摘要运用激光测量距离是一种高成本，高精度，应用广泛的测距方式。激光测距在航空航天、近距离测绘、船舶导航、交通管理等方面发挥着举足轻重的作用。传统的激光测距只能测量激光发射点到物体表面某一点点距离，因此在近距离测量实际应用中存在诸多不便。本文结合传统激光测距的优缺点，实现了一种新型的三维激光测距方法，通过舵机、摄像头、激光器、STM32微控制器等硬件，结合三角测距原理，设计出一款低成本、高性能的三维测距系统。该系统由STM32控制舵机转动，带动一字形线性激光器扫描物体，然后由摄像头获取物体表面的线性激光束条纹，由相关测距算法处理后计算出距离。当激光器完成物体的180度扫描时，就可以得到物体表面的三维距离。结果表明，该三维激光测距仪结构简单，使用方便，在近距离物体的三维测距中具有较高的性价比与实用价值。最后，还运用MATLAB语言开发了三维激光测距上位机，用于处理摄像头图像和显示三维距离信息。83932

毕业论文关键词：三维激光测距；STM32；MATLAB

Abstract Laser ranging is a kind of distance measuring method that is high cost, high precision an -d wide application。 It plays an important role in many aspect, such as aerospace, close of surv-eying and mapping, Marine navigation, traffic management。 The traditional laser ranging can only measure the distance from the laser point to the surface, which is unconvenient in the practical application of close ranging。 This paper combines with the advantages and disadvantage-s of the traditional laser ranging to realize a new method of three-dimensional laser ranging method。 Meanwhile, according to the steering gear, cameras, laser, STM32 microcontroller as well as as the triangle ranging principle, this paper introduces a kind of low cost and high perf-ormance of three-dimensional ranging system。 The system is controlled by the STM32 steer-

ing gear rotation, drives a glyph linear laser to scan the object, then obtains the linear laser stri-pes on the surface of the object from the cameras and finally calculates the distance based on the related calculation methods。 When the laser scans the object by 180 degree, three dimens-ional distance on the surface of the object can be calculated out。 Results show that the three-dimensional laser ranging apparatus has simple structure and is easy to be used, which has high cost performance and practical value in three-dimensional ranging for the close objects。 Finally, this paper uses the MATLAB language to develop a three-dimensional laser ranging super ordination machine applied for handling camera image and displaying the information of three-dimensional distance。

Key words: Three-Dimensional Laser Ranging；STM32；MATLAB

目  录

第一章 绪论1

1。1 研究背景1

1。2 国内外三维激光测距研究2

1。2。1 国内研究状况2

1。2。2 国外研究状况4

1。3 本文主要内容4

1。3。1 研究内容4

1。3。2 系统框图5

第二章 三维激光测距原理6

2。1 测距简介6

2。2 三角测距原理6

2。3 测距模型建立与简化8

2。4 影响因素-10

第三章 三维激光测距硬件设计-12

3。1 STM32微控制器-12

3。2 云台搭建与舵机-14

3。2。1 云台的搭建14

3。2。2 舵机15

3。3 激光器要求及选型-15

3。4 摄像头采集模块-16

第四章 三维激光测距软件设计-18

4。1 软件设计流程-18

4。2 舵机的控制-18

4。3 摄像头的驱动-20

4。4 激光图像的识别-21

4。5 显示模块-22

第五章 MATLAB上位机-24