CN204944449U - Depth data measuring system - Google Patents
Depth data measuring system Download PDFInfo
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- CN204944449U CN204944449U CN201520727374.3U CN201520727374U CN204944449U CN 204944449 U CN204944449 U CN 204944449U CN 201520727374 U CN201520727374 U CN 201520727374U CN 204944449 U CN204944449 U CN 204944449U
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Abstract
The utility model discloses a kind of depth data measuring system.This system comprises: infrared light grenade instrumentation, two near infrared imaging devices with predetermined relative location relation and processor, measures the depth data of the object under test in space to be measured according to binocular vision recognition principle.Multiple infrared light grenade instrumentation is separately positioned on diverse location place in space to be measured, respectively to projection scope respective in space to be measured projection infrared beam, the distance between the object under test in each infrared light grenade instrumentation and its projection scope is between first threshold and Second Threshold.Thus, can make the light intensity of the infrared light texture be incident upon on object under test within the range of light intensity expected by the projection light intensity of setting infrared light grenade instrumentation.
Description
Technical field
The utility model relates to three-dimension measuring system, particularly depth data measuring system.
Background technology
Depth data, also can be described as " depth of view information ", refers to the distance of testee relative to measurement mechanism.Traditional image capturing method can only obtain the two-dimensional signal of object, cannot obtain the spatial depth data of object.But in fact the depth data of body surface is all most important in various industry, life and entertainment applications.The Real-time Obtaining of depth data is even more important.
Depth data measuring system is a kind of system measured the depth data of object.
Conventional depth data measuring technique has monocular vision recognition technology and binocular vision recognition technology.
In monocular vision recognition technology, single imaging device is used to carry out imaging to space to be measured.Now, need in space, project predetermined reference beam.And need to obtain reference beam in advance at the upper reference texture pattern formed of multiple reference planes (corresponding respectively to different depth datas).Textured pattern in the image obtained during by contrasting actual measurement and the reference texture pattern corresponding to each degree of depth, determine depth data everywhere.In this case, during actual measurement, auxiliary laser grenade instrumentation and the relative position relation between imaging device need with relative position relation when obtaining reference texture pattern in advance strictly corresponding, otherwise do not have the foundation of contrast.
In binocular vision recognition technology, use two imaging devices to carry out imaging to substantially identical space to be measured simultaneously.Then, the spatial depth data on object under test surface such as can be calculated by triangulation.Have at present and project infrared beam using the technical scheme as measurement fill-in light in space to be measured.Infrared beam is modulated so that the object under test in space to be measured to form infrared light texture.Infrared light texture can be designed as wherein each texture fragment and other texture fragment around it in preset range and distinguishes thus can be identified.Like this, the pattern that same texture fragment is formed is identified in the image can taken respectively at two imaging devices.The position difference (can be called " parallax ") of the pattern that same texture fragment is formed in both images and this texture fragment are relevant relative to the relative position relation (such as relative distance) between the distance (also i.e. depth data) of two imaging devices and two imaging devices, can obtain the depth data of this texture fragment thus.Generally speaking, the distance between two imaging devices is less than the distance of object under test to imaging device.
Different from monocular vision recognition technology, in binocular vision recognition technology, do not need to take reference texture pattern in advance as depth data definition base.Therefore do not need strictly to set the position relationship between imaging device and infrared light grenade instrumentation.
Current depth data measuring technique many employings laser is assisted.This is on the one hand the interference of measuring depth data in order to avoid ambient visible light.On the other hand, because a lot of body surface lacks texture, so the depth data detected has error.By increasing infrared laser projection device, carrying out infrared laser projection to increase texture at body surface, making to be convenient to camera and carry out taking and identifying.
By carrying out analysis and calculation to the texture fragment that the object under test of infrared laser in space to be measured is formed, obtain the depth data of the texture fragment on object under test, as the depth data of corresponding position on object under test.
But, in practice, need the operating distance of increase equipment, namely need to detect within the scope of larger operating distance.Such as, in some cases, the depth data of object within the scope of detection 0.5 meter to 15 meters may be needed.
But infrared light can be decayed along with the increase of distance.In larger distance range, the light intensity of the infrared light texture that infrared light grenade instrumentation projects on the object under test at different distance place will have very large difference.
Visible, when sensing range is larger, can not ensure that the light intensity of the infrared light texture be incident upon on the object under test in sensing range is always within the range of light intensity expected.
As the example of the range of light intensity expected, on the one hand, the light intensity being incident upon the infrared light texture on object under test can not exceed security intensity set upper limit; On the other hand, light intensity can not too lowly make again near infrared imaging device can not clearly take its image, so that compute depth data.
And the safety light of infrared light grenade instrumentation is according to the distance that often directly cannot cover 0.5 meter to 15 meters.
Such as, when 0.5 meter of projection light intensity is security intensity set upper limit, be irradiated to the body surface at 15 meters of, intensity has decayed to very weak, and camera cannot detect the texture of projection.
And if projection light intensity can be irradiated to the body surface at 15 meters of and produce the texture that camera can detect, so its light intensity at 0.5 meter of then probably exceeds security intensity set upper limit already.
In addition, in order to the accuracy that depth data is measured, likely more concrete expected range is set to the light intensity of the infrared light texture be incident upon on object under test.Similarly, when sensing range is larger, cannot ensure that the light intensity of the infrared light texture that the object under test in whole sensing range projects is all within expected range.
Therefore, need a kind of depth data measuring system, it can make the light intensity of the infrared light texture be incident upon on object under test within the range of light intensity expected.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of depth data measuring system, and it can make the light intensity of the infrared light texture be incident upon on object under test within the range of light intensity expected.
According to an aspect of the present utility model, provide a kind of depth data measuring system, it is characterized in that, comprise: multiple infrared light grenade instrumentation, be separately positioned on diverse location place in space to be measured, for projecting infrared beam respectively to projection scope respective in space to be measured, distance between object under test in each infrared light grenade instrumentation and its projection scope is between first threshold and Second Threshold, first threshold is less than Second Threshold, infrared beam is modulated so that the object under test in space to be measured to form infrared light texture, infrared light texture is designed to wherein each texture fragment and other texture fragment around it in preset range and distinguishes thus can be identified, first near infrared imaging device, for taking to form the first image to space to be measured, second near infrared imaging device, for taking to form the second image to space to be measured, has predetermined relative location relation between the first near infrared imaging device and the second near infrared imaging device, processor, for according to the position difference between the first texture fragment image of the texture fragment of the infrared light texture on object under test in the first image and the second texture fragment image in the second image, and predetermined relative location relation, determine the depth data of texture fragment.
Owing to being provided with multiple infrared light grenade instrumentation, each infrared light grenade instrumentation is responsible for relatively little projection scope projection infrared beam respectively, makes it possible to make the light intensity of the infrared light texture be incident upon on object under test within the range of light intensity expected by the projection light intensity of setting infrared light grenade instrumentation easily.
Preferably, the projection light intensity of infrared light grenade instrumentation can be set to: make to be more than or equal to the light intensity of the infrared light texture that the object under test of the position of first threshold is formed lower than security intensity set upper limit in distance.
Preferably, first threshold can be greater than 0.5 meter.
Preferably, first threshold can between 2 meters to 3 meters.
Preferably, the projection light intensity of infrared light grenade instrumentation can be set to: make the light intensity being less than or equal to the infrared light texture that the object under test of the position of Second Threshold is formed in distance carry out the light intensity needed for imaging higher than the first near infrared imaging device and the second near infrared imaging device to it.
Preferably, Second Threshold can be less than 15 meters.
Preferably, Second Threshold can between 6 meters to 10 meters.
Preferably, above-mentioned multiple infrared light grenade instrumentation comprises the first infrared light grenade instrumentation and the second infrared light grenade instrumentation, the projection scope of the first infrared light grenade instrumentation and the close together between the first near infrared imaging device and the second near infrared imaging device, and the projection scope of the second infrared light grenade instrumentation and distant between the first near infrared imaging device and the second near infrared imaging device.The projection light intensity of the second infrared light grenade instrumentation can be set to be greater than the projection light intensity of the first infrared light grenade instrumentation.
Preferably, above-mentioned multiple infrared light grenade instrumentation comprises the first infrared light grenade instrumentation and the second infrared light grenade instrumentation, the projection scope of the first infrared light grenade instrumentation and the close together between the first near infrared imaging device and the second near infrared imaging device, and the projection scope of the second infrared light grenade instrumentation and distant between the first near infrared imaging device and the second near infrared imaging device.The texture fragment of the second infrared light projection dress projection can be more sparse than the texture fragment of the first infrared light grenade instrumentation projection.
Preferably, texture fragment can be discrete light spot.
Thus, can make the light intensity of the infrared light texture be incident upon on object under test within the range of light intensity expected by the projection light intensity of setting infrared light grenade instrumentation according to depth data measuring system of the present utility model.
Accompanying drawing explanation
In conjunction with the drawings disclosure illustrative embodiments is described in more detail, above-mentioned and other object of the present disclosure, Characteristics and advantages will become more obvious, wherein, in disclosure illustrative embodiments, identical reference number represents same parts usually.
Fig. 1 shows the schematic diagram according to depth data measuring system of the present utility model.
Description of reference numerals
10 infrared light grenade instrumentations
15 infrared beams
20 first near infrared imaging devices
25 second near infrared imaging devices
30 processors
Embodiment
Below with reference to accompanying drawings preferred implementation of the present disclosure is described in more detail.Although show preferred implementation of the present disclosure in accompanying drawing, but should be appreciated that, the disclosure can be realized in a variety of manners and not should limit by the embodiment of setting forth here.On the contrary, provide these embodiments to be to make the disclosure more thorough and complete, and the scope of the present disclosure intactly can be conveyed to those skilled in the art.
Fig. 1 shows the schematic diagram according to depth data measuring system of the present utility model.
As shown in Figure 1, this depth data measuring system comprises multiple infrared light grenade instrumentation 10, first near infrared imaging device 20, second near infrared imaging device 25 and processor 30.
Multiple infrared light grenade instrumentation 10 is separately positioned on diverse location place in space to be measured.
Each infrared light grenade instrumentation 10 is assigned with projection scope respective in space to be measured respectively.Infrared light grenade instrumentation 10 is respectively to projection scope respective in space to be measured projection infrared beam.
Distance between object under test in each infrared light grenade instrumentation 10 and its projection scope is between first threshold and Second Threshold, and first threshold is less than Second Threshold.
Thus, can make the light intensity of the infrared light texture be incident upon on object under test within the range of light intensity expected by the projection light intensity of setting infrared light grenade instrumentation.
Such as, in order to ensure safety, the projection light intensity of infrared light grenade instrumentation 10 can be set to: make to be more than or equal to the light intensity of the infrared light texture that the object under test of the position of first threshold is formed lower than security intensity set upper limit in distance.
In one embodiment, first threshold can be greater than 0.5 meter.
In another embodiment, first threshold can between 2 meters to 3 meters.
Such as, can clearly imaging in order to ensure the first near infrared imaging device 20 and the second near infrared imaging device 25, the projection light intensity of infrared light grenade instrumentation 10 can be set to: make the light intensity being less than or equal to the infrared light texture that the object under test of the position of Second Threshold is formed in distance carry out the light intensity needed for imaging higher than the first near infrared imaging device 20 and the second near infrared imaging device 25 to it.
Preferably, Second Threshold can be less than 15 meters.
Preferably, Second Threshold can between 6 meters to 10 meters.
Infrared beam 15 is modulated so that the object under test in space to be measured to form infrared light texture.This infrared light texture is then designed to wherein each texture fragment and other texture fragment around it in preset range and distinguishes thus can be identified.
Such as, in infrared light texture, the shape of each texture fragment can be different, thus can identify each texture fragment other texture fragment in around preset range.
Or the position relationship in infrared light texture between each texture fragment from other contiguous texture fragment is different.
In one embodiment, texture fragment can be discrete light spot.
Above-mentioned multiple infrared light grenade instrumentation 10 is separately positioned on diverse location place in space to be measured, their projection scope and the distance between the first near infrared imaging device 20 and the second near infrared imaging device 25 also different.
Without loss of generality, if having the first infrared light grenade instrumentation and the second infrared light grenade instrumentation in above-mentioned multiple infrared light grenade instrumentation 10.The projection scope of the first infrared light grenade instrumentation and the close together between the first near infrared imaging device 20 and the second near infrared imaging device 25, and the projection scope of the second infrared light grenade instrumentation and distant between the first near infrared imaging device 20 and the second near infrared imaging device 25.
In this case, infrared light texture at a distance needs larger light intensity, so that the first near infrared imaging device 20 and the second near infrared imaging device 25 can be taken infrared light texture at a distance and nearby with the brightness of roughly the same ground.
Therefore, the projection light intensity of the second infrared light grenade instrumentation can be set greater than the projection light intensity of the first infrared light grenade instrumentation.
On the other hand, equally in this case, for identical texture fragment, compared with texture fragment nearby, texture fragment is at a distance less relative to the subtended angle of the first near infrared imaging device 20 and the second near infrared imaging device 25.Therefore, for same infrared light texture, the image that texture fragment is at a distance formed at the first near infrared imaging device 20 and the second near infrared imaging device 25 incites somebody to action more crypto set, even likely causes being identified because of too intensive.
In order to avoid the image of texture fragment is at a distance too intensive, the texture fragment that the texture fragment of the second infrared light projection dress projection can be made to project than the first infrared light grenade instrumentation is more sparse.
Under the first near infrared imaging device 20 and the unfixed situation of the second near infrared imaging device 25, the projection light intensity of each infrared light grenade instrumentation and the sparse degree of texture fragment projected can adjust in real time, to adapt to the change of the distance between the first near infrared imaging device 20 and the second near infrared imaging device 25 and projection scope (and and project texture fragment).
Between first near infrared imaging device 20 and the second near infrared imaging device 25, there is predetermined relative location relation.Such as, between the first near infrared imaging device 20 and the second near infrared imaging device 25, there is predetermined spacing.
From the same part in two different viewing angles spaces to be measured, there is parallax between the two in two near infrared imaging devices of a near infrared imaging device 20.According to this parallax, the depth data of the object under test in space to be measured can be calculated.Here, the image that the first near infrared imaging device 20 is taken is called " the first image ", the image that the second near infrared imaging device 25 is taken is called " the second image ".
Processor 30 is connected to the first near infrared imaging device 20 and the second near infrared imaging device 25.
Processor 30 image that can directly receive from the first near infrared imaging device 20 and the second near infrared imaging device 25 is gone forward side by side row relax.First view data also can be stored in storer (not shown) by processor 30, then from storer reads image data to process.
Position difference between the second texture fragment image in second image of the first texture fragment image in the first image that processor 30 is taken at the first near infrared imaging device 20 according to the texture fragment of the infrared light texture on object under test and the shooting of the second near infrared imaging device 25, and above-mentioned predetermined relative location relation, determine the depth data of texture fragment.
Above be described in detail with reference to the attached drawings according to depth data measuring system of the present utility model.
Be described above each embodiment of the present utility model, above-mentioned explanation is exemplary, and non-exclusive, and be also not limited to disclosed each embodiment.When not departing from the scope and spirit of illustrated each embodiment, many modifications and changes are all apparent for those skilled in the art.The selection of term used herein, is intended to explain best the principle of each embodiment, practical application or the improvement to the technology in market, or makes other those of ordinary skill of the art can understand each embodiment disclosed herein.
Claims (10)
1. a depth data measuring system, is characterized in that, comprising:
Multiple infrared light grenade instrumentation, be separately positioned on diverse location place in space to be measured, for projecting infrared beam respectively to projection scope respective in described space to be measured, distance between object under test in each infrared light grenade instrumentation and its projection scope is between first threshold and Second Threshold, described first threshold is less than Second Threshold, described infrared beam is modulated so that the object under test in described space to be measured to form infrared light texture, described infrared light texture is designed to wherein each texture fragment and other texture fragment around it in preset range and distinguishes thus can be identified,
First near infrared imaging device, for taking to form the first image to described space to be measured;
Second near infrared imaging device, for taking to form the second image to described space to be measured, has predetermined relative location relation between described first near infrared imaging device and described second near infrared imaging device;
Processor, for according to the position difference between the first texture fragment image of the texture fragment of the infrared light texture on described object under test in described first image and the second texture fragment image in described second image, and described predetermined relative location relation, determine the depth data of described texture fragment.
2. depth data measuring system according to claim 1, is characterized in that,
The projection light intensity of described infrared light grenade instrumentation is set to: make to be more than or equal to the light intensity of the infrared light texture that the object under test of the position of described first threshold is formed lower than security intensity set upper limit in distance.
3. depth data measuring system according to claim 2, is characterized in that,
Described first threshold is greater than 0.5 meter.
4. depth data measuring system according to claim 3, is characterized in that,
Described first threshold is between 2 meters to 3 meters.
5. depth data measuring system according to claim 1, is characterized in that,
The projection light intensity of described infrared light grenade instrumentation is set to: make the light intensity being less than or equal to the infrared light texture that the object under test of the position of described Second Threshold is formed in distance carry out the light intensity needed for imaging higher than described first near infrared imaging device and described second near infrared imaging device to it.
6. depth data measuring system according to claim 5, is characterized in that,
Described Second Threshold is less than 15 meters.
7. depth data measuring system according to claim 6, is characterized in that,
Described Second Threshold is between 6 meters to 10 meters.
8. depth data measuring system according to claim 1, is characterized in that,
Described multiple infrared light grenade instrumentation comprises the first infrared light grenade instrumentation and the second infrared light grenade instrumentation,
The projection scope of the first infrared light grenade instrumentation and the close together between described first near infrared imaging device and described second near infrared imaging device, and the projection scope of the second infrared light grenade instrumentation and distant between described first near infrared imaging device and described second near infrared imaging device
The projection light intensity of described second infrared light grenade instrumentation is set to be greater than the projection light intensity of described first infrared light grenade instrumentation.
9. depth data measuring system according to claim 1, is characterized in that,
Described multiple infrared light grenade instrumentation comprises the first infrared light grenade instrumentation and the second infrared light grenade instrumentation,
The projection scope of the first infrared light grenade instrumentation and the close together between described first near infrared imaging device and described second near infrared imaging device, and the projection scope of the second infrared light grenade instrumentation and distant between described first near infrared imaging device and described second near infrared imaging device
The texture fragment of described second infrared light projection dress projection is more sparse than the texture fragment of described first infrared light grenade instrumentation projection.
10., according to the depth data measuring system in claim 1 to 9 described in any one, it is characterized in that,
Described texture fragment is discrete light spot.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106840021A (en) * | 2017-03-30 | 2017-06-13 | 联想(北京)有限公司 | Control method and electronic equipment |
| CN107863678A (en) * | 2017-09-27 | 2018-03-30 | 深圳奥比中光科技有限公司 | Laser safety control method and device based on range sensor |
| CN109154491A (en) * | 2016-05-06 | 2019-01-04 | 飞利浦照明控股有限公司 | The system and method for luminaire detection and classification for automation |
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2015
- 2015-09-18 CN CN201520727374.3U patent/CN204944449U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109154491A (en) * | 2016-05-06 | 2019-01-04 | 飞利浦照明控股有限公司 | The system and method for luminaire detection and classification for automation |
| CN106840021A (en) * | 2017-03-30 | 2017-06-13 | 联想(北京)有限公司 | Control method and electronic equipment |
| CN107863678A (en) * | 2017-09-27 | 2018-03-30 | 深圳奥比中光科技有限公司 | Laser safety control method and device based on range sensor |
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