranged at the front end of the lens and used for filtering out interference light.
Further: the image sensor adopts a charge-coupled device image sensor or a complementary metal oxide semiconductor.
Further: and a distance-measuring-assisted light-reflecting and light-transmitting plate is arranged at a set distance at the front end of the first laser.
The technical effects brought by the technical scheme of the invention comprise:
1. the invention is completely different from the existing laser ranging technology, provides a brand new ranging mode, can conveniently and effectively measure the distance between any two points, can greatly reduce the requirement on electronic instruments due to the simple ranging calculation mode, and is convenient for large-area popularization.
2. In activities such as building construction, building installation, house measurement and the like, the distance between two points often needs to be measured, the currently adopted method basically adopts a tape measure or a tape measure for measurement, two persons are often needed for measurement, and sometimes, the measurement is inconvenient because the field environment is complicated, and the measurement point is difficult to reach or even cannot reach. The invention is convenient to use and is very suitable for being used under complex conditions.
3. The 'what you see is what you see' of the invention, only need to place the apparatus on the measuring point, point the laser that is launched to two target points that need to be measured and can see the measured data; when the device is used, the distance between two points can be measured by only one person without reaching any one of the two points.
Drawings
FIG. 1 is a schematic diagram of an image sensor device according to the prior art;
FIG. 2 is a schematic diagram of the operation of the distance measuring device of the present invention using a light source to measure the distance between two target points;
FIG. 3 is a schematic diagram of the operation of the distance measuring device of the present invention using two light sources to measure the distance between two target points;
FIG. 4 is a schematic diagram of an algorithm for deriving the distance between two target points according to the embodiment of FIG. 2;
FIG. 5 is a schematic diagram of an algorithm for deriving the distance between two target points according to the embodiment of FIG. 3;
FIG. 6 is a schematic diagram of the angle of the reflected light obtained after the CCD is tilted according to the present invention;
FIG. 7 is a schematic diagram of the operation of the distance measuring device of the present invention having a laser rotation axis, a beam rotation axis and an image sensor rotation axis;
FIG. 8 is a schematic diagram of an algorithm for determining the emission angle in accordance with the present invention;
Detailed Description
The distance meter provided by the invention adopts a brand-new distance measuring mode, and can conveniently and effectively measure the distance between two target points. Constructing a first triangle by taking a laser source as a light source point, a first target point as a light reflection point and an image sensing device as a light receiving point; constructing a second triangle by taking the laser source as a light source point, the second target point as a light reflection point and the image sensing device as a light receiving point; the light source point emits laser to the target point, the reflection angles of the two reflected laser beams are obtained through the image sensing device respectively, and then the included angle between the two reflected laser beams is obtained.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
Fig. 2 is a schematic diagram showing the operation of the distance measuring device of the present invention using a light source to measure the distance between two target points. In the preferred embodiment, the laser 201 and the image sensor 100 are aligned; when the distance between the remote target 206 and the target 207 is determined, the laser 201 emits laser beams to the target 206 and the target 207, respectively, and the image sensor 100 captures the laser beams reflected from the target 206 and the target 207.
The structure of the range finder includes: the image sensor comprises a laser 201, a beam 202, an image sensing device 100, a main board 203, and a numerical operation module 204 and a display screen 205 which are arranged on the main board 203. The laser 201 and the image sensing device 100 are fixed on the beam 202, and the laser 201 is used as a light source for emitting laser beams to the target point 206 and the target point 207 respectively; the target point 206 and the target point 207 reflect laser beams irradiated thereto, respectively; the image sensing device 100 is used for capturing the laser beams reflected by the target point 206 and the target point 207 and sending image information formed by the two laser beams to the numerical operation module 204; the numerical operation module 204 receives the image information and measures the distance from the light point on the image information to the set base point. The distance between the central point of the lens 102 and the CCD101 and the distance between the lens 102 and the laser 201 are set in the numerical operation module 204, and the numerical operation module 204 obtains the horizontal included angle of the two sets of reflected laser beams according to the distance between the light spot and the set base point and the distance between the central point of the lens 102 and the CCD 101. The emission angle of the laser beam is obtained from the actual offset of the laser. The included angle between the two beams of reflected laser is the difference of the horizontal included angle of each beam of reflected laser. Therefore, the distance from the target point 206 to the target point 207 can be obtained according to the emission angle, the reflection angle, the included angle between the reflected light rays, and the distance from the lens 102 to the laser 201 of the laser beam. The numerical operation module 204 sends the distance between the target point 206 and the target point 207 to the display screen 205 in the form of data for display. The main board 203 is used for providing a circuit system for the numerical operation module 204 and the display screen 205.
The main board 203, the numerical operation module 204, and the display screen 205 may be disposed on the beam 202, wherein the display screen 205 and the numerical operation module 204 are disposed on the main board 203, and the numerical operation module 204 and the display screen 205 may each employ a separate circuit, in which case the main board 203 may be omitted. In addition, the laser 201, the image sensor apparatus 100, and the main board 203 may be disposed on a dedicated housing or component, so that the beam 202 may be omitted.
For the convenience of measurement, the distance measuring device may be provided with a fixing bracket to which the distance measuring device is fixed by the cross member 202. In order to effectively capture the reflected laser beam, a filter may be disposed at the front end of the lens 102, and the filter may effectively filter out the interference light.
FIG. 3 is a schematic diagram of the distance measuring device of the present invention using two light sources to measure the distance between two target points. The preferred embodiment is equivalent to the example of fig. 2 with the addition of a laser 208. When measuring the distance between the target point 206 and the target point 207, the laser 201 emits a laser beam to the target point 206, and the target point 207 emits a laser beam, respectively, the laser 208 emits a laser beam to the target point 207, and the target point 206 and the target point 207 reflect laser beams irradiated to themselves, respectively; the image sensor 100 captures the laser beams reflected from the target 206 and the target 207, and sends image information formed by the two laser beams to the numerical module 204.
The included angle between the two reflected laser beams is still the difference of the horizontal included angle of each reflected laser beam. Therefore, the distance from the target point 206 to the target point 207 can be obtained according to the emission angle, the reflection angle, the included angle between the reflected light rays, the distance between the lens 102 and the laser 201, and the distance between the lens 102 and the laser 208 of the laser beam.
In use, one laser 201 is fixed to point at the target point 206, and the other laser 208 is manually adjusted to point at the target point 207, and the user can use the laser while holding the laser.
Fig. 4 is a schematic diagram of an algorithm for obtaining the distance between two target points according to the example of fig. 2 in the present invention. Setting the target point 206 as a point C1, the target point 207 as a point C2, the laser 201 as a point B, the base line passing through the central point O of the lens 102, the vertical intersection point of the base line and the CCD101 as a set base point P, the laser beam reflected by the point C1 forming a light spot A1 on the CCD101, the laser beam reflected by the point C2 forming a light spot A2 on the CCD101, and the CCD101 being parallel to the line segment BO; the emission angle of the laser beam emitted toward C1, R5, was 90 °, and the emission angle of the laser beam emitted toward C2 was R1.
The emission angle of the laser beam is obtained from the actual offset of the laser 201, i.e. the emission angle is 90 ° -the offset angle, e.g. 90 when the offset angle is 0 and 45 ° when the offset angle is 45 °.
When laser light is incident on the CCD101, a spot is formed on the CCD101, and if the spot formed on the CCD101 by the laser light beam is large, the center of the spot is taken as a point a1 or a 2. Thus O, A1, P form a right triangle OA1P, and O, A2, P form a right triangle OA 2P. C2, O and B, and C1, O and B form two triangles C2OB and C1OB, where C1OB is a right triangle and R5 is a right angle.
Since the CCD101 and the line segment BO are parallel, so that ═ OA1P ═ R3, R3 ═ arctgOP/A1P, OP represents the length of the line segment OP, and A1P represents the length of the line segment A1P; angle OA2P is R2, R2 is arctgpo/A2P, OP represents the length of line segment OP, and A2P represents the length of line segment A2P. Therefore, the horizontal included angle R3 of the laser beam reflected by the C1 is obtained by the distance from the CCD101 to the O and the distance from the light spot A1 to the set base point P; the horizontal included angle R2 of the laser beam reflected by C2 is obtained by the distance from CCD101 to O and the distance from light point a2 to the set base point P. R2-R3 ═ R4, and R4 is the angle between the two reflected lasers. C1O ═ BO/cosR3, where the line BO represents the distance from the laser 201 to the center point O of the lens 102, and the line C1O represents the distance from C1 to the center point O; knowing R1, R2, and the segment BO, the length of segment C2O can be derived, and segment C2O represents the distance of C2 from the center point O; further, knowing the length of the segment C2O, the length of the segment C1O, and R4, the length of the segment C1C 2 can be found, with the segment C1C 2 representing the distance between the target point 206 and the target point 207.
Fig. 5 is a schematic diagram of an algorithm for obtaining the distance between two target points in the example of fig. 3 according to the present invention. Setting the target point 206 as a point C1, the target point 207 as a point C2, the laser 201 as a point B1, the laser 208 as a point B2, the base line passes through the central point O of the lens 102, the vertical intersection point of the base line and the CCD101 is a set base point P, the laser beam reflected by the point C1 forms a light point A1 on the CCD101, the laser beam reflected by the point C2 forms a light point A2 on the CCD101, and the CCD101 is parallel to the line segment BO; the emission angle of the laser beam emitted toward C1, R5, was 90 °, and the emission angle of the laser beam emitted toward C2 was R1.
Thus O, A1, P form a right triangle OA1P, and O, A2, P form a right triangle OA 2P. C2, O and B, and C1, O and B form two triangles C2OB and C1OB, where C1OB is a right triangle and R5 is a right angle.
The distance between the target point 206 and the target point 207 can also be obtained according to the principles described above.
FIG. 6 is a schematic diagram showing the included angle of the reflected light obtained by tilting the CCD according to the present invention. When the target point 206 is closer to the laser 201, the laser 201 also emits a laser beam in a direction perpendicular to the horizontal direction, and since the inclination of the laser beam reflected by the target point 206 or the target point 207 is large, the laser beam may not hit the CCD101, so that the CCD101 cannot be effectively imaged. To solve this problem, when fixing the image sensor 100, the image sensor 100 is tilted in advance by a certain angle, so that the CCD101 is no longer parallel to the line BO, but forms an included angle smaller than 90 °. In the preferred embodiment, the angle between the CCD101 and the line BO is 45 °. The triangular relationship is established according to the exemplary method of fig. 4 and 5, with the intersection of the extension of line segment OA1 and the horizontal line being Q. An included angle between the C1 reflected laser beam and the inclined CCD101 obtained at this time is set to be ≧ C, and an inclined angle of the CCD101 is ≤ d (i.e., an included angle between the CCD101 and a horizontal line), and then an included angle in the horizontal direction of the C1 reflected laser beam is ≤ C ≤ and ≤ R3. By the same token, R2 can be derived.
The algorithms described in fig. 4 to 6 are fixed in the numerical operation module 204, so that the distance between two points can be obtained immediately after the numerical operation module 204 receives the image information, and the distance data is transmitted to the display screen 205 for display.
As shown in fig. 7, it is a schematic diagram of the distance measuring device of the present invention having a laser rotating shaft 703, a laser rotating shaft 704, a beam rotating shaft 702, and an image sensing device rotating shaft 701. In order to further facilitate the distance measurement and the capture of the reflected laser beam, a laser rotating shaft 703, a laser rotating shaft 704, a beam rotating shaft 702 and an image sensing device rotating shaft 701 are arranged on the beam 202; the laser 201 is fixed on the beam 202 through the laser rotating shaft 703, the laser 208 is fixed on the beam 202 through the laser rotating shaft 704, and the laser 201 and the laser 208 can horizontally rotate through the laser rotating shaft 703 and the laser rotating shaft 704 so as to be aligned to the target point 206 and the target point 207; the image sensor 100 is fixed on the beam 202 through the image sensor shaft 701, and the image sensor 100 can horizontally rotate through the image sensor shaft 701 so as to capture the reflected laser beam; when the distance meter is fixed on the bracket, the distance meter rotates in the vertical direction through the beam rotating shaft 602. By operating the laser shaft 703, the laser shaft 704, the beam shaft 702, and the image sensor apparatus shaft 701, the alignment of the target point 206 and the target point 207 and the capturing of the reflected laser beam can be conveniently achieved.
FIG. 8 is a schematic diagram of an algorithm for determining the emission angle in the present invention. The invention provides another technical scheme for obtaining the emission angle, wherein an auxiliary distance measurement light-reflecting and light-transmitting plate 801 is arranged at a set distance from the front end of the laser 201 or the front end of the laser 208, and the auxiliary distance measurement light-reflecting and light-transmitting plate 801 is a lens which can transmit light and reflect light. Let the reflection point of the auxiliary distance measurement light-reflecting transparent plate 801 reflecting the laser beam emitted by the laser 208 be E, and cross the point E to the line segment B1B2 as a perpendicular line, intersecting at the point D. After the laser beam reflected by the auxiliary ranging light-reflecting and light-transmitting plate 801 is captured by the image sensing device 100, a reflection angle R6 is obtained; the length of the line segment OD can be obtained from the length of the line segment ED and the angle R6, and since the line segment OB2 is known, the length of the line segment DB2 can be further obtained, and finally, the emission angle R1 can be obtained from the length of the line segment DB2 and the length of the line segment ED.
The algorithm in the preferred embodiment is fixed in the numerical operation module 204.
Claims (10)
1. A distance meter for measuring the distance between two target points comprises a first laser and an image sensing device, wherein the image sensing device comprises a lens and an image sensor, and the distance meter is characterized by further comprising: a numerical operation module and a display screen; wherein,
the first laser is used for respectively emitting laser beams to a first target point and a second target point and obtaining a first emission angle and a second emission angle which respectively correspond to the first target point and the second target point;
the image sensor is used for receiving the reflected laser beams of the first target point and the second target point and sending first image information and second image information formed by the reflected laser beams to the numerical operation module;
the numerical operation module is used for receiving the first image information and the second image information, determining a first reflection angle of the reflected laser from the first target point according to the first image information, and obtaining the distance between the lens and the first target point according to the first reflection angle, the first emission angle and the distance between the first laser and the lens; determining a second reflection angle of the reflected laser from the second target point according to the second image information, and obtaining a distance between the lens and the second target point according to the second reflection angle, the second emission angle and the distance between the first laser and the lens; obtaining a reflected laser included angle according to the difference between the first reflection angle and the second reflection angle; obtaining distance data between the first target point and the second target point according to the reflected laser included angle, the distance between the lens and the first target point and the distance between the lens and the second target point, and sending the distance data to the display screen;
and the display screen is used for receiving and displaying the distance data.
2. A rangefinder for determining the distance between two target points according to claim 1, characterized in that: the laser device comprises a first laser, a second laser and a third laser, wherein the first laser is used for emitting laser beams to a first target point; the numerical operation module obtains the distance between the lens and the second target point according to the second reflection angle, the second emission angle and the distance between the second laser and the lens; and obtaining distance data between the first target point and the second target point according to the reflected laser included angle, the distance between the lens and the first target point and the distance between the lens and the second target point, and sending the distance data to the display screen.
3. A rangefinder for determining the distance between two target points according to claim 2, characterized in that: the distance between the first laser and the second laser and the lens is the distance between the first laser and the second laser and the central point of the lens.
4. A rangefinder for determining the distance between two target points according to claim 2, characterized in that: the first emission angle or the second emission angle is a right angle.
5. A rangefinder for determining the distance between two target points according to any of claims 1 or 2, characterized in that: the numerical operation module and the display screen are arranged on the mainboard, and the mainboard is used for providing a circuit for the numerical operation module and the display screen.
6. A rangefinder for determining the distance between two target points according to any of claims 1 or 2, characterized in that: the laser and the image sensing device are arranged on the cross beam of the bracket.
7. The rangefinder for determining the distance between two target points according to claim 6, characterized in that: the beam is provided with a laser rotating shaft, a beam rotating shaft and an image sensing device rotating shaft; the laser is fixed on the cross beam through the laser rotating shaft, the image sensing device is fixed on the cross beam through the image sensing device rotating shaft, and the cross beam is fixed on the support through the cross beam rotating shaft.
8. A rangefinder for determining the distance between two target points according to claim 1, characterized in that: and an optical filter is arranged at the front end of the lens and used for filtering out interference light.
9. A rangefinder for determining the distance between two target points according to claim 1, characterized in that: the image sensor adopts a charge-coupled device image sensor or a complementary metal oxide semiconductor.
10. A rangefinder for determining the distance between two target points according to claim 1, characterized in that: and a distance-measuring-assisted light-reflecting and light-transmitting plate is arranged at a set distance at the front end of the first laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010111601A CN101776758B (en) | 2010-02-09 | 2010-02-09 | Distance meter for measuring distance between two target points |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010111601A CN101776758B (en) | 2010-02-09 | 2010-02-09 | Distance meter for measuring distance between two target points |
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| CN101776758A true CN101776758A (en) | 2010-07-14 |
| CN101776758B CN101776758B (en) | 2012-10-10 |
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| CN201010111601A Expired - Fee Related CN101776758B (en) | 2010-02-09 | 2010-02-09 | Distance meter for measuring distance between two target points |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013029246A1 (en) * | 2011-08-31 | 2013-03-07 | Chen Chi-Hung | Three-directional laser ranging device |
| CN105699982A (en) * | 2015-05-25 | 2016-06-22 | 北京雷动云合智能技术有限公司 | Dual laser calibration high-precision camera chip multipoint range finding device and method |
| CN107167109A (en) * | 2017-05-05 | 2017-09-15 | 西安工业大学 | The method and device in two dot laser measurement plane spaces drift angle |
| CN109633673A (en) * | 2017-10-05 | 2019-04-16 | 莱卡地球系统公开股份有限公司 | Sensor module |
| CN109683168A (en) * | 2018-12-28 | 2019-04-26 | 珠海凯浩电子有限公司 | A kind of geometric method laser imaging range unit and its measurement method |
-
2010
- 2010-02-09 CN CN201010111601A patent/CN101776758B/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013029246A1 (en) * | 2011-08-31 | 2013-03-07 | Chen Chi-Hung | Three-directional laser ranging device |
| CN105699982A (en) * | 2015-05-25 | 2016-06-22 | 北京雷动云合智能技术有限公司 | Dual laser calibration high-precision camera chip multipoint range finding device and method |
| CN105699982B (en) * | 2015-05-25 | 2018-06-29 | 北京雷动云合智能技术有限公司 | The high-precision camera chip multipoint ranging apparatus and method of double excitation calibration |
| CN107167109A (en) * | 2017-05-05 | 2017-09-15 | 西安工业大学 | The method and device in two dot laser measurement plane spaces drift angle |
| CN107167109B (en) * | 2017-05-05 | 2023-02-24 | 西安工业大学 | Method and device for measuring plane space deflection angle by two-point laser |
| CN109633673A (en) * | 2017-10-05 | 2019-04-16 | 莱卡地球系统公开股份有限公司 | Sensor module |
| CN109683168A (en) * | 2018-12-28 | 2019-04-26 | 珠海凯浩电子有限公司 | A kind of geometric method laser imaging range unit and its measurement method |
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| Publication number | Publication date |
|---|---|
| CN101776758B (en) | 2012-10-10 |
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