CN102466479A - System and method for measuring anti-jamming distance of moving object - Google Patents
System and method for measuring anti-jamming distance of moving object Download PDFInfo
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- CN102466479A CN102466479A CN201010557135XA CN201010557135A CN102466479A CN 102466479 A CN102466479 A CN 102466479A CN 201010557135X A CN201010557135X A CN 201010557135XA CN 201010557135 A CN201010557135 A CN 201010557135A CN 102466479 A CN102466479 A CN 102466479A
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Abstract
The invention discloses a system for measuring an anti-jamming distance of a moving object. The system comprises a laser emission unit, an image sensing unit, a plane mirror, an angle control unit and a control unit, wherein the laser emission unit is used for providing a light source; the image sensing unit is used for acquiring images from partial scanning regions formed on the surface of an objected to be measured and the surface of a background continuously at the first light intensity and the second light intensity and carrying out differential operation on the acquired first light intensity image and the acquired second light intensity image; the plane mirror is positioned on a main light path of the laser emission unit and turning laser of the laser emission unit to the object to be measured; the angle control unit is used for controlling a turning angel of the plane mirror; and the control unit is used for controlling the laser emission unit, receiving images output from the image sensing unit and controlling the angle control unit so that the angle control unit is synchronous to the image sensing unit. By implementing the technical scheme disclosed by the invention, the purpose of rapidly acquiring point cloud data under high-light jamming is realized by acquiring the image data of a bright frame and a dark frame, carrying out difference operation on the image data of the bright frame and the dark frame, processing a small frame image obtained after difference operation and simultaneously acquiring the next small frame image in parallel.
Description
Technical field
The present invention relates to moving object and catch the field, relate in particular to a kind of anti-interference 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 like many movement velocitys such as human motion object faster, in actual conditions; The demand of the cloud data of rapid movement objects such as measurement human body movement data is increasing, and the technological required hardware and software cost that obtains cloud data fast is higher, and it also is the bottleneck of such technical development that equipment cost is reduced; In addition; The high light of the scanning system of using at present in can't filtering environmental disturbs, for example, and sunshine; Therefore, obtain the direction that cloud data is this technical development fast with the realization under strong interference environment of lower cost.
Summary of the invention
The technical matters that the present invention will solve is; To the above-mentioned scanning system cost height of prior art and the defective that can't solve the high light interference; A kind of anti-interference Range Measurement System and method of moving object are provided, have reduced equipment cost, under high light disturbs, can obtain cloud data fast.
The technical solution adopted for the present invention to solve the technical problems is: a kind of anti-interference Range Measurement System of moving object is provided, and said system comprises:
The laser emission element of light source is provided;
Under first light intensity with second light intensity under the first local scanning area and the second local scanning area that continuously the surface of object under test and background are formed respectively carry out IMAQ, and the image sensing cell that the first light intensity map picture that collects and second light intensity map are looked like to carry out the difference computing;
Be positioned on the main optical path of said laser emission element the level crossing that laser is turned to object under test and background;
Control the angle control module of said level crossing steering angle;
Control module; Be used for said laser emission element is controlled and received the image of said image sensing cell output, said angle control module controlled the first light intensity map picture and the second light intensity 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 and background 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 emission element 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 anti-interference distance measurement method of moving object, said method comprising the steps of:
A. control laser emission element and produce laser beam; Diverge to after the refraction of the laser beam scioptics that produced and fan-shapedly after flat mirror reflects, make predetermined angle of said level crossing deflection again through control angle control module; Thereby in the partial sweep zone that object under test and background surface form, continuously under first light intensity and second light intensity to this partial sweep zone respectively run-down to obtain the first plot of light intensity picture and the second plot of light intensity picture;
B. image sensing cell looks like to carry out the difference computing to the first light intensity map picture and second light intensity map that collects;
C. control module receives the little frame data carry out after the said difference computing, and calculates sweep trace information according to said little frame data;
D. be untreated like a two field picture, then returned steps A and form next partial sweep zone, and under first light intensity and second light intensity, scan respectively, otherwise execution in step E.
E. 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, also comprise after the said step B and before the step C:
B1. the image that obtains after the said difference computing is cut apart; Distinguishing object under test and background,, then think object under test if when the brightness of the image after cutting apart is higher than pre-set threshold value; If when the brightness of the image after cutting apart is lower than pre-set threshold value, then think background.
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 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 gathering the view data of light and shade two frames; And the view data of light and shade two frames done the difference computing, and the little two field picture after the difference computing is handled, but next little two field picture of parallel acquisition simultaneously; Reduced the cost of soft hardware equipment, realized under high light disturbs, can obtaining cloud data fast.
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 anti-interference Range Measurement System of moving object of the present invention;
Fig. 2 is the process flow diagram of the anti-interference distance measurement method of moving object of the present invention;
Fig. 3 is the process flow diagram before the step S100 in the anti-interference distance measurement method of moving object of the present invention;
Fig. 4 is the light path top view of the anti-interference Range Measurement System of moving object of the present invention;
Fig. 5 is the light path oblique view of the anti-interference Range Measurement System of moving object of the present invention;
Fig. 6 is the design sketch that the anti-interference 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 anti-interference 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 400, 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 and background 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 and the background that make reflection.
Image sensing cell 200, be used under first light intensity with second light intensity under the first local scanning area and the second local scanning area that continuously the surface of object under test and background are formed respectively carry out IMAQ, and the first light intensity map picture and second light intensity map that collects looked like to carry out the difference computing; Specify the process of this difference computing below: should be noted that in the present embodiment, employing be common cmos image sensor; Under first light intensity with second light intensity under continuous acquisition two two field picture A and B; Here suppose that the position of object under test and background does not almost change in whole process, wherein, images acquired A under first light intensity; First light intensity is laser radiation; Images acquired B under second light intensity, second light intensity is not for there being laser radiation, because object under test is nearer apart from laser; Or have special reflecting surface, make the brightness of the brightness of in image A object under test far above object under test in the image B; And back pitch is far away from laser, and does not have special reflecting surface, makes that the difference in brightness of background is little in image A and the image B.Imageing sensor is image A that collects and image B, and it is done the difference computing, the result for filtering the image C of high light; At this moment in the image C brightness meeting of object under test much larger than the brightness of background; Then image C is carried out image segmentation, the part that brightness is higher than predetermined threshold value in the image of cutting apart is thought object under test, and brightness is lower than the part of predetermined threshold value and then thinks background; Thereby can carry out subsequent operation according to dividing region, like extract location information etc.
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.
Control module 500 can adopt control chip or single-chip microcomputer, DSP, FPGA, and those skilled in the art should understand; Be not limited to above-mentioned cited; Be used for being responsible for control laser emission element 100, angle control module 400 and image sensing cell 200, can receive the image of image sensing cell 200 outputs, and have the ability with compunlcation; Can the information that receive from image sensing cell 200 be delivered to computer, also can have the ability of process information.Its main work is that the image taking to level crossing angle and image sensing cell 200 carries out synchro control.
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 anti-interference distance measurement method of moving object of the present invention, this method comprises:
S100. control laser emission element and produce laser beam; Diverge to after the refraction of the laser beam scioptics that produced and fan-shapedly after flat mirror reflects, make predetermined angle of said level crossing deflection again through control angle control module; Thereby in the partial sweep zone that object under test and background surface form, continuously under first light intensity and second light intensity to this partial sweep zone respectively run-down to obtain the first plot of light intensity picture and the second plot of light intensity picture;
S200. image sensing cell looks like to carry out the difference computing to the first light intensity map picture and second light intensity map that collects;
S300. control module receives the little frame data carry out after this difference computing, and calculates sweep trace information according to these little frame data;
S400. be untreated like a two field picture, then returned step S100 and form next partial sweep zone, and under first light intensity and second light intensity, scan respectively, otherwise execution in step S500.
S500. on two dimensional image, show according to sweep trace information acquisition point cloud steric information, and with this cloud solid.
Preferably; After step S200 with before the step S300, also comprise: the image to obtaining after this difference computing is cut apart; Distinguishing object under test and background,, then think object under test if when the brightness of the image after cutting apart is higher than pre-set threshold value; If when the brightness of the image after cutting apart is lower than pre-set threshold value, then think background.
Preferably, calculating sweep trace information according to these little frame data may further comprise the steps:
Extract the sweep trace information in the 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:
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;
To 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.
As shown in Figure 3, in the process flow diagram in the anti-interference 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 controller, laser instrument, level crossing, lens, angle controller and imageing sensor;
S120., a witness mark value is set,
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 anti-interference 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 anti-interference 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 (10)
1. the anti-interference Range Measurement System of a moving object is characterized in that, said system comprises:
The laser emission element of light source is provided;
Under first light intensity with second light intensity under the first local scanning area and the second local scanning area that continuously the surface of object under test and background are formed respectively carry out IMAQ, and the image sensing cell that the first light intensity map picture that collects and second light intensity map are looked like to carry out the difference computing;
Be positioned on the main optical path of said laser emission element the level crossing that laser is turned to object under test and background;
Control the angle control module of said level crossing steering angle;
Control module; Be used for said laser emission element is controlled and received the image of said image sensing cell output, said angle control module controlled the first light intensity map picture and the second light intensity image taking that synchronizes them in said image sensing cell.
2. system according to claim 1; It is characterized in that; Said image sensing cell comprises the cmos image sensing chip and object under test and background 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 anti-interference distance measurement method of a moving object is characterized in that, said method comprising the steps of:
A. control laser emission element and produce laser beam; Diverge to after the refraction of the laser beam scioptics that produced and fan-shapedly after flat mirror reflects, make predetermined angle of said level crossing deflection again through control angle control module; Thereby in the partial sweep zone that object under test and background surface form, continuously under first light intensity and second light intensity to this partial sweep zone respectively run-down to obtain the first plot of light intensity picture and the second plot of light intensity picture;
B. image sensing cell looks like to carry out the difference computing to the first light intensity map picture and second light intensity map that collects;
C. control module receives the little frame data carry out after the said difference computing, and calculates sweep trace information according to said little frame data;
D. be untreated like a two field picture, then returned steps A and form next partial sweep zone, and under first light intensity and second light intensity, scan respectively, otherwise execution in step E.
E. 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, also comprises after the said step B and before the step C:
B1. the image that obtains after the said difference computing is cut apart; Distinguishing object under test and background,, then think object under test if when the brightness of the image after cutting apart is higher than pre-set threshold value; If when the brightness of the image after cutting apart is lower than pre-set threshold value, then think background.
8. 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 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.
9. 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.
10. 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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| CN111047648A (en) * | 2018-10-15 | 2020-04-21 | 浙江宇视科技有限公司 | Angle correction method and device |
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