CN205484796U - Multiple spot range unit based on pencil laser instrument and ordinary camera chip - Google Patents

Multiple spot range unit based on pencil laser instrument and ordinary camera chip Download PDF

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Publication number
CN205484796U
CN205484796U CN201620016536.7U CN201620016536U CN205484796U CN 205484796 U CN205484796 U CN 205484796U CN 201620016536 U CN201620016536 U CN 201620016536U CN 205484796 U CN205484796 U CN 205484796U
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China
Prior art keywords
laser
camera chip
range
integer
common camera
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Expired - Fee Related
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CN201620016536.7U
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Chinese (zh)
Inventor
孙放
周煦潼
廖鸿宇
明安龙
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Beijing Thunderous Yun He Intellectual Technology Co Ltd
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Beijing Thunderous Yun He Intellectual Technology Co Ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The utility model provides a multiple spot range unit based on pencil laser instrument and ordinary camera chip, this range unit include laser emitter, laser integer module, imaging lens group, ordinary camera chip and DSP processing unit, laser emitter is pencil laser through laser integer module integer, laser emitter's transmit direction and a certain angle of ordinary camera chip place plane one -tenth, the diffuse reflection takes place to the object body surface face of the place ahead wide angle within range for pencil laser irradiation that laser emitter sent through laser integer module, and the broken line or the curve of reflection form images on ordinary camera chip through imaging lens group with the interior object of the current angle of vision jointly, and DSP processing unit handles broken line or the curved image data that the aforesaid formed images, according to angular relationship, asks for this angle direction's the distance that awaits measuring, the utility model discloses simple structure, the user is with low costs, can once measure a distance that the wide angle within range is a plurality of, and the range finding mode is quick, sensitive.

Description

Based on wire harness laser instrument and the multipoint ranging apparatus of common camera chip
Technical field
This utility model relates to a kind of range unit, particularly relates to a kind of based on wire harness laser instrument and common camera chip Multipoint ranging apparatus.
Background technology
Laser has the features such as high brightness, high directivity, high monochromaticity and high coherence, can be greatly improved measurement accurately Degree, is widely used on range unit.Laser distance measurement method has the feature that principle is simple, measuring speed is fast, ranging is remote, mesh Before, many Indoor Robot systems, use laser ranging system as main sensors, be used for drawing, positioning and avoidance.
Traditional laser distance measurement method includes impulse method, phase method and triangulation, and impulse method certainty of measurement is relatively low, phase Position method is longer for stabilization time needed of every time finding range, and it is low that triangle telemetry has preferably application effect production cost, is current The focus of research.
Proposing in this utility model to use a kind of laser integer type device, generating laser is sent by this laser integer type device Laser integer is wire harness laser, the wire harness laser that generating laser sends after integer in a wide range in a word Line chart sample, it is assumed that on the target object in wire harness Laser emission to front wide range, the light of reflection can be mapped as different Broken line line segment or curved segments, owing to the hot spot formed on target object at the laser rays sent is more fixing, then taking the photograph On picture head chip during imaging, the most different at the broken line line segment of different Range Imagings or the position at curved segments barycenter place.Logical Cross image algorithm and detect laser spot position difference in shooting image, obtain line segment centroid position, new according to this practicality The formula that type is derived can obtain object distance.Meanwhile, this utility model it is also proposed, and objects in front distance is different taken Broken line or the thickness of curve also different: closely, the line segment of imaging is thick, and segment diameter may be tens pixels；? At a distance, such as at 5 meters, the line segment of imaging is thin, and segment diameter may only have several pixel.Record this different line segment thicknesses Feature, striked distance value can be carried out from error correction, the ranging frame for mistake can be given up.Meanwhile, such as accompanying drawing 3 institute Showing, range finding distance is G point the most recently, but is not the laser rays of a pixel due to laser, but has certain rugosity Laser rays, so range finding is at I point recently；Same, the distance within H point all can not be taken pictures than more complete line Segment. For the image of these imperfect line segments, record its image in advance and calculate barycenter pass corresponding with the diverse location of actual barycenter System, can be used to statement to the close-in measurement beyond theoretical value.
Utility model content
The defect that this utility model exists for above-mentioned technology, it is provided that a kind of based on wire harness laser instrument and common camera The multipoint ranging apparatus of chip, this range unit can be with the distance of multiple points in one wide range of one-shot measurement；Range finding dress Putting simple in construction, user cost is low；Distance-finding method is quick, sensitive, has the highest in range finding fields such as communication, aviation, Smart Homes Using value.
This utility model is achieved by the following technical solution, a kind of based on wire harness laser instrument and common camera chip Multipoint ranging apparatus, this range unit includes generating laser, laser integer module, imaging lens group, common camera core Sheet and DSP processing unit；Described generating laser is wire harness laser through laser integer module integer, the launch party of generating laser To with common camera chip place plane at an angle；Generating laser is one to the distance of common camera chip center Particular value；The wire harness laser that generating laser sends through laser integer module is irradiated to the object in the wide range of front , there is diffuse-reflectance in surface, the light of reflection can be mapped as different broken line line segments or curved segments, the broken line line of above-mentioned reflection Section or curved segments image on common camera chip jointly with the imaged battery of lens of other objects in current field angle； DSP processing unit collects broken line line segment or the curved segments of above-mentioned imaging, then according to angular relationship, can ask for this angle The testing distance in degree direction.
Described laser integer module is arranged on described generating laser rear end, and being used for a Shu Jiguang integer is that wire harness swashs Light.
Described laser integer module can be molded lens, vibrating reed, rotary prism.
Described imaging lens group farther includes an optical filter, and optical filter is arranged on described imaging lens group front end, uses To filter the light of specific wavelength.
Described range unit farther includes a pedestal, described generating laser, imaging lens group, common camera core Sheet and DSP processing unit are fixing on the base.
Described generating laser is 3cm～9cm to the distance range of described common camera chip center.
Described DSP processing unit includes fifo module, connects wire, DSP circuit.
Described common camera chip includes but not limited to ccd image sensor, cmos image sensor.
This utility model has the advantages that
1) the wire harness laser that in this utility model, generating laser sends through laser integer module integer, is irradiated to front square mesh Mark body surface reflection imaging is broken line line segment or curved segments, carries out data process through DSP processing unit and is treated Find range from, this utility model can improve certainty of measurement with the distance of multiple points in one wide range of one-shot measurement so that Measure distance more quickly accurately.
2) this utility model simple in construction, user cost is low, at communication, aviation, Smart Home, especially robot range finding There is the highest using value in field.
Accompanying drawing explanation
Fig. 1 is range unit structural representation described in the utility model
Fig. 2 is range unit side view described in the utility model
Fig. 3 is described in the utility model at Y direction distance-finding method schematic diagram
Fig. 4 is described in the utility model at X-direction distance-finding method schematic diagram
Fig. 5 is range unit described in the utility model broken line line segment schematic diagram of imaging on different distance metope
Fig. 6 is the broken line line segment schematic diagram that range unit described in the utility model faces metope imaging
Fig. 7 is the broken line line segment schematic diagram that range unit described in the utility model tiltedly obtains facing to metope
In figure, symbol represents: 1: generating laser；2:DSP circuit；3:FIFO module；4: imaging len；5: commonly image Head chip；6: connect wire；7: pedestal；8:DSP processing unit；9: optical filter；10: laser integer module
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described further.
As it is shown in figure 1, a kind of based on wire harness laser instrument with the multipoint ranging apparatus of common camera chip, this device includes Generating laser 1, laser integer module 10, imaging lens group 4, common camera chip 5 and DSP processing unit 8；Laser emission Device 1 is wire harness laser through laser integer module 10 integer, and wire harness laser is target object to be measured in being irradiated to front wide range , there is diffuse-reflectance in surface, the light of reflection can be mapped as different broken line line segments or curved segments, above-mentioned broken line line segment or curve line Section battery of lens 4 imaged with the object in current field angle images on common camera chip 5 jointly, common camera chip 5 view data are transferred to DSP processing unit 8, it is achieved optical signal is converted to the signal of telecommunication, gather above-mentioned one-tenth through DSP processing unit 8 The broken line line segment of picture or curved segments, and calculate its barycenter, according to angular relationship and then calculate testing distance.
Described laser integer module 10 is arranged on the rear end of generating laser 1, and being used for a Shu Jiguang integer is wire harness Laser；
In the present embodiment, laser integer module 10 is molded lens group, in other embodiments of the present utility model, and laser Integer module 10 can also be vibrating reed, can also be rotary prism.
DSP processing unit 8 includes fifo module 3, connects wire 6, DSP circuit 2；Imaging lens group 4 farther includes one Optical filter 9, optical filter 9 is arranged on described battery of lens 4 front end, in order to filter the light of specific wavelength.
As shown in Figure 2, this range unit farther includes a pedestal 7, described generating laser 1, imaging lens group 4, Common camera chip 5 and DSP processing unit 8 is fixing on the base, and pedestal 8 becomes one with common camera chip place plane Determining angle, in the present embodiment, angulation can be 84.3 °；Generating laser 1 can be 5 to the distance of imaging lens group 4 ㎝。
In the present embodiment, common camera chip 5 is ccd image sensor, in other embodiments of the invention, commonly Camera chip 5 can be cmos image sensor.
Specifically, this utility model also provides for the distance-finding method of a kind of above-mentioned range unit:
The distance-finding method of above-mentioned range unit is:
1) view data is obtained: the transmitting direction adjusting generating laser becomes a certain with common camera chip place plane Angle, generating laser is object to be measured in the wire harness laser that laser integer module sends is irradiated to front wide range , there is diffuse-reflectance in surface, the broken line of reflection or curve battery of lens imaged with the object in current field angle image in jointly On common camera chip, the broken line of reflection or curve are imaged as broken line line segment or the curved segments of a plurality of high brightness, other Background is imaged as comparing the data of low-light level, a frame of digital view data of common camera chip record correspondence direction, and incites somebody to action This frame image data is transferred to DSP processing unit, and this two field picture have recorded the digitized in the current time angle of view View data；
2) process view data: DSP processing unit is to step 1) described in view data process, first with numeral Algorithm eliminates pattern distortion, then carries out data smoothing and eliminates noise, and last set thresholding carries out binaryzation；
3) again according to step 1) described in broken line line segment or the left-right relation of curved segments to image smoothing and then disappear Except noise, each bar broken line line segment or curved segments are adjusted to broken line from left to right so that only one of which in same X-coordinate Highlighted line segment exists；
4) barycenter of the highlighted line segment in each X-coordinate is asked for: added by the point coordinates of the highlighted line segment of same X-coordinate Getting up to be averaged, the barycenter that can obtain corresponding X-coordinate is Y；Calculate through this step, any one X-coordinate from left to right On, it is only possible to less than the highlighted center of mass point of the Y of 1；For certain X, if there being 1 Y centroid point, represent on this direction Distance is in finding range, without Y centroid point, represents the distance on this direction not in finding range.
As described in algorithm principle, in image formed by common camera chip, every string of X-direction represents one Imaging angle, and Y-axis imager coordinate represents the vertical dimension of the corresponding current location of range finding distance.
5) according to all (X, Y) computation and measurement angles from left to right and measurement distance:
A) for some (X, Y), vertical dimension d is sought according to Y-axis coordinate, as shown in Figure 3: known laser emitter is to general The distance of logical camera chip lens group is p, and common camera chip camera lens is 2 α in the Y-axis angle of visual field, common camera chip Camera lens axis and generating laser angle be θ, n be laser spots coordinate in Y-axis, y is common camera chip in Y direction Always counting of imaging,
Solve as follows: set L=BE, thenRelease according to Similar Principle of Triangle:
Draw according to formula (1):
Drawn by formula (2):
Again because
Draw vertical dimension d,
It addition, for the recently measured some G, when theoretical value n=y of G, bring formula (5) into, the recently measured range can be tried to achieve dG,
B) known common camera chip camera lens angle of visual field in X-axis is 2 β, and view data is O at the central point of X-axis, as Shown in Fig. 4: it is γ that each X represents deflection formed by a direction, X-direction and Y-direction, for the coordinate of x=m, y=n For Dian,Release and measure distance dx,
The vertical dimension having asked for this direction in step a) is d, in conjunction with formula (5) and formula (7), and can be in the hope of dx, Obtain range measurement (γ, dx) it is distance d in γ directionx；
d x = p · y cos γ · cos θ · [ 2 · n · t g α - y · ( t g α - t g θ ) ] ;
C) repeat step a) and step b), calculate the range finding angle that 2X in the most whole 2 β wide range puts Degree and the range measurement output found range apart from and 2X in the range of whole 2 β is put.
Step 3) relation that farther includes broken line thickness and vertical dimension carries out self calibration step: assume that laser is at mesh The hot spot formed on mark object is more fixing, then on common camera chip during imaging, at the folding of different Range Imagings The thickness of line line segment or curved segments is the most different, and as shown in Figure 5, in figure, the left side is the metope that laser is irradiated to different distance On, from left to right it is followed successively by by as far as closely；The right of figure is the broken line line segment schematic diagram of the different thicknesses of imaging, line segment from a left side to The right side is followed successively by from fine to coarse；Record different distance imaging broken line line segment or curved segments thickness characteristic and vertical dimension Relation as self calibration index, exclude erroneous distance measurement.
Shown in accompanying drawing 3, G point is distance of finding range the most recently, but owing to wire harness laser is not a pixel Laser rays, but be imaged as high brightness broken line line segment or curved segments, so point distance measurement is at I point recently, same, within H point Distance all can not take pictures ratio more complete broken line line segment or curved segments, this utility model is to the object within H point distance The imperfect broken line line segment being imaged in common camera chip range or curved segments ask for barycenter, meanwhile, according to actual measurement Record the actual distance that this imperfect barycenter is corresponding, thus obtain the finding range beyond theoretical value.
Accompanying drawing 6 is the broken line line segment schematic diagram that range unit described in the utility model faces metope imaging, laser instrument Face metope, laser be irradiated on metope the broken line of reflection or curve imaging on common camera chip be one straight Line line segment.
Accompanying drawing 7 is that range unit described in the utility model is tiltedly facing to the broken line line segment schematic diagram of metope imaging, laser instrument Tiltedly facing to metope, laser be irradiated on metope the broken line of reflection or curve imaging on common camera chip be one tiltedly Line line segment.
Previous embodiment and advantage are only exemplary, and are understood not to limit the disclosure.This utility model can hold Change places and be applied to other type of equipment.Additionally, the description of the exemplary embodiment of the disclosure is explanatory, it is not limiting as power The scope that profit requires, many replacement, modifications and variations will be apparent to practitioners skilled in the art.

Claims (7)

1., based on wire harness laser instrument and a multipoint ranging apparatus for common camera chip, this range unit includes Laser emission Device, laser integer module, imaging lens group, common camera chip and DSP processing unit；Described generating laser is whole through laser Pattern block integer is wire harness laser, and the transmitting direction of generating laser is with common camera chip place plane at an angle； Generating laser is a particular value to the distance of common camera chip center；Generating laser sends through laser integer module Wire harness laser be irradiated to the target object surface in the wide range of front, there is diffuse-reflectance, the light of reflection can be mapped as not With broken line line segment or curved segments, the broken line line segment of above-mentioned reflection or curved segments and current field angle in other objects Imaged battery of lens images on common camera chip jointly；DSP processing unit collect above-mentioned imaging broken line line segment or Person's curved segments, then according to angular relationship, can ask for the testing distance of this angle direction.
Range unit the most according to claim 1, it is characterised in that: described laser integer module is arranged on described laser Emitter rear end, being used for a Shu Jiguang integer is wire harness laser；
Described laser integer module can be molded lens group, can also be vibrating reed, can also be rotary prism.
Range unit the most according to claim 1, it is characterised in that: described imaging lens group farther includes an optical filtering Sheet；
Described optical filter is arranged on described imaging lens group front end, in order to filter the light of specific wavelength.
Range unit the most according to claim 1, it is characterised in that: described range unit farther includes a pedestal, Described generating laser, imaging lens group, common camera chip and DSP processing unit are fixing on the base.
Range unit the most according to claim 1, it is characterised in that: in described generating laser to described camera chip The distance range of the heart is 3cm～9cm.
Range unit the most according to claim 1, it is characterised in that: described DSP processing unit includes fifo module, company Connect wire, DSP circuit.
Range unit the most according to claim 1, it is characterised in that: described common camera chip includes that cmos image passes Sensor.
CN201620016536.7U 2015-05-07 2016-01-08 Multiple spot range unit based on pencil laser instrument and ordinary camera chip Expired - Fee Related CN205484796U (en)

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CN108693538A (en) * 2017-04-07 2018-10-23 北京雷动云合智能技术有限公司 Accurate confidence level depth camera range unit based on binocular structure light and method
CN107449589B (en) * 2017-09-07 2023-12-15 望新（上海）科技有限公司 HUD imaging position detection device and HUD imaging position detection method
CN109270546A (en) * 2018-10-17 2019-01-25 郑州雷动智能技术有限公司 A kind of range unit and its distance measuring method based on structure light and double image sensor
CN115127523B (en) * 2022-05-09 2023-08-11 湖南傲英创视信息科技有限公司 Heterogeneous processing panoramic detection and ranging system based on double-line camera

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WO2020248109A1 (en) * 2019-06-11 2020-12-17 Lingdong Technology (Beijing) Co., Ltd Self-driving systems
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