CN102175188A - Embedded photoelectric auto-collimator based on planar array CMOS (Complementary Metal-Oxide-Semiconductor Transistor) image sensor and operation method thereof - Google Patents
Embedded photoelectric auto-collimator based on planar array CMOS (Complementary Metal-Oxide-Semiconductor Transistor) image sensor and operation method thereof Download PDFInfo
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Abstract
The invention relates to an embedded photoelectric auto-collimator based on a planar array CMOS (Complementary Metal-Oxide-Semiconductor Transistor) image sensor and an operation method thereof. The embedded photoelectric auto-collimator comprises an optical system and a hardware circuit system, wherein the optical system consists of a reflector and an auto-collimation collimator and the hardware circuit system comprises a planar array CMOS image sensor, an embedded system hardware circuit and a real-time liquid crystal display screen. After receiving images of the optical system, the planar array CMOS image sensor outputs the data of the images and transmits the data of the images to the embedded system hardware circuit to perform data storage and processing, and finally, calculated angular displacement information and acquired images are displayed on the small-sized liquid crystal display screen of the auto-collimator. In the invention, an embedded kernel chip is adopted to simplify the system structure and shorten the system size; the display screen can display measured results in real time, thereby improving measurement efficiency; and a visual human-computer interface enables operation and use to be simpler and more convenient. Therefore, the digitalization, two dimension and portability of the photoelectric auto-collimator can be realized really.
Description
Technical field
The present invention relates to a kind of surveying instrument, particularly a kind of embedded photoelectric autocollimator based on the face array CMOS image sensor.
Background technology
Autocollimator in the market comprises mechanical type autocollimator and photoelectric auto-collimator.Traditional mechanical type autocollimator exists artificial pointing error and interpolation; The utilization line array CCD is as electrooptical device in the photoelectric auto-collimator, can not reflect the angular displacement on the measured object two-dimensional directional,, realize the angle displacement measurement of two-dimensional directional even two line array CCDs are vertically placed, but guarantee that two row CCD are definitely vertical, the same uncertainty that exists; For the photoelectric auto-collimator that reads, stores and handle that adopts the system controlled by computer data, measuring system is then too huge, and is portable poor.
Summary of the invention
The present invention be directed to the problem that autocollimator in the market exists, proposed a kind of embedded photoelectric autocollimator and method of work, really realized the digitizing of photoelectric auto-collimator, two dimensionization, portability based on the face array CMOS image sensor.
Technical scheme of the present invention is: a kind of embedded photoelectric autocollimator based on the face array CMOS image sensor, comprise by catoptron, the optical system that auto-collimation collimator is formed and by the face array CMOS image sensor, embedded system hardware circuit and the ware circuit that shows the liquid crystal composition in real time, auto-collimation collimator comprises light source, graticule, Amici prism, collimation lens, the light that light source sends is by graticule and Amici prism, graticule is positioned at light that the point on the optical axis appears through behind the collimation lens, the a branch of directional light of outgoing, directional light is after the plane reflection mirror reflection, image on the focal plane of collimator objective, the face array CMOS image sensor places the place, equivalent focal plane of object lens to realize opto-electronic conversion, the data of face array CMOS image sensor output image are transferred to storage and the processing that the embedded system hardware circuit carries out data through acquisition channel, and the image that will calculate gained angular displacement information and collection at last is presented on the liquid crystal in real time.
Described embedded system hardware circuit comprises the JTAG download circuit, data buffer circuit, FPGA programmable digital filtering circuit, embedded core processor chip and extended memory, the face array CMOS image sensor outputs to digital data transmission to FPGA programmable digital filtering circuit, data are carried out filter preprocessing, and generation face battle array CMOS and the required driving sequential of liquid crystal work, arrive data buffer circuit through the filtered data signal transmission of FPGA programmable digital filtering circuit, then data are sent into embedded core processor chip, data are carried out the processing in a step, shift and storage, FPGA programmable digital filtering circuit is furnished with the JTAG download circuit.
A kind of method of work of the embedded photoelectric autocollimator based on the face array CMOS image sensor comprises the embedded photoelectric autocollimator based on the face array CMOS image sensor, specifically comprises the steps:
1) when catoptron (1) vertical with optical axis, then the light reflection is after prism (23) reflection, the cross imaging point of autocollimator is sent data into embedded system hardware circuit (4) by face array CMOS image sensor (3), and imaging in a demarcation is the ideal null picture point;
2) catoptron (1) face is not vertical with optical axis, becomes with vertical direction
The angle, parallel rays can become 2 with former reflection ray after catoptron (1) reflection so
The angle again behind lens (24) focal imaging, accepts at imageing sensor (3) that there are plan range s in actual image point and ideal null picture point on the face;
3) actual image point is stored, handled in Embedded kernel by the image data transmission that cmos image sensor collects, calculate, utilize the geometric relationship of light path to calculate the angle of level crossing normal direction, promptly with respect to the collimating optical system primary optical axis
, in the formula
Picture side's focal length for optical system.
Beneficial effect of the present invention is: the embedded photoelectric autocollimator and the method for work that the present invention is based on the face array CMOS image sensor, simplified the structure of system, dwindled the volume of system, improve efficiency of measurement, visual man-machine interface make manipulate simpler, really realized the digitizing of photoelectric auto-collimator, two dimensionization, portability.Be applicable to the various occasions that need high-acruracy survey, as Aero-Space, machine-building, the calibration measurement instrument that metrology and measurement and scientific research etc. are indispensable, be widely used in measurement of angle, the guide rail flatness and the measurement of paralleism, aspects such as table top roughness measurement and precision positioning.
Description of drawings
Fig. 1 is the embedded photoelectric autocollimator structured flowchart that the present invention is based on the face array CMOS image sensor;
Fig. 2 the present invention is based on that optical system constitutes sketch figure in the embedded photoelectric autocollimator of face array CMOS image sensor;
Fig. 3 is the relative position synoptic diagram that the present invention is based on picture point and normal zero in the embedded photoelectric autocollimator of face array CMOS image sensor;
Fig. 4 is based on hardware system block diagram in the embedded photoelectric autocollimator of face array CMOS image sensor;
Fig. 5 is based on face battle array CMOS driving circuit connection layout in the embedded photoelectric autocollimator of face array CMOS image sensor;
Fig. 6 is the internal functional blocks synoptic diagram based on FPGA in the embedded photoelectric autocollimator of face array CMOS image sensor;
Fig. 7 is based on DSP internal functional blocks and hardware connection diagram in the embedded photoelectric autocollimator of face array CMOS image sensor;
Fig. 8 has embedded operating system, system flowchart in the embedded photoelectric autocollimator based on the face array CMOS image sensor;
Fig. 9 is for to be presented at the liquid crystal display synoptic diagram in real time based on tracking cursor light spot position in the embedded photoelectric autocollimator of face array CMOS image sensor;
Figure 10 is for triggering CMOS sampling process flow diagram based on timing in the embedded photoelectric autocollimator of face array CMOS image sensor;
Figure 11 is based on buffer counter process flow diagram in the embedded photoelectric autocollimator of face array CMOS image sensor;
Figure 12 is the demonstration thread process flow diagram based on LCD in the embedded photoelectric autocollimator of face array CMOS image sensor.
Embodiment
The embedded photoelectric autocollimator system that is as shown in Figure 1 based on the face array CMOS image sensor constitutes block diagram.This system comprises optical system and ware circuit two large divisions.
Optical system is made up of auto-collimation collimator 2, catoptron 1.The fundamental measurement principle of optical system is, one is positioned at the light that illuminated target is sent on the focal plane, collimation lens rear portion and projects the infinite distance through behind the lens, is reflected after running into catoptron, again by the lens focus imaging.If catoptron is vertical with optical axis, then former road, light reflection back is returned, as still dropping on ideal standard point place; If mirror surface is not vertical with optical axis, former parallel light after mirror reflects can with former light at an angle, after the lens focus imaging, do not overlap again with ideal standard point, have a displacement.According to this displacement that is produced on the image planes, can calculate the variable quantity of the angulation of reflecting surface and optical axis according to the geometric relationship of light path.
Ware circuit then comprises face array CMOS image sensor 3, embedded system hardware circuit 4 and the liquid crystal 5 that shows measurement result in real time.The principle of measuring process is as follows: location cmos image sensor 3, determine the position elements of ideal standard picture point at the CMOS photosensitive array, selected CMOS daylighting window (can realize by the configuration cmos image sensor) makes the position elements of ideal standard picture point be positioned at window center.Be mapped to when reflection ray on the light-sensitive surface of cmos image sensor 3 after the imaging, the data of image are transferred to storage and the processing of carrying out data in the Embedded kernel through acquisition channel, utilize corresponding algorithmic function to find the position of picture point in entire image, positional information with the ideal standard picture point compares again, calculate the distance of two pixel positions, utilize geometric relationship to calculate the angular displacement of reflecting surface again.The image that will calculate gained angular displacement information and collection at last is presented on the liquid crystal TFT screen, and during kinetic measurement, the angular displacement meeting is followed the tracks of imaging point and refreshed demonstration in real time on LCD.
Fig. 2 is optical system and constitutes sketch.The light that light source 21 sends is by graticule 22 and Amici prism 23, graticule 22 is positioned at light that the point on the optical axis appears through behind the collimation lens 24, the a branch of directional light of outgoing, directional light is after plane mirror 1 reflection, image on the focal plane of collimator objective, face array CMOS image sensor 3 places the place, equivalent focal plane of object lens to realize opto-electronic conversion.
Set up coordinate system on the light-sensitive surface of CMOS, when catoptron 1 is vertical with optical axis, then light reflection is after prism 23 reflections image in an O, and O is decided to be the initial point of coordinate system, demarcate to be the ideal null picture point, promptly before described ideal standard picture point; If mirror surface is not vertical with optical axis, become with this direction
The angle, parallel rays can become 2 with former reflection ray after catoptron 1 reflection so
The angle as shown in Figure 2, does not overlap with former desirable zero point behind lens 24 focal imagings again, accepts on the face picture point and ideal null picture point O existence apart from displacement at imageing sensor 3
,
Be actual image point and the ideal null picture point plan range s on sensor plane.
It among Fig. 3 the relative position synoptic diagram of picture point and normal zero on the cmos image sensor plane.Ultimate principle according to geometrical optics can draw:
, in the formula
Be picture side's focal length of collimating optical system, general in the application of autocollimator
The angle is very little, so
,
Above calculation process specifically is to realize by the embedded kernel of hardware circuit.Reflection ray is mapped on the light-sensitive surface of cmos image sensor after the imaging, the image data transmission that collects is stored and is handled in Embedded kernel, utilize corresponding Edge extraction algorithmic function to find the position of picture point in entire image, afterwards again with the positional information of ideal standard picture point relatively, calculate the distance of two pixel positions, utilize geometric relationship to calculate the angle of level crossing normal direction again with respect to the collimating optical system primary optical axis.
Fig. 4 is the hardware system block diagram based on embedded kernel.Principle of work is, the light beam that lighting source is launched in the parallel light tube is through the reflected light signal behind the catoptron 1, at first be converted to electric signal through face array CMOS image sensor 3, the module of multiple functions such as integrated signal processing and amplifying and A/D conversion in cmos image sensor 3 single-chips, therefore face battle array CMOS directly exports digital signal, according to the digital signal figure place difference that output is set of CMOS model or register.Digital data transmission is to FPGA programmable digital filtering circuit 43 afterwards, data are carried out filter preprocessing, in order to utilize resource better, utilize the required driving sequential of FPGA circuit 43 generation face battle array CMOS and liquid crystal TFT work simultaneously, FPGA circuit 43 is furnished with jtag circuit 41 to download.Be transferred to data buffer circuit 42 after FPGA circuit 43 filtered data-signals, purpose is a management traffic more scientifically.Then data are sent into embedded core processor chip 44, data are carried out the processing in a step, shift and storage.In order to satisfy the storage demand of program and data, system expands core chip, is furnished with expansion external data memory 45 and expansion external program memory 47.In addition, system provides the function of USB transmission data.Measurement data after handling at last shows for liquid crystal TFT5.
CMOS drives: array image sensor CMOS chip has low cost as the electrooptical device of native system, and low-power consumption can realize that image controls automatically, frame per second size program controlled, and picture quality is controlled, supports multiple advantages such as several data output format.
CMOS work generally need to need two kinds of voltages, aanalogvoltage AVDD and imput output circuit voltage DOVDD, and the extraneous voltage 5V that introduces utilizes integrated voltage stabilizing chip to obtain AVDD and DOVDD.
As Fig. 5 is face battle array CMOS driving circuit connection layout.System's input clock is provided by crystal oscillating circuit.The integrated A/D change-over circuit of chip internal, imaging signal processing circuit and control circuit etc., CMOS output is 8 or 10 digital signal.
FPGA digital filtering: at cmos imaging quality bigger problem affected by noise, the CMOS system selects for use programmable logic device (PLD) FPGA to realize the digital filtering function, thereby improved picture quality, also can serve as other multiple-tasks simultaneously, as communicate by letter with embedded core chip, peripheral interface circuit, face array CMOS image sensor drive, the TFT screen drives etc.Figure below is the internal functional blocks synoptic diagram of FPGA.
As shown in Figure 6, the FPGA function is included as array image sensor CMOS and liquid crystal TFT provides required drive clock; The image that opposite battle array CMOS gathers carries out repeatedly mixed filtering, to improve picture quality; Carry out exchanges data with embedded kernel; Jtag circuit is used for downloading the FPGA program to chip.
Embedded core processor: as Fig. 7 is DSP internal functional blocks and hardware connection diagram, native system select for use ADI company the 4th generation dsp chip, the Blackfin family chip.The flush bonding processor of other types is equally applicable to native system, for example, and ARM, MCU etc.Blackfin family chip chip has powerful image-capable, and frequency of operation is up to 600MHz.
Front end CMOS powers on through driving, behind the initialization internal register, again through obtaining Digital Image Data after the PFGA processing circuit processes.View data guarantees that through impact damper data synchronization transmits.The data of impact damper output are transferred to dsp chip through parallel port PPI, and the PPI mouth is one group of parallel data mouth that is used for high bandwidth transmission.The gatherer process of image comprises initialization face battle array CMOS register by the image capture module control of inside, configuration transmission mouth, the break in service after width of cloth figure transmission is finished etc.The data that collect are handled by image processing module, utilize corresponding Edge extraction algorithmic function to find the position of picture point in entire image, afterwards again with the positional information of ideal standard picture point relatively, calculate the distance of two pixel positions, utilize geometric relationship to calculate the angle of level crossing normal direction again with respect to the collimating optical system primary optical axis.With gained angular displacement information and the brilliant demonstration of source image data liquor charging, this process is controlled by image display at last, comprises transmission mouthful configuration, liquid crystal reset terminal control etc.Native system is selected 3.5 inches screens for use, and is small and exquisite portable.In order to satisfy the demand of the storage of mass data in data storage and the processing procedure, system extension the external data storage space; In order to satisfy the procedure stores demand, expanded procedure stores Flash.
Embedded OS: this device has embedded operating system, shown in system flow Fig. 8.
Image processing algorithm software: program is divided into image acquisition, data processing and calculating, liquid-crystal display section.At first be the image acquisition part, the Pixel Information of use face battle array CMOS images acquired by amplifying, is input in the embedded core processor after the processing such as AD conversion and filtering again.By processing image information, obtain the distance parameter of luminous point imaging effectively.By data processing and algorithmic function computing, convert the angular displacement parameter of collimator to again.Again the angular displacement parameter is merged in the rectangular coordinate system at the source images place that collects, and the brilliant lcd screen demonstration of liquor charging, the process of whole measurement, the angular displacement parameter can be presented on the liquid crystal display by the tracking cursor light spot position in real time, when being (0,0), angular displacement represents to collimate.As shown in Figure 9.
We use uCOS II real time operating system to realize, that at first comprise is the service thread OS_Tick_Task () and the task statistics thread OS_TaskState () of system bottom, is exactly the user thread that we set up in addition.Comprise an image acquisition thread OS_Camera_Task () who regularly triggers, responsible timing triggers a semaphore, makes COMS finish an image scanning.Meanwhile open the DMA passage, DMA is a kind of data transfer mode, give dma controller with bus assignment and hang up the semaphore (being used to shield the program that other need take bus) of a DMA_Service, thereby set up the data transmission channel of a PPI mouth to the physical buffer district, the PPI mouth is one group of parallel data transmission mouth.Thread enters wait afterwards, and CPU abandons the control of bus, the program of operation kernel, until DMA finishes transmission, bus control right just returns to CPU again.When DMA finishes, enter DMA and interrupt, release semaphore DMA_Service, and the wait of end OS_Camera_Task ().The cushion space of accessories image comprises that the bit pointer with the buffering storehouse increases then, and the cache image counter increases, and sets up new operations such as buffering image block.At last, enter the timing triggering CMOS sampling that timing starts next round.Process flow diagram as shown in figure 10.
Second user thread is data operation program OS_Cal_Task (), and the main time period of carrying out is that DMA takies the stage that bus and OS_Camera_Task () are in wait.Numerical value in the image counter in detecting buffer stopper is greater than zero, thread enters the operational phase, extract image block from buffer memory, the accessories cushion space is sent the first address of view data into image processing program again, range information by image processing section return laser light point, and be converted into the information of angular displacement, and it is put into metadata cache, configuration data cache information etc. by computing formula, discharge the storage space of processed images information simultaneously, buffer counter reduces.Process flow diagram such as Figure 11.
The third party thread is the demonstration thread OS_Display_Task () of LCD, and promptly the angular displacement coordinate shows on screen in real time.This thread is used to realize the function of LCD display periodic refresh, at first thread enters and waits for and to be suspended, CPU is used to carry out other programs, arriving timing OS_Display_Task () then has hang-up to enter ready state, carry out the process that refreshes then, on LCD, refreshing frequency is 60Hz with the data presentation after the sampling processing.Annotate: when when LCD refreshes, detecting the DMA_Service signal and being suspended, illustrate that bus is occupied, abandon refreshing at this moment, change into next time and carrying out.After the data presentation, separation angle displacement buffered data.Process flow diagram as shown in figure 12.
For these three user Task, being allocated as follows of priority shows that the image data thread is the highest, the priority the second of image acquisition, and the Flame Image Process thread is minimum as background program priority.In addition, aspect the stages of labor scheduling, what we at first carried out is the part that refreshes of LCD, at one's leisure between the section we cpu resource is dispatched to important image acquisition, when image acquisition in the timing stage or be in transmission wait stage of DMA, the computing thread that we can carries out image.
Claims (3)
1. embedded photoelectric autocollimator based on the face array CMOS image sensor, it is characterized in that, comprise by catoptron (1), the optical system that auto-collimation collimator (2) is formed and by face array CMOS image sensor (3), embedded system hardware circuit (4) and the ware circuit that shows liquid crystal (5) composition in real time, auto-collimation collimator (2) comprises light source (21), graticule (22), Amici prism (23), collimation lens (24), the light that light source (21) sends is by graticule (22) and Amici prism (23), graticule (22) be positioned at light that the point on the optical axis appears through collimation lens (24) after, the a branch of directional light of outgoing, directional light is after plane mirror (1) reflection, image on the focal plane of collimator objective, face array CMOS image sensor (3) places the place, equivalent focal plane of object lens to realize opto-electronic conversion, the data of face array CMOS image sensor (3) output image are transferred to storage and the processing that embedded system hardware circuit (4) carries out data through acquisition channel, and the image that will calculate gained angular displacement information and collection at last is presented on the liquid crystal (5) in real time.
2. according to the described embedded photoelectric autocollimator of claim 1 based on the face array CMOS image sensor, it is characterized in that, described embedded system hardware circuit (4) comprises JTAG download circuit (41), data buffer circuit (42), FPGA programmable digital filtering circuit (43), embedded core processor chip (44) and extended memory, face array CMOS image sensor (3) outputs to digital data transmission to FPGA programmable digital filtering circuit (43), data are carried out filter preprocessing, and generation face battle array CMOS(3) and the required driving sequential of liquid crystal (5) work, arrive data buffer circuit (42) through the filtered data signal transmission of FPGA programmable digital filtering circuit (43), then data are sent into embedded core processor chip (44), data are carried out the processing in a step, shift and storage, FPGA programmable digital filtering circuit (43) is furnished with JTAG download circuit (41).
3. the method for work based on the embedded photoelectric autocollimator of face array CMOS image sensor is characterized in that, comprises the embedded photoelectric autocollimator based on the face array CMOS image sensor, specifically comprises the steps:
1) when catoptron (1) vertical with optical axis, then the light reflection is after prism (23) reflection, the cross imaging point of autocollimator is sent data into embedded system hardware circuit (4) by face array CMOS image sensor (3), and imaging in a demarcation is the ideal null picture point;
2) catoptron (1) face is not vertical with optical axis, becomes with vertical direction
The angle, parallel rays can become 2 with former reflection ray after catoptron (1) reflection so
The angle again behind lens (24) focal imaging, accepts at imageing sensor (3) that there are plan range s in actual image point and ideal null picture point on the face;
3) actual image point is stored, handled in Embedded kernel by the image data transmission that cmos image sensor collects, calculate, utilize the geometric relationship of light path to calculate the angle of level crossing normal direction, promptly with respect to the collimating optical system primary optical axis
, in the formula
Picture side's focal length for optical system.
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| CN104062753A (en) * | 2014-06-16 | 2014-09-24 | 苏州理欧电子科技有限公司 | Photoelectric auto-collimation collimator |
| CN106895799A (en) * | 2017-01-18 | 2017-06-27 | 苏州光仪器有限公司 | A kind of photoelectricity surveying instrument and auxiliary number reading method with auxiliary reading function |
| CN107478195A (en) * | 2017-09-15 | 2017-12-15 | 哈尔滨工程大学 | One kind is based on optical space object status measurement apparatus and its measuring method |
| CN109990735A (en) * | 2018-12-29 | 2019-07-09 | 中国科学院西安光学精密机械研究所 | For improving the light source frequency modulating device and method of autocollimator measurement accuracy |
| CN111161197A (en) * | 2019-12-06 | 2020-05-15 | 河北汉光重工有限责任公司 | Image registration fusion method of handheld observation instrument |
| CN116815402A (en) * | 2023-08-31 | 2023-09-29 | 张家港市战狼智能科技有限公司 | Automatic calibration intelligent yarn running nozzle device of flat knitting machine |
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| CN109990735B (en) * | 2018-12-29 | 2020-05-19 | 中国科学院西安光学精密机械研究所 | Light source frequency modulation device and method for improving measurement precision of autocollimator |
| CN111161197A (en) * | 2019-12-06 | 2020-05-15 | 河北汉光重工有限责任公司 | Image registration fusion method of handheld observation instrument |
| CN116815402A (en) * | 2023-08-31 | 2023-09-29 | 张家港市战狼智能科技有限公司 | Automatic calibration intelligent yarn running nozzle device of flat knitting machine |
| CN116815402B (en) * | 2023-08-31 | 2023-11-03 | 张家港市战狼智能科技有限公司 | Automatic calibration intelligent yarn running nozzle device of flat knitting machine |
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Application publication date: 20110907 |