CN102466478A - System and method for measuring distance of moving object - Google Patents
System and method for measuring distance of moving object Download PDFInfo
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- CN102466478A CN102466478A CN2010105465295A CN201010546529A CN102466478A CN 102466478 A CN102466478 A CN 102466478A CN 2010105465295 A CN2010105465295 A CN 2010105465295A CN 201010546529 A CN201010546529 A CN 201010546529A CN 102466478 A CN102466478 A CN 102466478A
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Abstract
The invention relates to a system for measuring distance of a moving object, which comprises a laser transmitting unit, an image sensing unit, a plane mirror, an angle control unit and a control unit. The laser transmitting unit is used for providing a light source; the image sensing unit is used for collecting images of a laser local scanning region formed on the surface of an object to be measured; the plane mirror is arranged on a main optical path of the laser transmitting unit and is used for steering lasers of the laser transmitting unit to the object to be measured; the angle control unit is used for controlling a steering angle of the plane mirror; and the control unit is used for controlling the laser transmitting unit, receiving the images output by the image sensing unit, and controlling the angle control unit such that the angle control unit is synchronous with image shooting of the image sensing unit. According to the implementation of the technical scheme of the invention, a whole large frame of image is divided into small frames of images, the small frames of images are collected, and a next small frame of image can be collected in parallel at the same time, thus the fast acquisition of point cloud data is realized, the cost of devices is reduced, and the utilization ratio of the image sensing unit is also increased.
Description
Technical field
The present invention relates to moving object and catch the field, relate in particular to a kind of Range Measurement System and method of moving object.
Background technology
The method of obtaining the object cloud data at present is a lot, and common method has: utilize structure light image information to obtain cloud data; Adopt the binocular visible light image information to obtain data, wherein, the method for structural light measurement object and principle are relatively ripe.In the technology of using laser scanning measurement object cloud data, realize that the scanning to very fast moving object is a direction of this technical development, though at present common scanning technique precision is very high; But it needs the scanning of long period to obtain data; Can't be applicable to that like many movement velocitys such as human motion object faster in actual conditions, the demand of cloud data of measuring rapid movement object such as human body movement data is increasing; The technological required hardware and software cost that obtains cloud data fast is higher; It also is the bottleneck of such technical development that equipment cost is reduced, and the normal at present some cloud scanning system of using is the data of obtaining of object being pursued line by line frame, and this method speed is slower; Collection moving object data that can't be real-time, and imitate also lower to the use of video camera.
Summary of the invention
The technical matters that the present invention will solve is; To the above-mentioned of prior art object under test is carried out the slow and defective lower to the video camera service efficiency by frame acquisition point cloud data speed line by line; A kind of Range Measurement System and method are provided; Can realize that the cloud data that obtains continuous motion fast can obtain cloud data fast, has improved the utilization rate of video camera with lower software and hardware expense.
The technical solution adopted for the present invention to solve the technical problems is: a kind of Range Measurement System of moving object is provided, has comprised:
The laser emission element of light source is provided;
The local laser scanning area of object surfaces formation to be measured is carried out the image sensing cell of IMAQ;
Be positioned on the main optical path of said laser emission element the level crossing that laser is turned to object under test;
Control the angle control module of said level crossing steering angle;
Control module is used for the image that said image sensing cell is exported is controlled and received to said laser emission element, and said angle control module is controlled the image taking that synchronizes them in said image sensing cell.
In system of the present invention, said image sensing cell comprises the cmos image sensing chip and object under test is imaged on the camera lens on the said cmos image sensing chip that said image sensing cell also comprises filter.
In system of the present invention, comprise that also the light beam that on the main optical path between said laser instrument and the said level crossing, said laser emission element is produced diverges to fan-shaped lens in one direction.
In system of the present invention, said angle control module is fixed with the rotation axis of a said level crossing, and its normal with said level crossing is vertical.
In system of the present invention, also comprise the computer system of communicating by letter with control module, be used for that the laser imaging data are carried out amalgamation and handle.
The present invention also provides a kind of distance measurement method of moving object, may further comprise the steps:
A, control laser emission element produce laser beam, diverge to the fan-shaped object under test surface of after flat mirror reflects, arriving again after the laser beam scioptics that the produced refraction and form the laser line segment;
B, control angle control module make predetermined angle of said level crossing deflection, form the local laser scanning area on the object under test surface;
C, utilize level crossing anglec of rotation feedback signal to let the regional area exposure on said image sensing cell of said local laser scanning area form little frame laser imaging zone;
D. said control module receives the little frame data in said little frame laser imaging zone, and calculates sweep trace information according to said little frame data;
E. be untreated like a two field picture, then gathered next little frame data and return step B, otherwise execution in step F;
F. on two dimensional image, show according to sweep trace information acquisition point cloud steric information, and with said some cloud solid.
In method of the present invention, calculate sweep trace information according to said little frame data and may further comprise the steps:
D1, extract the sweep trace information in the said local laser scanning area, to each column scan line computation sub-pix coordinate x=∑ (Gray * X)/∑ X, wherein Gray is a grey scale pixel value, X is the x coordinate of pixel.
In method of the present invention, saidly carry out some cloud steric information two dimension according to sweep trace information and show and may further comprise the steps:
E1, by following formula, calculate the depth z in the object under test surf zone according to the offset distance Δ X of laser line segment,
Wherein, f is the focal length of imageing sensor camera lens, and L is the distance value that object under test leaves the zone of Z direction, and B is the distance between the photocentre C of level crossing center P and imageing sensor camera lens;
E2, will be divided into a plurality of intervals apart from distance in advance, each interval corresponding various colors; According to apart between the location, the color of correspondence is projected on the two-dimensional image.
In method of the present invention, after required little frame data collection is intact, further comprising the steps of: as required little frame data to be carried out amalgamation, form complete object cloud data.
The technical scheme of embodiment of the present invention through the big two field picture of view picture is divided into little two field picture, and is gathered little two field picture; But while next little two field picture of parallel acquisition; Realize obtaining fast cloud data, reduced the cost of soft hardware equipment, improved the utilization rate of image sensing cell.
Description of drawings
To combine accompanying drawing and embodiment that the present invention is described further below, in the accompanying drawing:
Fig. 1 is the structural representation of the Range Measurement System of moving object of the present invention;
Fig. 2 is the process flow diagram of the distance measurement method of moving object of the present invention;
Fig. 3 is the process flow diagram before the step S100 in the distance measurement method of moving object of the present invention;
Fig. 4 is the light path top view of the Range Measurement System of moving object of the present invention;
Fig. 5 is the light path oblique view of the Range Measurement System of moving object of the present invention;
Fig. 6 is the design sketch that the Range Measurement System of moving object of the present invention is applied to human motion.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
As shown in Figure 1; In the structural representation of the Range Measurement System of moving object of the present invention; This system comprises laser emission element 100, image sensing cell 200, level crossing 300, angle control module 4O0, control module 500, lens 600, computer system 700, wherein
Laser emission element 100 is used to Measuring Object light source is provided, and its emitted laser wavelength should adapt with image sensing cell 200.On the main optical path between laser emission element 100 and the level crossing 300, be provided with lens 600; Be used for diverging to the light beam that laser emission element 100 produces fan-shaped in one direction; Lens 600 can be other forms also for cylindrical mirror, a word wave mirror, repeat no more at this.
On the main optical path of laser emission element 100, be provided with level crossing 300, be used for beam steering object under test from laser emission element 100.And the deflection angle of level crossing 300 is controlled by angle control module 400, and 400 1 rotating shafts of angle control module are fixed with level crossing 300 above, and rotating shaft is vertical with level crossing 300 normals.The angle controller moving axis rotation that can control plane mirror 300 rotates, rotational angle can be specified by control module 500 programs.The minimum zone that level crossing 300 rotational angles are set is: the inswept whole Measuring Object of light that makes reflection.
Image sensing cell 200 is used for the local laser scanning area that object surfaces to be measured forms is carried out IMAQ, should be noted that; The laser imaging information that this image sensing cell 200 will collect is first preserved and is noted; Think little frame data that subsequent acquisition arrives as a reference, image sensing cell 200 comprises cmos image sensing chip and camera lens, in another embodiment; In order only to realize that the laser signal of specific wavelength is received, can in camera lens, install filter plate additional.This filter plate can separate the formation individual components with camera lens, also direct plated film on camera lens.
Computer system 700 is communicated by letter with control module and is used for that the laser imaging data are carried out amalgamation and handles.
Preferably, image sensing cell 200 comprises the cmos image sensing chip and object under test is imaged on the camera lens on this cmos image sensing chip that image sensing cell 200 also comprises filter.
As shown in Figure 2, in the process flow diagram of the distance measurement method of moving object of the present invention, this method comprises:
S100. control laser emission element and produce laser beam, diverge to the fan-shaped object under test surface of after flat mirror reflects, arriving again after the laser beam scioptics that the produced refraction and form the laser line segment;
S200. control the angle control module and make predetermined angle of level crossing deflection; Form the local laser scanning area on the object under test surface; The minimum zone that should be noted that the level crossing rotational angle is to make through the emergent ray after this level crossing emission to scan whole object under test;
S300. utilize level crossing anglec of rotation feedback signal to let the regional area exposure on this image sensing cell of said local laser scanning area form little frame laser imaging zone;
S400. control module receives the little frame data in this little frame laser imaging zone, and calculates sweep trace information according to these little frame data;
S400. be untreated like a two field picture, then gathered next little frame data and return step S200, otherwise execution in step S500;
S500. on two dimensional image, show according to sweep trace information acquisition point cloud steric information, and with said some cloud solid.
Preferably, calculating sweep trace information according to little frame data may further comprise the steps:
Extract the sweep trace information in this local laser scanning area, to each column scan line computation sub-pix coordinate x=∑ (Gray * X)/∑ X, wherein, Gray is a grey scale pixel value, X is the x coordinate of pixel.
Preferably, carrying out a cloud steric information two dimension demonstration according to sweep trace information may further comprise the steps:
E1, by following formula, calculate the depth z in the object under test surf zone according to the offset distance Δ X of laser line segment,
Wherein, f is the focal length of image sensing cell camera lens, and L is the distance value that object under test leaves the zone of Z direction, and B is the distance between the photocentre C of level crossing center P and image sensing cell camera lens;
E2, will be divided into a plurality of intervals apart from distance in advance, each interval corresponding various colors; According to apart between the location, the color of correspondence is projected on the two-dimensional image.
Preferably, after required little frame data collection is intact, further comprising the steps of: as required little frame data to be carried out amalgamation, form complete object cloud data.
Should be noted that in the present embodiment, image sensing cell is graphics processing unit; The slewing area and the angle of angle control module control plane mirror; Level crossing rotate to certain angle the time, the imaging region of laser in image sensing cell fixed, after the funtcional relationship of determining between the laser imaging zone and the level crossing anglec of rotation; Control module control image sensing cell makes public at regional area; Having realized the skew along with laser, also squints in the image sensing cell exposure area, and the exposure area imaging region of laser line segment in image sensing cell always.Image sensing cell only need be handled image signal transmission in the small area like this, but while next little frame data of parallel acquisition.
As shown in Figure 3, in the process flow diagram in the distance measurement method of moving object of the present invention before the step S100, before step S100, also comprise:
S110. assemble each parts of this system, wherein, comprise assembling control module, laser instrument, level crossing, lens, angle control module and image sensing cell;
S120., a witness mark value is set, and in the present embodiment, the setting up procedure of this witness mark value is following:
1). the line of supposing level crossing center P and image sensing cell camera lens photocentre C is the X axle, and the direction of ray PC is the X positive dirction; Level crossing is the Y axle around the direction of the rotation axis rotation of angle control module; The initial angle of level crossing becomes miter angle with the X axle; The optical axis of image sensing cell camera lens is the Z axle; The direction that the camera lens of image sensing cell points to is the Z positive dirction, and the camera lens of adjustment image sensing cell is so that the angular field of view of camera lens covers whole object under test; At 2 meters of Z axle a screen that is parallel to the XY plane is set, plane as a reference, the size of screen surpasses entire image sensing unit camera lens visual angle and whole laser coverage; Laser instrument is along X positive dirction emission laser signal, and this laser signal is dispersed on the Y direction after reflecting through lens; Dispersion angle is 60 degree, through with after the X axle becomes the flat mirror reflects of miter angle, makes emergent ray around Y axle deflection an angle of 90 degrees again; The direction of emergent ray is along the Z positive dirction, and remains and on the Y direction, disperse;
2). when level crossing turns to a certain angle; Laser radiation forms a line segment that is parallel to the Y axle on screen, and on image sensing cell, forms images, and should be noted that; The angle control module makes level crossing rotate a degree angle around the Y axle, and then emergent ray rotates 2 * a degree angle around the Y axle;
3). the lap of the angular field of view of emergent ray slewing area and image sensing cell camera lens is a measured zone; Measured zone is divided into 64 parts on directions X; Each control plane mirror rotates a certain angle, makes laser shine the fixed position in a copy of it zone successively, controls the cmos image sensing chip simultaneously; Measured zone is made public, take the laser laser line segment that irradiation forms on screen;
4). suppose that the size of exposure window on directions X is Wmin, the computing formula of Wmin is following:
Wherein, f is the focal length of image sensing cell camera lens, and Lmin and Lmax are respectively the nearest value in the object under test zone of leaving the Z direction and value farthest; And the position that makes the laser line segment that on screen, produces just appears at an end of exposure window X positive dirction; The level crossing revolution is moving once; The exposure window is just adjusted the position thereupon; Remain static at image sensing cell time shutter inner plane mirror, should be noted that the laser line segment of generation has with the method that the exposure window aligns: the angular range of the setting angle of adjustment angle control module, the output of adjustment control module and the setting angle of adjustment image sensing cell.
Fig. 4 and Fig. 5 are respectively the light path top view and the light path oblique view of the Range Measurement System of moving object of the present invention, in conjunction with Fig. 4 and Fig. 5, further specify the principle of work of system of the present invention:
1). the generation of laser scanning line:
A. the space is provided with three mutually perpendicular dimensions, supposes that the line of level crossing center P and imageing sensor camera lens photocentre C is the X axle, and the direction of ray PC is the X positive dirction; Level crossing is the Y axle around the direction of the rotation axis rotation of angle control module; The initial angle of level crossing becomes miter angle with the X axle; The optical axis of imageing sensor camera lens is the Z axle; The direction that the camera lens of imageing sensor points to is the Z positive dirction;
B. adjust the camera lens of imageing sensor,, a screen that is parallel to the XY plane is set at 2 meters of Z axle so that the angular field of view of camera lens covers whole object under test; Plane as a reference, the size of screen surpasses entire image sensor lens visual angle and whole laser coverage, and laser instrument is along X positive dirction emission laser signal; This laser signal is dispersed on the Y direction after reflecting through lens, and dispersion angle is 60 degree; Again through with after the X axle becomes the flat mirror reflects of miter angle; Make emergent ray around Y axle deflection an angle of 90 degrees, the direction of emergent ray is along the Z positive dirction, and remains and on the Y direction, disperse;
When c. angle controller control plane mirror turns to a certain angle; Laser radiation forms a line segment that is parallel to the Y axle on screen, and on imageing sensor, forms images, and should be noted that; The angle control module makes level crossing rotate a degree angle around the Y axle, and then emergent ray rotates 2 * a degree angle around the Y axle;
D. the lap of the angular field of view of emergent ray slewing area and imageing sensor camera lens is a measured zone; Measured zone is divided into 64 parts on directions X, each control plane mirror rotates a certain angle, makes laser shine the fixed position in a copy of it zone successively; Control the cmos image sensing chip simultaneously; Measured zone is made public, take the laser laser line segment that irradiation forms on screen, this zone is laser line drawing line;
2). the synchronous acquisition of scan-line data:
Angle controller is being controlled the slewing area and the angle of level crossing; The anglec of rotation one timing at level crossing; The imaging region of laser in imageing sensor also fixed; After the funtcional relationship of determining between the laser imaging zone and the level crossing anglec of rotation, the present invention utilizes feedback control circuit midplane mirror anglec of rotation feedback signal, and the control chart image-position sensor makes public at regional area.Realization is along with the skew of laser, also squints in the imageing sensor exposure area, and the exposure area imaging region of laser rays in imageing sensor always.Imageing sensor only need be handled image signal transmission in the small area like this, simultaneously can next little frame data of parallel acquisition;
Suppose that the size of exposure window on directions X is Wmin, then the computing formula of Wmin is following:
Wherein, f is the focal length of imageing sensor camera lens, and Lmin and Lmax are respectively the nearest value in the object under test zone of leaving the Z direction and value farthest; And the position that makes the laser line segment that on screen, produces just appears at an end of exposure window X positive dirction; The level crossing revolution is moving once; The exposure window is just adjusted the position thereupon; Remain static at imageing sensor time shutter inner plane mirror, should be noted that the laser line segment of generation has with the method that the exposure window aligns: the angular range of the setting angle of adjustment angle control module, the output of adjustment control module and the setting angle of adjustment imageing sensor.
3). the generation of range information: gather the imaging of laser radiation on the standard flat object of set a distance when using for the first time, and gather laser imaging information, and keeping records is got off in system.In use subsequently, each little frame collection had the laser imaging information of distortion.Utilize common structured light range observation formula then; Obtain the volume coordinate of object in this little frame, product body branch cloud is along with the continuous collection of little frame data; All little frame data are pieced together and formed complete object point cloud, and fast updating cloud data constantly.
Fig. 6 is applied to the design sketch of human motion for the Range Measurement System of moving object of the present invention, in the present embodiment, the cloud data that collects is divided into 512 parts according to the distance of distance; Those skilled in the art should understand, and can divide according to the needs of precision, and each part is that each distance segment adopts color to represent; And project on the two dimensional image; In Fig. 6, greyish white representative is nearest, and black is represented furthest.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the claim scope of the present invention.
Claims (9)
1. the Range Measurement System of a moving object is characterized in that, comprising:
The laser emission element of light source is provided;
The local laser scanning area of object surfaces formation to be measured is carried out the image sensing cell of IMAQ;
Be positioned on the main optical path of said laser emission element the level crossing that laser is turned to object under test;
Control the angle control module of said level crossing steering angle;
Control module is used for the image that said image sensing cell is exported is controlled and received to said laser emission element, and said angle control module is controlled the image taking that synchronizes them in said image sensing cell.
2. system according to claim 1 is characterized in that, said image sensing cell comprises the cmos image sensing chip and object under test is imaged on the camera lens on the said cmos image sensing chip that said image sensing cell also comprises filter.
3. system according to claim 1 is characterized in that, comprises that also the light beam that on the main optical path between said laser emission element and the said level crossing, said laser emission element is produced diverges to fan-shaped lens in one direction.
4. system according to claim 1 is characterized in that said angle control module is fixed with the rotation axis of a said level crossing, and its normal with said level crossing is vertical.
5. system according to claim 1 is characterized in that, also comprises the computer system of communicating by letter with control module, is used for that the laser imaging data are carried out amalgamation and handles.
6. the distance measurement method of a moving object is characterized in that, may further comprise the steps:
A, control laser emission element produce laser beam, diverge to after the laser beam scioptics that the produced refraction fan-shapedly after flat mirror reflects, to form the laser line segment on the object under test surface again;
B, control angle control module make predetermined angle of said level crossing deflection, form the local laser scanning area on the object under test surface;
C, utilize level crossing anglec of rotation feedback signal to let the regional area exposure on said image sensing cell of said local laser scanning area form little frame laser imaging zone;
D. said control module receives the little frame data in said little frame laser imaging zone, and calculates sweep trace information according to said little frame data;
E. be untreated like a two field picture, then gathered next little frame data and return step B, otherwise execution in step F;
F. on two dimensional image, show according to sweep trace information acquisition point cloud steric information, and with said some cloud solid.
7. method according to claim 6 is characterized in that, calculates sweep trace information according to said little frame data and may further comprise the steps:
D1, extract the sweep trace information in the said local laser scanning area, to each column scan line computation sub-pix coordinate x=∑ (Gray * X)/∑ X, wherein Gray is a grey scale pixel value, X is the x coordinate of pixel.
8. method according to claim 7 is characterized in that, saidly carries out some cloud steric information two dimension according to sweep trace information and shows and may further comprise the steps:
E1, by following formula, calculate the depth z in the object under test surf zone according to the offset distance Δ X of laser line segment,
Wherein, f is the focal length of imageing sensor camera lens, and L is the distance value that object under test leaves the zone of Z direction, and B is the distance between the photocentre C of level crossing center P and imageing sensor camera lens;
E2, will be divided into a plurality of intervals apart from distance in advance, each interval corresponding various colors; According to apart between the location, the color of correspondence is projected on the two dimensional image.
9. method according to claim 6 is characterized in that, and is after required little frame data collection is intact, further comprising the steps of: as required little frame data to be carried out amalgamation, form complete object cloud data.
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Cited By (7)
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| CN102706319A (en) * | 2012-06-13 | 2012-10-03 | 深圳泰山在线科技有限公司 | Distance calibration and measurement method and system based on image shoot |
| CN102739906A (en) * | 2012-06-28 | 2012-10-17 | 威海华菱光电股份有限公司 | Contact image sensor |
| CN108692656A (en) * | 2017-04-07 | 2018-10-23 | 中国人民解放军信息工程大学 | A kind of laser scanning data acquisition methods and device |
| CN109211186A (en) * | 2018-09-13 | 2019-01-15 | 国网福建省电力有限公司 | A kind of method of two o'clock distance in non-contact quick measurement space |
| CN110213565A (en) * | 2013-01-15 | 2019-09-06 | 移动眼视力科技有限公司 | Imaging system and method for depth calculation |
| CN110398748A (en) * | 2019-07-19 | 2019-11-01 | Oppo广东移动通信有限公司 | Distance-measuring device and equipment, method |
| CN114577179A (en) * | 2022-02-25 | 2022-06-03 | 烟台帝峰信息技术有限公司 | Laser mapping method, system, device and storage medium based on image recognition |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102706319A (en) * | 2012-06-13 | 2012-10-03 | 深圳泰山在线科技有限公司 | Distance calibration and measurement method and system based on image shoot |
| CN102706319B (en) * | 2012-06-13 | 2015-05-13 | 深圳泰山在线科技有限公司 | Distance calibration and measurement method and system based on image shoot |
| CN102739906A (en) * | 2012-06-28 | 2012-10-17 | 威海华菱光电股份有限公司 | Contact image sensor |
| CN110213565A (en) * | 2013-01-15 | 2019-09-06 | 移动眼视力科技有限公司 | Imaging system and method for depth calculation |
| CN110213565B (en) * | 2013-01-15 | 2021-03-09 | 移动眼视力科技有限公司 | Imaging system and method for depth calculation |
| CN108692656A (en) * | 2017-04-07 | 2018-10-23 | 中国人民解放军信息工程大学 | A kind of laser scanning data acquisition methods and device |
| CN108692656B (en) * | 2017-04-07 | 2020-07-17 | 中国人民解放军信息工程大学 | Laser scanning data acquisition method and device |
| CN109211186A (en) * | 2018-09-13 | 2019-01-15 | 国网福建省电力有限公司 | A kind of method of two o'clock distance in non-contact quick measurement space |
| CN109211186B (en) * | 2018-09-13 | 2021-03-02 | 国网福建省电力有限公司 | Method for rapidly measuring distance between two points in space in non-contact manner |
| CN110398748A (en) * | 2019-07-19 | 2019-11-01 | Oppo广东移动通信有限公司 | Distance-measuring device and equipment, method |
| CN114577179A (en) * | 2022-02-25 | 2022-06-03 | 烟台帝峰信息技术有限公司 | Laser mapping method, system, device and storage medium based on image recognition |
| CN114577179B (en) * | 2022-02-25 | 2024-05-14 | 烟台帝峰信息技术有限公司 | Laser mapping method, system, device and storage medium based on image recognition |
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