CN110646807A - Processing method for resisting ambient light interference based on laser triangulation system - Google Patents
Processing method for resisting ambient light interference based on laser triangulation system Download PDFInfo
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- CN110646807A CN110646807A CN201910885682.1A CN201910885682A CN110646807A CN 110646807 A CN110646807 A CN 110646807A CN 201910885682 A CN201910885682 A CN 201910885682A CN 110646807 A CN110646807 A CN 110646807A
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
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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)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses an anti-ambient light interference processing method based on a laser triangulation system, which comprises the following steps that the system starts to work, a laser is started, an image acquisition module is started to trigger signals at the same time, the image acquisition system starts to work, and the first signal acquisition is completed after a period of time; then, opening the triggering signal of the image acquisition module again to acquire image signals for the second time, wherein the acquired image signals are noise signals and environment light signal waveforms acquired by the system when no laser is irradiated; carrying out differential operation on the signals acquired twice in the system to obtain a signal waveform after removing noise and ambient light; and transmitting the signal waveform subjected to differential calculation processing to the rear end to participate in the calculation of the position information of the triangulation system, and finishing the output of the position information once. The invention only optimizes the processing time sequence of the circuit and achieves the purpose of enhancing the capacity of resisting the ambient light interference through a certain algorithm.
Description
Technical Field
The invention relates to the technical field of laser triangulation, in particular to an anti-ambient light interference processing method based on a laser triangulation system.
Background
In a laser triangulation system, a narrow-band filter is usually added to prevent the interference of ambient light on an image sensor, so that a certain effect is achieved; however, when the ambient light is strong or the wavelength component in the ambient light is in the same interval as the laser wavelength of the laser triangulation system, the narrow-band filter loses its effect, and the waveform of the image sensor is also severely deformed, resulting in a large deviation of the measurement result.
In the existing triangulation system, a common technical solution is to add a narrow-band filter to the mechanism to reduce the influence of ambient light.
Patent document CN109788216A discloses a TOF interference-resistant processing scheme, which integrates an ambient light resistant processing scheme into a TOF chip to achieve the chip with ambient light resistant capability. However, the solution chip mentioned in this patent can only be applied to TOF measurement systems, and cannot be applied to laser triangulation systems.
In the scheme of reducing ambient light by using a narrow-band filter in the prior art, when the ambient light is relatively intense or a spectrum with the wavelength in the same interval as the wavelength of a system laser exists in the ambient light, the waveform of an image sensor is seriously deformed, so that the measurement result is inaccurate.
Disclosure of Invention
The present invention aims to solve the above problems by providing a processing method for resisting ambient light interference based on a laser triangulation system.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a processing method based on laser triangulation system for resisting ambient light interference comprises a laser, an image acquisition module and a signal processing device, and comprises the following steps:
1) the system starts to work;
2) turning on the laser;
3) simultaneously turning on an image acquisition module trigger signal;
4) the image acquisition module starts to work, and finishes the first signal acquisition after the set time is continued, wherein the acquired image signal is a signal when laser exists;
5) then the image acquisition module is turned on again to trigger the signal,
6) carrying out secondary image signal acquisition, wherein the acquired image signals are noise signals and ambient light signal waveforms acquired by the system when no laser is irradiated;
7) carrying out differential operation on the signals acquired twice in the system through a signal processing device to obtain a signal waveform after removing noise and ambient light;
8) the signal waveform processed by the difference calculation is transmitted to the rear end to participate in the calculation of the position information of the triangulation system, and the output of the position information is completed for one time;
9) and waiting for the next treatment process.
Further, the image acquisition module comprises an image sensor, the image sensor is a linear array image sensor, and after receiving a trigger signal, the image sensor starts to sense light, converts an optical signal into a level signal and outputs the level signal as a discrete level signal; the image sensor outputs a digital signal after being triggered and AD-converted.
Furthermore, the data after the difference is integrally increased by corresponding amplitude values to avoid negative values of the data.
Compared with the prior art, the invention has the following beneficial effects:
in the existing laser triangulation system scheme, the invention only optimizes the processing time sequence of the circuit and achieves the purpose of enhancing the ambient light interference resistance through a certain algorithm without changing the hardware or the structural architecture of the system.
The invention starts from the software time sequence, improves the capability of the laser triangulation system for resisting the ambient light interference, and does not increase the hardware cost and the expense of the system; in the invention, in the first round of digital transmission process, the second round of data acquisition is carried out in parallel, thereby effectively improving the efficiency of the system and not influencing the data transmission rate of the terminal; the invention can effectively reduce the influence of environment light such as fluorescent lamp, sunlight and the like on the triangulation system, and improves the measurement precision of the system.
Drawings
Fig. 1 is a timing diagram of laser triangulation ambient light interference resistance.
Fig. 2 is a process flow of laser triangulation for ambient light interference resistance.
FIG. 3 shows timing of the image sensor after improvement.
Fig. 4 illustrates the ambient light from the indoor environment.
FIG. 5 illustrates removal of ambient light effects at flashlight tilt angles.
FIG. 6 illustrates the removal of ambient light effects at a right angle to the flashlight.
FIG. 7 is a comparison of the effect of the simulated daylight illumination anti-ambient light algorithm.
Fig. 8 is a system block diagram of an anti-ambient light interference system based on a laser triangulation system.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 8, the processing method for resisting ambient light interference based on the laser triangulation system includes a laser, an image acquisition module and a signal processing device, and includes the following steps:
1) the system starts to work;
2) turning on the laser for a time duration of T1;
3) simultaneously turning on a trigger signal of the image acquisition module to perform 1-time triggering;
4) the image acquisition system starts to work, and finishes the first signal acquisition after a period of time, the acquired image signal is a signal when laser exists, and the finishing time is T2;
5) then opening the image acquisition module to trigger signals again;
6) and secondary image acquisition, wherein the completion time is T3. Carrying out secondary image signal acquisition, wherein the acquired image signal is a noise signal and an ambient light signal waveform acquired by the system when no laser irradiation exists;
7) the signal processing is completed at time T4. Carrying out differential operation on the signals acquired twice in the system through a signal processing device to obtain a signal waveform after noise and ambient light are removed;
8) the signal waveform processed by the difference calculation is transmitted to the rear end to participate in the calculation of the position information of the triangulation system, and the output of the position information is completed for one time;
9) and waiting for the next treatment process.
The image acquisition module comprises an image sensor, the image sensor is a linear array image sensor, and after receiving a trigger signal, the image sensor starts to sense light, converts an optical signal into a level signal and outputs the level signal as a discrete level signal; the image sensor outputs a digital signal after being triggered and AD-converted.
The system comprises a laser 1, a diaphragm 2, a band-pass filter 3, a measured object 4, a narrow-band filter 5, a focusing device 6, an image sensor 7 and a signal processing device 8. The diaphragm comprises a substrate and a diaphragm hole formed in the substrate, and the center position of the diaphragm hole corresponds to the position of an optical axis of a light path formed by the light emitted to the measured object by the laser. After light is generated by a laser, the emitted light spots are obviously reduced through the limiting action of a diaphragm, diffuse reflection is generated when the light meets an emitting object, the light reflected by the diffuse reflection reaches a focusing device through a band-pass filter and a narrow-band filter, the light spots fall in a certain area of an image sensor through the focusing action of the focusing device, a photoelectric effect is generated on the image sensor, the image sensor outputs a specific electric signal, and after the signal is processed and calculated by a signal processing device, the position information of a measured object is calculated.
In order to prevent the data after the difference from generating negative values, the data after the difference is integrally increased by a certain amplitude value, so that the data are prevented from generating negative values.
In the scheme, because the image sensor needs to acquire data twice and convert the data into a digital signal, according to the processing flow of the second graph, the next round of work is performed after the data transmission is finished, and the process is time-consuming; the optimized process is to synchronously process the data acquisition of the next round in the data processing and transmitting process of the previous round, so that the system efficiency can be improved. The optimized flow is shown with reference to fig. 3.
Under normal indoor environment, the ambient light removing algorithm is adopted, so that the data influence is small and can be ignored.
The light beam of the flashlight is horizontally inclined by about 30 degrees to irradiate the surface of the sensor, the illumination of the flashlight is about 1000lux (remark: 40w fluorescent lamp illumination is about 700lux), the output waveform has a better boundary shape after being processed by an ambient light interference resistance algorithm, and the output is optimized, as shown in fig. 5.
The light beam of the flashlight is perpendicularly irradiated to the surface of the sensor, the illumination of the flashlight is about 1000lux, and the output waveform is obviously improved after the ambient light resisting algorithm, as shown in fig. 6. Therefore, the method can effectively remove the influence of environment light with similar illumination such as fluorescent lamps on the laser triangulation system.
By adopting a sunlight simulator, the illumination is about 100000lux, the sunlight irradiates the surface of the sensor, and the output waveform is obviously improved after the ambient light resisting algorithm is carried out, as shown in fig. 7. Therefore, the method can effectively remove the influence of sunlight and other environment lights with similar illumination intensity on the laser triangulation system.
The scheme provides a solution for the laser triangulation system to resist ambient light interference, the related image sensor is a linear array sensor, and the sensor is not limited to a CMOS linear array sensor or a CCD linear array sensor.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A processing method based on laser triangulation system for resisting ambient light interference is provided, the system comprises a laser, an image acquisition module and a signal processing device, and is characterized in that: the method comprises the following steps:
1) the system starts to work;
2) turning on the laser;
3) simultaneously turning on an image acquisition module trigger signal;
4) the image acquisition module starts to work, and finishes the first signal acquisition after the set time is continued, wherein the acquired image signal is a signal when laser exists;
5) then the image acquisition module is turned on again to trigger the signal,
6) carrying out secondary image signal acquisition, wherein the acquired image signals are noise signals and ambient light signal waveforms acquired by the system when no laser is irradiated;
7) carrying out differential operation on the signals acquired twice in the system through a signal processing device to obtain a signal waveform after removing noise and ambient light;
8) the signal waveform processed by the difference calculation is transmitted to the rear end to participate in the calculation of the position information of the triangulation system, and the output of the position information is completed for one time;
9) and waiting for the next treatment process.
2. The processing method for resisting the ambient light interference based on the laser triangulation system according to claim 1, wherein: the image acquisition module comprises an image sensor, the image sensor is a linear array image sensor, and after receiving a trigger signal, the image sensor starts to sense light, converts an optical signal into a level signal and outputs the level signal as a discrete level signal; the image sensor outputs a digital signal after being triggered and AD-converted.
3. The processing method for resisting the ambient light interference based on the laser triangulation system according to claim 1, wherein: and increasing corresponding amplitude values of the data after the difference to avoid negative values of the data.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112731419A (en) * | 2020-12-23 | 2021-04-30 | 河南中原光电测控技术有限公司 | Distance measuring instrument, distance measuring equipment for measuring plate cutting length, filtering method and application |
| CN113625228A (en) * | 2021-07-09 | 2021-11-09 | 中汽创智科技有限公司 | Single-frame data processing method and device, electronic equipment and storage medium |
| CN113848639A (en) * | 2021-09-09 | 2021-12-28 | 苏州浪潮智能科技有限公司 | Quantum imaging method, system and related assembly |
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