CN100417915C - Scanner-free imaging range finding method and its range finder - Google Patents
Scanner-free imaging range finding method and its range finder Download PDFInfo
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- CN100417915C CN100417915C CNB200410018524XA CN200410018524A CN100417915C CN 100417915 C CN100417915 C CN 100417915C CN B200410018524X A CNB200410018524X A CN B200410018524XA CN 200410018524 A CN200410018524 A CN 200410018524A CN 100417915 C CN100417915 C CN 100417915C
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- 238000003384 imaging method Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims description 9
- 238000009825 accumulation Methods 0.000 claims description 7
- 238000005286 illumination Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract 1
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Abstract
The present invention discloses an imaging distance measurement method without a scanner and a distance measuring instrument thereof. Pulse light of a lasing light source lights a detected object; reflection light is inputted into an image intensifier through a photographic lens, and the output is connected with a video camera; the output of the video camera is connected with a video signal processor; a pulse control signal of a modulation signal generator is connected with the light source, and a gating control signal of the modulation signal generator is connected with the image intensifier. A pulse signal accumulating mode is adopted, namely that in a frame, the light source sends N beams of pulse light to light a measured area with the period of T and the pulse width of t'; reflection light of the object in the measured area is imaged on the image intensifier by a lens; i is equal to 1 to N for the i pulse light; the image intensifier is only selected to receive a light signal within the time of 0 to i*t, and an output signal of the image intensifier is received by the video camera; when N pulses are received, the video camera outputs a frame image. The distance measuring instrument can reach imaging distance measurement with a video speed, and has the outstanding advantages of no mechanical scanning components, real time and good firmness.
Description
Technical field
The present invention relates to the imaging range finding or claim the three-dimensional imaging field, relate in particular to a kind of imaging distance-finding method and stadimeter thereof of no scanning.
Background technology
Imaging range finding or three-dimensional imaging are one of critical components of machine vision, in fields such as industry, military affairs, traffic many application are arranged, comprise fast target identification and location in the robot autonomous assembling, the pilotless automobile obstacle detection and hide, aerospacecraft accurately lands automatically, the autonomous butt joint of aerospacecraft etc.But, the three-dimensional sensing principle of current scanline imaging, because the existence and the restriction of mechanical scanning mechanism make system in real-time, the performance that vibration resistance, car (machine) carry aspects such as use, volume is difficult to that breakthrough raising is arranged.Therefore the three-dimensional imaging technology that develops no scanning is one of focus of paying close attention to of people.
Summary of the invention
The object of the present invention is to provide video speed work, a kind of imaging distance-finding method and stadimeter thereof of no scanning cheaply.
The technical solution adopted for the present invention to solve the technical problems is:
One, distance-finding method
Adopt the pulse signal accumulation mode, promptly in a frame, LASER Light Source is that T, pulsewidth are that t ' sends N the tested zone of pulse illumination light with the cycle, N=S/s, t '≤t＜T, t=s/c, wherein S is measured apart from total length, and s is the light velocity for range resolution c, in the tested zone reflected by objects light through lens imaging on image intensifier, to i pulsed light, i=1～N, image intensifier are being 0 to i * t selected receipts light signal that connects within the time only, and the output signal of image intensifier is received by video camera, after N reception of impulse finished, video camera was exported a two field picture; The light-pulse generator control signal that the pulse signal accumulation mode is required and the gating control signal of image intensifier realize with a modulation signal generator.
Image intensifier is gateable, is operated in the two-value output mode, and promptly when input light intensity during less than threshold value, output all is a very little fixed value, and when input light intensity during greater than threshold value, output all is a fixed value much larger than low value.
Two, stadimeter
Comprise LASER Light Source, photographic lens, image intensifier, video camera, video signal preprocessor, modulation signal generator; The pulse illumination light testee of LASER Light Source, reflected light inputs to image intensifier through photographic lens, the output of image intensifier connects video camera, the output of video camera connects video signal preprocessor, modulation signal generator-the Lu pulse control signal connects LASER Light Source, one road gating control signal connects image intensifier.
Said video camera is the black and white or the colour TV camera of common γ=1; Video signal preprocessor is personal computer, DSP digital signal processor or flush bonding processor; Modulation signal generator is programming device IspLsi1032E.
The useful effect that the present invention has is: this stadimeter can reach the imaging range finding of video speed, and there are not the mechanical scanning parts, have real-time, outstanding advantage that soundness is good, be fit to fixing, vehicle-mounted, airborne application, have been widely used in fields such as industry, traffic, military affairs.
Description of drawings
Fig. 1 (a) is LASER Light Source optical pulse width figure;
Fig. 1 (b) is image intensifier strobe pulse pulsewidth figure;
Fig. 2 is a structural principle synoptic diagram of the present invention.
Among the figure: 1, LASER Light Source, 2, photographic lens, 3 image intensifiers, 4, video camera, 5, video signal preprocessor, 6, modulation signal generator.
Embodiment
As shown in Figure 2, the present invention includes LASER Light Source 1, photographic lens 2, image intensifier 3, video camera 4, video signal preprocessor 5, modulation signal generator 6.The pulsed light of LASER Light Source 1 inputs to image intensifier 3 through photographic lens 2, the output of image intensifier 3 connects video camera 4, the output of video camera 4 connects video signal preprocessor 5, and one road pulse control signal of modulation signal generator 6 connects LASER Light Source 1, one road gating control signal connects image intensifier 3.
Video camera 4 is black and white or colour TV cameras of common γ=1; Video signal preprocessor 5 is personal computer, DSP digital signal processor or flush bonding processor; Modulation signal generator 6 is a programming device IspLsi1032E chip.
LASER Light Source 1 is in the work whole target area that is taken of the time throwing light on simultaneously, and be operated in the pulsed illumination mode, reflected by objects light is received by image intensifier 3 through photographic lens 2 imagings in the tested zone, image intensifier 3 is gateable, be operated in the two-value output mode, promptly when input light intensity during less than threshold value, output all is a very little fixed value, when input light intensity during greater than threshold value, output all is a fixed value much larger than low value.The output of image intensifier 3 is received by video camera 4, and video camera 4 is black and white or colour TV cameras of common γ=1.The present invention proposes a kind of pulse signal accumulation mode, shown in Fig. 1 (a) and Fig. 1 (b), " in a frame; light source 1 is that T, pulsewidth are that t ' (t '≤t＜T wherein; t=s/c; s is a range resolution, c is the light velocity) sends N the tested zone of pulse illumination light with the cycle, and image intensifier 3 receives reflected by objects light in the tested zone.To i pulsed light, image intensifier 3 is being 0 to i * t receiving optical signals within the time only.After N reception of impulse finishes, video camera 4 outputs one two field picture.Like this, the distance of the intensity of target and target is inversely proportional in the image, the range image that Here it is will survey, or claim 3-D view." send into video signal preprocessor 5 from the image of video camera 4 outputs, video signal preprocessor 5 can be personal computer, digital signal processor (DSP) or other flush bonding processors, the user can carry out own required various processing and demonstration here.Modulation signal generator 6 signals by pulse signal accumulation mode, can produce one road signal and be used for the luminous of gating pulse LASER Light Source 1, produces the gating that another road signal is used to control image intensifier 3.
Below further explain the pulse signal accumulation mode: establishing measured is S apart from total length, and range resolution is s, then need send N=S/s pulse in the frame altogether, and pulsewidth t '≤t=s/c, c are the light velocity.During work, the LASER Light Source 1 whole target area that is taken of throwing light on simultaneously, and under the control of modulation signal generator 6 be that T sends one by one that pulsewidth is the pulsed light of t ' with the cycle, 1/T 〉=Nf wherein, f is a frame frequency.When light source 1 sends first pulsed light, image intensifier 3 is gating under the control of modulation signal generator 6, gating time is t, be that reflected by objects light in 0～s is received by image intensifier 3 in distance like this, because the output of image intensifier 3 is two-values, so object similarly is equicohesive, is designated as v.The output of image intensifier 3 is received and storage by the sensor of video camera 4, and the signal intensity that produces in the sensor of video camera 4 will be proportional to vt '.When LASER Light Source 1 is sent second pulsed light, image intensifier 3 is gating under the control of modulation signal generator 6, gating time is 2t, be that reflected by objects light in 0～2s is received by image intensifier 3 in distance like this, the output of image intensifier 3 is received, adds up, stores by the sensor of video camera 4, at this moment in the sensor of video camera 4, the signal intensity of the object that 0～s distance is interior is proportional to 2vt ', and the signal intensity of the object that s～2s distance is interior is proportional to v ' t.And the like, after having received N light pulse, the signal intensity of the object that 0～s distance is interior is proportional to Nvt ', the signal intensity of the object that s～2s distance is interior is proportional to (N-1) vt ', (N-1) s～Ns is proportional to vt ' apart from the signal intensity of interior object, one frame of video camera [4] the output at this moment image that intensity-distance is relevant.
Claims (4)
1. the imaging distance-finding method of a no scanning, it is characterized in that: adopt the pulse signal accumulation mode, promptly in a frame, LASER Light Source is T with the cycle, pulsewidth is that t ' sends N the tested zone of pulse illumination light, N=S/s, t '≤t＜T, t=s/c, wherein S is measured apart from total length, s is a range resolution, and c is the light velocity, in the tested zone reflected by objects light through lens imaging on image intensifier, to i pulsed light, i=1～N, image intensifier are being 0 to i * t selected receipts light signal that connects within the time only, and the output signal of image intensifier is received by video camera, after N reception of impulse finished, video camera was exported a two field picture; The light-pulse generator control signal that the pulse signal accumulation mode is required and the gating control signal of image intensifier realize with a modulation signal generator.
2. the imaging distance-finding method of a kind of no scanning according to claim 1, it is characterized in that: said image intensifier is gateable, be operated in the two-value output mode, promptly when input light intensity during less than threshold value, output all is a very little fixed value, when input light intensity during greater than threshold value, output all is a fixed value much larger than low value.
3. be used for the stadimeter of the imaging distance-finding method of the described a kind of no scanning of claim 1, it is characterized in that: comprise LASER Light Source (1), photographic lens (2), image intensifier (3), video camera (4), video signal preprocessor (5), modulation signal generator (6); The pulse illumination light testee of LASER Light Source (1), reflected light inputs to image intensifier (3) through photographic lens (2), the output of image intensifier (3) connects video camera (4), the output of video camera (4) connects video signal preprocessor (5), and one road pulse control signal of modulation signal generator (6) connects LASER Light Source (1), one road gating control signal connects image intensifier (3).
4. the stadimeter of the imaging distance-finding method of a kind of no scanning according to claim 3 is characterized in that: said video camera (4) is the black and white or the colour TV camera of common γ=1; Video signal preprocessor (5) is personal computer, DSP digital signal processor or flush bonding processor; Modulation signal generator (6) is programming device IspLsi1032E.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB200410018524XA CN100417915C (en) | 2004-05-18 | 2004-05-18 | Scanner-free imaging range finding method and its range finder |
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| CNB200410018524XA CN100417915C (en) | 2004-05-18 | 2004-05-18 | Scanner-free imaging range finding method and its range finder |
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| CN1580697A CN1580697A (en) | 2005-02-16 |
| CN100417915C true CN100417915C (en) | 2008-09-10 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100337122C (en) * | 2005-03-25 | 2007-09-12 | 浙江大学 | Pulse modulation type three-dimensional image-forming method and system containing no scanning device |
| CN102323594B (en) * | 2011-08-08 | 2013-06-05 | 中国电子科技集团公司第十一研究所 | Brightness-modulating non-scanning laser three-dimensional imaging system |
| CN102323595B (en) * | 2011-08-08 | 2013-03-13 | 中国电子科技集团公司第十一研究所 | Brightness modulation scannerless laser three-dimensional imaging method |
| CN106375657A (en) * | 2016-08-23 | 2017-02-01 | 江苏北方湖光光电有限公司 | System for realizing extended depth of field under narrow pulse gating of image intensifier |
| CN109932729A (en) * | 2019-04-19 | 2019-06-25 | 北京瑞特森传感科技有限公司 | Face battle array laser radar |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5015868A (en) * | 1987-11-30 | 1991-05-14 | Goldstar Co., Ltd. | Real time distance sensor |
| CN1034142C (en) * | 1993-05-15 | 1997-02-26 | 莱卡公开股份有限公司 | Device for measuring distance |
| JP2002277548A (en) * | 2001-03-16 | 2002-09-25 | Mitsubishi Heavy Ind Ltd | High-precision distance measuring laser radar device |
| CN1424591A (en) * | 2002-12-24 | 2003-06-18 | 中国科学院上海技术物理研究所 | Adaptive variable-speed scanning laser imager |
-
2004
- 2004-05-18 CN CNB200410018524XA patent/CN100417915C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5015868A (en) * | 1987-11-30 | 1991-05-14 | Goldstar Co., Ltd. | Real time distance sensor |
| CN1034142C (en) * | 1993-05-15 | 1997-02-26 | 莱卡公开股份有限公司 | Device for measuring distance |
| JP2002277548A (en) * | 2001-03-16 | 2002-09-25 | Mitsubishi Heavy Ind Ltd | High-precision distance measuring laser radar device |
| CN1424591A (en) * | 2002-12-24 | 2003-06-18 | 中国科学院上海技术物理研究所 | Adaptive variable-speed scanning laser imager |
Non-Patent Citations (2)
| Title |
|---|
| 无扫描三维激光雷达的研究. 严惠民，倪旭翔，陈奇霖等.中国激光，第27卷第9期. 2000 |
| 无扫描三维激光雷达的研究. 严惠民，倪旭翔，陈奇霖等.中国激光，第27卷第9期. 2000 * |
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