CN205581299U - High accuracy camera chip multiple spot range unit that dual laser markd - Google Patents
High accuracy camera chip multiple spot range unit that dual laser markd Download PDFInfo
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- CN205581299U CN205581299U CN201620018324.2U CN201620018324U CN205581299U CN 205581299 U CN205581299 U CN 205581299U CN 201620018324 U CN201620018324 U CN 201620018324U CN 205581299 U CN205581299 U CN 205581299U
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- 238000003384 imaging method Methods 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 21
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000005284 excitation Effects 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 235000014676 Phragmites communis Nutrition 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 14
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- 238000010586 diagram Methods 0.000 description 8
- 238000012360 testing method Methods 0.000 description 4
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- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The utility model provides a high accuracy camera chip multiple spot range unit that dual laser markd, this laser rangefinder include laser instrument A, laser instrument B, laser integer module, imaging lens group, camera chip and DSP processing unit, two above -mentioned laser instruments are pencil laser through laser integer module integer respectively, the transmit direction and the camera chip of two laser instruments belong to the plane and become different angles respectively, laser instrument A, laser instrument B be pencil laser irradiation to the place ahead certain distance object body surface face of transmission in turn, takes place the diffuse reflection, and the broken line of reflection or curve form images on the camera chip through imaging lens group with object in the current angle of vision jointly, and DSP processing unit forms images image data to the aforesaid to be handled, according to angular relationship, asks for this angle direction's the distance that awaits measuring, the utility model discloses simple structure, the user is with low costs, can once measure not a plurality of distance in the same distance, and the range finding mode is quick, sensitive, and the range accuracy is high.
Description
Technical field
This utility model belongs to range finding field, relates to the high accuracy camera chip multiple point distance measurement dress that a kind of double excitation is demarcated
Put.
Background technology
Laser has the features such as high brightness, high directivity, high monochromaticity and high coherence, can be greatly improved measurement accurately
Degree, is widely used on range unit.Laser distance measurement method has that principle is simple, measuring speed is fast, ranging is remote
Feature, at present, many Indoor Robot systems, use laser ranging system as main sensors, be used for drawing,
Location and avoidance.
Traditional laser distance measurement method includes impulse method, phase method and triangulation, and impulse method certainty of measurement is relatively low,
Phase method is longer for stabilization time needed of every time finding range, and it is low that triangle telemetry has preferably application effect production cost,
It it is the focus of research at present.
Invention above having been proposed that, single laser instrument and the combination of single camera chip carry out the patent found range, laser
The wire harness laser that device sends in a wide range in a wordline pattern, it is assumed that wire harness Laser emission to front Kuan Jiao
On target object in the range of degree, the light of reflection can be mapped as different broken line line segments or curved segments, owing to sending
The hot spot that formed on target object of laser rays more fixing, then on camera chip during imaging, different
The broken line line segment of Range Imaging or the position at curved segments barycenter place are the most different.Wire harness is detected by image algorithm
Laser position in shooting image is different, obtains line segment centroid position, according to the formula derived can obtain object away from
From, but in formula to calculating, find range accuracy and find range apart from inversely proportional, the two is conflicting；If it is desired to
Obtain and closely find range, at 10, then in middle distance, the range accuracy such as more than 3m is the most poor；?
At a distance, as the range accuracy at 6m becomes very poor, error is up to more than 40.It is it desired at 5～6m to have
Well range accuracy, i.e. error are less than 15, then range finding recently is for meeting range accuracy within 80cm
Requirement.
Utility model content
The defect that this utility model exists for above-mentioned technology, it is provided that the high accuracy photographic head core that a kind of double excitation is demarcated
Sheet multipoint ranging apparatus, this range unit includes two laser instrument, and during range finding, laser launched in turn by two laser instrument,
Can be with the distance of points multiple in the range of one-shot measurement different distance, and range accuracy is higher；This utility model is found range
Apparatus structure is simple, and user cost is low；Distance measuring method is quick, sensitive, and finding range is big, in communication, aviation, intelligence
There is the highest using value in the range finding fields such as energy household.
This utility model is achieved by the following technical solution, and the high accuracy camera chip that a kind of double excitation is demarcated is many
Point range unit, this range unit includes laser instrument A, laser instrument B, laser integer module, imaging lens group, takes the photograph
As head chip and DSP processing unit；Described laser instrument A, laser instrument B through two set laser integer module integers are respectively
Wire harness laser, laser instrument A, the direction of launching of laser instrument B become different angle respectively from camera chip place plane,
Laser instrument A, laser instrument B are different to the distance at camera chip center；DSP processing unit controls laser instrument A, swashs
Light device B launches laser in turn, owing to distance and the angle of laser instrument A, laser instrument B to camera chip center are different,
Therefore the finding range of the two laser instrument is the most different；Ranging process is: laser instrument A or laser instrument B is whole through laser
The wire harness laser that pattern block sends is irradiated to the target object surface in the range of the certain distance of front, diffuse-reflectance occurs, instead
The light penetrated can be mapped as different broken line line segments or curved segments, the broken line line segment of above-mentioned reflection or curved segments and work as
The imaged battery of lens of other objects in the front angle of visual field images on camera chip jointly；DSP processing unit collects
The broken line line segment of above-mentioned imaging or curved segments, then according to angular relationship, can ask for the to be measured of this angle direction
Distance；Another one laser instrument repeats above-mentioned ranging process and completes range finding.
Described laser integer module is separately mounted to described laser instrument A and laser instrument B rear end, for by some Shu Jiguang
Integer is wire harness laser；Laser integer module includes but not limited to molded lens group, vibrating reed or rotary prism.
Described imaging lens group farther includes an optical filter；Optical filter is arranged on described imaging lens group front end, uses
To filter the light of specific wavelength and to pass through the light of another section of specific wavelength.
Described range unit farther includes a pedestal, described laser instrument A, laser instrument B, imaging lens group,
Camera chip and DSP processing unit are fixing on the base.
Described laser instrument A is 3cm～9cm to the distance range at described camera chip center；
Described laser instrument B is 1cm～5cm to the distance range at described camera chip center；
The finding range of described laser instrument A is 1m～10m；
The finding range of described laser instrument B is 10～100.
Described DSP processing unit includes fifo module, connects wire, DSP circuit.
Described camera chip includes but not limited to ccd image sensor, cmos image sensor.
This utility model has the advantages that
1) this utility model uses two laser instrument to launch wire harness laser in turn through laser integer module integer respectively, passes through
DSP processing unit carries out the testing distance in the range of data process obtains different distance, it is ensured that certainty of measurement, and
Can be with the distance of points multiple in the range of one-shot measurement different distance.
2) this utility model range unit simple in construction, distance-finding method is quick, sensitive；User cost is low, communication,
Aviation, Smart Home, especially robot range finding field have the highest using value.
Accompanying drawing explanation
Fig. 1 is range unit structural representation described in the utility model
Fig. 2 is range unit side view described in the utility model
Fig. 3 is described in the utility model at Y direction distance-finding method schematic diagram
Fig. 4 is described in the utility model at X-direction distance-finding method schematic diagram
Fig. 5 is range unit described in the utility model broken line line segment schematic diagram of imaging on different distance metope
Fig. 6 is the broken line line segment schematic diagram that range unit described in the utility model faces metope imaging
Fig. 7 is the broken line line segment schematic diagram that range unit described in the utility model tiltedly obtains facing to metope
In figure, symbol represents: 1: laser instrument A；2:DSP circuit；3:FIFO module；4: imaging len；5: take the photograph
As head chip；6: connect wire；7: pedestal；8:DSP processing unit；9: optical filter；10: laser integer mould
Block；11: laser instrument B
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described further.
As it is shown in figure 1, the high accuracy camera chip multipoint ranging apparatus that a kind of double excitation is demarcated, this device includes swashing
Light device A1, laser instrument B11, laser integer module 10, imaging lens group 4, camera chip 5 and DSP process
Unit 8；DSP processing unit 8 controls laser instrument A1, laser instrument B11 launches laser in turn, laser instrument A1 or
Laser instrument B11 launch laser respectively through laser integer module 10 integer be wire harness laser, before wire harness laser is irradiated to
, there is diffuse-reflectance in target object surface to be measured in the range of side's certain distance, the light of reflection can be mapped as different broken line lines
Section or curved segments, above-mentioned broken line line segment or curved segments battery of lens imaged with the object in current field angle 4 are common
Imaging on camera chip 5,5 view data of camera chip are transferred to DSP processing unit 8, it is achieved light is believed
Number be converted to the signal of telecommunication, gather broken line line segment or the curved segments of above-mentioned imaging through DSP processing unit 8, and calculate it
Barycenter, according to angular relationship and then calculate testing distance.
Described laser instrument A1 and the rear end of laser instrument B11 are respectively mounted a laser integer module 10, laser integer mould
Block 10 is used for a Shu Jiguang integer being wire harness laser；
In the present embodiment, laser integer module 10 is molded lens group, in other embodiments of the present utility model, and laser
Integer module 10 can also be vibrating reed, can also be rotary prism.
DSP processing unit 8 includes fifo module 3, connects wire 6, DSP circuit 2；Imaging lens group 4 enters one
Step includes an optical filter 9, and optical filter 9 is arranged on described battery of lens 4 front end, in order to filter the light of specific wavelength the most thoroughly
Cross the light of another section of specific wavelength.
As shown in Figure 2, this range unit farther includes a pedestal 7, described laser instrument A1, laser instrument B11,
Imaging lens group 4, camera chip 5 and DSP processing unit 8 are fixing on the base, pedestal 8 and photographic head core
Sheet place plane is angled；Laser instrument A1 is 3cm～9cm, this reality to the distance range at camera chip center
Execute selection 5cm in example；Laser instrument B11 is 1cm～5cm, this reality to the distance range at described camera chip center
Execute selection 3cm in example；
The finding range of laser instrument A is 1m～10m；The finding range of laser instrument B is 10cm～100cm.
In the present embodiment, camera chip 5 is ccd image sensor, in other embodiments of the present utility model, takes the photograph
As head chip 5 can be cmos image sensor.
This utility model additionally provides the distance-finding method of above-mentioned range unit, particularly as follows:
1) view data is obtained: DSP processing unit controls laser instrument A, laser instrument B and launches laser in turn, transmitting
Laser is wire harness laser respectively through laser integer module integer, and the wire harness laser through integer is irradiated to front one spacing
Target object surface in the range of from, occur diffuse-reflectance, the broken line of reflection or curve with the object in current field angle through becoming
Jointly imaging on camera chip as battery of lens, the broken line of reflection or curve are imaged as the broken line line segment of a plurality of high brightness
Or curved segments, other backgrounds are imaged as comparing the data of low-light level, a frame of camera chip record correspondence direction
Digital Image Data, and this frame image data is transferred to DSP processing unit, this two field picture have recorded current time mirror
The view data of the digitized in the head angle of visual field；
2) process view data: DSP processing unit is to step 1) described in digitized view data at
Reason, first eliminates pattern distortion with digital algorithm, then carries out data smoothing and eliminates noise, and last set thresholding is carried out
Binaryzation；
3) again according to step 1) described in broken line line segment or the left-right relation of curved segments to image smoothing and then disappear
Except noise, after elimination noise, each bar broken line line segment or curved segments are for arrange from left to right so that in same X-coordinate
Only exist less than a highlighted line segment；
4) barycenter of highlighted line segment in each X-coordinate is asked for: by the point coordinates of the highlighted line segment of same X-coordinate
Adding up and be averaged, the barycenter that can obtain corresponding X-coordinate is Y；Through this step calculating, from left to right any one
In individual X-coordinate, it is only possible to less than the highlighted center of mass point of the Y of 1；For certain X, if there being 1 Y centroid point,
Represent the distance on this direction in finding range, without Y centroid point, represent the distance on this direction not
In finding range；
5) according to all (X, Y) computation and measurement angles from left to right and measurement distance, according to swashing that DSP controls
Light device is launched in turn and be may determine that this range finding is to find range, as shown in Figure 3 according to laser instrument A or laser instrument B；
A) known laser device A is p to the distance of camera chip lens group1, laser instrument B is to camera chip lens group
Distance be p2, camera chip camera lens is 2 α in the Y-axis angle of visual field, laser instrument A and camera chip camera lens axis angle
For θ1, laser instrument B and camera chip camera lens axis angle are θ2；
Laser instrument A is launched and seeks vertical dimension, for some (X, Y), ask laser instrument A's according to Y-axis coordinate
Vertical dimension d1, bring vertical dimension d that formula calculates into1,Wherein, n is sharp
Luminous point coordinate in Y-axis, y is always the counting of camera chip imaging in Y direction；
For the recently measured some G1, work as G1Theoretical value n=y time,
If θ1＞ α, just has farthest point distance measurement dT1,Otherwise, θ1During≤α, theoretical
Value is infinity；Simultaneously as laser power can decay, cause comparing at a distance also cannot be measured.
Laser instrument B is launched and seeks vertical dimension, seek vertical dimension d of laser instrument B according to Y-axis coordinate2,
For the recently measured some G2, work as G2Theoretical value n=y time,
The recently measured range d can be tried to achieveG2,
If θ2＞ α, can try to achieve farthest measurement range dT2,
B) known camera chip camera lens angle of visual field in X-axis is 2 β, and view data is O at the central point of X-axis, often
It is γ that one X represents deflection formed by a direction, X-direction and Y-direction, launches for laser instrument A: for
For the coordinate points of x=m, y=n,Bring formula into and obtain testing distance dx1,Obtain range measurement (γ, dx1) it is distance d in γ directionx1；
Laser instrument B is launched, equally, for the coordinate points for x=m, y=n,Laser instrument
B is θ with the angle of horizontal direction12, θ12=θ2-θ1If the corresponding distance in the horizontal direction of laser instrument B is dx2,
dx2=d2·cosθ12, bring formula into, obtain testing distance dx2,Obtain range finding knot
Really (γ, dx2) it is distance d in γ directionx2；
C) repeat step a) and step b), calculate multiple points in the most whole 2 β wide range respectively
The range measurement of the multiple points in the range of whole 2 β is also exported by range finding angle and range finding distance.
Target object to be measured on camera chip during imaging, the broken line line segment of different distance imaging or curved segments thick
Thin also different, as shown in Figure 5, in figure, the left side is that laser is irradiated on the metope of different distance, is from left to right followed successively by
By as far as closely；The right of figure is the broken line line segment schematic diagram of the different thicknesses of imaging, and line segment is from left to right followed successively by by carefully
To thick；
As shown in Figure 3, as a example by laser instrument A, G1Point is distance of finding range the most recently, but due to wire harness laser not
It is the laser rays of a pixel, but is imaged as high brightness broken line line segment or curved segments, so point distance measurement is at I recently
Point, same, distance within H point all can not be taken pictures ratio more complete broken line line segment or curved segments, this practicality
Novel to H point distance within image objects in the imperfect broken line line segment in the range of camera chip or curved segments
Ask for barycenter, meanwhile, according to the actual distance that this imperfect barycenter of actual observation record is corresponding, thus calibrated in-plant
Accuracy of measurement, and obtain the finding range beyond theoretical value.
Accompanying drawing 6 is the broken line line segment schematic diagram that range unit described in the utility model faces metope imaging, laser instrument
Face metope, laser be irradiated on metope the broken line of reflection or curve imaging on camera chip be one straight
Line line segment.
Accompanying drawing 7 is that range unit described in the utility model is tiltedly facing to the broken line line segment schematic diagram of metope imaging, laser instrument
Tiltedly facing to metope, laser be irradiated on metope the broken line of reflection or curve imaging on camera chip be one tiltedly
Line line segment.
Previous embodiment and advantage are only exemplary, and are understood not to limit the disclosure.This utility model can hold
Change places and be applied to other type of equipment.Additionally, the description of the exemplary embodiment of the disclosure is explanatory, not
Limiting the scope of claim, many replacement, modifications and variations will be apparent to practitioners skilled in the art.
Claims (7)
1. the high accuracy camera chip multipoint ranging apparatus that double excitation is demarcated, this range unit includes laser instrument A, laser instrument B, laser integer module, imaging lens group, camera chip and DSP processing unit；Described laser instrument A, laser instrument B are wire harness laser through laser integer module integer respectively, laser instrument A, laser instrument B launch the angle that direction becomes different respectively from camera chip place plane, the distance difference of laser instrument A, laser instrument B to camera chip center；DSP processing unit controls laser instrument A, laser instrument B and launches laser in turn, and owing to distance and the angle of said two laser instrument to camera chip center are different, therefore the finding range of the two laser instrument is the most different.
Range unit the most according to claim 1, it is characterised in that: described laser integer module is separately mounted to described laser instrument A, laser instrument B rear end, and being used for a Shu Jiguang integer is wire harness laser；
Described laser integer module is molded lens group, vibrating reed or rotary prism.
Range unit the most according to claim 1, it is characterised in that: described imaging lens group farther includes an optical filter；
Described optical filter is arranged on described imaging lens group front end, in order to filter the light of specific wavelength and to pass through the light of another section of specific wavelength.
Range unit the most according to claim 1, it is characterised in that: described range unit farther includes a pedestal, and described laser instrument A, laser instrument B, imaging lens group, camera chip and DSP processing unit is fixing on the base.
Range unit the most according to claim 1, it is characterised in that: the distance range of described laser instrument A to described camera chip center is 3cm～9cm；
Described laser instrument B is 1cm～5cm to the distance range at described camera chip center；
The finding range of described laser instrument A is 1m～10m；
The finding range of described laser instrument B is 10～100.
Range unit the most according to claim 1, it is characterised in that: described DSP processing unit includes fifo module, connects wire, DSP circuit.
Range unit the most according to claim 1, it is characterised in that: described camera chip includes cmos image sensor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510271072 | 2015-05-25 | ||
| CN2015102710724 | 2015-05-25 |
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| CN205581299U true CN205581299U (en) | 2016-09-14 |
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| CN201620018324.2U Expired - Fee Related CN205581299U (en) | 2015-05-25 | 2016-01-08 | High accuracy camera chip multiple spot range unit that dual laser markd |
| CN201610012357.0A Active CN105699982B (en) | 2015-05-25 | 2016-01-08 | The high-precision camera chip multipoint ranging apparatus and method of double excitation calibration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106443694A (en) * | 2016-10-12 | 2017-02-22 | 北京艾瑞思机器人技术有限公司 | Laser ranging device capable of enhancing measurement range |
| CN108693538A (en) * | 2017-04-07 | 2018-10-23 | 北京雷动云合智能技术有限公司 | Accurate confidence level depth camera range unit based on binocular structure light and method |
| CN109143167B (en) * | 2017-06-28 | 2021-07-23 | 杭州海康机器人技术有限公司 | Obstacle information acquisition device and method |
| 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 |
| CN110111384B (en) * | 2019-04-11 | 2021-11-26 | 歌尔光学科技有限公司 | Calibration method, device and system of TOF (time of flight) depth module |
| CN111735487B (en) * | 2020-05-18 | 2023-01-10 | 清华大学深圳国际研究生院 | Sensor, sensor calibration method and device, and storage medium |
| CN112924987B (en) * | 2021-01-26 | 2023-07-18 | 中国人民解放军陆军工程大学 | A laser light field visualization device and method based on an InGaAs camera |
| CN113960616A (en) * | 2021-10-14 | 2022-01-21 | 四川中科朗星光电科技有限公司 | Double-laser range finder and shaft difference eliminating method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101629806B (en) * | 2009-06-22 | 2011-01-05 | 哈尔滨工程大学 | Nonlinear CCD 3D locating device combined with laser transmitter and locating method thereof |
| CN101776758B (en) * | 2010-02-09 | 2012-10-10 | 卢波 | Distance meter for measuring distance between two target points |
| TWI461656B (en) * | 2011-12-01 | 2014-11-21 | Ind Tech Res Inst | Apparatus and method for sencing distance |
| CN204679637U (en) * | 2015-05-25 | 2015-09-30 | 北京雷动云合智能技术有限公司 | The high precision CCD multipoint ranging apparatus that double excitation is demarcated |
| CN205581299U (en) * | 2015-05-25 | 2016-09-14 | 北京雷动云合智能技术有限公司 | High accuracy camera chip multiple spot range unit that dual laser markd |
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2016
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
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| CN105699982A (en) | 2016-06-22 |
| CN105699982B (en) | 2018-06-29 |
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