CN206321237U - Linear optical range finding apparatus - Google Patents
Linear optical range finding apparatus Download PDFInfo
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- CN206321237U CN206321237U CN201621428626.3U CN201621428626U CN206321237U CN 206321237 U CN206321237 U CN 206321237U CN 201621428626 U CN201621428626 U CN 201621428626U CN 206321237 U CN206321237 U CN 206321237U
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Abstract
The utility model discloses a kind of linear optical range finding apparatus, including：The light source of linear light is projected to detected space；The progressive scanning picture sensor being imaged to the linear light by the barrier reflection in detected space, 90 degree of progressive scanning picture sensor rotation is placed and has predetermined relative tertiary location relation between light source；Controller, is connected with light source and imaging sensor respectively, and the distance with barrier is calculated for beginning to the pixel column based on reading before complete present frame is read from imaging sensor.The linear optical range finding apparatus can calculated by simply by 90 degree of progressive scanning picture sensor rotation before whole two field picture is completely read with regard to the distance between progress and barrier.Thus the problem of solving to reduce due to the calculating promptness brought using progressive scanning picture sensor in the prior art.Additionally, it is preferred that line by line calculate can reduce requirement of the range unit to memory space and disposal ability.
Description
Technical field
The utility model is related to a kind of range unit, more particularly to a kind of dress that target range is measured using linear light
Put.
Background technology
In order to advance everywhere or perform operation, cleaning robot or self-movement robot in the not enough place of provisioning information
Need with contexture by self path, the ability of detection barrier and collision free.Therefore, measuring the distance of barrier to estimate
Position is the basic capacity that self-movement robot should possess.In addition, in the invasion sensing system of such as security system, measurement
Ability to the distance of object is also required.
Various methods had been used already to carry out above-mentioned range measurement.Wherein, linear light and imaging device (example are utilized
Such as, camera) carry out ranging method it is highly effective.Amount of calculation needed for this method is smaller and can be used for the less place (example of brightness
Such as, it is dark indoor).
According to this method, as shown in figure 1, linear illumination is mapped on barrier 30 using the active of light source 10, and utilize
Sensor 20 obtains the image of reflected light.It is then possible to calculate light from the picture altitude in Fig. 2A according to triangulation method
Launch the distance between position and barrier 30.Fig. 2 B-D further illustrate luminous position to distance between barrier to imaging
Influence.
Due to cost considerations, price more cheap progressive scanning picture sensor and limited storage space are preferably used
Memory.But read to calculate again after whole two field picture line by line and can reduce the reaction speed of range unit with the distance of barrier, and
And it is required to store the memory capacity of whole two field picture..
Accordingly, it would be desirable to a kind of linear optical range finding apparatus that can solve the problem that at least one above-mentioned problem.
Utility model content
In order to solve at least one above-mentioned problem, the utility model provides a kind of linear optical range finding apparatus, can passed through
Simply by 90 degree of progressive scanning picture sensor rotation before whole two field picture is completely read with regard to carry out with barrier it
Between distance calculate.Thus solve in the prior art due to the not enough problem of the precision brought using progressive scanning picture sensor.
Additionally, it is preferred that line by line calculate can also reduce requirement of the range unit to memory space and disposal ability.
According to one side of the present utility model there is provided a kind of linear optical range finding apparatus, including：Projected to detected space
The light source of linear light；The progressive scanning picture that linear light by the barrier reflection in the detected space is imaged is sensed
Device, 90 degree of the progressive scanning picture sensor rotation is placed and there is predetermined relative tertiary location to close between the light source
System；Controller, is connected with the light source and described image sensor respectively, for being read completely from described image sensor
The pixel column based on reading is begun to before present frame to calculate the distance with the barrier.Preferably, controller is stated in reading
Begin to calculate the distance with the barrier based on the pixel column after the one-row pixels for taking described image sensor.
Thus, by simply by the setting of 90 degree of progressive scanning picture sensor rotation, it becomes possible to realize adjust the distance by
Row is calculated, and thus lifts the ranging speed of range unit.
Further, since need not store whole two field picture can just start calculating, therefore, it is possible to reduce the range unit of the disclosure
To the demand of memory space, further to reduce cost.
Using range unit of the present utility model, ranging speed can be ensured while from progressive scanning picture sensor
Degree, additionally it is possible to which further reduction system is achieved in the ranging of low-cost and high-precision to the demand of memory space.
Brief description of the drawings
By the way that disclosure illustrative embodiments are described in more detail with reference to accompanying drawing, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1 shows the schematic diagram of existing range-measurement system.
Fig. 2A-D show the schematic diagram for calculating barrier depth distance.
Fig. 3 is the simplified pinciple figure of the basic geometrical principle used in triangulation.
Fig. 4 A and 4B show two examples that the linear light of projection is imaged on the image sensor.
Fig. 5 A-5C show the example that the linear light of projection is imaged on the progressive scanning picture sensor that have rotated 90 degree
Son.
Fig. 6 shows the schematic diagram of the linear optical range finding apparatus according to one embodiment of the present utility model.
Fig. 7 shows the preferred imaging process of progressive scanning picture sensor of the present utility model.
Embodiment
The preferred embodiment of the disclosure is more fully described 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 without the embodiment party that should be 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 shows the schematic diagram of existing range-measurement system.Range-measurement system in figure includes light source 10 and imaging device (example
Such as, camera) 20.Light source 10 actively launches light, and illumination, which is mapped on barrier 30, is reflected, and caught by camera 20 and be imaged on
The information for the image that barrier 30 is reflected.Herein, the light of transmitting can be linear light.Preferably, light source 10 can be sharp
Light source, to ensure convergence of the linear light in the range of detected space.It is highly preferred that light source 10 can be near-infrared laser source,
Thereby guarantee that range-measurement system can adapt to various illumination conditions without mutually obscuring with visible ray.In addition, light source 10 can also include
Laser for the laser to be produced is changed into the Optical devices of linear light.
Fig. 2A-D show the schematic diagram for calculating barrier depth principle.Reference picture 2A, the linear illumination that light source 10 is sent
It is mapped to barrier 30.It is assumed here that light source has visual field a, (that is, radiation angle a), in actual applications, the radiation angle can be set
Between 90~150 degree.Fig. 2 B show the image 40 obtained by camera 20.Because the barrier 30 that linear light irradiation is arrived is deep everywhere
Spend equal (for example, barrier 30 can be perpendicular to the vertical metope of linear light direct of travel), therefore the reflected light of barrier
Still in a horizontal linear on image 40.Fig. 2 C and Fig. 2 D are correspondingly referred to, when the depth of barrier 30 is inconsistent, then should
Barrier reflected light is rendered as the line segment that height differs on camera image 40.That is, image height (that is, the y on imaging sensor
Value on direction) being capable of the distance between response sensor 20 and barrier 30.In this instance, obstacle distance is more remote, reflection
The height of photoimaging is lower, and value in y-direction is just smaller.It will illustrate how to be asked according to image height with reference to Fig. 3 as follows
Object is taken to the distance of device.
Fig. 3 is the simplification figure of the basic geometrical principle used in triangulation.As illustrated, launched by light source 10
Illumination is mapped on target object (for example, metope 30 in Fig. 1), light reflected at target object and enter camera sensor into
Image plane.The light that light source 10 is sent can be linear light.In the case where being imaged to linear light, the linear light can be seen
Work is the set of multiple luminous points, and for the linear light within certain limit, row distance meter still can be entered by triangulation
Calculate.
Thus, according to similar triangles, it is believed that range unit is defined as to object apart from q：
Wherein f is the focal length of camera, and s is parallax range of the light source to camera, and x is the parallax on imaging plane, i.e.,
The distance between light parallel to source beam and the light from object reflection.It therefore, it can according to from object reflexes to image
The position of luminous point determine the range unit to the distance of object.
Angle due to light source relative to imaging axis is fixed, therefore can further be derived down according to triangle relation
Formula：
In order to which the imaging for further illustrating linear light is specific, Fig. 4 show the linear light of projection on the image sensor into
Two examples of picture.Fig. 4 A are illustrated that the deep situation (for example, flat metope shown in Fig. 2A) such as barrier, shown in Fig. 4 B
It is that barrier does not wait deep situation (for example, being partially recessed into metope, additional nearby article everywhere at random shown in Fig. 2 C).By scheming
Understand and according to the characteristics of linear smooth, only deep ideally in barrier etc., linear light can be imaged on image sensing
In specific a few row pixels of device, i.e., the straight line with one fixed width is imaged as on the image sensor.Under normal circumstances, due to throwing
The linear light projected can be in the various barriers reflection of diverse location, therefore linear light can be moved up in the column direction of sensor
Move and be segmented and be imaged in different pixel columns.But, due to projection be limited width linear light, therefore each pixel
Necessarily only have several connected pixels (that is, the pixel corresponding with linear optical width) in row and include image data information.
City's dealer's imaging sensor mostly reads the sensor (for example, cmos image sensor) of image pixel line by line.Just
, it is necessary to which effective image-forming information could be extracted by carrying out progressive scan to each pixel column in the case of often using imaging sensor.
As shown in figure 4, imaging sensor is generally proceeded by from left to right at the A points of the first row in such as upper left corner, then line by line to
Under scanning, until scanning untill the B points of last column rightmost side.Calculating to obstacle distance, then must be whole in reading
It can just be proceeded by after two field picture.
In one embodiment of the present utility model, it may be considered that the imaging sensor of progressive scan is rotated by 90 ° into placement,
So that linear light is changed into the line direction movement in original image sensor.Image pixel is read (being changed into after rotation by column) line by line
When, some connected luminous points (depending on the width of sight shape light) with parallactic displacement can be obtained per a line, and calculate accordingly
Depth distance.
Fig. 5 shows the example that the linear light of projection is imaged on the progressive scanning picture sensor that have rotated 90 degree.Figure
5A is illustrated that the deep situation (for example, flat metope shown in Fig. 2A) such as barrier, and Fig. 5 B and 5C are illustrated that barrier not
Deng deep (for example, being partially recessed into metope, additional nearby article everywhere at random shown in Fig. 2 C) and sensor respectively to the left and to
Dextrorotation turn 90 degrees after imaging contexts.Scanned as illustrated, sensor is still carried out from A points to B points by " OK ", and nothing
, to the left (Fig. 5 B) and (Fig. 5 C) rotates 90 setting to the right, can by being to wait deep or do not wait deep barrier (Fig. 5 A and 5B)
Enough ensure that scanning of the sensor per a line can obtain some connected luminous points with parallactic displacement.Therefore, only needed per a line
Some pixels are cached, therefore, it is possible to lift computational efficiency, accelerate detection speed.
Correspondingly, in one embodiment of the present utility model, complete present frame can be being read from imaging sensor
The pixel column based on reading is begun to before to calculate the distance with barrier.Preferably, it might even be possible to reading image sensing
Begin to calculate the distance with barrier based on some connected luminous point information in the pixel column after the one-row pixels of device.Thus,
The memory of range unit no longer needs the ability with the whole two field picture of storage, and can only store the one-row pixels of reading
(or even being only some connected luminous point information of the row pixel), passes through the part representated by every one-row pixels for calculating in real time
Range information draws the obstacle distance information in whole visual field.
Based on above-mentioned principle, Fig. 6 shows showing according to the linear optical range finding apparatus of one embodiment of the present utility model
It is intended to.The linear optical range finding apparatus 600 include light source 610, imaging sensor 620 and respectively with light source 610 and image sensing
The controller 630 that device 620 is connected.Light source 610 is used to project linear light to detected space.Imaging sensor 620 is to sweep line by line
Retouching imaging sensor and being rotated by 90 ° between placement, with light source 610 has predetermined relative tertiary location relation.Processor
630 begin to the pixel column based on reading to calculate and barrier before complete present frame is read from imaging sensor 620
Distance.
In one embodiment, imaging sensor 620, which can be configured to all pixels region, has identical exposure period,
And read line by line according to identical read cycle.Preferably, controller can read a line picture of imaging sensor 610
Pixel column calculating and the distance of barrier are just started based on after element at once.Preferably, imaging sensor 620 can be configured to
The pixel of reset line at once after the pixel of a line is read, more compactly to carry out the reading of image content.
Progressive scanning picture sensor of the present utility model can work under triggering pattern.Now, controller 630 can be with
Trigger signal generating means, such as trigger (not shown) can also be included.Under triggering pattern, trigger is to imaging sensor
Trigger signal is sent, is operated with triggering reset of the imaging sensor to its one-row pixels.Fig. 7 show it is of the present utility model line by line
The preferred imaging process of scanning image sensor.As shown in fig. 7, in the presence of trigger signal, the pixel of imaging sensor by
Row is performed successively resets operation, and the adjacent time difference resetted twice between operation per one-row pixels is equal (t1 to t5 in figure),
Start exposure (t2 to t3) after operation is resetted per one-row pixels, and pass through effective (effective exposure time time for exposure
Corresponding to t2 to the t3 in figure) after to the row pixel carry out data read operation (t3 to t4), as shown in fig. 7, in digital independent
Operation complete after, (t4 to t5 interval is extremely short) preferably is resetted to the row pixel immediately, thus, it is possible to realize into
As the efficient reading and calculating of pixel.
In one embodiment, light source 610 can include the laser for being used to produce laser, preferably can be that near-infrared swashs
Light source, thereby guarantees that range-measurement system can adapt to various illumination conditions without mutually obscuring with visible ray.In addition, light source 610 may be used also
To be changed into the Optical devices of linear light including the laser for the laser to be produced.
In one embodiment, range unit can also include memory (not shown).Storage in the utility model
Device need not have is used to storing the memory space of whole two field picture, but preferably can only store the one-row pixels of reading and its right
Answer apart from result of calculation.It is highly preferred that memory can only store some phases for corresponding to luminous point in the one-row pixels of reading
Connect pixel and its corresponding apart from result of calculation.Then, controller can merge according to calculated by the location of pixels of each
Depth information, thus obtains the obstacle distance information in whole visual field.
, such as, can be by light source and imaging when being arranged on cleaning robot for the daily use of range unit
Device is arranged on the front of robot, and wherein light source is arranged on the top of robot front end, with imaging sensor substantially same
On one perpendicular.Both are connected with the mainboard of robot, and the positional information being currently located is provided for mainboard, so that mainboard is carried out
Processing and action decision.
Although for convenience of explanation, showing horizontally and vertically directional resolution identical image sensing in figures 4 and 5
Device, but in actual use, the imaging sensor of various other types can be used, the image of such as 1280*720 resolution ratio is passed
Sensor.
Above it is described in detail by reference to accompanying drawing according to linear optical range finding apparatus of the present utility model.The utility model
Linear optical range finding apparatus can be by simply complete in whole two field picture by 90 degree of progressive scanning picture sensor rotation
The distance between progress and barrier are calculated before reading.Thus solve in the prior art due to being passed using progressive scanning picture
The not enough problem of precision that sensor is brought.Additionally, it is preferred that calculating line by line can also reduce range unit to memory space and processing
The requirement of ability.
Each embodiment of the present utility model described above, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
The principle, practical application or the improvement to the technology in market of each embodiment are best being explained, or is making the art
Other those of ordinary skill are understood that each embodiment disclosed herein.
Claims (9)
1. a kind of linear optical range finding apparatus, it is characterised in that including：
The light source of linear light is projected to detected space；
To the progressive scanning picture sensor that is imaged of linear light by the barrier reflection in the detected space, it is described by
90 degree of line-scanning image sensor rotation is placed and has predetermined relative tertiary location relation between the light source；
Controller, is connected with the light source and described image sensor respectively, for being read from described image sensor
The pixel column based on reading is begun to before whole present frame to calculate the distance with the barrier.
2. device as claimed in claim 1, it is characterised in that described image sensor, which is arranged to all pixels region, to be had
Identical exposure period, and read line by line according to identical read cycle.
3. device as claimed in claim 2, it is characterised in that the controller is reading a line picture of described image sensor
Begin to calculate the distance with the barrier based on the pixel column after element.
4. device as claimed in claim 2, it is characterised in that described image sensor is arranged to reading the pixel of a line
Reset the pixel of the row at once afterwards.
5. device as claimed in claim 4, it is characterised in that the controller includes：
It is arranged to answer its one-row pixels to trigger described image sensor to described image sensor transmission trigger signal
The trigger of bit manipulation.
6. device as claimed in claim 1, it is characterised in that the light source includes：
Laser for producing laser；And
Laser for the laser to be produced is changed into the Optical devices of linear light.
7. device as claimed in claim 1, it is characterised in that also include：
At least it is used to store the one-row pixels read and its corresponding memory apart from result of calculation.
8. device as claimed in claim 1, it is characterised in that also include：
At least it is used to store some unconnected pixels for corresponding to luminous point in the one-row pixels read and its corresponding distance calculates knot
The memory of fruit.
9. device as claimed in claim 1, it is characterised in that the progressive scanning picture sensor is to the left or to dextrorotation
It turn 90 degrees arrangement.
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| CN201621428626.3U CN206321237U (en) | 2016-12-24 | 2016-12-24 | Linear optical range finding apparatus |
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| CN201621428626.3U CN206321237U (en) | 2016-12-24 | 2016-12-24 | Linear optical range finding apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019076072A1 (en) * | 2017-10-19 | 2019-04-25 | 深圳市欢创科技有限公司 | Optical distance measurement method and apparatus |
| CN110307822A (en) * | 2018-03-20 | 2019-10-08 | 原相科技股份有限公司 | Apart from arrangement for detecting |
| 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
- 2016-12-24 CN CN201621428626.3U patent/CN206321237U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019076072A1 (en) * | 2017-10-19 | 2019-04-25 | 深圳市欢创科技有限公司 | Optical distance measurement method and apparatus |
| US11675082B2 (en) | 2017-10-19 | 2023-06-13 | Shenzhen Camsense Technologies Co., Ltd | Method and device for optical distance measurement |
| CN110307822A (en) * | 2018-03-20 | 2019-10-08 | 原相科技股份有限公司 | Apart from arrangement for detecting |
| CN110307822B (en) * | 2018-03-20 | 2021-10-29 | 原相科技股份有限公司 | Distance detecting device |
| 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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