CN107395929A - 360 ° of detection sensors and detection method based on area array CCD/CMOS - Google Patents
360 ° of detection sensors and detection method based on area array CCD/CMOS Download PDFInfo
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- CN107395929A CN107395929A CN201710694301.2A CN201710694301A CN107395929A CN 107395929 A CN107395929 A CN 107395929A CN 201710694301 A CN201710694301 A CN 201710694301A CN 107395929 A CN107395929 A CN 107395929A
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- array ccd
- cmos
- conscope
- area array
- light source
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
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- Signal Processing (AREA)
- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of 360 ° of detection sensors and detection method for being based on area array CCD/CMOS, including area array CCD/cmos sensor, conscope and cone, light source, collimation lens, optical filter, cylindrical shape form, circular aperture diaphragm, light source is after collimation lens, after conscope is launched, sent by cylindrical shape form, after running into reverberation, conscope is reflected by reverberation, launch again by conscope, reflexed to by circular aperture diaphragm, optical filter on area array CCD/cmos sensor.Correspondingly additionally provide a kind of detection method of 360 ° of detection sensors based on above-mentioned area array CCD/CMOS, the present invention realizes that 360 degree are detected without dead angle, realize that a machine all standing detects, or region detection, available for all domain anticollisions, region security protection, etc. the application scenario such as high detection, contour detecting, angle tilt.In addition, using the way of image difference, it is strong to environment interference.
Description
Technical field
The present invention relates to sensor technical field, more particularly to a kind of 360 ° of detection sensings based on area array CCD/CMOS
Device and detection method.
Background technology
The core component of existing 360 ° of sensors is common photoelectric sensor and ordinary sensors can be driven to revolve at a high speed
The mechanical part turned.Common photoelectric sensor can only detect the object in the range of smaller angle in the horizontal direction, realize 360 °
Detection is, it is necessary to which 360 ° of scan module drives photoelectric sensor to carry out rotation sweep by running part.Due to often going at one,
The region that sensor currently covers is only able to detect, other uncovered regions can not then detect, it is impossible to realize all the period of time
360 ° of detections, even if improving the frequency of the scanning of scan module, can not also eliminate the problem.Scan module and running part are not only
The complexity of system is added, and the mechanical life of the part restricts the service life of whole system.
The content of the invention
For technical problem present in above-mentioned prior art, the invention provides 360 based on area array CCD/CMOS ° inspection
Survey sensor and detection method.
To realize the purpose of the present invention, the invention provides a kind of 360 ° of detection sensors for being based on area array CCD/CMOS,
Including area array CCD/cmos sensor, conscope and cone, light source, collimation lens, optical filter, cylindrical shape form, circle
Aperture diaphragm, the shade center that the cone of conscope just projects are the center of area array CCD/cmos sensor, the throwing of conscope
Penetrate shadow region can coverage rate battle array CCD/CMOS sensors, not less than the photosensitive area of the latter, area array CCD/CMOS sensings
Optical filter and circular aperture diaphragm are covered on device face, the opening diameter of the circular aperture diaphragm is no more than area array CCD/CMOS sensings
The inscribed circle diameter of device effective coverage, in the center of circular aperture diaphragm and area array CCD/cmos sensor effective sensitization area
The heart overlaps, and cone is fixed on the center of the effective sensitization area of area array CCD/cmos sensor, the light source and conscope it
Between be provided with collimation lens, light source is after collimation lens, after conscope is launched, sends, runs into by cylindrical shape form
After reverberation, conscope is reflected by reverberation, then is launched by conscope, is reflexed to by circular aperture diaphragm, optical filter
On area array CCD/cmos sensor.
Wherein, the conscope includes transmitting conscope and receives conscope, described to launch conscope and receive conscope
Circle section be connected, epiconus is opposite, and it is that the area array CCD/CMOS is passed to receive the shade center that the cone of conscope just projects
The center of sensor, CCD/CMOS sensors can be covered by receiving the cast shadow region of conscope, photosensitive not less than the latter
Area, light source are arranged on transmitting conscope side, and conscope is arranged in cylindrical shape form, receive conscope side and set gradually
There are cone, circular aperture diaphragm, optical filter and CCD/CMOS sensors.
Wherein, light source is arranged on conscope side, and conscope is arranged in cylindrical shape form, and cone covers on light source four
Week, cone side are disposed with circular aperture diaphragm, optical filter, CCD/CMOS sensors.
Wherein, in addition to graphics processing unit module, light source driver module, signal output unit, display unit module, face
Battle array CCD/CMOS sensors, light source driver module, signal output unit, display unit module with graphics processing unit module phase
Even, light source is connected with light source driver module.
Wherein, the half-angle of projection of the conscope is 45 °.
Wherein, the optical filter is narrow band pass filter.
Wherein, the conscope is fixed on the cylindrical shape form that high transmission rate material is made, and the cylindrical shape form is
Play a supporting role, while be also transmitting and the window received.
Wherein, the conscope is plastic material or metal material.
A kind of detection method of 360 ° of detection sensors based on above-mentioned area array CCD/CMOS is correspondingly additionally provided, is hidden
The center of the center of light cylinder that is, the center of the effective sensitization area of area array CCD/cmos sensor as photosensitive imaging, with this
The heart establishes two-dimensional coordinate system, X-axis and Y-axis as the origin of coordinates and photosensitive imaging is divided into four quadrants, according to predetermined observation mode
Regulation, face view battle array CCD/CMOS sensor photosensitive effective districts, centered on origin, X, Y-axis is line of demarcation, and photosensitive region is right
On be referred to as first quartile, upper left be referred to as the second quadrant, lower-left be referred to as third quadrant, bottom right be referred to as fourth quadrant, sit
Point on parameter is not belonging to any quadrant, divides into four quadrants by photosensitive in this way, detection sensor passes through self-study first
Habit records battle array CCD/CMOS sensor photosensitives imaging 1 below current deployed environment, when having reverberation close to the sensor
Detection zone when, detection sensor record now imaging 2, obtained after being made the difference as 2 and as 1 as 3, filtered out environment as 3
Interference, light spot profile will be extracted, pixel coordinate corresponding to profile center is calculated by algorithm as 3 after image procossing, turn
Change the coordinate (x, y) of a certain quadrant into, calculate the orientation angle into detection zone of reverberation, such as belong to first quartile, then it is right
The angle is answered to be | arctan (y/x) |, the second quadrant angle is 180 °-| arctan (y/x) |, third quadrant angle is 180 °+|
Arctan (y/x) |, fourth quadrant angle be 360 °-| arctan (y/x) |, rushed by the way that reverberation can be calculated with upper type
Enter the orientation angles of detection zone, simultaneously because area array CCD/cmos sensor is through as 1 and as after 2 difference, obtaining as 3 still
Hot spot be present, therefore may determine that and detect reverberation, before bonding counted angle, it can be determined that in which direction
Detect reverberation.
Compared with prior art, beneficial effects of the present invention are that system proposed by the present invention, which not only eliminates, influences the life-span
Mechanical driving part, additionally it is possible to all the period of time is detected to the target of multiple directions for entering detection zone simultaneously.Utilize cone
Shape lens, realize that 360 degree are detected without dead angle, realize that a machine all standing detects, or region detection, available for all domain anticollisions, region
Security protection, etc. the application scenario such as high detection, contour detecting, angle tilt.Light source typically uses LASER Light Source, collimated collimated
After rear overhang angle cone speculum reflection, first-class high optical plane is obtained, based on 360 degree of detections of this progress.In addition, using image difference
Way, it is strong to environment interference.
Brief description of the drawings
Fig. 1 show the structural representation in the embodiment of the present application 1；
Fig. 2 show the structural representation in the embodiment of the present application 2；
45 ° of directions that Fig. 3 show the application enter detection zone schematic diagram；
Photosensitive schematic diagram on area array CCD/cmos sensor when 45 ° of directions that Fig. 4 show the application enter detection zone；
Fig. 5 show extraction light spot profile geometric center schematic diagram in the application；
Fig. 6 show the application area array CCD/cmos sensor and other module connection diagrams；
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
It should be noted that " connection " described herein and the word for expressing " connection ", such as " being connected ",
" connected " etc., both it was directly connected to including a certain part and another part, and also passed through miscellaneous part and another portion including a certain part
Part is connected.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.
Embodiment 1
A kind of as shown in figure 1, specific embodiment for application.The embodiment includes area array CCD/cmos sensor 4, circular cone
Mirror 6, conscope 6 include transmitting conscope, receive conscope, cone 1, light source 8, collimation lens 7, narrow band pass filter 2, cylinder
Shape form 5 (on the one hand the part plays a supportive role as structure member, on the one hand as optical component printing opacity), circular aperture light
The composition such as door screen 3, image processor units module, light source driver module, signal output unit, display unit module.Area array CCD/
Cmos sensor 4, light source driver module, signal output unit, display unit module are connected with graphics processing unit module, light
Source is connected with light source driver module.Launch the cone of light source directive transmitting conscope, transmitting conscope and the circle for receiving conscope
Section is connected, and epiconus is opposite.The shade center that the cone of reception conscope just projects is the area array CCD/cmos sensor 4
Center, receive conscope cast shadow region can coverage rate battle array CCD/CMOS sensors 4, it is photosensitive not less than the latter
Area.Narrow band pass filter 2 and circular aperture diaphragm 3 are covered on the face of area array CCD/cmos sensor 4, the opening diameter of the diaphragm is not
More than the inscribed circle diameter of area array CCD/cmos sensor effective coverage, the center of circular aperture diaphragm 3 and area array CCD/CMOS
The center superposition of the effective sensitization area of sensor 4.Cone 1 is fixed on the effective sensitization area of area array CCD/cmos sensor 4
Center.Transmitting and reception conscope are fixed on cylindrical shape form 5.
Embodiment 2
As shown in Fig. 2 difference from Example 1 is, conscope 9 is single conscope, and light source 8 is arranged on conscope
6 sides, conscope 6 are arranged in cylindrical shape form 5, and cone 1 covers on light source 8, the surrounding of collimation lens 7, the side of cone 1 according to
It is secondary to be provided with circular aperture diaphragm 3, optical filter 2, area array CCD/cmos sensor 4, other all sames.
It should be noted that in above-described embodiment 1 and 2, transmitting light source can be the LASER Light Source or LED light of any wave band
Source, can be feux rouges, infrared light, green glow, blue light etc.；Transmitting light source is by the transmitting light of collimation processing, is approximate parallel
Light beam.Transmitting light obtains covering of the fan or periphery is obtained by conscope.In embodiment 1, covering of the fan or periphery hair are obtained
The half-angle of projection of the conscope of astigmatism can be 45 ° or other angles；The conscope half-angle of projection of reception can be 45 ° or its
His angle；Covered with narrow band pass filter on area array CCD/cmos sensor of reception, narrow band pass filter is characterised by hair
Penetrating the wave band residing for light source has higher percent of pass, and has higher cutoff rate to the light beyond the wave band, avoids other ripples
Long influence；Thinner cone, it is placed between reception conscope and area array CCD/cmos sensor；Described conscope
Can also be with the cylinder-shaped bracket disjunctor of the fixed conscope of support.
In addition, as shown in fig. 6, the application in addition to the part in above-described embodiment, in addition to graphics processing unit mould
Block, light source driver module, signal output unit, display unit module, area array CCD/cmos sensor, light source driver module, letter
Number output unit, display unit module are connected with graphics processing unit module, and light source is connected with light source driver module.It is provisioned
Display unit module on can indicate direction residing for launching objects；Graphics processing unit module supports the figure after output difference
Piece and the orientation angles calculated and triggering level output etc.；The image as formed by reverberation enters detection zone will be with static state
The image of state does difference, with the interference caused by filtering environmental as far as possible, has environment self-learning function；
The method detected using the sensor of embodiment 1 is as follows：
Any object or person for entering detection range in the range of 360 degree can be detected.It is saturating by collimation to launch light source
A branch of less parallel light is obtained after mirror collimation, the cone of the center face transmitting conscope of the directional light, optical axis is same to launch circle
The axis of axicon lens is overlapped, then directional light can be dissipated to transmitting into 360 ° of direction scopes, if conscope half-angle is 45 °, is put down
Row light obtained after conscope reflection one perpendicular to conscope axis 360 ° of disk light, the disk light gets to thing
When on body or the body of people, produce transmitting, transmitting light entered after receiving conscope reflection the area array CCD of reception/
On cmos sensor, hot spot is formed.The axis of the conscope of reception and the conscope of transmitting overlaps, and circle section is connected,
Cone is opposite.Receive the axis of conscope and block a center and area array CCD/CMOS effective sensitization area center superposition.Such as
Shown in Fig. 3,4,5, the center of the cone that is, center of area array CCD/CMOS effective sensitization area is as in photosensitive imaging
The heart, two-dimensional coordinate system, X-axis and Y-axis are established using this center as the origin of coordinates photosensitive imaging is divided into four quadrants.According to default
The regulation of view mode, the photosensitive effective district of face view battle array CCD/CMOS sensors, centered on origin, X, Y-axis is line of demarcation,
Photosensitive region upper right is referred to as first quartile, and upper left is referred to as the second quadrant, and lower-left is referred to as third quadrant, and bottom right is referred to as the
Four-quadrant.Point in reference axis is not belonging to any quadrant.In this way four quadrants are divided into by photosensitive.Cone one side is just
In it is determined that the origin of coordinates, on the other hand can also stop the individual rays for absorbing and more arriving other quadrants by origin individually.The biography
Sensor records battle array CCD/CMOS sensor photosensitives imaging 1 below current deployed environment by self study first, works as someone
Or object close to the detection zone of the sensor when, sensor record now imaging 2, obtained after being made the difference as 2 and as 1 as 3,
As 3 interference for having filtered out environment, light spot profile will be extracted, it is corresponding to calculate profile center by algorithm as 3 after image procossing
Pixel coordinate, be converted into the coordinate (x, y) of a certain quadrant, calculate object or the orientation angle into detection zone of people.
Such as belong to first quartile, then corresponding angle is | arctan (y/x) |, the second quadrant angle be 180 °-| arctan (y/x) |, the 3rd
Quadrant angle be 180 °+| arctan (y/x) |, fourth quadrant angle be 360 °-| arctan (y/x) |.By can with upper type
To calculate the orientation angles that object or person swarm into detection zone.Simultaneously because CCD/CMOS sensors through as 1 and as 2 difference with
Afterwards, obtain as 3 still have hot spot (receiving energy), therefore may determine that and detect reverberation, calculate before bonding
Angle, it can be determined that detect reverberation in which direction.Display unit module uses LCD display and state instruction
Lamp, show the currently detected orientation into detection zone and swarm into indicator lamp, while pass through signal output unit, output side
Position information produces the level signal for detecting reverberation simultaneously.
The method detected using the sensor of embodiment 2 is as follows：
The conscope axis of the sensor overlaps with cone axis, and passes through the effective of area array CCD/cmos sensor
Region and the center of circular aperture diaphragm, cone are placed in above area array CCD/cmos sensor, and also installation is covered above sensor
It is stamped circular aperture diaphragm and narrow band pass filter.Light source uses centre wavelength 950nm LASER Light Source, and narrow band pass filter passes through band
Wide 50nm, centre wavelength 950nm.Receiver uses 1/2.8 type cmos image sensor.Circular aperture diaphragm diameter 5.7mm.In
The long 950nm of cardiac wave LASER Light Source, is collimated using single bispheric lens, obtains launch angle 0.1mrad collimated light beam, should
Cover collimated light beam to be arranged on inside cone, the optical axis of optical system and the axis of cone overlap, the laser beam after collimation
By circular cone cone reflection after, obtain one perpendicular to circular cone axis periphery divergent beams, periphery divergent beams are through too high
The PMMA supports (being that support is also optics thang-kng window) of thang-kng rate are launched, and justify after running into reverberation reflection by passing through
Axicon lens is transmitted on area array CCD/cmos sensor.
As shown in Fig. 3,4,5, two-dimensional coordinate system is established with area array CCD/CMOS effective sensitization area center, is divided into
First, two, three, four-quadrant, when detecting reverberation reflection imaging with it is static when picture do difference, the figure after being handled
Picture, all contour features are extracted, calculate coordinate (x, y) of the pixel of each profile geometric center under the coordinate system, according to
First quartile, then corresponding angle be | arctan (y/x) |, the second quadrant angle be 180 °-| arctan (y/x) |, third quadrant
Angle is 180 °+| arctan (y/x) |, fourth quadrant angle is 360 °-| arctan (y/x) |, calculate entering for object or people
Enter the orientation angle of detection zone.Display unit module uses LCD display and status indicator lamp, shows and currently detected enters
Enter the orientation of detection zone and swarm into indicator lamp, while by signal output unit, output azimuth information produces simultaneously to be detected
The level signal of reverberation.
Described above is only the preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. one kind be based on area array CCD/CMOS 360 ° of detection sensors, it is characterised in that including area array CCD/cmos sensor,
Conscope and cone, light source, collimation lens, optical filter, cylindrical shape form, circular aperture diaphragm, the cone of conscope is just
The shade center of projection is the center of area array CCD/cmos sensor, and the cast shadow region of conscope being capable of coverage rate battle array
CCD/CMOS sensors, not less than the photosensitive area of the latter, optical filter and circle are covered on area array CCD/cmos sensor face
Aperture diaphragm, the opening diameter of the circular aperture diaphragm are straight no more than the inscribed circle of area array CCD/cmos sensor effective coverage
The center superposition of footpath, the center of circular aperture diaphragm and area array CCD/cmos sensor effective sensitization area, cone are fixed on
The center of the effective sensitization area of CCD/CMOS sensors, collimation lens, light source warp are provided between the light source and conscope
After crossing collimation lens collimation, launch by conscope, then sent by cylindrical shape form, after running into reverberation, by reverberation
Conscope is reflexed to, then is reflected by conscope, is sensed by circular aperture diaphragm, optical filter back reflection to area array CCD/CMOS
On device.
2. 360 ° of detection sensors according to claim 1 based on area array CCD/CMOS, it is characterised in that the circular cone
Mirror includes transmitting conscope and receives conscope, and the transmitting conscope is connected with the circle section for receiving conscope, epiconus phase
The back of the body, the center that the shade center that the cone of conscope just projects is the area array CCD/cmos sensor is received, receives conscope
Cast shadow region can coverage rate battle array CCD/CMOS sensors, not less than the photosensitive area of the latter, light source is arranged on hair
Conscope side is penetrated, conscope is arranged in cylindrical shape form, is received conscope side and is disposed with cone, circular aperture
Diaphragm, optical filter and area array CCD/cmos sensor.
3. 360 ° of detection sensors according to claim 1 based on area array CCD/CMOS, it is characterised in that light source is set
In conscope side, conscope is arranged in cylindrical shape form, and cone covers on light source surrounding, and cone side is disposed with
Circular aperture diaphragm, optical filter, area array CCD/cmos sensor.
4. 360 based on the area array CCD/CMOS ° detection sensor according to Claims 2 or 3, it is characterised in that also wrap
Include graphics processing unit module, light source driver module, signal output unit, display unit module, the face in image collecting device
Battle array CCD/CMOS sensors, light source driver module, signal output unit, display unit module with graphics processing unit module phase
Even, light source is connected with light source driver module.
5. 360 ° of detection sensors according to claim 1 based on area array CCD/CMOS, it is characterised in that the circular cone
The half-angle of projection of mirror is 45 °.
6. 360 ° of detection sensors according to claim 1 based on area array CCD/CMOS, it is characterised in that the optical filtering
Piece is narrow band pass filter.
7. 360 ° of detection sensors according to claim 1 based on area array CCD/CMOS, it is characterised in that the circular cone
Mirror is fixed on the cylindrical shape form that high transmission rate material is made, and the cylindrical shape form is played a supporting role, and is also simultaneously
Transmitting and the window received.
8. 360 ° of detection sensors according to claim 1 based on area array CCD/CMOS, it is characterised in that the circular cone
Mirror is plastic material or metal material.
9. the detection method of 360 ° detection sensor of the one kind based on area array CCD/CMOS, it is characterised in that utilize aforesaid right
It is required that the detection sensor any one of 1-3, with the center of cone that is, the effective feeling of area array CCD/cmos sensor
Center of the center in light region as photosensitive imaging, two-dimensional coordinate system is established using this center as the origin of coordinates, X-axis and Y-axis will
Photosensitive imaging is divided into four quadrants, according to the regulation of predetermined observation mode, face view battle array CCD/CMOS sensor photosensitive effective districts,
Centered on origin, X, Y-axis is line of demarcation, and photosensitive region upper right is referred to as first quartile, and upper left is referred to as the second quadrant, lower-left
Be referred to as third quadrant, bottom right is referred to as fourth quadrant, and the point in reference axis is not belonging to any quadrant, in this way by photosensitive area
It is divided into four quadrants, detection sensor records battle array CCD/CMOS sensor senses below current deployed environment by self study first
Light imaging 1, when there is reverberation close to the detection zone of the sensor, detection sensor records now imaging 2, as
2 and obtain after being made the difference as 1 as 3, as 3 interference for having filtered out environment, light spot profile will be extracted, pass through calculation as 3 after image procossing
Method calculate profile center corresponding to pixel coordinate, be converted into the coordinate (x, y) of a certain quadrant, calculate reverberation enters detection
The orientation angle in region, such as belong to first quartile, then corresponding angle be | arctan (y/x) |, the second quadrant angle be 180 °-|
Arctan (y/x) |, third quadrant angle be 180 °+| arctan (y/x) |, fourth quadrant angle be 360 °-| arctan (y/x)
|, by the way that the orientation angles that reverberation swarms into detection zone can be calculated with upper type, simultaneously because area array CCD/CMOS sensings
Device be may determine that and detect reverberation through as 1 and as after 2 difference, obtaining as 3 still have hot spot, with reference to it
Preceding counted angle, it can be determined that detect reverberation in which direction.
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| CN111537977A (en) * | 2019-01-21 | 2020-08-14 | 燕成祥 | Sensing device of two-dimensional optical radar manufactured by conical reflecting mirror |
| CN112338908A (en) * | 2019-08-09 | 2021-02-09 | 科沃斯机器人股份有限公司 | Autonomous mobile device |
| WO2021026965A1 (en) * | 2019-08-09 | 2021-02-18 | 科沃斯机器人股份有限公司 | Autonomous mobile device |
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