CN102360079B - Laser range finder and working method thereof - Google Patents
Laser range finder and working method thereof Download PDFInfo
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- CN102360079B CN102360079B CN201110185799.2A CN201110185799A CN102360079B CN 102360079 B CN102360079 B CN 102360079B CN 201110185799 A CN201110185799 A CN 201110185799A CN 102360079 B CN102360079 B CN 102360079B
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Abstract
The invention relates to a laser range finder and a working method thereof. According to the invention, a laser light source that is capable of moving along a circular trace is utilized and pictures are taken regularly to record a trace of a reflection spot; on the basis of the trace of the spot and combination of a structure of an optical system, a to-be-measured distance parameter is obtained by image processing and calculation. Beneficial effects of the invention are as follows: an optical path system is constructed by employing a principle of optics, thereby obtaining a high quality image and improving a resolution of the system; meanwhile, an image processing method is utilized for cooperation, so that interferences of external factors like temperature and noise on a measuring process can be effectively eliminated as well as rapid, reliable, convenient and accurate measurement on a distance can be realized.
Description
Technical field
The present invention relates to a kind of surveying instrument, particularly a kind of laser range finder and method of work based on the processing of DSP image and Array CCD sensor.
Background technology
Traditional laser range finder generally adopts impulse method and phase method.Impulse method is, the laser that the light source of surveying instrument is launched is after testee reflects, and measured instrument receives, the mistiming of utilizing emission and accepting is calculated distance, in the known situation of the light velocity, measure the time that laser comes and goes to obtain range data, this method precision is lower.Phase method utilizes the frequency of radio wave band that laser is carried out the AM modulation, measures the phase delay that the light modulated round trip produces, and converses distance corresponding to phase retardation according to the modulation light wavelength.Though the measuring accuracy of phase method is high, but measuring distance is shorter.
The measurement result that obtains of traditional laser sensor opto-electronic conversion also should comprise the distance that instrument internal is propagated in addition.In addition, in the stadimeter circuit each element in various degree heating and environment temperature on the drift error that the impact of each components and parts also causes the electric signal in the circuit to produce, directly affect the accuracy of measurement result.Adopt pulsed or phase type, measuring all needs the parameter of known air refractive index to carry out computing.Since climate change, air humidity, and the variation of dirt content just may produce certain error.
Summary of the invention
The present invention be directed to the problem that traditional laser range finder exists, a kind of laser range finder and method of work have been proposed, utilization is based on the Digital Image Processing of DSP, only need obtain high-quality image information, obtain distance by analyzing and processing, avoid the disturbing factors such as introducing air refraction and temperature drift, realized more accurate range observation.
Technical scheme of the present invention is: a kind of laser range finder, comprise by camera lens, the optical system that the rotating laser head forms, by the Array CCD sensor, image capturing and processing circuit, the driver module of rotating laser head, power module, in order to the liquid crystal that shows information and the ware circuit that forms in order to the button of input measurement configuration information, mechanical system as shell, and image is processed the Survey Software part, camera lens comprises aperture diaphragm, lens combination, connecting link, the focusing piezoelectric ceramics, rotating laser head driver module comprises stepper motor, laser instrument, Transmission Fibers, step motor control rotating laser head pivots, laser instrument sends laser, through Optical Fiber Transmission to the rotating laser head, laser alignment collimated through rotating laser head front end shines testee surface, the place ahead again, diffuse reflection occurs, the light of flare arrives camera lens, through after the optical system in the camera lens at Array CCD sensor sheet surface imaging, realize opto-electronic conversion, Array CCD sensor output image data is transferred to image capturing and processing circuit, output control focusing piezoelectric ceramics and focusing piezoelectric ceramics carry out the optical system focusing, gather desirable light spot image, and driving rotating laser head rotation, gather the multiple spot light spot image, image capturing and processing circuit calculates and the rear result of image processing is presented on the liquid crystal.
Described camera lens internal orifice dimension diaphragm and lens combination in tandem, connecting link is connected with aperture diaphragm, lens combination, drives that the focusing piezoelectric ceramics drives aperture diaphragm by connecting link and lens combination moves, and keeps aperture diaphragm all the time on the object space focal plane, realizes zoom.
Described image capturing and processing circuit comprise the ccd image sensor driving with adc circuit, be connected wire, processor DSP circuit, ccd image sensor drives and the work of adc circuit driven CCD imageing sensor, and the simulating signal of CCD output carried out analog to digital conversion, process by connecting wire input DSP circuit.
A kind of method of work of laser range finder comprises laser range finder, and concrete measuring process is as follows:
1) be installed in Ear Mucosa Treated by He Ne Laser Irradiation that the rotating laser hair on the instrument penetrates to the place ahead testee surface, diffuse reflection occurs, the light of flare at Array CCD sensor sheet surface imaging, is converted to electric signal with light signal by camera lens;
2) light-sensitive surface of CCD is adjusted the position, the optical system imaging is positioned on the CCD, focus by optical system simultaneously, will be as adjusting to a suitable size, to take full advantage of the resolution of CCD, gather at last the view data of hot spot, utilize the mode of multimetering, laser head is rotated centered by the camera lens axle, record the positional information of flare in this process, simulate mobile circular trace, the radius of this track is exactly to calculate the image height data that testing distance will be used, laser head is exactly corresponding object height apart from the geometrical length of optical center;
3) laser head is rotated centered by the camera lens axle, the method of processing by image again by the movement locus of taking laser spots, can calculate the center of circle of circular trace of rotation and the radius of rotation, the known laser head is to the distance of rotation center, the substitution formula just can calculate testing distance L1, L1=L2
H/R, wherein L2 be the aperture diaphragm at optical system entrance pupil place to the distance at equivalent system center, H and R are the parameter that measuring system obtains, H is the distance of the geometric rotation center of laser head system of distance, R is the image height on the CCD.
Beneficial effect of the present invention is: laser range finder of the present invention and method of work, obtain high-quality image information by the Array CCD sensor, utilize the method for image processing by filtering, image segmentation, the modes such as image recognition are extracted measurement data useful in the signal, obtain testing distance by analyzing, avoid introducing the disturbing factors such as air refraction and temperature drift, thereby obtain more accurate range data, the error that single-measurement may be introduced has been got rid of in multimetering in addition, utilize area array CCD and DSP image to process in the measuring process and can carry out certain adjustment to light path, improve measuring accuracy, realized the quick of distance, reliably, the accurate measurement.Be applicable to the various occasions that need precision distance measurement, be widely used in electric power, water conservancy, communication, the various fields such as environment.
Description of drawings
Fig. 1 is that laser range finder of the present invention is overlooked sectional structure chart;
Fig. 2 is laser range finder vertical view of the present invention;
Fig. 3 is the longitudinal profile structure of laser range finder of the present invention;
Fig. 4 is that the principle of laser range finder optical compensation zoom system, pancreatic system of the present invention realizes the zooming transform schematic diagram;
Fig. 5 is laser range finder automatic focusing function schematic diagram of the present invention;
Fig. 6 is adjacent two the dot pattern pictures that constantly gather of laser range finder of the present invention;
Fig. 7 is the circular trace figure of N hot spot being superimposed of laser range finder of the present invention;
Fig. 8 is the schematic diagram that data fitting goes out the circular trace radius in the laser range finder of the present invention;
Fig. 9 is laser range finder optical system geometric relationship schematic diagram of the present invention;
Figure 10 is that laser range finder area array CCD of the present invention drives and signal processing circuit hardware connection layout;
Figure 11 is laser range finder software flow pattern of the present invention.
Embodiment
Be illustrated in figure 1 as laser range finder cross-section structure sketch, shown its inner structure and layout.Fig. 2 is the vertical view of laser range finder, has shown its external structure, in order to the liquid crystal that shows with in order to the button of control survey.
Laser testing instrument structural drawing as illustrated in fig. 1 and 2, whole laser range finder comprises optical system, ware circuit, mechanical system and image as shell are processed the Survey Software part, optical system is by camera lens 1, rotating laser head 2 forms, ware circuit is by Array CCD sensor 11, image capturing and processing circuit, the driver module of rotating laser head 2, power module 16, form in order to the liquid crystal 17 that shows information and in order to the button 18 of input measurement configuration information, camera lens 1 comprises aperture diaphragm 3, and the lens combination 4 of diaphragm 3 rear ends, connecting link 5, focusing piezoelectric ceramics 6, send laser by instrument inner laser device 9, transfer to rotating laser head 2 through optical fiber 8, surperficial to the place ahead testee through laser alignment lens 7 collimated illumination of rotating laser head 2 front ends again, diffuse reflection occurs.The light of flare arrives camera lens 1, through after the optical system in the camera lens 1 in the 11 surperficial imagings of Array CCD sensor, realize opto-electronic conversion, Array CCD sensor 11 output image datas are transferred to the acquisition process circuit, carry out the optical system focusing according to the focusing piezoelectric ceramics 12 behind result control focusing piezoelectric ceramics 6 and the Array CCD sensor 11, gather desirable light spot image, drive afterwards rotating laser head 2, gather the multiple spot light spot image, simulate the rotational trajectory radius, in conjunction with how much imaging laws of optical system, calculate testing distance, will record at last the result and be presented on the liquid crystal 17.Utilize formula can calculate testing distance L1, L1=L2
H/R, wherein L2 be the aperture diaphragm at optical system entrance pupil place to the distance at equivalent system center, H and R are the parameter that measuring system obtains, H is the distance of the geometric rotation center of laser head system of distance, R is the orbital radius that simulates.
Fig. 3 is the longitudinal profile structural drawing of laser range finder, has shown its gear structure and the mode of motion of laser head.Laser head can be rotated centered by the camera lens axle, when certain gathers the laser spots image constantly, judges after treatment whether laser spot sizes meets the requirements in the current image that collects, by adjusting optical system Focussing image size.Concrete principle is: the object distance optical system is far away, imaging is just less, therefore the picture that becomes object on CCD is corresponding dwindling also, because differentiating, the minimum of CCD determines, namely the distance between two pixels is determined, the resolution of match radius R just is decided by the resolution of CCD, along with the increase of testing distance, for resolution △ L1=(the △ R of objects in front distance
L2
H)/R
2, along with reducing of R, the resolving power of L1 can significantly descend, therefore by changing the focal length of optical system, image is zoomed in or out in the scope of an agreement.
As shown in Figure 4, adopt the principle of optical compensation zoom system, pancreatic system to realize zooming transform.Optical compensation is realized the variation of focal length by the negative lens in the mobile lens group, do zoom and compensation with two groups of lens, relies on different lens combination, and equidirectional constant speed movement realizes.Utilize connecting link 5 to link together on these group lens 4 in the camera lens 1, drive again focusing piezoelectric ceramics 6 and realize zoom.
The work engineering is: at first gather image, obtain the image of a unsharp flare, hot spot is because out of focus and extended.Utilize image to process and find hot spot, because the initial position of laser instrument fixes, to be imaged onto CCD with certain size upper as long as laser facula zoomed in or out.Like this, drive the piezoelectric ceramics that is used for adjusting focal length, the object lens of optical system begin to move under it drives, and keep aperture diaphragm all the time on the object space focal plane.What changed this moment is the size of L2, and L2 increases then as expansion, otherwise, as reducing.At last, can obtain numerical value after L2 changes by the variation of calculating piezoelectric ceramics.Timing acquiring image and processing obtain positional information in adjustment process, stop until meeting the demands.
Figure 5 shows that the automatic focusing function schematic diagram.Obtain that CCD becomes clearly as, the light-sensitive surface of CCD must and the image planes of optical system overlap, therefore measuring process needs mobile CCD light-sensitive surface to focus realizing.The movement of object plane can cause the movement of its corresponding image planes in the optical system, and automatically the effect of focusing is exactly to find the corresponding image planes of different object distances position, and drives focusing piezoelectric ceramics 12 light-sensitive surface of CCD is moved on this position.Automatically the focusing principle is based on the mode of image processing, and mobile CCD image planes in focal depth range so that the target image profile that collects is the most clear, are eliminated the out of focus phenomenon.
Utilize above principle, in the image acquisition input dsp processor 15 when at first CCD being in certain position, utilize image processing algorithm, find the position of laser spot in the image, choose comprise this luminous point a less image-region as focusing window, reduce operand, improve real-time, can prevent that unessential background from having a negative impact to evaluation result simultaneously.For the focusing window of choosing it is carried out the FFT conversion afterwards, extract the frequency domain information of image, use gradient function and frequency spectrum function to combine as the association evaluation function, the details resolution of difference detected image and the sharp-pointed degree at edge, obtain at last the evaluation factor of a present image, be used for judging the sharpness of image.
After obtaining an evaluation factor of image, the 12 exploratory movements of system drive focusing piezoelectric ceramics are moved with latter two direction forward respectively, simultaneously the variation of the monitoring and evaluation factor.When estimating the factor and improve, continue to drive CCD and move to the direction that imaging improves, finely tune the stage at last, the factor is approximate to be stopped variation place and carries out among a small circle movement estimating, and finds optimum CCD position, finishes focusing work.
After finishing focusing work, can obtain the sharply defined image for the reflection source luminous point of range finding on the CCD image planes.Can begin to gather the multipoint images data for range finding this moment, drive the spinner that laser instrument is housed by stepper motor 10, rotating by angular velocity, the certain angle of revolution stops to gather piece image, process image and record data, be illustrated in figure 6 as adjacent two image A and B that constantly gather.
Detailed process is, sets up coordinate system at the area array CCD light-sensitive surface, and establishing the lower left corner is initial point, the image that gathers is carried out image process, find the position of reflection source hot spot in image, calculate the center of gravity of hot spot, the stored record focus position data begins next round sampling and processing afterwards.
Stepper motor 10 drives laser head 1 and rotates after 360 degree, and we will obtain, and N is individual and the position coordinates of the flare that respective angles is corresponding.Reintegrate these data, process and the algorithm match by image, can obtain the circular motion track of hot spot on the CCD light-sensitive surface, be as shown in Figure 7 the circular trace of N the hot spot that is superimposed, and circular radius R, be illustrated in figure 8 as the schematic diagram that data fitting goes out the circular trace radius.
The process of match is mainly used the least square method after the conversion, with the circular trace behind the data fitting one-tenth that gathers, the linear function that simulates passes through inverse transformation again, get glossing up and move the circular trace curve, and then acquisition radius R, actual object height be laser head apart from the distance H of rotation center, the computing formula by telecentric beam path image magnification as can be known, the length of the flare distance measuring instrument in the place ahead is L1=L2
H/R, wherein L2 be the aperture diaphragm at optical system entrance pupil place to the distance at equivalent system center, H and R are the parameter that measuring system obtains, H is fixed constant, by measuring the length of R, the i.e. height of image planes, come indirect measuring distance L1, be illustrated in figure 9 as optical system geometric relationship schematic diagram.The mode of multimetering has been introduced a plurality of measurement points (N facula position coordinate) in measurement, improved the accuracy of measuring.Owing to the mode of using circular trace, the upper zero point that is used for calculating image height of CCD be can obtain accurately in addition, CCD zero point and the synchronous correction of carrying out of geometrical zero point and the process of demarcation avoided being.
The driving of Array CCD sensor 11 and signal are processed, and system selects interline transfer type area array CCD, and than the area array CCD of other types, it is staggered that interline transfer type area array CCD imaging area and memory block are row, fastest and energy continuous imaging.
As shown in figure 10, area array CCD drives and signal processing circuit hardware connection layout, and the driving circuit of area array CCD mainly is comprised of supply module, drive circuit and driving timing sequence generating circuit three parts.According to area array CCD driving voltage and direct current biasing requirement, and the electricity consumption requirement of whole system, supply module need provide the multiple voltage level.Area array CCD take model as KAI-0340 is example, and its required voltage kind has ,+3.3V ,+5V, ± 9V ,+10V ,+15V, ± 20V.In order to improve power-efficient and to realize portability, whole supply module is 15V from the voltage of outside input.+ 3.3V ,+5V ,+9V ,+10V is produced by the integrated voltage-stabilized chip.
Native system selects the 4th generation Blackfin series DSP chip of ADI company as the core of image acquisition and processing.The Blackfin family chip has powerful image-capable, and frequency of operation is up to 600MHz.
Be software flow pattern such as Figure 11.Mainly be divided into the optical system focus adjustment, automatically focusing, detected image collection, data fitting and distance exam.Focus adjustment is specially, ccd image gathers, by DMA data transmission is saved to buffer zone, the calling graph picture is processed function, find circular light spot and determine centre of gravity place, then drive piezoelectric ceramics, the appointed area so that imaging zooms in or out, continue during this time to utilize CCD to gather image, to judge whether to arrive assigned address.Afterwards, record revised entrance pupil aperture diaphragm to the distance L 2 at optical system center.
Automatically focusing is specially, and CCD calls the processing function after gathering image, finds focusing window.Then the exploratory movement of piezoelectric ceramics finds high frequency abundant, and the gradient visibility point is finished auto-focus process.The detected image collection is specially, and along with the rotation acquisition of image data of laser instrument, calls the processing function, finds the position of flare, and determines the coordinate position of its center of gravity.In conjunction with each point coordinate that gathers, simulate center and the radius length R of circular trace, the substitution formula calculates distance.
Claims (4)
1. laser range finder, it is characterized in that, comprise by camera lens (1), the optical system that rotating laser head (2) forms, by Array CCD sensor (11), image capturing and processing circuit, the driver module of rotating laser head (2), power module (16), in order to the liquid crystal (17) that shows information and the ware circuit that forms in order to the button (18) of input measurement configuration information, mechanical system as shell, and image is processed the Survey Software part, camera lens (1) comprises aperture diaphragm (3), lens combination (4), connecting link (5), focusing piezoelectric ceramics (6), rotating laser head (2) driver module comprises stepper motor (10), laser instrument (9), Transmission Fibers (8), step motor control rotating laser head (2) rotates around the camera lens axle, laser instrument (9) sends laser, transfer to rotating laser head (2) through optical fiber (8), surperficial to the place ahead testee through laser alignment lens (7) collimated illumination of rotating laser head (2) front end again, diffuse reflection occurs, the light of flare arrives camera lens (1), through after the optical system in camera lens (1) in the surperficial imaging of Array CCD sensor (11), realize opto-electronic conversion, Array CCD sensor (11) output image data is transferred to image capturing and processing circuit, output control focusing piezoelectric ceramics (6) and focusing piezoelectric ceramics (12) carry out the optical system focusing, gather desirable light spot image, and driving rotating laser head (2) rotates around the camera lens axle, gather the multiple spot light spot image, image capturing and processing circuit calculates and the rear result of image processing is presented on the liquid crystal (17).
2. the laser range finder shown in according to claim 1, it is characterized in that, described camera lens (1) internal orifice dimension diaphragm (3) and lens combination (4) in tandem, connecting link (5) is connected with aperture diaphragm (3), lens combination (4), drive focusing piezoelectric ceramics (6) mobile by connecting link (5) drive aperture diaphragm (3) and lens combination (4), and keep aperture diaphragm all the time on the object space focal plane, realize zoom.
3. the laser range finder shown in according to claim 1, it is characterized in that, described image capturing and processing circuit comprises that ccd image sensor drives with adc circuit (13), is connected wire (14), processor DSP circuit (15), ccd image sensor drives and the work of adc circuit (13) driven CCD imageing sensor, and the simulating signal of CCD output carried out analog to digital conversion, process by connecting wire (14) input DSP circuit (15).
4. the method for work of a laser range finder, it is characterized in that, concrete measuring process is as follows: 1) be installed in the Ear Mucosa Treated by He Ne Laser Irradiation of rotating laser head (2) emission on the instrument to the place ahead testee surface, diffuse reflection occurs, the light of flare passes through camera lens, in the surperficial imaging of Array CCD sensor (11), light signal is converted to electric signal;
2) light-sensitive surface of CCD is adjusted the position, the optical system imaging is positioned on the CCD, simultaneously by the optical system focusing,
Will be as adjusting to a suitable size, to take full advantage of the resolution of CCD, gather at last the view data of hot spot, utilize the mode of multimetering, laser head (2) is rotated centered by the camera lens axle, record the positional information of flare in this process, simulate mobile circular trace, the radius of this track is exactly to calculate the image height data that testing distance will be used, and laser head (2) is exactly corresponding object height apart from the geometrical length of optical center;
3) laser head (2) is rotated centered by the camera lens axle, the method of processing by image again by the movement locus of taking laser spots, can calculate the center of circle of circular trace of rotation and the radius of rotation, the known laser head is to the distance of rotation center, the substitution formula just can calculate testing distance L1, L1=L2
H/R, wherein L2 be the aperture diaphragm at optical system entrance pupil place to the distance at equivalent system center, H and R are the parameter that measuring system obtains, H is object height, is the distance of the geometric rotation center of laser head system of distance, R is the image height on the CCD.
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