CN111781394A - White light speedometer - Google Patents
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- CN111781394A CN111781394A CN202010550088.XA CN202010550088A CN111781394A CN 111781394 A CN111781394 A CN 111781394A CN 202010550088 A CN202010550088 A CN 202010550088A CN 111781394 A CN111781394 A CN 111781394A
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- 230000005540 biological transmission Effects 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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Abstract
The invention discloses a white light speedometer which is characterized by comprising an image acquisition module, a white light speedometer and a white light speedometer, wherein the image acquisition module is used for acquiring image data of a linear array CMOS image sensor module; the image sensor configuration control module is used for setting the resolution, the pixel clock frequency, the line frequency, the pixel point bit width, the output interface and the image sensitive area parameters of an image sensor in the linear array CMOS image sensor module according to requirements; the LED lamp driving control module is used for controlling the working state of the LED lamp so that the LED lamp can provide illumination efficiently in real time; the micro IMU module is used for carrying out real-time comparison correction and compensation on the analyzed speed/mileage information, so that the output speed/mileage information is more accurate; the FPGA signal processing module is used for acquiring data of the image sensor and calculating real-time speed information; and the speed/mileage output module is used for receiving the resolved speed data, outputting the data through a serial port according to an agreed protocol, and sending mileage information in a pulse mode.
Description
Technical Field
The invention relates to the technical field of photoelectricity, in particular to a white light speedometer.
Background
In recent years, with the rapid development of the photoelectric technology, the non-contact speed measurement by using the optical means becomes a new trend, and based on the measurement with high precision, no damage and high efficiency, the measurement technology is determined to be developed from the traditional contact measurement to the non-contact measurement direction, the optical velocimeters with various principles are proposed and applied to the object speed measurement in succession, and at present, the two most widely applied optical velocimeters are the following two types: the laser Doppler velocimeter and the laser speckle velocimeter both need to use a laser as a light source, and optical and mechanical devices are quite complex, so that the velocimeter has high price and cost, and meanwhile, the optical non-contact velocimeter has various deviations and instability and cannot perform correction and compensation operation by self.
Disclosure of Invention
Aiming at the technical problems in the related art, the invention provides a white light velocimeter which can carry a micro IMU module to correct and compensate output data in real time by utilizing a spatial filter of a linear array CMOS image sensor.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows: a white-light velocimeter, comprising:
the image acquisition module is used for acquiring image data of the linear array CMOS image sensor module;
the image sensor configuration control module is used for setting the resolution, the pixel clock frequency, the line frequency, the pixel point bit width, the output interface and the image sensitive area parameters of an image sensor in the linear array CMOS image sensor module according to requirements;
the LED lamp driving control module is used for controlling the working state of the LED lamp so that the LED lamp can provide illumination efficiently in real time;
the micro IMU module is used for carrying out real-time comparison correction and compensation on the analyzed speed/mileage information, so that the output speed/mileage information is more accurate;
the FPGA signal processing module is used for acquiring data of the image sensor and calculating real-time speed information;
the speed/mileage output module is used for receiving the resolved speed data, outputting the speed data through a serial port according to an agreed protocol, and sending mileage information in a pulse mode;
the linear array CMOS image sensor module comprises a fixed-focus lens and an LED lamp, wherein a light source of the LED lamp irradiates the surface of a moving object, and when the object has a moving speed along the target surface of the linear array CMOS image sensor module, a light intensity signal which is in direct proportion to the speed of the moving object is generated and captured by the linear array CMOS image sensor module under the fixed-focus lens and converted into an electric signal containing a period for a subsequent module.
Furthermore, the image acquisition module is used for firstly capturing a rising edge of a signal completed by the image sensor configuration module, indicating that the image sensor configuration is completed after the rising edge is captured, analyzing the input image sensor data and the channel associated clock signal through the clock and data conversion module, and judging the data condition of the data cache module according to the analyzed valid data and the analyzed channel associated clock.
Further, after the image sensor is powered on, after the delay module counts a plurality of time delays, a trigger signal is given to the image sensor configuration control module, the image sensor configuration control module firstly configures resolution parameters of the image sensor, meanwhile, the parameter analysis module analyzes data returned by the image sensor, analysis parameter information is transmitted to the parameter reading and setting module, the image sensor configuration control module reads the returned parameter information, if the returned parameter information is consistent with the sent parameter information, the parameter setting is successful, and other parameters of the image sensor are set through the same operation.
Furthermore, when the LED lamp driving control module is used for powering on, the control module sends a trigger signal to the lamp driving module to enable the LED lamp to continuously work according to the PWM mode, meanwhile, the temperature reading module reads data of a temperature sensor installed on the lamp and transmits the data to the control module in real time, the control module carries out corresponding operation according to the received temperature signal, and accurate control over the work of the LED lamp is achieved through the operation.
Furthermore, the micro IMU module comprises a plurality of low-precision optical fiber gyroscopes and a plurality of medium-precision adding meters, can provide positioning information and speed and mileage information in real time, and inputs the information to the FPGA signal processing module for data real-time comparison and correction operation.
Furthermore, the FPGA signal processing module is used for the FPGA to calculate the real-time speed of the moving object through the operations of the image data synchronization module, the image data grouping module, the image data difference module, the FFT data caching module, the FFT control module, the FFT data analysis module, the frequency spectrum power value generation module, the power threshold value search module, the speed calculation module, the IMU data acquisition module, the data comparison and correction module and the data transmission module.
Furthermore, the speed/mileage output module is used for receiving the resolved and corrected speed data through the data receiving module, the mileage generating module performs integral operation on the speed to obtain mileage data, the protocol generating module performs packet operation on the speed data and the mileage data according to an agreed protocol, then the speed data and the mileage data are sent through the serial port sending module, and meanwhile the mileage information is sent through the pulse generating module in a pulse form.
The invention has the beneficial effects that: in view of the defects in the prior art, the linear array CMOS image sensor is used for realizing the functions of a spatial filter and a photoelectric detector, a white light source irradiates the surface of a moving object, when the object moves along the target surface of the linear array CMOS image sensor, a light intensity signal in proportion to the speed of the moving object is generated, the light intensity signal is amplified through a fixed focus lens and captured by the linear array CMOS image sensor, the obtained strong light signal is converted into an electric signal containing one period, the electric signal is collected through an image collection module, a series of parallel algorithm operations are carried out through an FPGA signal processing module, speed or mileage information is analyzed, meanwhile, real-time output data of a micro IMU module are read, the real-time output data are compared with the analyzed speed/mileage information, correction and compensation are carried out, and finally the speed or mileage information after the IMU is corrected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of a system flow of a white light velocimeter according to an embodiment of the present invention;
FIG. 2 is a block diagram of an image acquisition module of a white light velocimeter according to an embodiment of the present invention;
FIG. 3 is a block diagram of an image sensor configuration module of the white light velocimeter according to an embodiment of the present invention;
FIG. 4 is a block diagram of an LED lamp drive control module of the white speedometer according to an embodiment of the invention;
FIG. 5 is a block diagram of a micro IMU module of the white light velocimeter according to an embodiment of the present invention;
FIG. 6 is a block flow diagram of an FPGA signal processing module of the white speedometer according to an embodiment of the invention;
FIG. 7 is a block diagram of a speed/mileage output module of the white light speedometer according to an embodiment of the present invention;
in the figure: 1. an image acquisition module; 2. an image sensor configuration module; 3. an LED drive control module; 4. a micro IMU module; 5. an FPGA signal processing module; 6. a speed/mileage output module; 7. an LED lamp; 8. a linear array CMOS image sensor module; 9. fixed focus lens.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
As shown in fig. 1 to 7, the white-light speedometer according to the embodiment of the invention includes: the image acquisition module is used for firstly capturing the rising edge of a signal which is completed by the image sensor configuration module, indicating that the image sensor configuration is completed, analyzing the input image sensor data and a channel associated clock signal through the clock and data conversion module, judging the data condition of the data cache module according to the analyzed effective data and the channel associated clock, writing the analyzed data into the data cache module for caching according to the analyzed rising edge of the channel associated clock after data writing in an enabling signal, and reading the data in the data cache module by the data reading control module by utilizing an internal clock so as to realize the synchronization operation of the acquired image sensor data;
an image sensor configuration control module, which is used for setting the resolution, pixel clock frequency, line frequency, pixel bit width, output interface and image sensitive area parameters of an image sensor in a linear array CMOS image sensor module according to requirements, after the image sensor is powered on, a trigger signal is given to the image sensor configuration control module after a delay module counts and delays for a plurality of times, the image sensor configuration control module firstly configures the resolution parameters of the image sensor, meanwhile, a parameter analysis module analyzes data returned by the image sensor, the analyzed parameter information is transmitted to a parameter reading and setting module, the image sensor configuration control module reads the returned parameter information, if the parameter information is consistent with the sent parameter information, the parameter setting is successful, and other parameters of the image sensor are set by the same operation, if not, repeating the operation until the setting is successful;
the LED lamp driving control module is used for controlling the working state of an LED lamp and enabling the LED lamp to efficiently provide illumination in real time, when the LED lamp driving control module is powered on, the control module sends a trigger signal to the lamp driving module to enable the LED lamp to continuously work according to a PWM mode, meanwhile, the temperature reading module reads data of a temperature sensor arranged on the lamp and transmits the data to the control module in real time, the control module carries out corresponding operation according to a received temperature signal, when the temperature is higher than 40 ℃, the control module controls the fan control module through the signal to control the fan to be started, and correspondingly adjusts the rotating speed of the fan through the received control signal to control the temperature of the environment around the LED lamp so that the LED lamp can normally work, when the temperature of the environment of the lamp cannot be reduced by the fan is as high as 70 ℃, the control module triggers the emergency power-off module to work, the lamp is turned off, and the work of the LED lamp is accurately controlled through the operation;
the micro IMU module is used for analyzing speed/mileage information to perform real-time comparison, correction and compensation, so that the output speed/mileage information is more accurate, and the micro IMU module comprises 3 low-precision optical fiber gyroscopes and 3 medium-precision adding meters, can provide positioning information and speed and mileage information in real time, and inputs the information to the FPGA signal processing module to perform data real-time comparison and correction operation;
the FPGA signal processing module is used for the FPGA to calculate the real-time speed of a moving object through the operation of the image data synchronization module, the image data grouping module, the image data difference module, the FFT data cache module, the FFT control module, the FFT data analysis module, the spectrum power value generation module, the power threshold value search module, the speed calculation module, the IMU data acquisition module, the data comparison and correction module and the data transmission module, and the FPGA signal processing module further comprises: the image data synchronization module carries out FIFO caching on the acquired image data, then reads the image data through an internal clock to realize the synchronization operation of the image data, the image data grouping module carries out grouping operation on the synchronized data according to a certain fixed pixel interval, the grouped data are respectively stored in 2 RAMs for caching operation, the image data difference module sequentially and continuously takes out the data cached in the 2 RAMs for difference operation, the result after the difference is stored in the FIFO for caching, the FFT data caching module reads the difference data cached in the FIFO and carries out caching operation before the FFT operation according to a specific sequence, the FFT control module is used for controlling the time sequence requirement of various signals of the IP normal work of FFT, the FFT data analysis module resolves the real part and the imaginary part of each data after the FFT operation according to the requirement and carries out the caching operation of the real part and the imaginary part according to the required sequence, the frequency spectrum power value generating module is used for simultaneously and continuously reading cached real part data and imaginary part data to calculate frequency spectrum power, caching the calculated frequency spectrum power value, the power threshold value searching module calculates a threshold frequency spectrum power value through a maximum frequency spectrum power value, continuously reads the frequency spectrum power value from the FIFO of the cached frequency spectrum power value, compares the frequency spectrum power value with the threshold frequency spectrum power value, stores all serial number values larger than the threshold frequency spectrum power value into the FIFO to perform caching operation, and the speed calculating module sequentially and continuously reads the serial number values cached in the FIFO and calculates a speed value through a related algorithm;
the speed/mileage output module is used for receiving the resolved speed data, outputting the speed data through a serial port according to an agreed protocol and sending mileage information in a pulse mode, the speed/mileage output module is used for receiving the resolved and corrected speed data through the data receiving module, the mileage generating module performs integral operation on the speed to obtain the mileage data, the protocol generating module performs packet operation on the speed data and the mileage data according to the agreed protocol and then sends the speed data and the mileage data through the serial port sending module, and meanwhile, the pulse generating module sends the mileage information in a pulse mode;
the linear array CMOS image sensor module comprises a fixed-focus lens and an LED lamp, wherein a light source of the LED lamp irradiates the surface of a moving object, and when the object has a moving speed along the target surface of the linear array CMOS image sensor module, a light intensity signal which is in direct proportion to the speed of the moving object is generated and captured by the linear array CMOS image sensor module under the fixed-focus lens and converted into an electric signal containing a period for a subsequent module.
In order to facilitate understanding of the above-described technical aspects of the present invention, the above-described technical aspects of the present invention will be described in detail below in terms of specific usage.
In particular use, the white-light speedometer according to the invention further comprises:
firstly, setting the resolution, pixel clock frequency, line frequency, pixel bit width, output interface and image sensitive area parameters of an image sensor in a linear array CMOS image sensor module through an image sensor configuration module;
step two, the LED driving control module controls the white light LED lamp to work, reads the temperature of the LED lamp in real time and controls the working state of the fan to meet the continuous normal work of the LED lamp;
irradiating the surface of the moving object by an LED lamp light source, generating a light intensity signal which is in direct proportion to the speed of the moving object when the object moves along the target surface of the linear array CMOS image sensor module, and amplifying the light intensity signal by a fixed-focus lens to be captured by an image sensor of the linear array CMOS image sensor module;
step four, an image sensor of the linear array CMOS image sensor module is used as a spatial filter and a photoelectric detector, and the image sensor of the linear array CMOS image sensor module converts the captured light intensity signal into an electric signal containing one period;
fifthly, the image acquisition module transmits the acquired image data to the FPGA signal processing module for signal processing, and the FPGA in the FPGA signal processing module realizes image data synchronization, image data grouping, image data difference, FFT data caching, FFT control, FFT data analysis, frequency spectrum power value generation, power threshold value search, speed calculation, IMU data acquisition, data comparison and correction and data transmission algorithm operation;
and step six, the micro IMU module calculates a real-time speed value according to the data protocol of the IMU, when the speed comparison and correction module speed calculation module does not output the speed value, the speed comparison and correction module directly uses the speed in the IMU to carry out output operation, and the data transmission module outputs the corrected speed data after calculation through the speed/mileage output module.
In summary, according to the above technical solution of the present invention, the functions of the spatial filter and the photodetector are realized by the linear array CMOS image sensor, the white light source irradiates the surface of the moving object, when the moving object moves along the target surface of the linear array CMOS image sensor at a speed, a light intensity signal proportional to the speed of the moving object is generated, the light intensity signal is amplified by the linear array CMOS image sensor through the fixed focus lens, the obtained strong light signal is converted into an electric signal containing one period, the image acquisition module is used for acquisition, the FPGA signal processing module is used for performing a series of parallel algorithm operations to analyze speed or mileage information, meanwhile, the real-time output data of the micro IMU module is read, the speed or mileage information after the IMU is corrected and compensated by comparison with the analyzed speed/mileage information, and finally, the speed or mileage information after the IMU.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A white-light velocimeter, comprising:
the image acquisition module is used for acquiring image data of the linear array CMOS image sensor module;
the image sensor configuration control module is used for setting the resolution, the pixel clock frequency, the line frequency, the pixel point bit width, the output interface and the image sensitive area parameters of an image sensor in the linear array CMOS image sensor module according to requirements;
the LED lamp driving control module is used for controlling the working state of the LED lamp so that the LED lamp can provide illumination efficiently in real time;
the micro IMU module is used for carrying out real-time comparison correction and compensation on the analyzed speed/mileage information, so that the output speed/mileage information is more accurate;
the FPGA signal processing module is used for acquiring data of the image sensor and calculating real-time speed information;
the speed/mileage output module is used for receiving the resolved speed data, outputting the speed data through a serial port according to an agreed protocol, and sending mileage information in a pulse mode;
the linear array CMOS image sensor module comprises a fixed-focus lens and an LED lamp, wherein a light source of the LED lamp irradiates the surface of a moving object, and when the object has a moving speed along the target surface of the linear array CMOS image sensor module, a light intensity signal which is in direct proportion to the speed of the moving object is generated and captured by the linear array CMOS image sensor module under the fixed-focus lens and converted into an electric signal containing a period for a subsequent module.
2. The white-light velocimeter of claim 1, wherein the image capture module is configured to capture a rising edge of the image sensor configuration module completion signal, capture the rising edge, indicate that the image sensor configuration is completed, analyze the input image sensor data and the channel associated clock signal through the clock and data conversion module, and determine the data of the data buffer module according to the analyzed valid data and the channel associated clock.
3. The white-light velocimeter of claim 1, wherein after the image sensor is powered on, after the delay module counts a delay time for a plurality of times, a trigger signal is sent to the image sensor configuration control module, the image sensor configuration control module first configures resolution parameters of the image sensor, meanwhile, the parameter analysis module analyzes data returned by the image sensor, the analyzed parameter information is transmitted to the read parameter setting module, the image sensor configuration control module reads the returned parameter information, if the returned parameter information is consistent with the sent parameter information, the parameter setting is successful, and the same operation sets other parameters of the image sensor.
4. The white-light speedometer according to claim 1, wherein the LED lamp driving control module is configured to send a trigger signal to the lamp driving module when the LED lamp driving control module is powered on, so that the LED lamp continuously operates according to the PWM mode, and the temperature reading module reads data of the temperature sensor mounted on the lamp and transmits the data to the control module in real time, and the control module performs corresponding operations according to the received temperature signal, so as to precisely control the operation of the LED lamp.
5. The white-light speedometer according to claim 1, wherein the micro IMU module comprises a plurality of low-precision fiber optic gyroscopes and a plurality of medium-precision accelerometers, which can provide positioning information and speed and mileage information in real time, and input the information to the FPGA signal processing module for data real-time comparison and correction.
6. The white-light velocimeter of claim 1, wherein the FPGA signal processing module is configured to enable the FPGA to calculate the real-time velocity of the moving object through operations of an image data synchronization module, an image data grouping module, an image data difference module, an FFT data buffer module, an FFT control module, an FFT data parsing module, a spectrum power value generation module, a power threshold search module, a velocity calculation module, an IMU data acquisition module, a data comparison and correction module, and a data transmission module.
7. The white-light speedometer according to claim 1, wherein the speed/mileage output module is configured to receive the calculated and corrected speed data through the data receiving module, the mileage generating module performs an integration operation on the speed to obtain mileage data, the protocol generating module performs a packet operation on the speed data and the mileage data according to an agreed protocol, and then transmits the speed data and the mileage data through the serial port transmitting module, and the pulse generating module transmits the mileage information in a pulse form.
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