CN205987149U - Range data monitoring device - Google Patents
Range data monitoring device Download PDFInfo
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- CN205987149U CN205987149U CN201620042410.7U CN201620042410U CN205987149U CN 205987149 U CN205987149 U CN 205987149U CN 201620042410 U CN201620042410 U CN 201620042410U CN 205987149 U CN205987149 U CN 205987149U
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Abstract
The utility model discloses a range data monitoring device, the device includes: infrared code projecting system has predetermined duty cycle to with the work of multiple mode in every duty cycle, under the mode of difference, infrared code projecting system throws the infrared beam who has the texture to different projection area in monitoring the space, infrared light image sensor for it is right with the predetermined frame period control aerial image to formation contains the infrared texture image of texture information, the controller is connected with infrared code projecting system and infrared light image sensor respectively for switch over infrared code projecting system's mode and control work period of every mode, make infrared code projecting system's different mode's projection area respectively corresponding to infrared light image sensor's different pixel regions. Based on the utility model discloses a range data monitored control system can monitor and acquire the range data in control space at a distance.
Description
Technical field
The utility model is related to monitor safety-security area, more specifically, is related to a kind of depth that can obtain monitoring space
The device of data.
Background technology
With social development, it is many that various safety monitoring equipment are widely used to bank, office building, street, airport etc.
Plant public place.Existing safety monitoring equipment typically adopts the sensor of output analog or digital picture signal to monitor area
It is continuously shot, to obtain the video data with regard to monitor area, reached the purpose that monitor area is monitored.
But, on the one hand, based on existing safety monitoring equipment can only obtain monitor area two-dimensional image information it is impossible to
Obtain the true three-dimension information of target object in monitor area, on the other hand, in the case that power is certain, in monitoring device
Illuminator to remotely monitoring space projection light intensity weaker so that the monitoring distance of monitoring device is limited,
And the power improving illuminator can cause the waste of the energy, and increase cost.
Accordingly, it would be desirable to a kind of three-dimensional letter of monitor area that can monitor on the premise of not dramatically increasing power consumption remotely
The depth data supervising device of breath.
Utility model content
For the problem mentioned in background technology, the purpose of this utility model is to provide one kind can not dramatically increase
The supervising device of the three-dimensional information of monitor area remotely is monitored on the premise of power consumption.
Realize above-mentioned purpose, the utility model provides a kind of depth data supervising device, this device includes：Infrared coding
Optical projection system, has the predetermined work period, and is worked with multiple-working mode within each work period, each Working mould
The operation of formula is different, and under different mode of operations, infrared coding optical projection system is to different projection areas in monitoring space
The infrared beam with infrared texture for the domain projection；Infrared image sensors, Infrared image sensors are used for predetermined frame
Cycle is imaged to monitoring space, to form the infrared texture image comprising texture information, the length of work period and frame period
Length is identical；Controller, is connected with infrared coding optical projection system and Infrared image sensors, respectively for switching infrared coding
The mode of operation of optical projection system simultaneously controls the operation of each mode of operation so that the different operating of infrared coding optical projection system
The projected area of pattern corresponds respectively to the different pixels region of Infrared image sensors, and infrared coding optical projection system
The exposure period of the pixel region corresponding to this mode of operation of the operation of each mode of operation and Infrared image sensors
Least partially overlapped so that each pixel region of Infrared image sensors can be corresponding to it mode of operation under project
Infrared beam reflection photoimaging.
Preferably, within each frame period, all pixels region of Infrared image sensors has identical exposure period,
And in exposure period inter-sync exposure, infrared coding optical projection system travels through multiple-working mode in exposure period.
Preferably, controller can include trigger generating means, for sending triggering to Infrared image sensors
Signal, is operated to the reset of its one-row pixels with triggering Infrared image sensors, Infrared image sensors are in response to triggering
Signal, to the execution reset operation successively line by line of its pixel, the adjacent time difference between operating that resets twice of every one-row pixels is
Frame period, every one-row pixels reset operation after start expose, and after identical effective exposure time to this row
Pixel carries out data read operation, and the projected area of each mode of operation of infrared coding optical projection system corresponds respectively to infrared light
The several rows pixel of imageing sensor, the operation of each mode of operation is included in this mode of operation corresponding several rows pixel
Effective exposure period of every one-row pixels, and in the period of in the frame period in addition to effective exposure period at least partly the time stop
This mode of operation.
Preferably, infrared coding optical projection system includes multiple infrared coding projection arrangements, under different mode of operations, by
Different infrared coding projection arrangements projects described infrared beam.
Preferably, this device can also include：Memory, for storing infrared coding optical projection system in different working modes
Lower projected infrared texture is in the plane of reference texture of multiple known depth distances.
Preferably, the infrared coding optical projection system in this device can include：Infrared light generator, infrared for producing
Light；Optical devices, the infrared light for producing infrared light generator becomes the veined infrared beam of band.
Preferably, this device can also include：Visual light imaging device, for monitoring space imaging it is seen that photoimaging
Device imaging is the image of the color information comprising monitoring space.
Preferably, this device can also include：Infrared light filter, is arranged on the front end of visual light imaging device, uses
In filtering infrared light.
Preferably, infrared light filter is configured to filter infrared light between 780nm-1100nm for the wavelength.
Advantageous Effects of the present utility model are, the depth data supervising device that the utility model is proposed adopts and divides
The mode of cloth projection carries the infrared beam of texture information so that device can monitor to the zones of different projection of monitoring space
The space of farther place, and the depth number comprising monitoring space can be obtained based on depth data supervising device of the present utility model
According to infrared texture image, by being analyzed to this image it is possible to obtain the depth data of monitoring space.
Brief description
By combining accompanying drawing, disclosure illustrative embodiments are described in more detail, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent from, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1 shows the schematic block diagram of the depth data supervising device of the utility model one embodiment.
Fig. 2 shows the schematic block diagram of the depth data supervising device of another embodiment of the utility model.
Fig. 3 shows the schematically former of the imaging process of several rows pixel of the imaging device of the utility model one embodiment
Reason figure.
Fig. 4 shows the schematic block diagram of the depth data supervising device of another embodiment of the utility model.
Fig. 5 shows the composition schematic diagram of the infrared coding optical projection system of the utility model one embodiment.
Fig. 6 shows that the infrared coding optical projection system of the utility model one embodiment is veined to monitoring space projection band
The projection result schematic diagram of infrared beam.
Specific embodiment
It is more fully described the preferred embodiment of the disclosure below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure and the embodiment party that should not illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope intactly conveys to those skilled in the art.
Fig. 1 is the schematic block diagram of the depth data supervising device according to the utility model one embodiment.
As shown in figure 1, depth data supervising device of the present utility model includes infrared coding optical projection system 1, infrared light figure
As sensor 2 and controller 3.
Infrared coding optical projection system 1 is used for the veined infrared beam of band to monitoring space projection after encoded, its
In, the texture entrained by infrared beam that infrared coding optical projection system 1 is projected can be random speckle texture or adopt
With the striped encoding texture of De ruijn (Gerard Debreu because) sequence, certainly can also be other shapes of texture.Infrared coding is thrown
What shadow system 1 was projected can form the textured pattern with certain distribution in monitoring space with veined infrared beam.
Infrared coding optical projection system 1 has the predetermined work period, and with multiple Working moulds within each work period
Formula works, and the operation of each mode of operation is different, and under different mode of operations, infrared coding optical projection system 1 is to monitoring
Different projected area projections in space carries veined infrared beam.
Wherein, the operation of different working modes can be overlapping, you can there are multiple mode of operations a moment,
In addition, the region that infrared coding optical projection system 1 is projected under different working modes can also have overlapping region, further
Ground, the texture information entrained by infrared beam that infrared coding optical projection system 1 is projected under different working modes can be identical,
Can also be different.
So, in the case that the operating power of infrared coding optical projection system 1 is certain, it is distributed projection using to monitoring space
With the mode of veined infrared beam, so that the infrared beam brightness being projected is higher, the ultimate range that can project
Farther.
Infrared image sensors 2 are used for the predetermined frame period, monitoring space being imaged, and comprise texture information to be formed
Infrared texture image, wherein, the frame of the length of the work period of infrared coding optical projection system 1 and Infrared image sensors 2
The length in cycle is identical so that Infrared image sensors 2 can be to each work period being in infrared coding optical projection system 1
Under monitoring space imaging.
Controller 3 is connected with infrared coding optical projection system 1 and Infrared image sensors 2 respectively, for switching infrared volume
The mode of operation of code optical projection system 1, so that the projected area of the different working modes of infrared coding optical projection system 1 corresponds to respectively
In the different pixels region of Infrared image sensors 2, and during the work of each mode of operation of infrared coding optical projection system 1
Phase and Infrared image sensors 2 corresponding to the pixel region of this mode of operation exposure period least partially overlapped so that red
The reflected light of the infrared beam projecting under the mode of operation that each pixel region of outer optical image sensor 2 can be corresponding to it
Imaging.
Wherein, different according to the structure of the Infrared image sensors 2 being adopted, each work of infrared coding optical projection system 1
The mode of operation made in the cycle is also not quite similar.Specifically, Infrared image sensors 2 using the overall situation exposure when (
In each frame period, all pixels region of two Infrared image sensors has identical exposure period, and in exposure period
Synchronous exposure), infrared coding optical projection system 1 travels through multiple-working mode in exposure period.So, Infrared image sensors pair
It is the infrared texture image containing texture information that monitoring space shoots the every two field picture being formed, based in infrared texture image
The relevant information of texture fragment is it is possible to determine the depth information of monitoring space.
In addition, Infrared image sensors 2 can also adopt roller shutter type sensor, it can be according to triggering (trigger)
Pattern works.As shown in Fig. 2 now controller 4 can also include trigger generating apparatus 5.Under triggering pattern, trigger
Generating means 5 sends trigger to Infrared image sensors 2, to trigger Infrared image sensors 2 to its one-row pixels
Reset operation.Under triggering pattern, the imaging process of the several rows pixel of Infrared image sensors 2 can as shown in figure 3,
Under the trigger effect of trigger generating means 5, the pixel of Infrared image sensors 2 executes the behaviour that resets line by line successively
Make, the adjacent time difference resetting between operation twice of every one-row pixels is the frame period (in figure t1 to t5), and every one-row pixels exist
Reset and start after operating to expose (t2 to t3, t4 to t5), and (effective exposure time corresponds to through the effective time for exposure
T2 to the t3 of in figure) after data read operation (t3 to t4) is carried out to this row pixel, as shown in figure 3, complete in data read operation
After one-tenth, can also continue to be exposed (t4 to t5), but because read operation has completed, so under being exposed to hereafter
The invalid time for exposure (the invalid time for exposure corresponds to t4 to the t5 of in figure) is belonged to during exposure between once resetting.Infrared
When optical image sensor 2 adopts the imageing sensor of exposure process shown in Fig. 3, each work of infrared coding optical projection system 1
The projected area of pattern corresponds respectively to the several rows pixel of Infrared image sensors, wherein, sequence starting on schedule
The projected area of different working modes be distributed (can have lap), the operation of each mode of operation from top to bottom
Including effective exposure period of one-row pixels every in this mode of operation corresponding several rows pixel, and remove effective exposure within the frame period
In period outside photophase, at least part of time stops this mode of operation.
Wherein it should be appreciated that being only of the present utility model one in the two of imaging device described above 2 kinds of mode of operations
Plant preferably, for the present invention, imaging device 2 can also have other mode of operations, and here is omitted.
So far basic structure and the course of work of depth data supervising device of the present utility model have been described in detail, by upper
State description to understand, the infrared coding optical projection system in depth data supervising device of the present utility model adopts the side of distributed projection
Formula is to the infrared beam with texture information for the zones of different projection of monitoring space so that imaging in depth data supervising device
Device is by being imaged to monitoring space, it is possible to obtain the infrared texture image with texture information, by the infrared line obtaining
Reason graphical analysis, you can obtain the depth data of monitoring space.
Specifically, monitoring space is carried out shoot the infrared texture figure obtaining for using Infrared image sensors
Picture, the infrared line that the infrared texture obtaining image and infrared coding optical projection system 1 can be projected under different working modes
Reason is compared in the plane of reference texture of multiple known depth distances, determines the depth of each of infrared texture image texture fragment
Degrees of data, so that it is determined that the depth data of monitoring space.
Therefore, process for the ease of the later stage, determine the depth data of monitoring space, as shown in figure 4, the utility model is implemented
The depth data supervising device of example can also include memory 4, and memory 4 is used for storing infrared coding optical projection system 1 in difference
The infrared texture being projected under mode of operation is in the plane of reference texture of multiple known depth distances.
In addition, the function of the infrared coding optical projection system 1 in depth data supervising device of the present utility model can be by one
Individual infrared coding projection arrangement completes it is also possible to be completed by multiple infrared coding projection arrangements.Below system is projected with regard to infrared coding
The situation that system 1 includes multiple infrared coding projection arrangements is further described, red by one for infrared coding optical projection system
Situation when outer coding projection arrangement completes no longer describes in detail.
As shown in figure 5, infrared coding optical projection system 1 include multiple infrared coding projection arrangements (1-1,1-2 ... 1-
N), multiple infrared coding projection arrangements can be controlled to devote oneself to work in a predefined order by controller 3, now, described above
Multiple-working mode correspond respectively to multiple infrared coding projection arrangements so that under different mode of operations, by different
Infrared coding projection arrangement is to the zones of different projection infrared beam in monitoring space.So, when Infrared image sensors 2
When imaging process is as shown in Figure 3, if the projected area of each infrared coding projection arrangement corresponds to Infrared image sensors
Dry row pixel, so, effective exposure of the several rows pixel corresponding to when certain infrared coding projection arrangement in the frame period
After phase terminates, this infrared coding projection arrangement just can quit work, and waits its corresponding several rows in the next frame period
When effective exposure period of pixel starts, start work.
For upper and lower two infrared coding projection arrangements are included with infrared coding optical projection system 1, upper infrared coding projection dress
Put for monitoring space top half projection with texture information infrared beam (part A referring in Fig. 6), under infrared
Coding projection device is used for carrying the infrared beam of texture information (referring to the B portion in Fig. 6 to the latter half projection of monitoring space
Point).Wherein, the projected area of the projected area of upper infrared coding projection arrangement and lower infrared coding projection arrangement can have overlap
Part.So, each infrared coding projection arrangement only need to a part of region project infrared beam to monitoring space it is possible to
Make the infrared texture image containing depth data in imaging device acquisition monitoring space.
To sum up, on the premise of the infrared texture image comprising depth data not affecting to obtain monitoring space, using many
The scheme of the different projected areas projection to monitoring space for the individual infrared coding projection arrangement projects dress with using single infrared coding
Put and compare to the scheme of whole monitoring space projection, in the case of the operating power identical of infrared coding projection arrangement, adopt
Infrared coding projection arrangement in distributed projection scheme can project farther infrared beam, and infrared beam projects monitoring
The illumination intensity in space is stronger.In addition, for the scheme using multiple infrared coding projection arrangements, a work period
Interior, each infrared coding projection arrangement only needs to work portion of time, and that is, each infrared coding projection arrangement works at each
There is certain power-off time, this way it is possible to avoid the device heating causing because working long hours is to infrared pumped FIR laser in cycle
The infringement such as aging that projection arrangement causes is so that each infrared light generator can reach its service life as far as possible.
Further, infrared coding projection arrangement can be made up of infrared light generator and optical system.Infrared light occurs
Device can produce infrared light, and the infrared light that infrared light generator produces can be processed by optical system, become and carry
The infrared beam of texture.Wherein, according to actual needs, optical system can have various structures.When optical system is using different
During structure, the infrared light that infrared light generator sends, after optical system, can become the infrared beam with different texture.
For example, optical system can be made up of optical beam-splitter and optical diffusion sheet, the list bundle infrared laser that infrared light generator sends
After optical beam-splitter, multi beam infrared laser can be become, then multi beam infrared laser can after inciding optical diffusion sheet
To produce multiple stripe-shaped beam or multiple discrete light spot, (the specific structure of texture fragment and the optical property of optical diffusion sheet have
Close).Again for example, optical system can also be declined lens arra, optical mask or other types of grating using such as holography,
Thus, it is possible to produce the infrared beam with other different texture.
In actual applications, except the three-dimensional information of monitoring space, we also need to the coloured image in acquisition monitoring space
Information, so as to transfer when needing video for reference and retrieval.Therefore, in each embodiment above-mentioned
For depth data supervising device, device can also include visual light imaging device.
Visual light imaging device is used for monitoring space is imaged it is seen that photoimaging equipment imaging is to comprise monitoring space
Color information image, based on determined by the color information processor of the depth data of monitoring space and monitoring space can
Merge the image the depth data comprising monitoring space and color information.
In addition, visual light imaging device is typically also able to detect that infrared light, therefore, in order to avoid infrared coding projects system
The projected interference caused by infrared light of system, can also arrange an infrared light in the front end of visual light imaging device and filter dress
Put, be used for filtering infrared light, wherein, infrared light filter is preferably configured as filtering wavelength between 780nm-1100nm
Infrared light.
Above describe the depth data supervising device according to the present invention in detail by reference to accompanying drawing.
It is described above each embodiment of the present utility model, described above is exemplary, and non-exclusive, and
And it is also not necessarily limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for
For those skilled in the art, many modifications and changes will be apparent from.The choosing of term used herein
Select it is intended to best explain the principle of each embodiment, practical application or the improvement to the technology in market, or so that this technology is led
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.
Claims (8)
1. a kind of depth data supervising device is it is characterised in that include：
Infrared coding optical projection system, including multiple infrared coding projection arrangements, the plurality of infrared coding projection arrangement is set
For the infrared beam with infrared texture to different projected area projections in monitoring space respectively；
Infrared image sensors, described Infrared image sensors are used for the predetermined frame period, described monitoring space being become
Picture；
Controller, is connected with the plurality of infrared coding projection arrangement and described Infrared image sensors, respectively for controlling
With infrared described in the operation projection different within the predetermined work period respectively of the plurality of infrared coding projection arrangement
The infrared beam of texture, the length of described work period is identical with the length in described frame period.
2. depth data supervising device according to claim 1 it is characterised in that
Within each described frame period, all pixels region of described Infrared image sensors has identical exposure period, and
In described exposure period inter-sync exposure, the plurality of infrared coding projection arrangement time period different in described exposure period respectively
The described infrared beam with infrared texture of projection.
3. depth data supervising device according to claim 1 is it is characterised in that described controller includes：
Trigger generating means, for sending trigger to described Infrared image sensors, to trigger described infrared light
Imageing sensor operates to the reset of its one-row pixels.
4. depth data supervising device according to claim 1 is it is characterised in that also include：
Memory, for storing the infrared texture that the plurality of infrared coding projection arrangement is projected respectively in different operating period
Plane of reference texture in multiple known depth distances.
5. depth data supervising device according to claim 1 is it is characterised in that described infrared coding optical projection system bag
Include：
Infrared light generator, for producing infrared light；
Optical devices, the infrared light for producing described infrared light generator becomes the veined infrared beam of band.
6. the depth data supervising device according to any one of claim 1-5 is it is characterised in that also include：
Visual light imaging device, for being imaged to described monitoring space, described visual light imaging device imaging is to comprise institute
State the image of the color information of monitoring space.
7. depth data supervising device according to claim 6 is it is characterised in that also include：
Infrared light filter, is arranged on the front end of described visual light imaging device, is used for filtering infrared light.
8. depth data supervising device according to claim 7 it is characterised in that
Described infrared light filter is used for filtering infrared light between 780nm-1100nm for the wavelength.
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| CN201620042410.7U CN205987149U (en) | 2016-01-16 | 2016-01-16 | Range data monitoring device |
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| CN201620042410.7U CN205987149U (en) | 2016-01-16 | 2016-01-16 | Range data monitoring device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111692987A (en) * | 2019-03-15 | 2020-09-22 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111829449A (en) * | 2019-04-23 | 2020-10-27 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111854625A (en) * | 2019-04-29 | 2020-10-30 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN112019773A (en) * | 2019-05-13 | 2020-12-01 | 上海图漾信息科技有限公司 | Image sensor, depth data measuring head, measuring device and method |
| US11885613B2 (en) | 2019-03-15 | 2024-01-30 | Shanghai Percipio Technology Limited | Depth data measuring head, measurement device and measuring method |
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2016
- 2016-01-16 CN CN201620042410.7U patent/CN205987149U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111692987A (en) * | 2019-03-15 | 2020-09-22 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| US11885613B2 (en) | 2019-03-15 | 2024-01-30 | Shanghai Percipio Technology Limited | Depth data measuring head, measurement device and measuring method |
| CN111829449A (en) * | 2019-04-23 | 2020-10-27 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111829449B (en) * | 2019-04-23 | 2022-04-12 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111854625A (en) * | 2019-04-29 | 2020-10-30 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111854625B (en) * | 2019-04-29 | 2021-12-03 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN112019773A (en) * | 2019-05-13 | 2020-12-01 | 上海图漾信息科技有限公司 | Image sensor, depth data measuring head, measuring device and method |
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