CN108169757A - Center pixel high-precision identification light measurement system and method - Google Patents
Center pixel high-precision identification light measurement system and method Download PDFInfo
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- CN108169757A CN108169757A CN201810027282.2A CN201810027282A CN108169757A CN 108169757 A CN108169757 A CN 108169757A CN 201810027282 A CN201810027282 A CN 201810027282A CN 108169757 A CN108169757 A CN 108169757A
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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
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The present invention provides a kind of center pixel high-precision identification light measurement system and method, and wherein system includes light emitting devices, diaphragm, bandpass filter, measured object, spike filter, focusing device, imaging sensor and signal processing apparatus；Light emitting devices, diaphragm, bandpass filter and measured object are arranged in order along the first light path；Measured object, bandpass filter, institute's band optical filter, focusing device and imaging sensor are arranged in order along the second light path；Light emitting devices includes optical transmitting set and is connected to the light drive circuit and optical power control circuit of optical transmitting set；Imaging sensor connection signal processing unit.A kind of center pixel high-precision identification light measurement system and method for the present invention, by the control to measuring key parameter, so as to solve the problems, such as light triangulation precision from the angle of system, has the advantages that at low cost and high certainty of measurement.
Description
Technical field
The present invention relates to light measurement field more particularly to a kind of center pixel high-precision identification light measurement system and methods.
Background technology
The principle of laser triangulation is to focus on testee surface, Ran Houcong at an angle with beam of laser
Another angle is imaged the laser facula on body surface, and the position height of body surface illuminated laser spot is different, is connect
It is scattered or the angle of reflection light is also different, the position of laser image spot is measured with CCD photoelectric detector, it is possible to calculate key light
The angle of line, so as to calculate the position height of body surface illuminated laser spot.When object is moved along laser rays direction,
Measurement result will just change, so as to fulfill with the displacement of laser measurement object or distance.
In conventional laser range of triangle or location shifting method, the design of laser light source and optical system is proposed very high
Requirement, it is of high cost often by increasing complicated optical system Computer Aided Design to improve the measurement accuracy of whole system
It is high, and be difficult being consistent property during manufacturing, the concept and method of proposition are difficult to realize bulk production；And it forms
The component of optical system construction is excessive, and design accuracy requirement is harsh, and design is complicated, more multiple for the debugging process of whole system
It is miscellaneous, often it is only applicable to laboratory stage.
Invention content
Deficiency in for the above-mentioned prior art, the present invention provide a kind of center pixel high-precision identification light measurement system and
Method, by the control to measuring key parameter, so as to from the angle of system solve the problems, such as light triangulation precision, with into
The advantages of this low and high certainty of measurement.
To achieve these goals, the present invention provides a kind of center pixel high-precision identification light measurement system, including a light
Emitter, a diaphragm, a bandpass filter, a measured object, a spike filter, a focusing device, an imaging sensor and
One signal processing apparatus；The light emitting devices forms one first light path, described image sensor to measured object transmitting light
The reflected light through the measured object is received along one second optical path direction；The light emitting devices, the diaphragm, the bandpass filter
Piece and the measured object are arranged in order along first light path；The measured object, the bandpass filter, the narrow-band-filter
Piece, the focusing device and described image sensor are arranged in order along second light path；The light emitting devices includes a light
Transmitter and the light drive circuit and an optical power control circuit for being connected to the optical transmitting set；Described image sensor connects
The signal processing apparatus.
Preferably, the optical transmitting set includes a light emitting diode, and the light emitting diode uses laser diode or LED
Diode, the light drive circuit include：
The light emitting diode, the anode of the light emitting diode connect a power input；
One first triode, the collector of first triode connect the cathode of the light emitting diode；
One first resistor, the first resistor are connected between the emitter and a ground terminal of first triode；
One second resistance, the first end connection power input of the second resistance, the second of the second resistance
End connects the base stage of the light emitting diode；
One second triode, the second end of the collector connection second resistance of second triode, described second
The emitter of triode connects the ground terminal；
One photodiode, the cathode of the photodiode connect the power input, the photodiode
Anode connects the base stage of second triode；With
One 3rd resistor, the first end of the 3rd resistor connect the anode of the photodiode and the two or three pole
The base stage of pipe, the second end of the 3rd resistor connect the ground terminal.
Preferably, the optical power control circuit includes：
The light emitting diode；
One third transistor, the collector of the third transistor connect the anode of the light emitting diode, the third
The emitter of triode connects the ground terminal；With
One the 4th resistance, the first end of the 4th resistance connect a signal input part, the second end of the 4th resistance
Connect the base stage of the third transistor.
Preferably, the optical power control circuit further includes a filter circuit, and it is parallel with one another that the filter circuit includes two
Filter capacitor, the filter circuit is connected between the power input and the ground terminal.
Preferably, the focusing device uses a convex lens or a CCD camera lenses.
Preferably, described image sensor uses Linear CMOS sensor devices.
Preferably, the diaphragm includes a substrate and is formed in an aperture of the substrate, the center of the aperture
Position is corresponding with the optical axis position of first light path.
A kind of center pixel based on center pixel of the present invention high-precision identification light measurement system of the present invention is high
Precision identifies light measurement method, including step：
S1：Linear zone is operated in by the adjusting optical transmitting set to the optical power control circuit；
S2：The optical transmitting set is controlled to emit the light to the measured object；
S3：Described image sensor acquires the optical signal that the reflected light is formed and sends the optical signal to the letter
Number processing unit；
S4：The signal processing apparatus obtains current optical signal by optical signal described in a pixel center algorithm process
Position of one pixel center in described image sensor；
S5：It is described according to a triangulation equation calculating acquisition the distance between the measured object and the focusing device L
Triangulation equation is：
Wherein, f represents the focusing device to the distance of described image sensor；D represent the optical transmitting set center with
The spacing at the focusing device center；α represents the angle of first light path and second light path；X represents the current light
Position of the pixel center of signal in described image sensor；M represents the center of described image sensor；N represents single
The size of a pixel；B represents the angle of described image sensor end face and the focusing device end face.
Preferably, the pixel center algorithm is selected from general grey matter CENTER ALGORITHM, square grey matter CENTER ALGORITHM and return difference ash
One of matter CENTER ALGORITHM；
The general grey matter CENTER ALGORITHM obtains the pixel center of current optical signal in described image by a formula (2)
Position in sensor：
Wherein, XiRepresent the x-axis coordinate value of ith pixel；YiRepresent the corresponding level value of ith pixel；S represents taking for pixel
Point starting position, F expression pixels take a final position；
The pixel center that described square of grey matter CENTER ALGORITHM obtains current optical signal by a formula (3) is passed in described image
Position in sensor：
The return difference grey matter CENTER ALGORITHM includes step：
S41：Set an expectation threshold value range；
S42：It sets expectation threshold value range described in a difference expansion and obtains a return difference threshold range, the return difference threshold value model
The minimum value enclosed subtracts the return difference value for the minimum value of the expectation threshold value range, and the maximum value of the return difference threshold range is
The maximum value of the expectation threshold value range adds the return difference value；
S43：Choose a pixel take a starting position and a pixel take a final position；
S43：Judge the pixel take a starting position and the pixel whether take a final position in the return difference
In threshold range；Such as exist, the pixel center for obtaining current optical signal is calculated in described image sensor using the formula (3)
Position；If do not existed, return to step S43.
Preferably, in the S1 steps：Pass through the adjusting to 3rd resistor resistance value described in the optical power control circuit
So that the voltage and current of the optical transmitting set is in a linear relationship with the luminous intensity respectively.
The present invention makes it have following advantageous effect as a result of above technical scheme：
The cooperation of bandpass filter and spike filter effectively prevents the light of ambient light and other wavelength periods to enter
To imaging sensor, the sensitivity of imaging sensor is improved.Light drive circuit is used to that optical transmitting set to be driven to work.Luminous power control
Circuit processed is used to control the power of optical transmitting set.By the adjusting to optical power control circuit, optical transmitting set can be worked online
Property area.Signal processing apparatus is used to that the acquisition signal of imaging sensor to be handled and calculated.And due to pixel center algorithm
Use so that center pixel high-precision identification light measurement method of the invention can more precisely calculate the displacement of measured object
Or distance.The cooperation of light drive circuit, optical power control circuit and pixel center algorithm, realizing can be in the present invention more
Obtain more accurate measurement result on the basis of simple system structure, have at low cost, high certainty of measurement, simple operation and
The advantages of easy to spread.
Description of the drawings
Fig. 1 is that the center pixel high-precision of the embodiment of the present invention identifies the structure diagram of light measurement system；
Fig. 2 is the electrical block diagram of the light drive circuit of the embodiment of the present invention；
Fig. 3 is the electrical block diagram of the optical power control circuit of the embodiment of the present invention；
Fig. 4 is the image of the imaging sensor of the embodiment of the present invention；
Fig. 5 is the schematic diagram of the pixel center algorithm of the embodiment of the present invention；
Fig. 6 is the schematic diagram of the triangulation equation of the embodiment of the present invention；
Fig. 7 is that the center pixel high-precision of the embodiment of the present invention identifies the flow chart of light measurement method.
Specific embodiment
Below according to 1~Fig. 7 of attached drawing, presently preferred embodiments of the present invention is provided, and be described in detail, enabled more preferable geographical
Solve function, the feature of the present invention.
Referring to Fig. 1, a kind of center pixel high-precision identification light measurement system of the embodiment of the present invention, including a light emitting
Device 1, a diaphragm 2, a bandpass filter 3, a measured object 4, a spike filter 5, a focusing device 6, an imaging sensor 7
With a signal processing apparatus 8；Light emitting devices 1 emits light to measured object 4 and forms one first light path, and imaging sensor 7 is along one the
Two optical path directions receive the reflected light through measured object 4；Light emitting devices 1, diaphragm 2, bandpass filter 3 and measured object 4 along first
Light path is arranged in order；Measured object 4, bandpass filter 3, spike filter 5, focusing device 6 and imaging sensor 7 are along the second light path
It is arranged in order；Light emitting devices 1 includes an optical transmitting set and is connected to the light drive circuit 11 and a luminous power of optical transmitting set
Control circuit 12；7 connection signal processing unit 8 of imaging sensor.
In the present embodiment, focusing device 6 uses a convex lens or a CCD camera lenses.Imaging sensor 7 uses Linear CMOS sense
Optical device.Diaphragm 2 includes a substrate and is formed in an aperture of substrate, the center of aperture and the optical axis of the first light path
Position corresponds to.
Fig. 2 is referred to, optical transmitting set includes a light emitting diode DL, and light emitting diode DL uses laser diode or LED
Diode, light drive circuit 11 include：Light emitting diode DL, one first triode Q1, a first resistor R1, a second resistance
R2, one second triode Q2, a photodiode D1 and a 3rd resistor R3.Wherein, the anode connection one of light emitting diode DL
Power input V；The cathode of the collector connecting luminous diode DL of first triode Q1；First resistor R1 is connected to the one or three
Between the emitter of pole pipe Q1 and a ground terminal GND；First end connection the power input V, second resistance R2 of second resistance R2
Second end connecting luminous diode DL base stage；The second end of the collector connection second resistance R2 of second triode Q2, the
The emitter connection ground terminal GND of two triode Q2；The cathode connection power input V of photodiode D1, photodiode
The anode of D1 connects the base stage of the second triode Q2；The anode and second of the first end connection photodiode D1 of 3rd resistor R3
The base stage of triode Q2, the second end connection ground terminal GND of 3rd resistor R3.
Fig. 3 is referred to, optical power control circuit 12 includes：Light emitting diode DL, a third transistor Q3, one the 4th resistance
R4 and a filter circuit.Wherein, the anode of the collector connecting luminous diode DL of third transistor Q3, third transistor Q3's
Emitter connection ground terminal GND；The first end of 4th resistance R4 connects a signal input part IN, and the second end of the 4th resistance R4 connects
Connect the base stage of third transistor Q3.Filter circuit includes two filter capacitor C parallel with one another, and filter circuit is connected to power input
Between the V and ground terminal GND of end.
Fig. 1 is referred to, a kind of operation principle of center pixel high-precision identification light measurement system of the present embodiment is as follows：
Light, by the restriction effect of diaphragm 2, is substantially reduced the light sent out hot spot, is meeting after the generation of light emitting devices 1
Light generates diffusing reflection after to measured object 4, and the light that diffusing reflection is returned reaches by bandpass filter 3 and spike filter 5 and focuses on dress
6 are put, by the focussing force of focusing device 6, hot spot will be fallen in a certain region of imaging sensor 7, and on imaging sensor 7
Photoelectric effect is generated, imaging sensor 7 exports a specific electric signal, after by 8 signal processing of signal processing apparatus and calculating,
Calculate the location information of measured object 4.
Bandpass filter 3 is that a colored transparent material is formed, and limitation only allows the light more than the optical wavelength to pass through；Narrowband
The wavelength of incident light is limited in a specific region by optical filter 5, and the light in the regional extent is only allowed to pass through；Two kinds of optical filters
Be applied in combination, ambient light and the light of other wavelength periods is effectively prevented to enter imaging sensor 7, improve image biography
The sensitivity of sensor 7.
In the present embodiment, the setting of diaphragm 2 includes following three elements：First, the direction of 2 trepanning of diaphragm and imaging sensor
7 directions are vertical, effectively reduce the number of spots of imaging sensor 7 in this way；2nd, light is in when 2 opening area of diaphragm is installed as possible
The center of hot spot is to be uniformly distributed kept as possible from the light that diaphragm 2 comes out；3rd, the minimum widith of 2 narrow slit trepanning of diaphragm
The minimum gap of diffraction phenomena is not generated after meeting light and can appearing, meeting the size of light spot energy after projection again can meet
The requirement of reception pipe receiving sensitivity.Just directional light, the size of hot spot is equal to the width in 2 hole of diaphragm on measured object 4, therefore,
When distant, it is desirable that luminous intensity is larger, and corresponding 2 hole width of diaphragm becomes larger.
Focusing device 6 reflects light back into the light focusing come to 7 imaging region of imaging sensor, and focusing device 6 is using saturating
During mirror, lens type is not limited to biconvex lens or planoconvex spotlight.Further to improve, can replace with single convex lens can adjust
The CCD camera lenses of section so as to fulfill better light focusing effect, reduce influence of the spot size to measurement result.
Imaging sensor 7 is Linear CMOS sensor devices, the optical signal received is converted to electric signal, in structure design
When, center and the photoemissive place-centric of 7 photosensitive region of imaging sensor are kept in a plane；Letter after reception
Number processing be this system core.
In addition, the control to 2 gap size of diaphragm, can allow the imaging of imaging sensor 7 that image of different shapes, light is presented
Late 2 gaps are smaller, and the top shape of 7 imaging region of imaging sensor is smaller, will more to the calculating and judgement result of pixel center
Accurately；The size in 2 gap of diaphragm, not generate the minimum clearance of Diffraction of light wave as best scheme.
When focusing device 6 is using lens, the shape of lens is not limited to biconvex lens or planoconvex spotlight or utilizes compound lens
Generate better hot spot imaging effect.
When imaging sensor 7 is single linear or polyteny cmos device, this scheme can be applicable in.
Photoemissive wavelength is not limited to 650nm, is equally applicable to the handling result of other wavelength periods.
Signal processing apparatus 8 may be used but be not limited to independent ADC module or ADC module that microcontroller integrates.
A kind of center pixel high-precision identification light measurement system of the present embodiment is not limited to range measurement class product, similary suitable
For displacement measurement class product.
Become referring to Fig. 4, the optical signal that imaging sensor 7 receives after conversion, is presented one with pixel coordinate position
The level signal of change, according to the size of the CMOS photosensitive region resolution ratio of imaging sensor 7, transformed level signal is in one
" several " font is distributed, and hot spot is bigger, and the pixel fallen into inside " several " word is more；Have in " several " font under normal circumstances tens of
The hot spot point of a pixel needs to find out the geometric center position of hot spot, the geometry of hot spot point according to the level signal of this figure
There is direct relation in center with the result of calculation finally measured.
Please refer to Fig. 6 and Fig. 7, a kind of center pixel high-precision identification light measurement system based on the present embodiment of the invention
Center pixel high-precision identification light measurement method, including step：
S1：Linear zone is operated in by the adjusting optical transmitting set to optical power control circuit 12.
In the present embodiment, by the adjusting optical transmitting set of 3rd resistor R3 resistance values in optical power control circuit 12
Voltage and current is in a linear relationship with luminous intensity respectively.
S2：Optical transmitting set is controlled to emit light to measured object 4.
The Intensity Design of light will also have certain suitable intensity, reflected light is made to be passed by image other than meeting security performance
Sensor 7 neither generates over-pressed saturation after receiving, will not be excessively small and weak because of luminous intensity so that imaging sensor 7 receives signal mistake
In weak.
S3：Imaging sensor 7 acquires the optical signal that reflected light is formed and sends optical signal to signal processing apparatus 8.
S4：Signal processing apparatus 8 is by a pixel center algorithm process optical signal, in the pixel for obtaining current optical signal
Position of the heart in imaging sensor 7.
In the present embodiment, pixel center algorithm is selected from general grey matter CENTER ALGORITHM, square grey matter CENTER ALGORITHM and return difference ash
One of matter CENTER ALGORITHM.The schematic diagram of pixel center algorithm can be found in Fig. 5, wherein, x represents the coordinate position of pixel, and y represents picture
The level value of plain respective coordinates.
Wherein, the pixel center that current optical signal is obtained by a formula (2) of general grey matter CENTER ALGORITHM is passed in image
Position in sensor 7：
Wherein, XiRepresent the x-axis coordinate value of ith pixel；YiRepresent the corresponding level value of ith pixel；S represents taking for pixel
Point starting position, F expression pixels take a final position.
General grey matter CENTER ALGORITHM is also bigger to fluctuating the result fluctuation that very serious waveform obtains above and below image, to surveying
Amount repeatable accuracy is affected.
Square grey matter CENTER ALGORITHM obtains the pixel center of current optical signal in imaging sensor 7 by a formula (3)
Position：
Square grey matter CENTER ALGORITHM can effectively reduce image and fluctuate influence to measuring repeatable accuracy up and down.
Wherein, return difference grey matter CENTER ALGORITHM includes step：
S41：Set an expectation threshold value range；
S42：Time difference expansion expectation threshold value range of setting obtains a return difference threshold range, the minimum of return difference threshold range
It is worth it is expected that the minimum value of threshold range subtracts return difference value, the maximum value of return difference threshold range is it is expected the maximum value of threshold range
In addition return difference value；
S43：Choose a pixel take a starting position and a pixel take a final position；
S43：Judge pixel take a starting position and pixel take a final position whether in return difference threshold range；Such as
Position of the pixel center for obtaining current optical signal in imaging sensor 7 is being calculated using formula (3)；If do not existed, step is returned
Rapid S43.
Such as：Return difference grey matter CENTER ALGORITHM starting point value initial point can be since 0 point, terminal to the last one pixel
Terminate, can also remove after bottom makes an uproar, since S points, F points terminate；The algorithm return difference grey matter CENTER ALGORITHM process of return difference method is with putting down
Square grey matter CENTER ALGORITHM is similar, when taking starting point, presets a threshold value, and such as 1000, correspondence is initiated with S1, F1, and program exists
One return difference value of setting before calculating, it is assumed that for 20, return difference threshold range is 980 to 1020 at this time, first judge value point whether
In this return difference threshold range, if corresponding pixel carries out pixel in this return difference threshold range, using formula (3)
The judgement at center；If the value of pixel exceeds this return difference threshold range, the judgement of starting point will be re-started.
The setting of return difference value is not limited to 20 in example, and the value size of practical return difference value requires phase according to whole system
It closes.Return difference grey matter CENTER ALGORITHM can greatly reduce the pixel selecting quantity of whole system, improve the efficiency of system-computed.
S5：It is calculated according to a triangulation equation and obtains the distance between measured object 4 and focusing device 6 L, triangulation is public
Formula is：
Wherein, f represents focusing device 6 to the distance of imaging sensor 7；D is represented in optical transmitting set center and focusing device 6
The spacing of the heart；α represents the angle of the first light path and the second light path；X represents the pixel center of current optical signal in imaging sensor 7
In position；M represents the center of imaging sensor 7；N represents the size of single pixel；B represents imaging sensor 7
The angle of end face and 6 end face of focusing device.
The present invention is described in detail above in association with attached drawing embodiment, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not form limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (10)
1. a kind of center pixel high-precision identification light measurement system, which is characterized in that including a light emitting devices, a diaphragm, one
Bandpass filter, a measured object, a spike filter, a focusing device, an imaging sensor and a signal processing apparatus；It is described
Light emitting devices forms one first light path to measured object transmitting light, and described image sensor is received along one second optical path direction
Reflected light through the measured object；The light emitting devices, the diaphragm, the bandpass filter and the measured object are described in
First light path is arranged in order；The measured object, the bandpass filter, the spike filter, the focusing device and described
Imaging sensor is arranged in order along second light path；The light emitting devices includes an optical transmitting set and is connected to the light hair
A light drive circuit and an optical power control circuit for emitter；Described image sensor connects the signal processing apparatus.
2. center pixel high-precision identification light measurement system according to claim 1, which is characterized in that the optical transmitting set
Including a light emitting diode, the light emitting diode uses laser diode or LED diodes, and the light drive circuit includes：
The light emitting diode, the anode of the light emitting diode connect a power input；
One first triode, the collector of first triode connect the cathode of the light emitting diode；
One first resistor, the first resistor are connected between the emitter and a ground terminal of first triode；
One second resistance, the first end of the second resistance connect the power input, and the second end of the second resistance connects
Connect the base stage of the light emitting diode；
One second triode, the collector of second triode connect the second end of the second resistance, the two or three pole
The emitter of pipe connects the ground terminal；
One photodiode, the cathode of the photodiode connect the power input, the anode of the photodiode
Connect the base stage of second triode；With
One 3rd resistor, the first end of the 3rd resistor connect the anode of the photodiode and second triode
Base stage, the second end of the 3rd resistor connect the ground terminal.
3. center pixel high-precision identification light measurement system according to claim 2, which is characterized in that the luminous power control
Circuit processed includes：
The light emitting diode；
One third transistor, the collector of the third transistor connect the anode of the light emitting diode, the three or three pole
The emitter of pipe connects the ground terminal；With
One the 4th resistance, the first end of the 4th resistance connect a signal input part, the second end connection of the 4th resistance
The base stage of the third transistor.
4. center pixel high-precision identification light measurement system according to claim 3, which is characterized in that the luminous power control
Circuit processed further includes a filter circuit, and the filter circuit includes two filter capacitors parallel with one another, the filter circuit connection
Between the power input and the ground terminal.
5. according to Claims 1 to 4 any one of them center pixel high-precision identification light measurement system, which is characterized in that institute
Focusing device is stated using a convex lens or a CCD camera lenses.
6. center pixel high-precision identification light measurement system according to claim 5, which is characterized in that described image senses
Device uses Linear CMOS sensor devices.
7. center pixel high-precision identification light measurement system according to claim 5, which is characterized in that the diaphragm includes
One substrate and the aperture for being formed in the substrate, the center of the aperture and the optical axis position of first light path
It is corresponding.
8. a kind of center pixel high-precision of the center pixel high-precision identification light measurement system based on described in claim 4 identifies
Light measurement method, including step：
S1：Linear zone is operated in by the adjusting optical transmitting set to the optical power control circuit；
S2：The optical transmitting set is controlled to emit the light to the measured object；
S3：Described image sensor acquires the optical signal that the reflected light is formed and is passed after the optical signal is converted to electric signal
Give the signal processing apparatus；
S4：The signal processing apparatus obtains a picture of current optical signal by optical signal described in a pixel center algorithm process
Position of the plain center in described image sensor；
S5：It is calculated according to a triangulation equation and obtains the distance between the measured object and the focusing device L, the triangle
Measure equation is：
Wherein, f represents the focusing device to the distance of described image sensor；D represent the optical transmitting set center with it is described
The spacing at focusing device center；α represents the angle of first light path and second light path；X represents the current optical signal
Position of the pixel center in described image sensor；M represents the center of described image sensor；N represents single picture
The size of element；B represents the angle of described image sensor end face and the focusing device end face.
9. center pixel high-precision identification light measurement method according to claim 8, which is characterized in that the pixel center
Algorithm is selected from one of general grey matter CENTER ALGORITHM, square grey matter CENTER ALGORITHM and return difference grey matter CENTER ALGORITHM；
The pixel center that current optical signal is obtained by a formula (2) of the general grey matter CENTER ALGORITHM is sensed in described image
Position in device：
Wherein, XiRepresent the x-axis coordinate value of ith pixel；YiRepresent the corresponding level value of ith pixel；S represents that taking for pixel is a little opened
Beginning position, F expression pixels take a final position；
Described square of grey matter CENTER ALGORITHM obtains the pixel center of current optical signal in described image sensor by a formula (3)
In position：
The return difference grey matter CENTER ALGORITHM includes step：
S41：Set an expectation threshold value range；
S42：It sets expectation threshold value range described in a difference expansion and obtains a return difference threshold range, the return difference threshold range
Minimum value subtracts the return difference value for the minimum value of the expectation threshold value range, and the maximum value of the return difference threshold range is described
The maximum value of expectation threshold value range adds the return difference value；
S43：Choose a pixel take a starting position and a pixel take a final position；
S43：Judge the pixel take a starting position and the pixel whether take a final position in the return difference threshold value
In the range of；Such as exist, position of the pixel center for obtaining current optical signal in described image sensor is calculated using the formula (3)
It puts；If do not existed, return to step S43.
10. center pixel high-precision identification light measurement method according to claim 9, which is characterized in that the S1 steps
In：Pass through the voltage and electricity of the adjusting optical transmitting set to 3rd resistor resistance value described in the optical power control circuit
Stream is in a linear relationship with the luminous intensity respectively.
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