CN107462893A - A kind of vehicle-mounted stereo visual system based on TOF camera - Google Patents
A kind of vehicle-mounted stereo visual system based on TOF camera Download PDFInfo
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- CN107462893A CN107462893A CN201710698209.3A CN201710698209A CN107462893A CN 107462893 A CN107462893 A CN 107462893A CN 201710698209 A CN201710698209 A CN 201710698209A CN 107462893 A CN107462893 A CN 107462893A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 25
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 16
- 230000005669 field effect Effects 0.000 claims description 9
- 239000004065 semiconductor Substances 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 4
- 230000013011 mating Effects 0.000 claims 1
- 238000001914 filtration Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000009877 rendering Methods 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
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Classifications
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- 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
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- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention belongs to vehicle-mounted stereo visual system field; a kind of more particularly to vehicle-mounted stereo visual system based on TOF camera; including car lithium battery module, TOF camera module, light-pulse generator module, CPU and image display; TOF camera module, light-pulse generator module and CPU are electrically connected by voltage protection module with car lithium battery module respectively, and TOF camera module, light-pulse generator module and image display electrically connect with CPU respectively；Light-pulse generator module includes light-pulse generator drive module, LED light lighting module and temperature sensor；TOF camera module changes polarizer including TOF sensor, narrow band pass filter and TURP.Narrow band pass filter is set up in TOF camera module by the present invention and TURP changes polarizer, TOF camera is effectively overcome by double filtration easily by ambient light interference, data deviation is big, the short problem of finding range, realizes application of the TOF camera in vehicle-mounted stereo visual system.
Description
Technical field
The invention belongs to vehicle-mounted stereo visual system technical field, more particularly to a kind of vehicle-mounted solid based on TOF camera
Vision system.
Background technology
TOF is the abbreviation of Time of Flight (flight time) technology, i.e. sensor sends modulated near infrared light,
Meet object back reflection, sensor by calculate light transmitting and reflection interval difference or phase difference, come convert be taken scenery away from
From to produce depth information, shooting in conjunction with traditional camera, just can represent the three-D profile of object in different colors in addition
The topographic map mode of different distance shows；It can apply to skeleton tracking at present, several numbers of people that take a crane shot, object 3D are surveyed
Amount, 3D shooting modelings etc. need to use the scene of distance (depth data).
Wherein, each pixel of sensor, in addition to recording light intensity information, light is also recorded from light source
To the time of the pixel, therefore TOF camera generally requires and uses specific infrared light supply actively infrared to object being measured transmitting
What light, in principle similar laser radar, but laser radar were sent out is laser spots, it is necessary to which mechanical device is swept up and down
Retouch to be imaged to measuring surface；And TOF camera is then that directly entire surface is imaged, it is not necessary to mechanical device, but this is same
When also limit the measurement distance and resolution ratio of TOF camera.
Existing TOF camera ranging product is mostly that the LED and photodiode on straw hat top transmitting receive combination, is not matched somebody with somebody
The optical design of set, operating distance and environment resistant light interference performance have much room for improvement；Therefore, TOF camera at present on the market away from
It is even shorter all at 10 meters or so from measurement range, and using occurring that data deviation is big under outdoor strong ambient light, data
The problems such as loss, thus vehicle traveling stereo visual system can not be applied to.
The content of the invention
It is an object of the invention to：It is short for existing TOF camera measurement distance, easily by ambient light interference, data deviation
Greatly, the defects of accuracy of measurement is not high, and a kind of vehicle-mounted stereo visual system based on TOF camera is provided, to realize TOF camera
Outdoor remote stereo vision imaging.
To achieve these goals, the present invention uses following technical scheme：
A kind of vehicle-mounted stereo visual system based on TOF camera, including car lithium battery module, TOF camera module, pulse
Light source module group, CPU and image display, the TOF camera module, the light-pulse generator module and the center
Processing unit is electrically connected with by voltage protection module and the car lithium battery module respectively, the TOF camera module, described
Light-pulse generator module and described image display are electrically connected with the CPU respectively；
The light-pulse generator module includes light-pulse generator drive module, LED light lighting module and temperature sensor, the pulse
Light source driver module and the temperature sensor are electrically connected with the LED light lighting module respectively；
The TOF camera module changes polarizer, the narrow band pass filter including TOF sensor, narrow band pass filter and TURP
For filtering out the visible ray in ambient light, only pass through the same or like light of the wavelength actively launched with light-pulse generator module
Line；The TURP changes polarizer and is used to filter out the light that non-pulse light source module group is actively launched in co-wavelength light.
Wherein, the function of each module of system is as follows：
1) car lithium battery module：It is the power source of whole system, using being adapted to make at a temperature of -20 DEG C~60 DEG C
Lithium battery is to meet the demand of the transient high-current under sufficiently small volume；Wherein, battery pack is entered by mobile generator
Row charging, because average consumed cur-rent is little, therefore to vehicle dynamic effect very little.
2) voltage protection module：Lithium battery module is set to possess brownout/too high defencive function, it is ensured that in sudden high currents
Output voltage will not be impacted in the case of output.
3) TOF camera module：It is the nucleus module of whole system, is calculated by calculating the flight time of reflected light tested
Object is surveyed to the distance of system.Wherein, each pixel of TOF sensor can collect electric charge caused by photoelectric effect after demodulation；
Under the control of same shutter same acquisition time, photon numbers difference that different distance object reflects is so as to causing to excite
Go out different charge numbers；TOF sensor is binary data using AD conversion charge number, goes out the flight time by Difference Calculation
(TOF), each pixel is calculated to the distance of corresponding object being measured in conjunction with the light velocity.
Due to including various wavelength and the light of form in outdoor environment light, the influence for effectively suppressing ambient light is to be entirely
System can meet the most important condition of requirement.The visible ray in ambient light is filtered out present invention employs narrow band pass filter,
Only by actively launching the close light of optical source wavelength with system；Employing TURP changes polarizer simultaneously, effectively filters out same ripple
The light that non-the system is actively launched in long light.Therefore, by double filtration plus integrated modulation /demodulation mechanism realization pair
Effective suppression of ambient light, so as to ensure the effective ranging of TOF sensor in an outdoor environment.
4) light-pulse generator module：It is the source of the active light source of system.Wherein, light-pulse generator drive module is used for transmitting
Light source device LED provides stable, high-power, the adjustable supply of electric power of high frequency.In existing short distance TOF rangings application, by
Little in electric current needed for light source, drive circuit design comparison is easy.And the intensity of light source needed for the present invention is significantly larger than current market
TOF system, power output requirement reach 60~120W.Therefore, the present invention is used as high using high-frequency high-power metal-oxide-semiconductor field effect transistor
Frequency switch, in order to ensure all LED light source synchronous light-emittings or closing, the present invention devise low delay high current lock-out pulse to
The grid of each high frequency metal-oxide-semiconductor field effect transistor, to ensure sufficiently fast switching speed, so guarantee fast driving 60~
Under the demand of 120W LED light sources, the average energy consumption of whole system is reduced by dutycycle, so as to meet vehicle-mounted requirement.
In addition, in order to ensure enough power outputs and switch are synchronous, it is high-power that LED light lighting module employs multigroup series connection
High frequency LED, the LED of every group of series connection are driven by a high-frequency high-power metal-oxide-semiconductor field effect transistor, and its power supply obtains from lithium battery module
Take.In addition, module sets up temperature sensor, LED current is adjusted by temperature, so that it is guaranteed that LED is in long-term high-power operation
Under the conditions of luminous power it is stable.
5) CPU：It is responsible for each module of control coordination system, finally obtains each picture from TOF camera module
Distance measured by element, 3D rendering is then formed by algorithm, and USB or ether are passed through with the image data format of setting
Network interface exports, or is directly displayed on image display.
6) image display：The 3 D visual image obtained for display system.
One kind as the vehicle-mounted stereo visual system of the present invention based on TOF camera is improved, the light-pulse generator
Drive module is the metal-oxide-semiconductor field effect transistor that frequency is more than 100MHz.
One kind as the vehicle-mounted stereo visual system of the present invention based on TOF camera is improved, the LED illumination mould
The power output of block is 60~120W.
One kind as the vehicle-mounted stereo visual system of the present invention based on TOF camera is improved, the TOF camera mould
The finding range of group is more than or equal to 15m.
One kind as the vehicle-mounted stereo visual system of the present invention based on TOF camera is improved, the central processing
Unit includes CPU processor and the image control mold, and described image control module is electrically connected with described image display.
One kind as the vehicle-mounted stereo visual system of the present invention based on TOF camera is improved, the LED illumination mould
The wavelength of light of block transmitting is in infrared band.
One kind as the vehicle-mounted stereo visual system of the present invention based on TOF camera is improved, the narrow-band-filter
The centre wavelength of piece is 700~1060nm, and half-band width is 10~100nm.
The beneficial effects of the present invention are：The present invention in TOF camera module by setting up narrow band pass filter and TURP changes
Polarizer, it is anti-with accurate calculating by double filtration plus effective suppression of the integrated modulation /demodulation mechanism realization to ambient light
Penetrate the light flight time, ensure the effective ranging of TOF camera module in an outdoor environment, and calculate distance and be more than or equal to 15m, from
And overcome that existing TOF camera is easily big by ambient light interference, data deviation, and accuracy of measurement is low, the short problem of finding range,
TOF camera outdoor remote stereo vision imaging is realized, the system will have broad application prospects in electric automobile field.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
1- car lithium battery modules；2- voltage protection modules；3-TOF camera modules；4- light-pulse generator modules；5- centres
Manage unit；6- image displays.
Embodiment
It is attached below in conjunction with embodiment and specification to make technical scheme and advantage clearer
Figure, the present invention and its advantage are described in further detail, but the implementation of the present invention is not limited to this.
As shown in figure 1, a kind of vehicle-mounted stereo visual system based on TOF camera, including car lithium battery module 1, TOF phases
Machine module 3, light-pulse generator module 4, CPU 5 and image display 6, TOF camera module 3, the and of light-pulse generator module 4
CPU 5 is electrically connected with by voltage protection module 2 and car lithium battery module 1 respectively, TOF camera module 3, pulse
Light source module group 4 and image display 6 are electrically connected with CPU 5 respectively.
Light-pulse generator module 4 includes light-pulse generator drive module, LED light lighting module and temperature sensor, and light-pulse generator is driven
Dynamic model block and temperature sensor are electrically connected with LED light lighting module respectively；Wherein, light-pulse generator drive module is more than for frequency
100MHz metal-oxide-semiconductor field effect transistor；The wavelength of light of LED light lighting module transmitting is in infrared band.
TOF camera module 3 changes polarizer, the middle cardiac wave of narrow band pass filter including TOF sensor, narrow band pass filter and TURP
A length of 700~1060nm, half-band width are 10~100nm；Wherein, narrow band pass filter is used to filter out the visible ray in ambient light,
Only pass through the same or like light of the wavelength actively launched with light-pulse generator module 4；TURP changes polarizer and is used to filter out together
The light that non-pulse light source module group 4 is actively launched in wavelength light.
The present invention main operational principle be：Modulate and believe from light-pulse generator module 4 to testee active transmitting band first
Number infrared light, testee reflected light；The infrared light received is demodulated by TOF camera module 3, by narrow
The double filtration of polarizer is changed with optical filter and TURP, filters interference light；Each pixel of TOF sensor can collect light after demodulation
Electric charge caused by electrical effect, according under the same acquisition time control of same shutter, different distance object reflects
Photon numbers difference is so as to causing to inspire different charge numbers；TOF sensor is binary data using AD conversion charge number,
Flight time is gone out by Difference Calculation, each pixel is calculated to the distance of corresponding object being measured in conjunction with the light velocity；Most pass through afterwards
The algorithm process for crossing CPU 5 forms 3D rendering, and is shown by image display 6.
Wherein, the function of each module of system is as follows：
1) car lithium battery module 1：It is the power source of whole system, using being adapted at a temperature of -20 DEG C~60 DEG C
The lithium battery used is to meet the demand of the transient high-current under sufficiently small volume；Wherein, battery pack passes through mobile generator
Charged, because average consumed cur-rent is little, therefore to vehicle dynamic effect very little.
2) voltage protection module 2：Battery modules are made to possess brownout/too high defencive function, it is ensured that in sudden high currents
Output voltage will not be impacted in the case of output.
3) TOF camera module 3：It is the nucleus module of whole system, quilt is calculated by calculating the flight time of reflected light
Distance of the detection object to system.Wherein, each pixel of TOF sensor can collect electricity caused by photoelectric effect after demodulation
Lotus；Under the control of same shutter same acquisition time, photon numbers difference that different distance object reflects is so as to causing
Inspire different charge numbers；TOF sensor is binary data using AD conversion charge number, when going out flight by Difference Calculation
Between (TOF), calculate each pixel to the distance of correspondence object being measured in conjunction with the light velocity.
Due to including various wavelength and the light of form in outdoor environment light, the influence for effectively suppressing ambient light is to be entirely
System can meet the most important condition of requirement.The visible ray in ambient light is filtered out present invention employs narrow band pass filter,
Only by actively launching the close light of optical source wavelength with system；Employing TURP changes polarizer simultaneously, effectively filters out same ripple
The light that non-the system is actively launched in long light.Therefore, by double filtration plus integrated modulation /demodulation mechanism realization pair
Effective suppression of ambient light, so as to ensure the effective ranging of TOF sensor in an outdoor environment.
4) light-pulse generator module 4：It is the source of the active light source of system.Wherein, light-pulse generator drive module is used for hair
Penetrate light source device LED and stable, high-power, the adjustable supply of electric power of high frequency is provided.In existing short distance TOF rangings application,
Because electric current is little needed for light source, drive circuit design comparison is easy.And the intensity of light source needed for the present invention is significantly larger than current city
The TOF system in face, power output requirement reach 60~120W.Therefore, the present invention uses high-frequency high-power metal-oxide-semiconductor field effect transistor conduct
HF switch, in order to ensure all LED light source synchronous light-emittings or closing, the present invention devises low delay high current lock-out pulse
To the grid of each high frequency metal-oxide-semiconductor field effect transistor, to ensure sufficiently fast switching speed, so guarantee fast driving 60~
Under the demand of 120W LED light sources, the average energy consumption of whole system is reduced by dutycycle, so as to meet vehicle-mounted requirement.
In addition, in order to ensure enough power outputs and switch are synchronous, it is high-power that LED light lighting module employs multigroup series connection
High frequency LED, the LED of every group of series connection are driven by a high-frequency high-power metal-oxide-semiconductor field effect transistor, and its power supply obtains from lithium battery module
Take.In addition, module sets up temperature sensor, LED current is adjusted by temperature, so that it is guaranteed that LED is in long-term high-power operation
Under the conditions of luminous power it is stable.
5) CPU 5：It is responsible for each module of control coordination system, is finally obtained from TOF camera module 3 each
Distance measured by pixel, then by algorithm formed 3D rendering, and with the image data format of setting by USB or with
Too network interface exports, or is directly displayed on image display 6.
6) image display 6：The 3 D visual image obtained for display system.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in above-mentioned embodiment, every those skilled in the art exist
Made any conspicuously improved, replacement or modification belong to protection scope of the present invention on the basis of the present invention.This
Outside, although having used some specific terms in this specification, these terms merely for convenience of description, not to the present invention
Form any restrictions.
Claims (7)
- A kind of 1. vehicle-mounted stereo visual system based on TOF camera, it is characterised in that：Including car lithium battery module, TOF camera Module, light-pulse generator module, CPU and image display, the TOF camera module, the light-pulse generator module and The CPU is electrically connected with by voltage protection module and the car lithium battery module respectively, the TOF camera Module, the light-pulse generator module and described image display are electrically connected with the CPU respectively；The light-pulse generator module includes light-pulse generator drive module, LED light lighting module and temperature sensor, the light-pulse generator Drive module and the temperature sensor are electrically connected with the LED light lighting module respectively；The TOF camera module changes polarizer including TOF sensor, narrow band pass filter and TURP, and the narrow band pass filter is used for The visible ray in ambient light is filtered out, only passes through the same or like light of the wavelength actively launched with light-pulse generator module；Institute State TURP and change the light that polarizer is used to filter out non-pulse light source module group active transmitting in co-wavelength light.
- 2. the vehicle-mounted stereo visual system according to claim 1 based on TOF camera, it is characterised in that：The pulsed light Source drive module is the metal-oxide-semiconductor field effect transistor that frequency is more than 100MHz.
- 3. the vehicle-mounted stereo visual system according to claim 1 based on TOF camera, it is characterised in that：The LED illumination The power output of module is 60~120W.
- 4. the vehicle-mounted stereo visual system according to claim 1 based on TOF camera, it is characterised in that：The TOF camera The finding range of module is more than or equal to 15m.
- 5. the vehicle-mounted stereo visual system according to claim 1 based on TOF camera, it is characterised in that：The centre Reason unit includes CPU processor and the image control mold, and described image control module is electrically connected with described image display.
- 6. the vehicle-mounted stereo visual system according to claim 1 based on TOF camera, it is characterised in that：The LED illumination The wavelength of light of module transmitting is in infrared band.
- 7. the vehicle-mounted stereo visual system according to claim 1 based on TOF camera, it is characterised in that：The arrowband filter The centre wavelength of mating plate is 700~1060nm, and half-band width is 10~100nm.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108200315A (en) * | 2017-12-29 | 2018-06-22 | 合肥泰禾光电科技股份有限公司 | A kind of depth camera and depth camera system |
| CN108445499A (en) * | 2018-02-07 | 2018-08-24 | 余晓智 | A kind of the ambient light suppression system and method for TOF sensor |
| CN108445502A (en) * | 2018-02-11 | 2018-08-24 | 余晓智 | A kind of TOF modules and its implementation based on ARM and LINUX |
| CN109017552A (en) * | 2018-06-27 | 2018-12-18 | 常州星宇车灯股份有限公司 | A kind of atmosphere lamp control device and its control method based on TOF gesture identification |
| CN109459738A (en) * | 2018-06-06 | 2019-03-12 | 杭州艾芯智能科技有限公司 | A kind of more TOF cameras mutually avoid the method and system of interference |
| CN111652920A (en) * | 2020-06-02 | 2020-09-11 | 江苏易高烟草机械有限公司 | Tray cigarette quantity identification method based on visual technology |
| CN113189600A (en) * | 2020-07-31 | 2021-07-30 | 宜科(天津)电子有限公司 | Movement detection device based on signal amplitude variation |
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