CN102401901A - Distance measurement system and distance measurement method - Google Patents
Distance measurement system and distance measurement method Download PDFInfo
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- CN102401901A CN102401901A CN2010102872001A CN201010287200A CN102401901A CN 102401901 A CN102401901 A CN 102401901A CN 2010102872001 A CN2010102872001 A CN 2010102872001A CN 201010287200 A CN201010287200 A CN 201010287200A CN 102401901 A CN102401901 A CN 102401901A
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Abstract
The invention provides a distance measurement system which comprises a light source, an image sensor and a control processing unit; the light source projects a light area to an objected to be measured by a certain projection angle; the image sensor senses the reflected light of the light area of the object to be measured; and the control processing unit controls the light source to project the light area by the projection angle and confirms the setting sample range of the image sensor according to the projection angle and the pre-set system parameters. The invention further provides a distance measurement method.
Description
Technical field
The present invention is about a kind of range measurement system, especially in regard to a kind of optical ranging system and distance-finding method with the sampling set scope of adjustable imageing sensor.
Background technology
In recent years, the three-dimensional information technology is just being developed apace and is being applied to different fields.In addition, three-dimensional range finding (3-D range finding) more provides range observation other application in addition, for example drop shutter test (drop tests), the observation of high-speed mobile target and the automatic control of robot vision etc.Because the existing three-dimensional range images sensor (3-D rangefinding image sensor) of time-of-flight method (time-of-flight) that uses also can't reach three-dimensional fast range finding; Therefore industry has proposed the three-dimensional range images sensor of several combination light section methods (light-section method), in the hope of improving detecting speed and detection rightness.
Yet; In the existing three-dimensional telemetry that makes with light section method; Imageing sensor can be exported the sensing image data of whole sensing array (sensing array) all the time; And can't (window of interest WOI), thereby be difficult to further increase its operating efficiency according to the sampling the set scope of the detecting condition changing imageing sensor of reality.
In view of this, it is required that a kind of range measurement system with low consumpting power and high frame per second (frame rate) is the detecting system industry.
Summary of the invention
The purpose of this invention is to provide a kind of range measurement system and distance-finding method, the sampling the set scope (WOI) that it can adjust imageing sensor according to the crevice projection angle of light source reduces system consumption power thus and increases frame per second.
Another purpose of the present invention provides a kind of range measurement system and distance-finding method; It stores the relativeness of the sampling the set scope of light source projects angle and imageing sensor in advance; To confirm required image data processed according to the detecting condition automatically, reduce data processing amount thus.
For achieving the above object, the present invention proposes a kind of distance-finding method, is used to detect the determinand in the predetermined depth scope.This distance-finding method comprises the following steps: to provide a light source to throw a light zone to this determinand with a crevice projection angle; The reverberation in this light zone on this determinand of a plurality of photosensitive unit senses is provided; And the sampling the set scope of confirming this photosensitive unit based on this crevice projection angle and this predetermined depth scope.
The present invention also proposes a kind of range measurement system, is used to detect the determinand in the predetermined depth scope.This range measurement system comprises light source, imageing sensor and controlled processing unit.This light source throws a light zone to this determinand with a crevice projection angle.The reflected light in this light zone on this this determinand of imageing sensor sensing.This controlled processing unit is controlled this light source is confirmed this imageing sensor with this light zone of this crevice projection angle projection and according to this crevice projection angle and predetermined system parameter the sampling set scope.
The present invention also proposes a kind of range measurement system, is used to produce to be measured stereo-picture.This range measurement system comprises light source, a plurality of photosensitive unit and controlled processing unit.This light source projects one light zone is to this to be measured.This reflected light of to be measured of this photosensitive unit senses.This controlled processing unit is controlled this light source is exported institute's sensing with this to be measured of this light sector scanning and based on the different piece that the different launching positions and the predetermined system parameter in this light zone are controlled this photosensitive unit view data.
According to another embodiment of the present invention, this range measurement system also comprises leaded light component, and the reflected light that is used to guide this light zone on this determinand is to this imageing sensor.
In range measurement system of the present invention and distance-finding method, this predetermined system parameter comprises the spatial relationship of this light source, imageing sensor and leaded light component and presets and can detect depth range; This spatial relationship and should preset can detect depth range and can before detecting system dispatches from the factory, preestablish and be stored in this controlled processing unit wherein.
Description of drawings
Figure 1A is the stereographic map of the range measurement system of the embodiment of the invention;
Figure 1B is the picture frame of imageing sensor sensing among Figure 1A;
Fig. 2 is the operation chart of the range measurement system of the embodiment of the invention;
Fig. 3 is another operation chart of the range measurement system of the embodiment of the invention, and wherein the crevice projection angle of light source is θ
1
Fig. 4 is another operation chart of the range measurement system of the embodiment of the invention, and wherein the crevice projection angle of light source is θ
2
Fig. 5 is the process flow diagram of the distance-finding method of the embodiment of the invention.
The primary clustering symbol description
1 range measurement system, 11 light sources
12 imageing sensors, 13 controlled processing units
14 light elements, 9 determinands
The plane area of the teat B determinand of A determinand
D
1Teat and light source distance D
2Plane area and light source distance
The focal length θ of f light element, θ
1, θ
2Crevice projection angle
111～114 light S
10～S
30Step
The distance at L light source center and light element center
X, X ', X
1, X
2, X
1, X
2, X
1", X
2" light reflection position
Embodiment
In order to let above and other objects of the present invention, characteristic and the advantage can be more obvious, hereinafter will combine appended diagram, do to specify as follows.In addition, only shown member partly and having omitted and member that the present invention's explanation is not directly related in each Reference numeral of the present invention.
Please with reference to shown in Figure 1A, it shows the stereographic map of the range measurement system of the embodiment of the invention.Range measurement system 1 is used to measure the three-dimensional distance of the determinand 9 in the predetermined depth scope and forms this determinand 9 top stereo-pictures of to be measured 90 to this range measurement system 1.For ease of explanation, to be measured here 90 for example comprises a teat A and a plane area B; Mandatory declaration be, this determinand 9 and to be measured 90 shape be not be used to limit 1 of range measurement system of the present invention can measurement person.
This range measurement system 1 comprises a light source 11, an imageing sensor 12 and a controlled processing unit 13.This light source 11 for example can be radiating light source, and it is preferably projection one light zone (light section) to this to be measured 90.In one embodiment, this light source 11 can be the beta radiation light source, and the light zone of its projection for example can be the line segment with proper width, wherein this line segment length decision scope that can measure; This line segment width is determined by the characteristic of this light source 11 and does not have specific limited; The length direction of this line segment can be vertical direction or horizontal direction.In another embodiment, this light source 11 can also be a radiating light source, and throws this light zone to this to be measured 90 with the mode of scanning, for example in Figure 1A, on this to be measured 90, scans a line segment from top to bottom or from the bottom to top.
This imageing sensor 12 is preferably a cmos image sensor or a three-dimensional range images sensor, is used for the reflected light of this light source 11 of this to be measured 90 reflection of sensing; This imageing sensor 12 preferably includes line sensing array or the sensing matrix of a plurality of photosensitive unit (not shown) to form a CMOS chip; Each photosensitive unit is exported an electric signal of representing the sensing image data respectively according to the luminous energy of its sensing.
This controlled processing unit 13 couples this light source 11 and this imageing sensor 12, is used to control that this light source 11 throws light zone to this diverse location of to be measured 90 with different angles and with this all or part of of to be measured 90 of this light sector scanning.For example when the line segment of this light source 11 projections shown in 1A figure, these controlled processing unit 13 these light sources 11 of control scan this all or part of of to be measured 90 from left to right or from right to left.In another embodiment; When this light source 11 is a pointolite; This light source 11 of this controlled processing unit 13 controls has scanned a line segment from top to bottom or from the bottom to top earlier, scans other line segment more from left to right or from right to left in regular turn to contain this all or part of of to be measured 90; Wherein, the scan mode of this light source 11 and the angular range that can scan can preestablish and be stored in this controlled processing unit 13.In addition, this range measurement system 1 can also comprise a light element 14, is used to guide from this reflected light of to be measured 90 to this imageing sensor 12, and this light element 14 for example can be lens.
Please be simultaneously with reference to shown in Figure 1A and Figure 1B, Figure 1B shows the picture frame of 12 sensings of imageing sensor of Figure 1A; Wherein, the picture frame of the left side figure light zone institute sensing that be this imageing sensor 12 throw when the time t1 according to this light source 11, and the picture frame of the right side figure regional institute of the light sensing that to be this imageing sensor 12 throw when the time t2 according to this light source 11.13 of this controlled processing units can be judged the degree of depth with respect to light zone every bit based on the reverberation pattern in the picture frame, promptly judge the relative distance with respect to this light zone every bit and this light source 11.When these controlled processing unit 13 these light sources 11 of control finish to be measured 90 with this light sector scanning, then can produce this stereo-picture of to be measured 90 based on the degree of depth of every bit.
Can know that according to Figure 1A and Figure 1B with respect to each crevice projection angle of this light source 11, the only a part of zone of the sensing array of this imageing sensor 12 senses the reflected light of this light source 11; Therefore, this controlled processing unit 13 among the present invention is also controlled this imageing sensor 12 output is predefined according to the crevice projection angle coupling system parameter preset of this light source 11 and sets the electric signal of sampling scope (WOI) and carry out aftertreatment.For example when this imageing sensor 12 comprises a plurality of photosensitive unit, this controlled processing unit 13 a control part (for example sensing the catoptrical photosensitive unit of this light source 11) output electric signal and other part (for example not sensing the catoptrical photosensitive unit of this light source 11) is not exported electric signal.Thus, not only can reduce the total consumption power of range measurement system 1, and, therefore can promote frame per second because this imageing sensor 12 only need be exported the electric signal of sensing array part institute sensing.In a kind of enforcement state, can set sampling scope (WOI) but may be selected to be less times greater than these light source 11 catoptrical zones of reality sensing, but must be substantially equal to these light source 11 catoptrical zones of reality sensing at least.
Scrutable is that the relativeness of the sampling the set scope of the crevice projection angle of this light source 11 and this imageing sensor 12 can utilize trigonometric function to try to achieve in advance according to the spatial coherence of this range measurement system 1 each inter-module, and is pre-stored in this controlled processing unit 13.
In other embodiments, when the light zone of this light source 11 projection levels during to this to be measured 90, with respect to different crevice projection angles, the horizontal direction of this length direction that can set the sampling scope in the sensing array of this imageing sensor 12.
The mode of the sampling the set scope that this controlled processing unit 13 is confirmed this imageing sensor 12 according to the crevice projection angle and the predetermined system parameter of this light source 11 then is described.
Please with reference to shown in Figure 2, it shows the operation chart of the range measurement system of the embodiment of the invention.In Fig. 2, the distance of supposing teat A and this light source 11 is D
1And the distance of plane area B and this light source 11 is D
2D wherein
1With D
2Between scope for example represent the depth range detected of this range measurement system 1, it can preestablish before this range measurement system 1 is dispatched from the factory or set up on their own according to the depth of determinand 9 by the user.The lateral separation of supposing these light source 11 centers and this light element 14 centers simultaneously is that L and this light element 14 have a focal distance f.When the projecting direction of this light source 11 is parallel to this normal of to be measured 90, the light 111 that this light source 11 is projected to this teat A will reflex to X on the sensing array of this imageing sensor 12
1Position and this light source 11 be projected to the light 112 of this plane area B and will reflex to X on the sensing array of this imageing sensor 12
2The position.When between the projecting direction of this light source 11 and this normal of to be measured 90 during tool angle θ, position and this light source 11 that the light 113 that this light source 11 is projected to this teat A will reflex to X on the sensing array of this imageing sensor 12 is projected to the position that the light 114 of this plane area B will reflex to X ' on the sensing array of this imageing sensor 12.
When this light source 11 during along the projection of this normal direction of to be measured 90 (θ=0), can obtain the following relationship formula according to the trigonometric function relation:
D
1/ L=f/X
1Formula (1)
D
2/ L=f/X
2Formula (2)
When having an angle between this light source 11 and this normal direction of to be measured 90 (θ ≠ 0), can further obtain the following relationship formula according to the trigonometric function relation:
D
1=(the formula (3) of f * L)/(X+f * tan θ)
D
2=(f * L)/(X '+f * tan θ) formula (4)
Wherein, X representes this light source 11 crevice projection angle θ ≠ 0 o'clock, reflexes to the position on the sensing array of this imageing sensor 12 from teat A; These light source 11 crevice projection angle θ ≠ 0 of X ' expression o'clock reflex to the position on the sensing array of this imageing sensor 12 from plane area B.According to formula (3) and formula (4), owing to f, L, D
1And D
2For the spatial relationship between the assembly in the system can be tried to achieve in advance; When these controlled processing unit 13 these light sources 11 of control are regional with θ angle projection light; But be the catoptrical zone of this light source 11 of sensing on the sensing array of known this imageing sensor 12, so this controlled processing unit 13 can be confirmed the sampling the set scope of this imageing sensor 12 thus.In other words, the systemic presupposition parameter comprises spatial relationship and this predetermined depth scope (D of this light source 11, this imageing sensor 12 and this leaded light component 14
1～D
2).
For example with reference to shown in Figure 3, when this controlled processing unit 13 is controlled these light sources 11 with angle θ
1Projection light zone to this to be measured 90 o'clock, reflection ray reflexes to X on this imageing sensor 12 from teat A
1' the position and reflex to X on this imageing sensor 12 from plane area B
2' the position; This can set the sampling scope can be set at X
1' to X
2' the zone, or can be less times greater than X
1' to X
2' the zone.
For example with reference to shown in Figure 4, when this controlled processing unit 13 is controlled these light sources 11 with angle θ
2The projection light zone is when this to be measured thing 90, and reflection ray reflexes to X on this imageing sensor 12 from teat A
1" the position and reflex to X on the sensing array of this imageing sensor 12 from plane area B
2" the position; This can set the sampling scope can be set at X
1" to X
2" the zone, or can be less times greater than X
1" to X
2" the zone.
Can know that according to Fig. 2 to Fig. 4 according to the spatial relationship of each inter-module of system, one of the equal correspondence image sensor 12 of each crevice projection angle of this light source 11 can be set the sampling scope.When this imageing sensor comprised the line sensing array, this can be set the sampling scope and can be one section photosensitive unit; When this imageing sensor comprised the sensing matrix, this can be set the sampling scope and can be a photosensitive unit zone.Scrutable in addition is that Fig. 2 extremely size and the spatial relationship of each assembly shown in Figure 4 is merely exemplary, is not to be used for limiting the present invention.
Please be simultaneously with reference to Fig. 2 to Fig. 5,5 figure show the process flow diagram of the distance-finding method of the embodiment of the invention, comprise the following steps: to provide a light source to throw a light zone to determinand (step S with a crevice projection angle
10); Reflected light (the step S in this light zone on this determinand of a plurality of photosensitive unit senses is provided
20); Confirm the sampling set scope (the step S of this photosensitive unit according to this crevice projection angle and predetermined depth scope
30); Control this light source and throw this light zone to scan this determinand (step S with different crevice projection angles
40); Confirm that according to different crevice projection angles and this predetermined depth scope the difference of this photosensitive unit can set sampling scope (step S
50); And the aftertreatment difference can be set sense data (the step S of sampling scope
50); Wherein, said aftertreatment is for example confirmed can set the stereo-picture of the sense data of sampling scope with the generation determinand with respect to the degree of depth of this light zone every bit or according to difference according to the sensing document that can set the sampling scope.In addition, distance-finding method of the present invention has been specified in Fig. 2 to Fig. 4 and the related description, so repeat no more in this.
In sum, owing to have range measurement system now when operation, imageing sensor is exported the sense data of whole sensing array all the time, therefore has lower operating efficiency.The present invention proposes a kind of range measurement system and distance-finding method in addition, but the relativeness of the sampling the set scope of its crevice projection angle that can set up light source in advance according to the spatial coherence and the sensing depth range of system component and imageing sensor.When light source throws light zone a to determinand with different angles, only export the sense data that can set the sampling scope according to this relativeness control chart image-position sensor, reduce the entire system power consumption thus and improve frame per second.
Though the present invention discloses in the above-described embodiments, so it is not to be used to limit the present invention, and any person of ordinary skill in the field of the present invention is not breaking away from the spirit and scope of the present invention, all can do various distortion and modification.Therefore protection scope of the present invention is when being as the criterion with accompanying claims.
Claims (11)
1. a range measurement system is used to detect the determinand in the predetermined depth scope, and this range measurement system comprises:
Light source is used for throwing a light zone to this determinand with a crevice projection angle;
Imageing sensor is used for the regional reflected light of this light on this determinand of sensing; And
Controlled processing unit is used to control this light source with this light zone of this crevice projection angle projection, and confirms the sampling the set scope of this imageing sensor according to this crevice projection angle and predetermined system parameter.
2. range measurement system according to claim 1, wherein, this range measurement system also comprises leaded light component, is used to guide reflected light to the said imageing sensor in the said light zone on the said determinand.
3. range measurement system according to claim 2, wherein said predetermined system parameter comprise the spatial relationship and the said predetermined depth scope of said light source, said imageing sensor and said leaded light component.
4. range measurement system according to claim 1, wherein said imageing sensor also comprise line sensing array or sensing matrix.
5. distance-finding method according to claim 1, wherein said light zone is a line segment.
6. a range measurement system is used to produce to be measured stereo-picture, and this range measurement system comprises:
Light source is used to throw light zone to this to be measured;
A plurality of photosensitive units are used for this reflected light of to be measured of sensing; And
Controlled processing unit is used to control this light source with this to be measured of this light sector scanning, and exports the view data of institute's sensing based on the different piece that the different launching positions and the predetermined system parameter in this light zone are controlled said photosensitive unit.
7. range measurement system according to claim 6, wherein this range measurement system also comprises leaded light component, is used to guide reflected light to the said imageing sensor in the said light zone on the said determinand.
8. range measurement system according to claim 7, wherein said predetermined system parameter comprise the spatial relationship and the predetermined depth scope of said light source, said imageing sensor and said leaded light component.
9. range measurement system according to claim 6, wherein said light source are beta radiation light source or some radiating light source; Said leaded light component is lens.
10. range measurement system according to claim 6, wherein said photosensitive unit forms the image sensing array of CMOS chip.
11. range measurement system according to claim 6, wherein said controlled processing unit also produce said to be measured said stereo-picture according to the view data that the different piece of said photosensitive unit is exported.
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| CN105807284A (en) * | 2016-04-29 | 2016-07-27 | 北醒（北京）光子科技有限公司 | Optical scanning and ranging device |
| CN106610302A (en) * | 2015-10-21 | 2017-05-03 | 上海微电子装备有限公司 | Absolute-type measuring device |
| CN108896008A (en) * | 2018-07-24 | 2018-11-27 | 河南工程学院 | A kind of control shines type ligh-ranging and positioning system |
| CN109557545A (en) * | 2017-09-26 | 2019-04-02 | 欧姆龙株式会社 | Displacement measuring device, measuring system and displacement measurement method |
| CN109687914A (en) * | 2018-12-25 | 2019-04-26 | 重庆蓝岸通讯技术有限公司 | Wireless signal identification region light source indicating mechanism |
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| CN106610302A (en) * | 2015-10-21 | 2017-05-03 | 上海微电子装备有限公司 | Absolute-type measuring device |
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| CN109687914B (en) * | 2018-12-25 | 2021-07-13 | 重庆蓝岸通讯技术有限公司 | Light source indicating mechanism for wireless signal identification area |
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| CN102401901B (en) | 2014-09-10 |
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