CN102401901B - Distance measurement system and distance measurement method - Google Patents
Distance measurement system and distance measurement method Download PDFInfo
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- CN102401901B CN102401901B CN201010287200.1A CN201010287200A CN102401901B CN 102401901 B CN102401901 B CN 102401901B CN 201010287200 A CN201010287200 A CN 201010287200A CN 102401901 B CN102401901 B CN 102401901B
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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 of the sampling the set scope with adjustable imageing sensor.
Background technology
In recent years, three-dimensional information technology is just being developed rapidly 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, such as drop shutter test (drop tests), the observation of high-speed mobile target and the automatic control of robot vision etc.Because the three-dimensional range images sensor (3-D rangefinding image sensor) of existing use time-of-flight method (time-of-flight) also cannot reach three-dimensional range finding fast, therefore industry has proposed several three-dimensional range images sensors in conjunction with light section method (light-section method), in the hope of improving detecting speed and detection rightness.
But, in the existing three-dimensional telemetry making by light section method, imageing sensor can be exported the sensing image data of whole sensing array (sensing array) all the time, and cannot be according to the sampling set scope (the window of interest of actual detecting condition change imageing sensor,, thereby be difficult to further increase its operating efficiency WOI).
In view of this it is required that the range measurement system that, one has low consumpting power and a high frame per second (frame rate) is detecting system industry.
Summary of the invention
The object 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 according to the crevice projection angle of light source imageing sensor, reduces thus system consumption power and increases frame per second.
Another object of the present invention is to provide 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, automatically to determine the view data of required processing according to detecting condition, reduce thus data processing amount.
For achieving the above object, the present invention proposes a kind of distance-finding method, for detecting the determinand within the scope of predetermined depth.This distance-finding method comprises the following steps: to provide a light source to project a smooth region to this determinand with a crevice projection angle; The reflected light in this light region on this determinand of multiple photosensitive unit senses is provided; And determine the sampling the set scope of this photosensitive unit according to this crevice projection angle and this predetermined depth scope.
The present invention also proposes a kind of range measurement system, for detecting the determinand within the scope of predetermined depth.This range measurement system comprises light source, imageing sensor and controlled processing unit.This light source projects a smooth region to this determinand with a crevice projection angle.The reflected light in this light region on this this determinand of imageing sensor sensing.This controlled processing unit, controls the sampling the set scope that this light source projects this light region with this crevice projection angle and determines this imageing sensor according to this crevice projection angle and predetermined system parameter.
The present invention also proposes a kind of range measurement system, for generation of the stereo-picture of being tested surface.This range measurement system comprises light source, multiple photosensitive unit and controlled processing unit.This smooth region of light source projects one is to this being tested surface.The reflected light of this this being tested surface of photosensitive unit senses.This controlled processing unit, controls this light source with this this being tested surface of light sector scanning and according to the view data of the different piece output institute sensing of the different launching positions in this light region and this photosensitive unit of predetermined system parameter control.
According to another embodiment of the present invention, this range measurement system also comprises leaded light component, for guiding the reflected light in this light region on this determinand to this imageing sensor.
In range measurement system of the present invention and distance-finding method, the spatial relationship that this predetermined system parameter comprises this light source, imageing sensor and leaded light component and default can detect depth range; Wherein this spatial relationship and this are default can detect depth range and can before detecting system dispatches from the factory, preset and be stored in this controlled processing unit.
Brief description of the drawings
Figure 1A is the stereographic map of the range measurement system of the embodiment of the present invention;
Figure 1B is the picture frame of imageing sensor sensing in Figure 1A;
Fig. 2 is the operation chart of the range measurement system of the embodiment of the present invention;
Fig. 3 is another operation chart of the range measurement system of the embodiment of the present 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 present 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 present invention.
Primary clustering symbol description
1 range measurement system 11 light sources
12 imageing sensor 13 controlled processing units
14 light element 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
Focal length θ, the θ of f light element
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 allow above and other objects of the present invention, feature and the advantage can be more obvious, below, in connection with appended diagram, be described in detail as follows.In addition, in the each Reference numeral of the present invention, only shown part member and omitted the member not directly related with the present invention's explanation.
Please refer to shown in Figure 1A, it shows the stereographic map of the range measurement system of the embodiment of the present invention.Range measurement system 1 is for measuring the three-dimensional distance of the determinand 9 within the scope of predetermined depth and forming this determinand 9 stereo-picture of the being tested surface 90 to this range measurement system 1 above.For ease of explanation, being tested surface 90 for example comprises a teat A and a plane area B herein; Should be noted that, this determinand 9 is not intended to limit 1 of range measurement system of the present invention with the shape of being tested surface 90 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 smooth region (light section) to this being tested surface 90.In one embodiment, this light source 11 can be beta radiation light source, and the light region of its projection for example can be a line segment with proper width, and wherein this line segment length determines the scope that can measure; This line width is determined by the characteristic of this light source 11 and be there is no 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 some radiating light source, and projects this light region to this being tested surface 90 in the mode of scanning, for example, in Figure 1A, scan a line segment from top to bottom or from the bottom to top on this being tested surface 90.
This imageing sensor 12 is preferably a cmos image sensor or a three-dimensional range images sensor, for the reflected light of these being tested surface 90 these light sources 11 of reflection of sensing; This imageing sensor 12 preferably includes multiple photosensitive unit (not shown) to form line sensing array or the sensing matrix of a CMOS chip; Each photosensitive unit is exported respectively an electric signal that represents sensing image data according to the luminous energy of its sensing.
This controlled processing unit 13 couples this light source 11 and this imageing sensor 12, projects a smooth region to the diverse location of this being tested surface 90 and with all or part of of this this being tested surface 90 of light sector scanning for controlling this light source 11 with different angles.For example, in the time of line segment that this light source 11 projects as shown in 1A figure, this controlled processing unit 13 is controlled these light sources 11 and is scanned from left to right or from right to left all or part of of this being tested surface 90.In another embodiment, in the time that this light source 11 is a pointolite, this controlled processing unit 13 is controlled this light source 11 and has first been scanned a line segment from top to bottom or from the bottom to top, more sequentially scans from left to right or from right to left other line segment to contain all or part of of this being tested surface 90; Wherein, the scan mode of this light source 11 and the angular range that can scan can preset and be stored in this controlled processing unit 13.In addition, this range measurement system 1 can also comprise a light element 14, and for guiding reflected light from this being tested surface 90 to this imageing sensor 12, this light element 14 can be for example lens.
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 light region institute sensing that left figure projects when the time t1 according to this light source 11 for this imageing sensor 12, and the picture frame of the light region institute sensing that right figure projects when the time t2 according to this light source 11 for this imageing sensor 12.13 of this controlled processing units can be judged the degree of depth with respect to a smooth region every bit according to the reflected light pattern in a picture frame, judge the relative distance with respect to this light region every bit and this light source 11.In the time that this controlled processing unit 13 is controlled this light source 11 with the complete being tested surface 90 of this light sector scanning, can produce according to the degree of depth of every bit the stereo-picture of this being tested surface 90.
Known according to Figure 1A and Figure 1B, with respect to each crevice projection angle of this light source 11, the sensing array of this imageing sensor 12 only a part of region senses the reflected light of this light source 11; Therefore, this controlled processing unit 13 in the present invention is also controlled this imageing sensor 12 according to the crevice projection angle coupling system parameter preset of this light source 11 and is exported and predefinedly set the electric signal of sampling scope (WOI) and carry out aftertreatment.For example, in the time that this imageing sensor 12 comprises multiple photosensitive unit, this controlled processing unit 13 is controlled a part (for example sensing the catoptrical photosensitive unit of this light source 11) output electrical signals and not output electrical signals of other parts (for example not sensing the catoptrical photosensitive unit of this light source 11).Thus, not only can reduce the total consumption power of range measurement system 1, and because this imageing sensor 12 only needs the electric signal of output sensing array part institute sensing, therefore can promote frame per second.In one enforcement state, can set that sampling scope (WOI) may be selected to be can this catoptrical region of light source 11 of sensing less times greater than reality, and at least must be substantially equal to reality can this catoptrical region of light source 11 of sensing.
Scrutable, 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 a smooth region that this light source 11 projects level is during to this being tested surface 90, with respect to different crevice projection angles, this length direction that can set sampling scope is along the horizontal direction in the sensing array of this imageing sensor 12.
Then illustrate that this controlled processing unit 13 determines the mode of the sampling the set scope of this imageing sensor 12 according to the crevice projection angle of this light source 11 and predetermined system parameter.
Please refer to shown in Fig. 2, it shows the operation chart of the range measurement system of the embodiment of the present 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
2; Wherein D
1with D
2between scope for example represent the depth range detected of this range measurement system 1, it can preset or be set voluntarily according to the depth of determinand 9 by user before this range measurement system 1 is dispatched from the factory.The lateral separation of simultaneously supposing these light source 11 centers and this light element 14 centers is that L and this light element 14 have a focal distance f.In the time that the projecting direction of this light source 11 is parallel to the normal of this being tested surface 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 light 112 that this light source 11 is projected to this plane area B will reflex to X on the sensing array of this imageing sensor 12
2position.When between the projecting direction of this light source 11 and the normal of this being tested surface 90 when tool angle θ, the light 113 that this light source 11 is projected to this teat A will reflex to the position of X on the sensing array of this imageing sensor 12 and light 114 that this light source 11 is projected to this plane area B will reflex to the position of X ' on the sensing array of this imageing sensor 12.
In the time that this light source 11 projects along the normal direction of this being tested surface 90 (θ=0), can obtain following relationship according to trigonometric function relation:
D
1/ L=f/X
1formula (1)
D
2/ L=f/X
2formula (2)
In the time thering is an angle between the normal direction of this light source 11 and this being tested surface 90 (θ ≠ 0), can further obtain following relationship according to trigonometric function relation:
D
1=(f × L)/(X+f × tan θ) formula (3)
D
2=(f × L)/(X '+f × tan θ) formula (4)
Wherein, X represents 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; X ' represents 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 plane area B.According to formula (3) and formula (4), due to f, L, D
1and D
2for the spatial relationship between assembly in system can be tried to achieve in advance, in the time that this controlled processing unit 13 is controlled this light source 11 with θ angle projection light region, be can this light source 11 of sensing on the sensing array of known this imageing sensor 12 catoptrical region, therefore this controlled processing unit 13 can be determined the sampling the set scope of this imageing sensor 12 thus.In other words the spatial relationship that, systemic presupposition parameter comprises this light source 11, this imageing sensor 12 and this leaded light component 14 and this predetermined depth scope (D
1～D
2).
For example, with reference to shown in Fig. 3, when this controlled processing unit 13 is controlled this light source 11 with angle θ
1projection light region is during to this being tested surface 90, and reflection ray reflexes to X on this imageing sensor 12 from teat A
1' position and reflex to X on this imageing sensor 12 from plane area B
2' position; This can set sampling scope can be set as X
1' to X
2' region, or can be less times greater than X
1' to X
2' region.
For example, with reference to shown in Fig. 4, when this controlled processing unit 13 is controlled this light source 11 with angle θ
2projection light region is in the time of this being tested surface thing 90, and reflection ray reflexes to X on this imageing sensor 12 from teat A
1" position and reflex to X on the sensing array of this imageing sensor 12 from plane area B
2" position; This can set sampling scope can be set as X
1" to X
2" region, or can be less times greater than X
1" to X
2" region.
Known according to Fig. 2 to Fig. 4, according to the spatial relationship of the 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 sampling scope.In the time that this imageing sensor comprises line sensing array, this can be set sampling scope and can be one section of photosensitive unit; In the time that this imageing sensor comprises sensing matrix, this can be set sampling scope and can be a photosensitive unit region.In addition scrutable, the size of each assembly shown in Fig. 2 to Fig. 4 and spatial relationship are only exemplary, are not used for limiting the present invention.
Referring to Fig. 2 to Fig. 5,5 figure show the process flow diagram of the distance-finding method of the embodiment of the present invention, comprise the following steps: to provide a light source to project a smooth region to determinand (step S with a crevice projection angle
10); Reflected light (the step S in this light region on this determinand of multiple photosensitive unit senses is provided
20); Determine 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 project this light region to scan this determinand (step S with different crevice projection angles
40); Determine 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 aftertreatment difference can be set sense data (the step S of sampling scope
50); Wherein, described aftertreatment is for example determined with respect to the degree of depth of this light region every bit or can set the sense data of sampling scope according to difference with the stereo-picture of generation determinand according to the sensing document that can set sampling scope.In addition, distance-finding method of the present invention has been specified in Fig. 2 to Fig. 4 and related description, therefore repeat no more in this.
In sum, because existing range measurement system is in the time operating, imageing sensor is exported the sense data of whole sensing array all the time, therefore has lower operating efficiency.The present invention separately proposes a kind of range measurement system and distance-finding method, and it can and can sensing depth range set up the relativeness of the crevice projection angle of light source and the sampling the set scope of imageing sensor in advance according to the spatial coherence of system component.In the time that light source projects a smooth region to determinand with different angles, only export according to this relativeness control chart image-position sensor the sense data that can set sampling scope, reduce thus entire system and consume energy and improve frame per second.
Although the present invention discloses in the above-described embodiments, so it is not intended to limit the present invention, and any those skilled in the art without departing from the spirit and scope of the present invention, can do various distortion and amendment.Therefore protection scope of the present invention is when being as the criterion with claims.
Claims (11)
1. a range measurement system, for detecting the determinand within the scope of predetermined depth, this range measurement system comprises:
Light source, for projecting a smooth region to this determinand with a crevice projection angle;
Imageing sensor, comprises the reflected light of multiple photosensitive units for this light region on this determinand of sensing; And
Controlled processing unit, store in advance the relativeness of the sampling the set scope of this predetermined depth scope inner light source crevice projection angle and this imageing sensor, be used for controlling this light source and project this light region with this crevice projection angle, and automatically determine the view data of required processing according to detecting condition according to this crevice projection angle and this relativeness, control this imageing sensor and only export the not output electrical signals of photosensitive unit of this view data that can set sampling scope and part, wherein, this can set a part of photosensitive unit that sampling scope is described multiple photosensitive units.
2. range measurement system according to claim 1, wherein, this range measurement system also comprises leaded light component, for guiding the reflected light in the described smooth region on described determinand to described imageing sensor.
3. range measurement system according to claim 2, wherein said relativeness is set up according to the spatial relationship of described light source, described imageing sensor and described leaded light component and described predetermined depth scope.
4. range measurement system according to claim 1, wherein said imageing sensor also comprises line sensing array or sensing matrix.
5. range measurement system according to claim 1, wherein said smooth region is a line segment.
6. a range measurement system, for generation of the stereo-picture of the being tested surface within the scope of predetermined depth, this range measurement system comprises:
Light source, for projecting a smooth region to this being tested surface;
Imageing sensor, comprises multiple photosensitive units, for the reflected light of this being tested surface of sensing; And
Controlled processing unit, store in advance the relativeness of the sampling the set scope of this predetermined depth scope inner light source crevice projection angle and this imageing sensor, be used for controlling this light source with this light region from top to bottom, from the bottom to top, from left to right, sequentially scan from right to left this being tested surface, and automatically determine the view data of required processing according to detecting condition according to the different crevice projection angles in this light region and this relativeness, the different piece of controlling the described photosensitive unit of this imageing sensor is exported the not output electrical signals of photosensitive unit of this view data that can set sampling scope and part.
7. range measurement system according to claim 6, wherein this range measurement system also comprises leaded light component, for guiding the reflected light in the described smooth region on described being tested surface to described imageing sensor.
8. range measurement system according to claim 7, wherein said relativeness is set up according to the spatial relationship of described light source, described imageing sensor and described leaded light component and predetermined depth scope.
9. range measurement system according to claim 7, wherein said light source is beta radiation light source or some radiating light source; Described 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 systems according to claim 6, wherein said controlled processing unit also produces the described stereo-picture of described being tested surface according to the view data of the different piece output of described photosensitive unit.
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| CN106610302B (en) * | 2015-10-21 | 2019-06-25 | 上海微电子装备（集团）股份有限公司 | A kind of absolute type measuring device |
| CN105807284B (en) * | 2016-04-29 | 2018-05-25 | 北醒（北京）光子科技有限公司 | Optical scanner range unit |
| JP7024285B2 (en) * | 2017-09-26 | 2022-02-24 | オムロン株式会社 | Displacement measuring device, system, and displacement measuring method |
| CN108896008B (en) * | 2018-07-24 | 2020-10-09 | 河南工程学院 | Illumination control type optical distance measuring and positioning system |
| 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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| CN1735817A (en) * | 2002-11-11 | 2006-02-15 | 秦内蒂克有限公司 | Proximity sensor |
| CN101561266A (en) * | 2008-04-18 | 2009-10-21 | 鸿富锦精密工业（深圳）有限公司 | Ranging measurement system, ranging measurement method, electronic device system and remote control |
| CN101788672A (en) * | 2010-02-09 | 2010-07-28 | 卢波 | Method for determining distance between two target points |
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| JP4632207B2 (en) * | 2007-11-21 | 2011-02-16 | ローランドディー．ジー．株式会社 | Distance measuring method and distance measuring device |
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| CN1735817A (en) * | 2002-11-11 | 2006-02-15 | 秦内蒂克有限公司 | Proximity sensor |
| CN101561266A (en) * | 2008-04-18 | 2009-10-21 | 鸿富锦精密工业（深圳）有限公司 | Ranging measurement system, ranging measurement method, electronic device system and remote control |
| CN101788672A (en) * | 2010-02-09 | 2010-07-28 | 卢波 | Method for determining distance between two target points |
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