CN107515402A - A kind of TOF three-dimensionals range-measurement system - Google Patents
A kind of TOF three-dimensionals range-measurement system Download PDFInfo
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- CN107515402A CN107515402A CN201710720220.5A CN201710720220A CN107515402A CN 107515402 A CN107515402 A CN 107515402A CN 201710720220 A CN201710720220 A CN 201710720220A CN 107515402 A CN107515402 A CN 107515402A
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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
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention belongs to range-measurement system technical field, a kind of more particularly to TOF three-dimensionals range-measurement system, including LED array light source, the signal processing circuit being connected with LED array light source and the CMOS sensitive chips being connected with signal processing circuit, drive circuit is provided between signal processing circuit and LED array light source, it is provided with the diversing lens of LED array light source beam collimation in the direction of the launch of LED array light source, signal conditioning circuit is provided between signal processing circuit and CMOS sensitive chips, it is provided with the receiving lens for focusing on the reflected beams upwards in the recipient of CMOS sensitive chips.The double control for passing through light source+signal conditioning circuit compared to prior art, the present invention so that measurement accuracy of the present invention is high, measurement distance is big, and actual measurement distance can reach 15~25m.In addition, measurement result of the present invention is not influenceed by environment light condition, it is thus possible to meets automobile application scene demand.
Description
Technical field
The invention belongs to range-measurement system technical field, more particularly to a kind of TOF three-dimensionals range-measurement system.
Background technology
With the development of science and technology and the progress of observation method, people are more and more deep to optical research, and one of mark is
To the accurate measurement of light propagation speed, and this data application is in various fields.Wherein utilize the propagation speed of light
Spend to carry out range measurement be one on distance-finding method innovation, this method be referred to as the flight time (Time of Flight,
TOF) telemetry.
The target of flight time (TOF) distance-finding method is measurement real time information, it is necessary to modulated light source and high-precision reception
Device, its principle are that light source sends modulated light wave, and illumination is mapped in target and reflected, and high-precision receiver receives reflection
Light, the time for being transmitted into receiver by calculating light and receiving reflected light, it is possible to calculate the distance of target, light during this
The distance of propagation is twice of target range in fact, is 3 × 10 because the spread speed of light is quickly-8M/s, so this method
Speed and sensitivity to receiver have higher requirement, and this outer light source and receiver must simultaneously work and could realize function,
Therefore TOF telemetrys need the cooperation of light source and receiver.
But due to being limited by light receiving element, traditional laser range finder can only measure the distance of certain point, can only obtain
To one-dimensional information, if expecting the information of three-dimensional, laser beam must scan testee from both direction, must just survey
High-precision laser scanner is added in distance meter, the volume of instrument is so not only considerably increased, also introduces vibrations error.
There is new change in development and maturation with image sensor technologies, flight time distance mearuring equipment, compared to
Traditional distance mearuring equipment, the imaging sensor of flight time three-dimensional range finder device possess the function of uniqueness by design, each
Pixel is all a complete demodulation receiver, therefore no longer needs laser scanner to be combined into graphics after spot scan one by one
Picture, but the work of each pixel-parallel is done directly the real-time measurement of three-dimensional information.
TOF three-dimensional range finder utensils have miniaturization, high speed and low cost and other advantages, and can pass through range information pair
Target image such as is split, tracked at the image procossing, in addition, the acquisition of information of various dimensions makes TOF three-dimensional range finders device can be with complete
Into the work such as the complicated posture of analysis target and three-dimensional modeling, therefore TOF three-dimensional range finder devices have very extensive application field,
Can be joined together with other media platforms, applied to man-machine interaction, indoor ranging, machine vision, robot science, medical science into
, there is very bright development prospect in the fields such as picture, electronic game and automotive electronics.
The TOF three-dimensional rangings product of prior art is mainly by generating laser, signal processor and laser pickoff group
Into it can complete distance test to a certain extent, but the TOF three-dimensional ranging products of prior art are surveyed for long distance laser
Away from for, because the conditioned reflex of testee is unknown, reflected signal strength change is also larger, in the prior art due to no phase
The conditioning structure answered, influences the precision of measurement and the stability of measurement to a certain extent, and practicality is restricted to a certain extent.
Further, since existing TOF three-dimensionals ranging product does not have supporting optical design, operating distance and environment resistant luminous energy
Power has much room for improvement, and the distance measurement ranges of TOF three-dimensional ranging products on the market are all even shorter at 10 meters or so at present, and
And using occurring that data deviation is big under outdoor strong ambient light, the problems such as loss of data, cause it can not be obtained in automotive field
To being widely popularized.
The content of the invention
It is an object of the invention to：It is short for existing TOF three-dimensional range finders device measurement distance, easily by ambient light interference,
The defects of accuracy of measurement is not high, and a kind of TOF three-dimensionals range-measurement system is provided, with not far, the accuracy of measurement that solves measurement distance
It is low, the problem of stability difference.
To achieve these goals, the present invention uses following technical scheme：
A kind of TOF three-dimensionals range-measurement system, including LED array light source, the signal transacting that is connected with the LED array light source
Circuit and the CMOS sensitive chips being connected with the signal processing circuit, in the signal processing circuit and the LED array
Drive circuit is provided between light source, is provided with the direction of the launch of the LED array light source by LED array light source beam collimation
Diversing lens, signal conditioning circuit is provided between the signal processing circuit and the CMOS sensitive chips, in the CMOS
The recipient of sensitive chip is provided with the receiving lens for focusing on the reflected beams upwards；
The signal conditioning circuit includes current-voltage conversion circuit, electrically connected with the current-voltage conversion circuit
Impedance matching pre-amplification circuit, the adjustable gain amplifying circuit electrically connected with the impedance matching pre-amplification circuit, with it is described can
Adjust the impedance matching circuit of gain amplifying circuit electrical connection, the adjustable gain amplifying circuit and the increasing of the signal processing circuit
Benefit amplification control signal end electrical connection；
The modulating frequency of the modulation light of the LED array light source transmitting is more than 100MHz；
The power P of the LED array light sourcesourceMeet relational expression：
Wherein：
NeIt is caused electron number in sensitive chip pixel；
AimageIt is the area of sensitive chip；ApixIt is the area of the photosensitive part of sensitive chip；
H is planck constant, and c is the light velocity, and λ is the wavelength of modulated light source；
ρ is object reflectance, KlenIt is that receiving lens pass through efficiency；
D is receiving lens diameter, and R is distance of the testee to receiving lens；
TintIt is the time of integration；
QE (λ) is quantum efficiency；
The angle of divergence of the LED array light source is more than θ, and wherein θ meets relational expression：
Wherein：R is object distance, and f is receiving lens focal length, and p is thing height, and q is image height.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, in addition to electric with the signal processing circuit
The wireless signal receiving circuit of connection.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, in addition to electric with the signal processing circuit
The indicator light circuit of connection.
As TOF three-dimensionals range-measurement system of the present invention one kind improve, in addition to the signal processing circuit phase
The communication interface circuit of connection.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, before the diversing lens and receiving lens
Axisymmetric shape centered on surface free form surface plane of refraction after surface plane plane of refraction and lens.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, the material of the diversing lens and receiving lens
Material is PMMA, refractive index n=1.4935.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, and the finding range of the range-measurement system is 15
~25m.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, the light ripple of the LED array light source transmitting
Length is in infrared band.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, the power P of the LED array light sourcesource
For 100~150W.
One kind as TOF three-dimensionals range-measurement system of the present invention is improved, and the angle of divergence of the LED array light source is more than
8 degree.
The beneficial effects of the present invention are：On the one hand, structure of the invention is simple, provided with signal conditioning circuit, for remote
For laser ranging, it can be changed according to the intensity of testee reflected signal, in time be nursed one's health the signal of reception,
The accuracy that because of measurement error caused by signal deformity, effectively raises ranging and stably can be reduced to a certain extent
Degree, strong applicability practicality are good；On the other hand, this product is by effectively controlling frequency, power and the dispersion angle of light source so that
Measurement accuracy of the present invention is high, measurement distance is big, and actual measurement distance can reach 15~25m.Therefore, the present invention by light source+
The double control of signal conditioning circuit so that the interference of the measurement result of the present invention signal such as not vibrated, sound completely, carry significantly
The stability of high product and the accuracy of measurement.In addition, measurement result of the present invention is not influenceed by environment light condition, no matter daytime is black
The scenes such as night, summer, snowfield, desert can steady operation, it is thus possible to meets most of automobile application scene demand.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention.
Fig. 2 is the structured flowchart of the signal conditioning circuit in Fig. 1.
Fig. 3 is Lambertian catoptric arrangement schematic diagram.
Fig. 4 is the angle of divergence of light source and the graph of a relation of imaging system.
In figure：1-LED array light sources；2- signal processing circuits；3-CMOS sensitive chips；4- drive circuits；5- transmittings are saturating
Mirror；6- signal conditioning circuits；7- receiving lens；8- wireless signal receiving circuits；9- indicator light circuits；10- communication interface circuits；
11- testees.
Embodiment
It is attached below in conjunction with embodiment and specification to make technical scheme and advantage clearer
Figure, the present invention and its advantage are described in further detail, but the implementation of the present invention is not limited to this.
As shown in Fig. 1~2, a kind of TOF three-dimensionals range-measurement system of the present invention, including LED array light source 1 and LED array light source
1 signal processing circuit 2 being connected and the CMOS sensitive chips 3 being connected with signal processing circuit 2, in signal processing circuit 2
Drive circuit 4 is provided between LED array light source 1, is provided with the direction of the launch of LED array light source 1 by LED array light source 1
The diversing lens 5 of beam collimation, signal conditioning circuit 6 is provided between signal processing circuit 2 and CMOS sensitive chips 3,
The recipient of CMOS sensitive chips 3 is provided with the receiving lens 7 for focusing on the reflected beams upwards；Provided with signal conditioning circuit 6, for
It for long distance laser ranging, can be changed according to the intensity of the reflected signal of testee 11, in time carry out the signal of reception
Conditioning, can be reduced because of measurement error caused by signal deformity to a certain extent.
The impedance that signal conditioning circuit 6 includes current-voltage conversion circuit, electrically connected with current-voltage conversion circuit
The adjustable gain amplifying circuit and adjustable gain amplifying circuit electrically connected with pre-amplification circuit, with impedance matching pre-amplification circuit
The impedance matching circuit of electrical connection, adjustable gain amplifying circuit and the gain amplification control signal end of signal processing circuit 2 are electrically connected
Connect；In signal amplitude hour, it is necessary to increase signal gain；When signal amplitude is excessive, it is necessary to reduce signal gain, to reach
Regulate signal.
The system also includes wireless signal receiving circuit 8 and the signal processing circuit 2 electrically connected with signal processing circuit 2
The indicator light circuit 9 of electrical connection and the communication interface circuit 10 being connected with signal processing circuit 2.
Wherein, LED array light source 1 increases aspherical diversing lens 5, realizes the convergence of transmitting LED energy, reduces transmitting energy
The angle of divergence of amount, increase optical signal transmission distance；CMOS sensitive chips 3 increase aspherical receiving lens 7, to realize that optical signal is received
Collection, and CMOS sensitive chips 3 are focused on, optical signal utilization rate is improved, greatly strengthen detecting distance.
Wherein, LED array light source 1 realizes that 100~150MHz pulsed optical signals needed for TOF electro-optical distance measurements are launched；CMOS feels
Optical chip 3 is realized transmitting light pulse signal detection needed for TOF electro-optical distance measurements and received.
In addition, the power of light source has critically important influence to range-measurement system, sufficiently high power can just make the photosensitive cores of CMOS
Piece 3 produces enough light induced electrons, could so realize the function of measurement distance information.Light source power is relevant with several factors,
The quantum efficiency of sensitive chip, the size of pel array, parameter of the distance of target and camera lens etc., so the work(of selection light source
Rate will consider each relevant parameter of whole system.
First consider the relation of light of the light of object reflection with entering camera lens, reflection process can be considered as Lambertian reflection, i.e.,
Reflected light is distributed in space uniform, into the light intensity and angle, θ of camera lenscCosine it is directly proportional, as shown in figure 3, formula can be used
It is expressed as：
Wherein:
PlenIt is the luminous power into lens.
PobIt is the luminous power of object reflection.
D is lens diameter, and R is distance of the testee to lens.
Reflectivity and light in view of object lose when passing through lens, and the luminous power impinged upon in pixel is:
Wherein：ρ is object reflectance, KlenIt is that lens pass through efficiency.
AimageIt is the area of sensitive chip；ApixIt is the area of the photosensitive part of sensitive chip.
From formula it can be seen that, it is desirable to the power of modulated light source needed for calculating is radiated on pel array it is necessary to know
Luminous power Ppixel, if it is known that caused electron number can calculates P in each pixelpixel, below equation table can be used
State:
Wherein:NeIt is caused electron number in sensitive chip pixel；NpIt is number of photons.
EpixIt is the energy being radiated in pixel, EphoIt is the energy of photon.
TintIt is the time of integration.
H is planck constant, and c is the light velocity, and λ is the wavelength of modulated light source.
QE (λ) is quantum efficiency.
In summary, the formula of modulated light source power can be released:
Wherein, reflected for Lambertian, the reflectance factor of object is between 0~1.
In addition, when measuring the range information of object, in addition to ensureing light source and having suitable luminous power, pixel is also predefined
Target is in the range of exposures of light source in the visual field of array, otherwise target can not reflection modulation light, chip just do not receive modulation
Information, measurement result is impacted.As shown in figure 4, the coverage of light source can be considered with angle, θ, as long as light source
The angle of divergence is more than angle, θ, then the visual field of the range of exposures can covering chip of light source.Wherein, angle, θ can be with following
Formula represents：
Wherein：R is object distance, and f is the focal length of lens, and p is thing height, and q is image height.
As the preferred scheme of the present invention, table after preceding the surface plane plane of refraction and lens of diversing lens 5 and receiving lens 7
Axisymmetric shape centered on the free form surface plane of refraction of face；Diversing lens 5 and the material of receiving lens 7 are PMMA, refractive index n
=1.4935.
As the preferred scheme of the present invention, the wavelength of light that LED array light source 1 is launched is in infrared band；LED array light
The power P in source 1sourceFor 100~150W；The angle of divergence of LED array light source 1 is more than 8 degree.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in above-mentioned embodiment, every those skilled in the art exist
Made any conspicuously improved, replacement or modification belong to protection scope of the present invention on the basis of the present invention.This
Outside, although having used some specific terms in this specification, these terms merely for convenience of description, not to the present invention
Form any restrictions.
Claims (10)
- A kind of 1. TOF three-dimensionals range-measurement system, it is characterised in that：It is connected including LED array light source, with the LED array light source Signal processing circuit and the CMOS sensitive chips that are connected with the signal processing circuit, in the signal processing circuit and institute State and be provided with drive circuit between LED array light source, be provided with the direction of the launch of the LED array light source by LED array light source The diversing lens of beam collimation, signal conditioning circuit is provided between the signal processing circuit and the CMOS sensitive chips, It is provided with the receiving lens for focusing on the reflected beams upwards in the recipient of the CMOS sensitive chips；The impedance that the signal conditioning circuit includes current-voltage conversion circuit, electrically connected with the current-voltage conversion circuit Matching pre-amplification circuit, the adjustable gain amplifying circuit electrically connected with the impedance matching pre-amplification circuit and the adjustable increasing The impedance matching circuit of beneficial amplifying circuit electrical connection, the adjustable gain amplifying circuit and the gain of the signal processing circuit are put Big control signal end electrical connection；The modulating frequency of the modulation light of the LED array light source transmitting is more than 100MHz；The power P of the LED array light sourcesourceMeet relational expression：<mrow> <msub> <mi>P</mi> <mrow> <mi>s</mi> <mi>o</mi> <mi>u</mi> <mi>r</mi> <mi>c</mi> <mi>e</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>N</mi> <mi>e</mi> </msub> <mo>&CenterDot;</mo> <mfrac> <msub> <mi>A</mi> <mrow> <mi>i</mi> <mi>m</mi> <mi>a</mi> <mi>g</mi> <mi>e</mi> </mrow> </msub> <msub> <mi>A</mi> <mrow> <mi>p</mi> <mi>i</mi> <mi>x</mi> </mrow> </msub> </mfrac> <mo>&CenterDot;</mo> <mi>h</mi> <mo>&CenterDot;</mo> <mi>c</mi> </mrow> <mrow> <mi>&rho;</mi> <mo>&CenterDot;</mo> <msup> <mrow> <mo>(</mo> <mfrac> <mi>D</mi> <mrow> <mn>2</mn> <mo>&CenterDot;</mo> <mi>R</mi> </mrow> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>&CenterDot;</mo> <msub> <mi>K</mi> <mrow> <mi>l</mi> <mi>e</mi> <mi>n</mi> </mrow> </msub> <mo>&CenterDot;</mo> <mi>Q</mi> <mi>E</mi> <mrow> <mo>(</mo> <mi>&lambda;</mi> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>&lambda;</mi> <mo>&CenterDot;</mo> <msub> <mi>T</mi> <mi>int</mi> </msub> </mrow> </mfrac> <mo>;</mo> </mrow>Wherein：NeIt is caused electron number in sensitive chip pixel；AimageIt is the area of sensitive chip；ApixIt is the area of the photosensitive part of sensitive chip；H is planck constant, and c is the light velocity, and λ is the wavelength of modulated light source；ρ is object reflectance, KlenIt is that receiving lens pass through efficiency；D is receiving lens diameter, and R is distance of the testee to receiving lens；TintIt is the time of integration；QE (λ) is quantum efficiency；The angle of divergence of the LED array light source is more than θ, and wherein θ meets relational expression：<mrow> <mi>&theta;</mi> <mo>=</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mi>p</mi> <mn>2</mn> </mfrac> <mo>/</mo> <mi>R</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow><mrow> <mfrac> <mi>R</mi> <mi>f</mi> </mfrac> <mo>=</mo> <mfrac> <mi>p</mi> <mi>q</mi> </mfrac> <mo>;</mo> </mrow>Wherein：R is object distance, and f is receiving lens focal length, and p is thing height, and q is image height.
- 2. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：Also include and the signal processing circuit The wireless signal receiving circuit of electrical connection.
- 3. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：Also include and the signal processing circuit The indicator light circuit of electrical connection.
- 4. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：Also include and the signal processing circuit The communication interface circuit being connected.
- 5. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：The diversing lens and receiving lens Axisymmetric shape centered on the free form surface plane of refraction of surface after preceding surface plane plane of refraction and lens.
- 6. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：The diversing lens and receiving lens Material is PMMA, refractive index n=1.4935.
- 7. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：The finding range of the range-measurement system is 15~25m.
- 8. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：The light of the LED array light source transmitting Wavelength is in infrared band.
- 9. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：The power of the LED array light source PsourceFor 100~150W.
- 10. TOF three-dimensionals range-measurement system according to claim 1, it is characterised in that：The angle of divergence of the LED array light source More than 8 degree.
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| US10969473B2 (en) | 2017-09-20 | 2021-04-06 | Benewake (Beijing) Co., Ltd. | Infrared range-measurement device and TIR lens |
| CN110285788A (en) * | 2018-03-19 | 2019-09-27 | 深圳光峰科技股份有限公司 | The design method of ToF camera and diffraction optical element |
| CN110285788B (en) * | 2018-03-19 | 2022-08-26 | 深圳光峰科技股份有限公司 | ToF camera and design method of diffractive optical element |
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| CN112444793A (en) * | 2019-08-30 | 2021-03-05 | Oppo广东移动通信有限公司 | Time of flight TOF system and TOF transmitter |
| CN112268509A (en) * | 2020-10-16 | 2021-01-26 | 华中科技大学鄂州工业技术研究院 | Laser three-dimensional measuring instrument adopting hollow joint |
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Application publication date: 20171226 |