CN102353352A - Single-camera range measurement system and range measurement method thereof - Google Patents
Single-camera range measurement system and range measurement method thereof Download PDFInfo
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- CN102353352A CN102353352A CN2011102167246A CN201110216724A CN102353352A CN 102353352 A CN102353352 A CN 102353352A CN 2011102167246 A CN2011102167246 A CN 2011102167246A CN 201110216724 A CN201110216724 A CN 201110216724A CN 102353352 A CN102353352 A CN 102353352A
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Abstract
The invention relates to a single-camera range measurement system and a range measurement method thereof. The single-camera range measurement system comprises a camera. The camera can convert scene imaging information into image data and transmit the image data to a controller. The camera is installed on a camera base. The camera base cooperates with a linear track. A circular shaft is arranged on the camera base. An end of a stirring connecting rod is provided with a rectangular groove. The rectangular groove is sleeved on the circular shaft of the camera base. The other end of the stirring connecting rod is fixed on a rotating shaft of a steering engine. The steering engine can realize camera position translation. The controller can realize acquisition and storage of data information of images from the camera. The controller can control the steering engine to drive the stirring connecting rod to move in the linear track so that the camera is driven to move. The controller can carry out information interaction with a communication interface. The communication interface realizes level conversion. The controller is connected to an external communication circuit by the communication interface. Through the single camera which is removable, the single-camera range measurement system realizes a range measurement effect which can be achieved by combination of two general cameras in the past. The single-camera range measurement system can be widely utilized for a range measurement system.
Description
Technical field
The present invention relates to a kind of range measurement system and distance-finding method, particularly about a kind of single camera range measurement system and distance-finding method thereof.
Background technology
Stereo vision sensor is widely used in a lot of fields such as industrial detection, object identification, robot self-aiming and military affairs, especially binocular vision sensor.At present, Chang Yong binocular machine vision system adopts two optical axis video cameras parallel or fixed angle to accomplish the collection of image.That this mode has is simple in structure, measuring speed fast, measure and the precision advantages of higher of coupling.But this system need carry out strict parameter calibration to video camera before measuring.
Like Fig. 1, shown in Figure 2, by Gary Bradski, pointed existing dual camera range measurement system in " Learning O penCV " that Adrian Kaehler writes: wherein two camera complete parallel placements on mathematics, its major parameter is: O
lBe left camera, O
rBe right camera, P is an impact point, and f is a focal length, and d is a parallax, T
xBe camera horizontal-direction pitch (mm), C
xFor adopting the X-axis pixel coordinate that P is ordered in the image, C in the left side
yThe Y-axis pixel coordinate that P is ordered in the image, C ' are adopted in the left side
xFor adopting the X-axis pixel coordinate that P is ordered in the image, C ' in the right side
yAdopt the Y-axis pixel coordinate that P is ordered in the image for the right side, Z is the distance of impact point P apart from camera, and the image upper left corner is true origin (as shown in Figure 2).Utilize similar triangle theory to carry out coordinate Calculation, its expression formula is shown in the Q matrix:
Then in the space three-dimensional coordinate of certain point be exactly (X/W, Y/W Z/W), and then can obtain impact point P and apart from camera apart from Z are:
Wherein, Z is the distance of impact point P apart from camera; The dimension of Z and T
xIdentical; T
xBe two camera horizontal-direction pitch (mm); Generally millimeter always also can be set to 0.1 millimeter magnitude for precision improves; F is that the dimension of focal distance f is a pixel; D is a parallax, d=x
l-x
r, the dimension of d is a pixel number, is the pairing pixel number of camera horizontal-direction pitch; C
xFor adopting the X-axis pixel coordinate that P is ordered in the image in the left side; C '
xFor adopting the X-axis pixel coordinate that P is ordered in the image in the right side.
Hence one can see that; There is following shortcoming in the dual camera range measurement system: the dual camera cost is high; Two camera parameter consistencys (such as focal length) will screen through strictness; The dual camera range measurement system constitutes complicated (controller will be accomplished reading two camera image data); Function expansion difficulty is (when finding range like autozoom; Be difficult for guaranteeing that the zoom parameters of two cameras is consistent), and two cameras are wanted many consumed powers etc.
Summary of the invention
To the problems referred to above; It is lower to the purpose of this invention is to provide a kind of cost; Just can realize original two range finding effects that camera reached through single packaged type camera, having overcome two shootings has parametric calibration difficult single camera range measurement system and distance-finding method thereof.
Be to realize above-mentioned purpose, the present invention takes following technical scheme: a kind of single camera range measurement system is characterized in that: it comprises that a controller, a steering wheel, stir connecting rod, a rectilinear orbit, a camera base and a camera; Said camera is accomplished the scene imaging, and image-forming information is transferred to view data and transfers to said controller; Said camera is installed on the said camera base, and said camera base and said rectilinear orbit are connected, and said camera base is provided with a circular shaft; Said connecting rod one end of stirring is provided with rectangular slot, and said rectangular slot is set on the circular shaft of said camera base; The said other end of stirring connecting rod is fixed on the rotation axis of said steering wheel; Said steering wheel is realized the position of the said camera of translation; Said controller is accomplished collection and the storage to said camera image data message, controls the said connecting rod of stirring of said steering wheel drive and in said rectilinear orbit, moves, and realizes driving said camera and moves; A said controller and a communication interface are carried out information interaction, and said communication interface is accomplished level conversion, and said controller connects external communication circuit through said communication interface.
The width of the said rectangular slot of stirring connecting rod one end is greater than the diameter of round spindle on the said camera base.
Said controller adopts and is made up of programming device and storer, and said programming device and said storer carry out information interaction.
Said programming device adopts the XC3S500E-4PQG208C of xilinx Spartant 3E 500 series.
Said storer adopts IS61WV51216.
Said controller adopts single-chip microcomputer.
Said single-chip microcomputer adopts the single-chip microcomputer of Freescale MC9S12XS128 model.
Realize the single camera distance-finding method of said system, it comprises the steps: the said single camera range measurement system of (1) initialization; (2) by controller output control signal, the operation of control steering wheel, make camera move to the measured target starting point after, carry out image acquisition; (3) camera is sent to the picture number information that collects in the controller and handles, and confirms impact point, and preserves the impact point coordinate; (4) steering wheel under the control of controller once more the operation, make camera move to the measured target terminal point after, camera carries out image acquisition once more, and image information is sent in the controller; (5) controller to the Image Information Processing in the said step (4) after, remove interfere information, confirm impact point, and obtain this impact point coordinate; (6) by the impact point coordinate figure of said step (3) and (5) twice acquisition of said step, obtain the target location range data, through communication interface the target location range data is exported the result by controller.
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention is owing to adopting by controller, steering wheel, stirring the range measurement system that connecting rod, rectilinear orbit, camera base and camera constitute; Camera matches with rectilinear orbit through camera base; Stirring connecting rod one end is connected with camera base; The other end is connected with steering wheel; By controller control steering wheel; And then realize that camera carries out translation; Therefore, realized just realizing original two range finding effects that camera reached through single packaged type camera.2, the present invention has solved the problem that single camera can't be found range owing to adopt single camera to replace original two cameras to carry out distance measurement function, has practiced thrift cost greatly.3, therefore the present invention, has further overcome the problem of two camera parametric calibration difficulties owing to adopt single camera can realize the range finding effect that two cameras just can reach.The present invention can be widely used in the range measurement system.
Description of drawings
Fig. 1 is the vertical view of dual camera range measurement system in the prior art;
Fig. 2 is the stereographic map of dual camera range measurement system in the prior art;
Fig. 3 is an one-piece construction synoptic diagram of the present invention;
Fig. 4 is that camera base of the present invention is connected synoptic diagram with rectilinear orbit;
Fig. 5 is controller of the present invention and camera, steering wheel and communication interface electric connection structure synoptic diagram;
Fig. 6 is a course of work synoptic diagram of the present invention;
Fig. 7 is a single camera distance-finding method schematic flow sheet of the present invention;
Fig. 8 is the structural representation that the embodiment of the invention one middle controller adopts FPGA.
Embodiment
The present invention adopts a portable camera to replace two fixed cameras, realizes object is carried out distance measurement function.Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
As shown in Figure 3, the present invention includes a camera 1, a camera base 2, a rectilinear orbit 3, and stir connecting rod 4, a steering wheel 5 and a controller 6.
Stir connecting rod 4 and adopt rectangle to stir connecting rod, the one of which end is provided with rectangular slot, and the diameter of round spindle on the width of rectangular slot and the camera base 2 is bigger, makes rectangular slot can just be enclosed within on the circular shaft of camera base, and can be movable.The length of rectangular slot and camera 1 translation apart from T
xCorresponding, make it to satisfy camera 1 translation apart from T
xRequirement.The other end of stirring connecting rod 4 is fixed on the rotation axis of steering wheel 5, when the rotation axis of steering wheel 5 rotates, stirs connecting rod 4 and and then rotates, and then drive camera 1 along rectilinear orbit 3 parallel moving.
The position that steering wheel 5 is realized translation camera 1.When the rotation axis of steering wheel 5 rotated, through stirring stirring of connecting rod 4, camera 1 was along rectilinear orbit 3 parallel moving, reach translation apart from T
x
As shown in Figure 5, controller 6 is accomplished collection and the storage to camera 1 image data information, and control steering wheel 5 drives and stir connecting rod 4 and rectilinear orbit 3 in, move, and then drives camera 1 and move, accomplish to target object find range correlation computations with communicate by letter.Controller 6 also carries out information interaction with a communication interface 7; Communication interface 7 is accomplished level conversion; Controller 6 can connect the telecommunication circuit (like infrared communication circuit, bluetooth communication circuit, twireless radio-frequency communication circuit etc.) of outside various types through communication interface 7, accomplishes the data communication of single camera range measurement system of the present invention and other system (applications ranging result's system).
The present invention in use, as shown in Figure 6, wherein solid line is measured target starting point O
lDotted state, dotted line are measured target terminal point O
rDotted state keeps camera 1 parallel moving through steering wheel 5, gathers O respectively
lPoint and O
rPoint place image, thus reach the effect that two cameras are found range.Camera 1 can be at O through moving horizontally the position
lThe first images acquired l of point obtains C through image recognition
xAgain through steering wheel 5 translation camera position T
x, camera 1 is moved to O
rImages acquired r obtains C ' through image recognition again
x, last overall treatment image l and image r are with focal distance f, the translation camera position T of camera 1
xWith parallax d, calculate the vertical range Z of object P and camera 1 translated line.
As shown in Figure 7, according to single camera range measurement system of the present invention, single camera distance-finding method of the present invention comprises the steps:
1) initialization single camera range measurement system of the present invention at first;
2) by controller 6 output control signals, 5 operations of control steering wheel make camera 1 move to measured target starting point O
lBehind the point, camera 1 carries out image acquisition;
3) camera 1 is sent to the picture number information that collects in the controller 6, and 6 pairs of images that collect of controller are handled, and confirm impact point, and preserves the impact point coordinate;
4) steering wheel 5 operation once more under the control of controller 6 makes camera 1 move to measured target terminal point O
rBehind the point, camera 1 carries out image acquisition once more, and image information is sent in the controller 6;
5) after the Image Information Processing in 6 pairs of step 4) of controller, remove interfere information, confirm impact point, and obtain this impact point coordinate;
6) by the impact point coordinate figure of step 3) and twice acquisition of step 5), calculate the target location range data, and through communication interface 7 the target location range data is exported the result by controller 6 as required.
In above-mentioned each step, need O
l, O
r2 maintenance levels in three dimensions will guarantee camera 1 level when rectilinear orbit 3 is installed, and the position according to the angular setting camera 1 of steering wheel 5 changes O
l, O
rPoint-to-point transmission apart from d, accomplish the adjustment of sighting distance.
Through specific embodiment the present invention is done further description below.
Embodiment one:
As shown in Figure 8, controller 6 of the present invention adopts by FPGA (programming device) 8 and constitutes with storer 9, and FPGA8 and storer 9 carry out information interaction.Control camera 1 images acquired through FPGA8, and image is sent to storage in the storer 9, FPGA8 output steering wheel 5 control signals, control steering wheel 5 and camera 1 position translation T
x, camera 1 carries out image acquisition once more, FPGA8 control store 9 store images, and handle two width of cloth images and calculate the data of impact point position distance, again through communication interface output result data.
In the present embodiment, FPGA8 adopts the XC3S500E-4PQG208C of xilinx Spartant 3E 500 series, and storer 9 adopts IS61WV51216, and camera adopts C3188a (the image size is 664*492), and the level conversion of communication interface 7 adopts MAX3232.
Embodiment two:
Through Single-chip Controlling camera 1 images acquired, and there is 9 li in single-chip microcomputer internal storage in image, single-chip microcomputer is exported steering wheel 5 control signals again, control steering wheel 5 and camera 1 position translation T
x, camera 1 carries out image acquisition once more, obtains another image, and Single-chip Controlling storer 9 stores this image, and single-chip microcomputer is handled two width of cloth images and is calculated the data of impact point position distance, again through communication interface output result data.
In the present embodiment, a target P is put into 15cm place apart from camera 1.If camera 1 parallel distance is 50mm, i.e. T after steering wheel 5 displacements
x=50mm; Parallax d is relevant with the parameter and camera 1 moving interval of the camera of choosing 1, is certain value, according to the resultant d=-141.73 of camera c3188a that is adopted; Focal distance f=6mm; According to O
lElder generation's images acquired 1 records impact point P coordinate for (220,100), at O
rPoint records impact point P coordinate and is (280,100).Then can obtain apart from the formula apart from Z of camera by existing impact point P:
Hence one can see that, and its degree of accuracy is relevant with machinery installation and device parameter.
Above-mentioned each embodiment only is used to illustrate the present invention; The structure of each parts can change with being connected all to some extent; On the basis of technical scheme of the present invention, all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (8)
1. single camera range measurement system is characterized in that: it comprises that a controller, a steering wheel, stir connecting rod, a rectilinear orbit, a camera base and a camera; Said camera is accomplished the scene imaging, and image-forming information is transferred to view data and transfers to said controller; Said camera is installed on the said camera base, and said camera base and said rectilinear orbit are connected, and said camera base is provided with a circular shaft; Said connecting rod one end of stirring is provided with rectangular slot, and said rectangular slot is set on the circular shaft of said camera base; The said other end of stirring connecting rod is fixed on the rotation axis of said steering wheel; Said steering wheel is realized the position of the said camera of translation; Said controller is accomplished collection and the storage to said camera image data message, controls the said connecting rod of stirring of said steering wheel drive and in said rectilinear orbit, moves, and realizes driving said camera and moves; A said controller and a communication interface are carried out information interaction, and said communication interface is accomplished level conversion, and said controller connects external communication circuit through said communication interface.
2. a kind of single camera range measurement system as claimed in claim 1 is characterized in that: the width of the said rectangular slot of stirring connecting rod one end is greater than the diameter of round spindle on the said camera base.
3. a kind of single camera range measurement system as claimed in claim 1 or 2 is characterized in that: said controller adopts and is made up of programming device and storer, and said programming device and said storer carry out information interaction.
4. a kind of single camera range measurement system as claimed in claim 3 is characterized in that: said programming device adopts the XC3S500E-4PQG208C of xilinx Spartant 3E 500 series.
5. a kind of single camera range measurement system as claimed in claim 3 is characterized in that: said storer adopts IS61WV51216.
6. a kind of single camera range measurement system as claimed in claim 1 or 2 is characterized in that: said controller adopts single-chip microcomputer.
7. a kind of single camera range measurement system as claimed in claim 6 is characterized in that: said single-chip microcomputer adopts the single-chip microcomputer of Freescale MC9S12XS128 model.
8. a realization is like the single camera distance-finding method of system as described in any one of the claim 1～7, and it comprises the steps:
(1) the said single camera range measurement system of initialization;
(2) by controller output control signal, the operation of control steering wheel, make camera move to the measured target starting point after, carry out image acquisition;
(3) camera is sent to the picture number information that collects in the controller and handles, and confirms impact point, and preserves the impact point coordinate;
(4) steering wheel under the control of controller once more the operation, make camera move to the measured target terminal point after, camera carries out image acquisition once more, and image information is sent in the controller;
(5) controller to the Image Information Processing in the said step (4) after, remove interfere information, confirm impact point, and obtain this impact point coordinate;
(6) by the impact point coordinate figure of said step (3) and (5) twice acquisition of said step, obtain the target location range data, through communication interface the target location range data is exported the result by controller.
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Cited By (5)
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| CN106291521A (en) * | 2016-07-29 | 2017-01-04 | 广东欧珀移动通信有限公司 | Distance-finding method, device and the mobile terminal moved based on MEMS |
| CN106534693A (en) * | 2016-11-25 | 2017-03-22 | 努比亚技术有限公司 | Photo processing method, photo processing device and terminal |
| CN110220471A (en) * | 2019-06-27 | 2019-09-10 | 广西柳钢东信科技有限公司 | A kind of molten metal trough erosion degree detection method |
| CN112330740A (en) * | 2020-10-28 | 2021-02-05 | 华北电力大学（保定） | Pseudo-binocular dynamic distance measurement method based on monocular video |
| CN113556607A (en) * | 2021-07-07 | 2021-10-26 | 深圳创维－Rgb电子有限公司 | Watching distance reminding method, device, equipment and storage medium of smart television |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291521A (en) * | 2016-07-29 | 2017-01-04 | 广东欧珀移动通信有限公司 | Distance-finding method, device and the mobile terminal moved based on MEMS |
| CN106534693A (en) * | 2016-11-25 | 2017-03-22 | 努比亚技术有限公司 | Photo processing method, photo processing device and terminal |
| CN110220471A (en) * | 2019-06-27 | 2019-09-10 | 广西柳钢东信科技有限公司 | A kind of molten metal trough erosion degree detection method |
| CN110220471B (en) * | 2019-06-27 | 2023-12-08 | 广西柳钢东信科技有限公司 | Method for detecting erosion degree of molten metal tank |
| CN112330740A (en) * | 2020-10-28 | 2021-02-05 | 华北电力大学（保定） | Pseudo-binocular dynamic distance measurement method based on monocular video |
| CN113556607A (en) * | 2021-07-07 | 2021-10-26 | 深圳创维－Rgb电子有限公司 | Watching distance reminding method, device, equipment and storage medium of smart television |
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Application publication date: 20120215 |