CN102650691B - Distance measuring system and method with correcting function - Google Patents
Distance measuring system and method with correcting function Download PDFInfo
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- CN102650691B CN102650691B CN201110045035.3A CN201110045035A CN102650691B CN 102650691 B CN102650691 B CN 102650691B CN 201110045035 A CN201110045035 A CN 201110045035A CN 102650691 B CN102650691 B CN 102650691B
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Abstract
The invention relates to a distance measuring system, which includes a correcting object, a translucent plate, a distance measuring device and an image sensor, wherein the distance measuring device has first and second known distances with the correcting object and the translucent plate respectively; the translucent plate is arranged between the correcting object and the distance measuring device; the distance measuring device includes an illuminating assembly used for emitting detecting light and provided with an illuminating error angle; and the image sensor is provided with a sensing error angle. Part of the detecting light is reflected by the correcting object through the translucent plate to become first reflecting light and be incident to the first imaging position of the image sensor; part of the detecting light is reflected by the translucent light to become second reflecting light and be incident to the second imaging position of the image sensor; and the distance measuring device also includes a parameter calculating circuit which is used for calculating the illuminating error angle and the sensing error angle according to the first and the second know angles and the first and the second imaging positions.
Description
Technical field
The present invention is relevant for a kind of distance measuring equipment, more particularly, relevant for a kind of image space difference of utilizing with the distance measuring equipment of range finding.
Background technology
In known technology, distance measuring equipment is launched detected light to determinand, and receives the reflected light being produced by determinand reflection detected light.Distance measuring equipment can be by the difference of catoptrical image space to calculate the distance between distance measuring equipment and determinand.Yet, during reflected light that distance measuring equipment produces at sensing determinand, can be subject to the impact of bias light and scintillation (the daylight lamp flicker causing as the frequency because of power-supply system) simultaneously, and produce error in measurement, obtain incorrect testing distance.In addition, in production run, when assembling distance measuring equipment, because the position of the assembly of distance measuring equipment inside can produce skew or the anglec of rotation because of assembly error, therefore distance measuring equipment measure apart from time can be subject to the impact of assembly error, and obtain incorrect testing distance, cause user's inconvenience.
Summary of the invention
The invention provides a kind of range measurement system of tool calibration function.This range measurement system comprises a correction thing; One translucent sheet; An and distance measuring equipment, and between this correction thing, this translucent sheet, have respectively one first and one second known distance, and this translucent sheet is arranged between this correction thing and this distance measuring equipment, this distance measuring equipment comprises a luminescence component, be used for sending a detected light, there is a luminous error angle; One image sensor, has a sensing error angle; Wherein the part light of this detected light is reflected to become one first reflected light through this translucent sheet by this correction thing, and is incident to one of this image sensor the first image space; Wherein the part light of this detected light is reflected to become one second reflected light by this translucent sheet, and is incident to one of this image sensor the second image space; And a parameter calculation circuit, be used for according to this first with this second known distance, this first with this second image space, calculate this luminous error angle and this sensing error angle.
The present invention separately provides the method for a kind of correction one distance measuring equipment.The method comprises and a translucent sheet is set in this distance measuring equipment and, proofreaies and correct between thing; Wherein between this distance measuring equipment and this translucent sheet, there is one first known distance; Wherein between this distance measuring equipment and this correction thing, there is one second known distance; One of this distance measuring equipment luminescence component sends a detected light and by this translucent sheet, is reflected to become the second reflected light so that one of this detected light first part is reflected to become one of the first reflected light and this detected light the second part by this translucent sheet by this correction thing; This first reflected light is incident to one of one of this distance measuring equipment image sensor the first image space; This second reflected light is incident to one of one of this distance measuring equipment image sensor the second image space; And according to this first with this second known distance, this first with this second image space, draw at least one error angle of this distance measuring equipment.
Accompanying drawing explanation
Fig. 1 and Fig. 2 utilize image space difference with the structure of distance measuring equipment and the schematic diagram of principle of work of range finding for explanation is of the present invention.
Fig. 3 is the schematic diagram of the principle of work of explanation distance measuring equipment minimizing scintillation.
Fig. 4 is the schematic diagram of the method for the explanation luminous error angle of proofreading and correct the detected light that luminescence component sends.
Fig. 5 and Fig. 6 are for illustrating the schematic diagram that makes the bearing calibration of image sensor rotary sensing error angle because of assembly error.
Fig. 7 is the schematic diagram of the first embodiment of the structure of explanation image sensor of the present invention.
Fig. 8 utilizes the image sensor of Fig. 7 to detect the schematic diagram of the principle of work of catoptrical image space for illustrating.
Fig. 9 is the schematic diagram of another embodiment of the structure of explanation image sensor of the present invention.
Figure 10 utilizes the image sensor of Fig. 9 to detect the schematic diagram of the principle of work of catoptrical image space for illustrating.
Figure 11 is the schematic diagram of another embodiment of the structure of explanation image sensor of the present invention.
Figure 12 illustrates the schematic diagram of the range measurement system 1200 of a tool calibration function of the present invention.
Figure 13 is the schematic diagram of two kinds of embodiment of explanation translucent sheet 1201 of the present invention.
Wherein, description of reference numerals is as follows:
100 distance measuring equipments
110 luminous/sensing control circuit
120 luminescence components
130,700,900,1100 image sensors
140 apart from counting circuit
150 parameter calculation circuit
B
1～B
mthe energy of sensing bias light
CS
1～CS
m, CS
11～CS
nK, sensing cell
CS
NQ、CS
X、CS
Y
LEN
1, LEN
2camera lens
CO
1, CO
2proofread and correct thing
L, D
c1, D
c2, D
cTknown distance
D
cS, D
cSI, D
cSJimage space
D
cSXprojector distance
D
ffocal length
D
mtesting distance
L
bbias light
L
iD, L
iDXdetected light
L
fstraight line
L
rD, L
rDX, L
rDYreflected light
MO determinand
O
ffocus
P
1, P
2power
R
kthe catoptrical energy of sensing
S
aBparameter signal
S
aLS, S
aLS1～S
aLS2Naccumulative total light sensing signal
S
lDlED pulse signal
S
lSlight sensing signal
S
pstage signal
S
rEread signal
S
sTshutter pulse signal
T
1+, T
2+the distance sensing stage
T
1-, T
2-the noise sensing stage
T
c, T
rpulse width
T
fac period
θ
1, θ
2, θ
1I, θ
2I, angle
θ
1J、θ
2J
θ
lDluminous error angle
θ
cS1, θ
cS2sensing error angle
1200 Measuring are apart from system
1201 translucent sheets
Embodiment
The invention provides a kind of image space difference of utilizing with the distance measuring equipment of range finding, by by the light sensing signal of the image sensor institute sensing in distance measuring equipment, remove the part of bias light and passage of scintillation light, reduce the impact of bias light and scintillation.In addition, the present invention separately provides a kind of bearing calibration, proofreaies and correct the assembly error of distance measuring equipment, to improve the degree of accuracy of range finding.
Please refer to Fig. 1 and Fig. 2.Fig. 1 and Fig. 2 utilize image space difference with the structure of distance measuring equipment 100 and the schematic diagram of principle of work of range finding for explanation is of the present invention.Distance measuring equipment 110 is used for measuring the testing distance D between determinand MO and distance measuring equipment 100
m.That distance measuring equipment 100 comprises is one luminous/and sensing control circuit 110, a luminescence component 120, an image sensor 130, are apart from counting circuit 140, a parameter calculation circuit 150, and a camera lens LEN
1.The relation that couples of each assembly of inside of distance measuring equipment 100 as shown in Figure 1, therefore repeat no more.
Luminous/sensing control circuit 110 is used for producing LED pulse signal S
lD, shutter pulse signal S
sT, stage signal S
p, read signal S
rE, and known distance signal S
d.Distance measuring equipment 100 time can be divided into for two stages in range finding: 1. distance sensing stage; 2. noise sensing stage.When distance measuring equipment 100 is in distance sensing during the stage, luminous/sensing control circuit 110 produces the LED pulse signal S of expression " luminous " simultaneously
lDwith the shutter pulse signal S that represents " unlatching "
sT, and the pulse width of the two is all T
c; Then luminous/sensing control circuit 110 produces the read signal S that represents " reading " more simultaneously
rEwith the stage signal S that represents " summation "
p, and the pulse width of the two is all T
r.When distance measuring equipment 100 is in noise sensing during the stage, luminous/sensing control circuit 110 produces the shutter pulse signal S that represents " unlatching "
sTand while LED pulse signal S
lDrepresent " not luminous ", and the pulse width of shutter pulse signal is T
c; Then luminous/sensing control circuit 110 produces the read signal S that represents " reading " more simultaneously
rEwith the stage signal S that represents " noise "
p, and the pulse width of the two is all T
r.
Camera lens LEN
1be used for convergent setting light L
bor reflected light L
rDto image sensor 130.Image sensor 130 comprises M sensing cell CS side by side
1～CS
m, and the width of each sensing cell all equals picture element width W
pIX, meaning is M sensing cell CS side by side
1～CS
moverall width be M * W
pIX.Sensing cell CS
1～CS
mbe used for according to shutter pulse signal S
sT, with sensing camera lens LEN
1the energy of the light converging.More particularly, as shutter pulse signal S
sTwhile representing " unlatching ", sensing cell CS
1～CS
msensing camera lens LEN
1the light converging is (as bias light L
bor reflected light L
rD) energy to produce according to this light sensing signal; As shutter pulse signal S
sTwhile representing " closing ", sensing cell CS
1～CS
msensing camera lens LEN not
1the energy of the light converging.For instance, as shutter pulse signal S
sTwhile representing " unlatching ", sensing cell CS
1sensing camera lens LEN
1the energy of the light converging also produces light sensing signal S according to this
lS1; Sensing cell CS
2sensing camera lens LEN
1the energy of the light converging also produces light sensing signal S according to this
lS2; The rest may be inferred, sensing cell CS
msensing camera lens LEN
1the energy of the light converging also produces light sensing signal S according to this
lSM.In addition, as read signal S
rEwhile representing " reading ", sensing cell CS
1～CS
mexport respectively light sensing signal S
lS1～S
lSM.
Apart from counting circuit 140, comprise a plurality of storage elements, be used for respectively storing sensing cell CS
1～CS
mthe light sensing signal S exporting
lS1～S
lSM, and according to stage signal S
p, the attribute of the light sensing signal that setting receives.In the present embodiment, to comprise M storage element M apart from counting circuit 140
1～M
mexplanation for example.As stage signal S
pwhile representing " summation ", storage element M
1～M
mby received light sensing signal S
lS1～S
lSMjust be set as light sensing signal S that meaning receives
lS1～S
lSMaccording to stage signal S
prepresent " summation " and be marked as positive light sensing signal S
lS1+～S
lSM+; As stage signal S
pwhile representing " noise ", storage element M
1～M
mby received light sensing signal S
lS1～S
lSMbe set as bearing light sensing signal S that meaning receives
lS1～S
lSMaccording to stage signal S
prepresent " noise " and be marked as solarising survey signal S
lS1-～S
lSM-.Just can be according to positive light sensing signal S apart from counting circuit 140
lS1+～S
lSM+survey signal with solarising
sLS1-～S
lSM-, calculate testing distance D
m.Below will illustrate apart from counting circuit 140 and calculate testing distance D
mprinciple of work.
As shown in Fig. 2 left side, in distance sensing, in the stage, luminous/sensing control circuit 110 can produce the LED pulse signal S of representative " luminous "
lD, and make luminescence component 120 send detected light L
iDdirective determinand MO, so that determinand MO produces reflected light L
rD.Now, luminous/sensing control circuit 110 produces the shutter pulse signal S of representative " unlatching "
sT, and make sensing cell CS
1～CS
msensing reflected light L
rDwith bias light L
benergy, to produce respectively light sensing signal S
lS1～S
lSM.Then luminous/sensing control circuit 110 can be exported the read signal S of representative " reading "
rE, so that image sensor 130 output light sensing signal S
lS1～S
lSMto apart from counting circuit 140, and luminous/sensing control circuit 110 can produce the stage signal S of representative " summation "
pthe light sensing signal that the indication of take is now received apart from counting circuit 140 is the light sensing signal of distance sensing in the stage, and meaning is positive light sensing signal S
lS1+～S
lSM+.Be located at distance sensing in the stage, reflected light L
rDmainly converge and image in sensing cell CS
k, the positive light sensing signal S now receiving apart from counting circuit 140
lS1+～S
lSM+the value first half as right in Fig. 2 as shown in, sensing cell CS
ksense bias light L simultaneously
bwith reflected light L
rD(meaning is that determinand MO images in sensing cell CS
kon).Therefore, sensing signal S
lSK+equal sensing cell CS
ksensing bias light L
bthe energy B accumulating
kadd sensing cell CS
ksensing reflected light L
rDthe energy R accumulating
k, other sensing cell receives only bias light L
b.Therefore, sensing signal S
lS1+equal sensing cell CS
1sensing bias light L
bthe energy B accumulating
1; Sensing signal S
lS21+equal sensing cell CS
2sensing bias light L
bthe energy B accumulating
2; The rest may be inferred, sensing signal S
lSM+equal sensing cell CS
msensing bias light L
bthe energy B accumulating
m.
As shown in Fig. 2 left side, within the noise sensing stage, luminous/sensing control circuit 110 can produce the shutter pulse signal S of representative " unlatching "
sT, and make sensing cell CS
1～CS
msensing camera lens LEN
1the light converging, to produce light sensing signal S
lS1～S
lSM.Yet now luminous/sensing control circuit 110 can produce the LED pulse signal S of representative " not luminous "
lD, so luminescence component 120 can not send detected light L
iDdirective determinand MO, and determinand MO can not produce reflected light L yet
rD.Then luminous/sensing control circuit 110 can be exported the read signal S of representative " reading "
rE, so that image sensor 130 output light sensing signal S
lS1～S
lSMto apart from counting circuit 140, and luminous/sensing control circuit 110 can produce the stage signal S of representative " noise "
pthe light sensing signal of the light sensing signal that the indication of take is now received apart from counting circuit 140 within the noise sensing stage, meaning is solarising and surveys signal S
lS1-～S
lSM-.The light sensing signal S now receiving apart from counting circuit 140
lS1-～S
lSM-value Lower Half as right in Fig. 2 as shown in.Due to shutter pulse signal S
sTin the distance sensing stage, identically with the pulse width in noise sensing stage (be all time span T
c).So sensing cell CS
1～CS
mthe light sensing signal S producing in distance sensing stage and noise sensing stage
lS1～S
lSMcorresponding to bias light L
bthe part of accumulation can equate.In other words, positive light sensing signal S
lS1+～S
lSM+in the energy of bias light accumulation can equal solarising and survey signal S
lS1-～S
lSM-in the energy (B of bias light accumulation
1～B
m).
After distance sensing stage and noise sensing stage, luminous/sensing control circuit 110 can produce the stage signal S that representative " is calculated distance "
p.Now apart from counting circuit 140, the positive light sensing signal in storage element and solarising can be surveyed to signal subtraction, and select and subtract each other the storage element of afterwards stored value maximum and judge according to this reflected light L
rDimage space on image sensor 130.That is to say, apart from the storage element M of counting circuit 140
1～M
mstored value equals respectively positive light sensing signal S
lS1+～S
lSM+value deduct solarising and survey signal S
lS1-～S
lSM-value.More particularly, storage element M
1store positive light sensing signal S
lS1+survey signal S with solarising
lS1-, due to positive light sensing signal S
lS1+equal B
1and solarising is surveyed signal S
lS1-equal B
1, so storage element M
1through stored value after subtracting each other, be zero; Storage element M
2store positive light sensing signal S
lS2+survey signal S with solarising
lS2-, due to positive light sensing signal S
lS2+equal B
2and solarising is surveyed signal S
lS2-equal B
2, so storage element M
2through stored value after subtracting each other, be zero; The rest may be inferred, storage element M
kstore positive light sensing signal S
lSK+survey signal S with solarising
lSK-, due to positive light sensing signal S
lS2+equal (B
k+ R
k) and solarising survey signal S
lS2-equal B
k, so storage element M
kafter lingering fragrance subtracts, stored value is R
k; Storage element M
mstore positive light sensing signal S
lSM+survey signal S with solarising
lSM-, due to positive light sensing signal S
lSM+equal B
mand solarising is surveyed signal S
lSM-equal B
m, so storage element M
mafter subtracting each other, stored value is zero.In other words, at storage element M
1～M
mamong, storage element M
kvalue equal R
k, and the value of other storage element all equals zero, and therefore apart from counting circuit 140, can select according to this storage element M
k, meaning is storage element M
kstored light sensing signal has corresponding to reflected light L
rDenergy.Due to storage element M
kfor storing sensing cell CS
kthe light sensing signal producing, therefore can judge apart from counting circuit 140 the reflected light L that determinand MO produces
rDmainly converge and image in sensing cell CS
k.The reflected light L that so, can further produce according to determinand MO apart from counting circuit 140
rDmainly converge and image in sensing cell CS
k, and extrapolate reflected light L in Fig. 1 by following formula
rDimage space D
cS:
D
CS＝K×W
PIX…(1)；
In addition, due to camera lens LEN in Fig. 1
1focus O
f1with sensing cell CS
1between formed straight line L
fbe parallel to detected light L
iD, so detected light L
iDand reflected light L
rDangle theta
1with straight line L
fand reflected light L
rDangle theta
2equate.In other words tan θ
1with tan θ
2relation can represent by following formula:
tanθ
1＝L/D
M＝tanθ
2＝D
CS/D
F…(2)；
Wherein L represents luminescence component 120 and image sensor 130 (detected light L
iDwith straight line L
f) between known distance, D
cSrepresent reflected light L
rDimage space, D
frepresentative shot LEN
1focal length.According to formula (2), testing distance D
mcan represent by following formula:
D
M＝(D
F×L)/D
CS…(3)；
Therefore, apart from counting circuit 140, can first calculate image space D by formula (1)
cS, relend by formula (3), according to known distance L, focal length D
f, to calculate testing distance D
m.
In sum, among distance measuring equipment 100, in distance sensing, in the stage, luminous/sensing control circuit 110 is controlled luminescence component 120 and is sent detected light L
iDbe incident upon determinand MO, and by sensing cell CS
1～CS
msensing camera lens LEN
1the light converging is (as reflected light L
rDwith bias light L
b) and the positive light sensing signal S that produces according to this
lS1+～S
lSM+be stored in storage element M
1～M
m.Within the noise sensing stage, luminous/sensing control circuit 110 is controlled luminescence component 120 and is not sent detected light L
iD, and by sensing cell CS
1～CS
msensing camera lens LEN
1the light converging is (as bias light L
b) and the solarising producing is according to this surveyed signal S
lS1+～S
lSM+be stored in storage element M
1～M
m.Now, storage element M
1～M
mvalue can equal positive light sensing signal S
lS1+～S
lSM+deduct solarising and survey signal S
lS1-～S
lSM-.Therefore, corresponding to reflected light L
rDthe sensing cell CS converging
kstorage element M
kvalue can be greater than the value of other storage element.So, apart from counting circuit 140, can judge reflected light L
rDthe sensing cell CS converging
k, and calculate according to this anti-photometry L
rDimage space D
cS.Therefore, can be according to image space D apart from counting circuit 140
cS, camera lens LEN
1focal length D
f, known distance L to be to calculate testing distance D
m.
In addition, in distance measuring equipment 100, distance sensing stage and noise sensing stage can carry out repeatedly (as Y time) repeatedly, so that storage element M
1～M
mcan store the positive light sensing signal corresponding to Y distance sensing stage, survey signal with the solarising corresponding to Y noise sensing stage.Due to the positive light sensing signal in each the distance sensing stage part corresponding to the energy of bias light, can be surveyed signal by the solarising in corresponding noise sensing stage and offset, therefore except corresponding to reflected light L
rDthe sensing cell CS of the picture that pools
kstorage element M
kvalue can equal (Y * R
k) outside, the value of other storage element all equals zero.Thus, even because of reflected light L
rDenergy compared with weak and make sensing cell CS
kthe energy R accumulating according to this
kless, distance measuring equipment 100 still can be by distance sensing stage and the noise sensing stage (that is to say, Y is become to large) of carrying out repeatedly, to amplify storage element M
kvalue and the difference between other storage element, and allow, apart from counting circuit 140, can correctly find out and there is peaked storage element M
k, and calculate according to this reflected light L
rDimage space D
cS, to improve accuracy.
Please refer to Fig. 3.Fig. 3 is the schematic diagram of the principle of work of explanation distance measuring equipment 100 minimizing scintillations.The power supply receiving due to general indoor light source is alternating current, therefore except bias light L
boutward, the bias light of another part (passage of scintillation light) L
fcan be subject to alternating current frequency impact and glimmer.For example, the power supply of indoor daylight lamp is alternating current, thus the light launched of daylight lamp can be subject to alternating current frequency impact and glimmer.In Fig. 3, the cycle of establishing alternating current is T
f(cycle that is 60Hz, alternating current as the frequency of alternating current is 0.0167 second).The power P of alternating current can ceaselessly change along with the time, so passage of scintillation light L
fpower also can be along with the time ceaselessly changes.Yet the power P of alternating current is every half ac period (T
f/ 2) will circulation primary.For example, when the time is T, the power P of alternating current equals P
t; When the time is (T+T
f/ 2), time, the power P of alternating current still equals P
t.Passage of scintillation light L again
fpower be proportional to the power P of alternating current so passage of scintillation light L
fpower can similar alternating current power, with every half ac period (T
f/ 2) will circulation primary.Thus, in distance measuring equipment 100, luminous/sensing control circuit 110 can be by command range sensing stage (T as shown in Figure 3
1+with T
2+) and noise sensing stage (T as shown in Figure 3
1-with T
2-) the time interval equal half ac period (T
f/ 2), to lower the impact of scintillation.More particularly, luminous/sensing control circuit 110, controls sensing cell CS
1～CS
min distance sensing stage T
1+(or T
2+) sensing is corresponding to the power P of alternating current
1(or P
2) passage of scintillation light L
f, and make sensing cell CS
1～CS
mthe positive light sensing signal producing is corresponding to passage of scintillation light L
fpart can equal F
11～F
m1(or F
12～F
m2).And luminous/sensing control circuit 110 command range sensing stage T
1+(or T
2+) and noise sensing stage T
1-(or T
2-) the time interval equal half ac period T
f/ 2 (as 0.0083 seconds).Therefore, sensing cell CS
1～CS
min noise sensing stage T
1-(or T
2-) the passage of scintillation light L of interior institute sensing
fpower and sensing cell CS
1～CS
min distance sensing stage T
1+(or T
2+) the passage of scintillation light L of interior institute sensing
fpower identical.So in noise sensing stage T
1-(or T
2-) in, sensing cell CS
1～CS
mthe solarising producing is surveyed signal corresponding to passage of scintillation light L
fpart also can equal F
11～F
m1(or F
12～F
m2).Therefore, distance sensing stage T
1+(or T
2+) positive light sensing signal corresponding to passage of scintillation light L
fpart, can be by corresponding noise sensing stage T
1-(or T
2-) solarising survey signal and offset.In other words, except corresponding to reflected light L
rDthe sensing cell CS of the picture that pools
kstorage element M
kvalue can equal R
koutside, the value of other storage element all equals zero.Even so sensing cell CS
1～CS
mcan sense passage of scintillation light L
f, luminous/sensing control circuit 110 still can be by command range sensing stage T
1+or T
2+respectively with noise sensing stage T
1-or T
2-the time interval equal half ac period (T
f/ 2), to lower the impact of scintillation, and make apart from the counting circuit 140 reflected light L that can correctly judge
rDimage space D
cSand calculate testing distance D
m.
Due in process of production, when assembling distance measuring equipment 100, the position of the assembly of distance measuring equipment 100 inside can produce skew because of assembly error, thus distance measuring equipment 100 measure apart from time can be subject to the impact of assembly error.Therefore the parameter calculation circuit 150 that distance measuring equipment 100 comprises is used for proofreading and correct the assembly error of distance measuring equipment 100.Below by the principle of work of explanation parameter calculation circuit 150.
First suppose the detected light L that luminescence component 120 sends luminescence component 120 because of assembly error
iDrotary luminous error angle θ
lD.
Please refer to Fig. 4.Fig. 4 is that the detected light L that luminescence component 120 sends is proofreaied and correct in explanation
iDluminous error angle θ
lDthe schematic diagram of method.Luminous/sensing control circuit 110 is controlled luminescence component 120 transmitting detected light L
iDdirective is proofreaied and correct thing CO
1.Wherein proofread and correct thing CO
1with the distance of distance measuring equipment 100 be known distance D
c1.Due to detected light L
rDbe subject to the impact of the assembly error of luminescence component 120, so detected light L
iDcan be with a luminous error angle θ
lDthing CO is proofreaied and correct in incident
1, and proofread and correct thing CO
1reflection detected light L
iDthe reflected light L producing
rDcan converge and image in sensing cell CS
i.Detected light L
iDwith reflected light L
rDangle be θ
1I, and straight line L
fwith reflected light L
rDangle be θ
2I.As shown in Figure 4, due to straight line L
fthe normal that is parallel to the plane of proofreading and correct thing, therefore (θ
1I-θ
lD) can equal θ
2I.That is to say tan (θ
1I-θ
lD) equal tan θ
2I.Therefore can obtain following formula:
D
C1＝1/[1/(D
F×L)×D
CSI+B]…(4)；
B＝tanθ
LD/L…(5)；
Wherein B representative is used for proofreading and correct luminous error angle θ
lDcorrection parameter, D
cSIrepresent reflected light L
rDimage space.Therefore, parameter calculation circuit 150 can calculate correction parameter B according to formula (4).So, parameter calculation circuit 150 can be passed through parameter signal S
aBwith output calibration B parameter to apart from counting circuit 140 so that apart from counting circuit 140 formula (2) can be proofreaied and correct as shown in the formula, to calculate the testing distance D after calibrated
m:
D
M＝1/[1/(D
F×L)×D
CS+B]…(6)；
Therefore, even the detected light L that distance measuring equipment 100 sends luminescence component 120 because of assembly error
iDrotary luminous error angle θ
lD, distance measuring equipment 100 still can calculate the luminous error angle of recoverable θ by parameter calculation circuit 150
lDcorrection parameter B, to allow apart from counting circuit 140 according to correction parameter B, camera lens LEN
1focal length D
f, known distance L, and catoptrical image space D while measuring determinand MO
cS, and correctly calculate testing distance D
m.
Please refer to Fig. 5 and Fig. 6.Fig. 5, Fig. 6 make image sensor 130 rotary sensing error angle θ because of assembly error for explanation
cS1with θ
cS2the schematic diagram of bearing calibration.Fig. 5 is the top view of distance measuring equipment 100.As shown in Figure 5, the sensing error angle θ of image sensor 130
cS1in XY plane.Fig. 6 is the side view of distance measuring equipment 100.In addition the sensing error angle θ that, image sensor 130 rotates as can be seen from Figure 6
cS1with θ
cS2.Luminous/sensing control circuit 110 is controlled luminescence component 120 transmitting detected light L
iDdirective is proofreaied and correct thing CO
2, wherein proofread and correct thing CO
2with the distance of distance measuring equipment 100 be known distance D
c2.(meaning supposes luminous error angle θ now to suppose there is no assembly error by luminescence component 120
lDbe zero), detected light L
iDcan incident proofread and correct thing CO
1, and proofread and correct thing CO
1reflection detected light L
iDthe reflected light L producing
rDcan converge and image in sensing cell CS
j.Detected light L
iDwith reflected light L
rDangle be θ
1J, and straight line L
fwith reflected light L
rDangle be θ
2J.As seen from Figure 6, D
cSXfor reflected light L
rDimage space D
cSJbe projected to the projector distance of X-axis, and image space D
cSJwith projector distance D
cSXrelation can represent by following formula:
D
CSX＝D
CSJ×cosθ
CS2×cosθ
CS1…(6)；
Again in Fig. 5, straight line L and detected light L
iDparallel, so straight line L and reflected light L
rDangle theta
2Jequal detected light L
iDwith reflected light L
rDangle theta
1J.That is to say tan θ
1Jequal tan θ
2J.So, known distance D
c2with projector distance D
cSXrelation can represent by following formula:
L/D
C2＝D
CSX/D
F…(7)；
Therefore, according to formula (6) and (7), can obtain following formula;
D
C2＝1/(A×D
CSJ)…(8)；
A＝(cosθ
CS2×cosθ
CS1)/(D
F×L)…(9)；
Wherein A representative is used for proofreading and correct sensing error angle θ
cS2with θ
cS1correction parameter.Therefore, parameter calculation circuit 150 calculates correction parameter A according to formula (8).So, parameter calculation circuit 150 can be passed through parameter signal S
aBwith output calibration parameter A to apart from counting circuit 140 so that apart from counting circuit 140 formula (2) can be proofreaied and correct as shown in the formula, to calculate the testing distance D after calibrated
m:
D
M＝1/(A×D
CS)…(10)；
Hence one can see that, even if distance measuring equipment 100 makes image sensor 130 rotary sensing error angle θ because of assembly error
cS1with θ
cS2, distance measuring equipment 100 still can calculate recoverable sensing error angle θ by parameter calculation circuit 150
cS2with θ
cS1correction parameter A, can be by correction parameter A catoptrical image space D when measuring determinand MO apart from counting circuit 140 to allow
cS, and correctly calculate testing distance D
m.
Suppose the detected light L that distance measuring equipment 100 sends luminescence component 120 because of assembly error
iDrotary luminous error angle θ
lD, and while image sensor 130 rotary sensing error angle θ
cS1with θ
cS2.Explanation by Fig. 4, Fig. 5, Fig. 6 is known, and distance measuring equipment 100 can send detected light L by luminescence component 120
iDto proofreading and correct thing CO
1with CO
2, to obtain respectively corresponding to proofreading and correct thing CO
1reflected light L
rDimage space D
cS1, with corresponding to proofreading and correct thing CO
2reflected light L
rDimage space D
cS2.Image space D again
cS1with D
cS2, distance measuring equipment 100 with proofread and correct thing CO
1between known distance D
c1, distance measuring equipment 100 with proofread and correct thing CO
2between known distance D
c2, and the relation of correction parameter A and B can represent by following formula:
D
C1＝1/[A×D
CS1+B]…(11)；
D
C2＝1/[A×D
CS2+B]…(12)；
Now, parameter calculation circuit 150 can calculate recoverable sensing error angle θ according to formula (11) and formula (12)
cS1with θ
cS2correction parameter A, and the luminous error angle of recoverable θ
lDcorrection parameter B.Parameter calculation circuit 150 can be passed through parameter signal S
aBwith output calibration parameter A and B to apart from counting circuit 140 so that apart from counting circuit 140 formula (2) can be proofreaied and correct as shown in the formula, to calculate the testing distance D after calibrated
m:
D
M＝1/[A×D
CS+B]…(13)；
So, even the detected light L that distance measuring equipment 100 sends luminescence component 120 because of assembly error
iDrotary luminous error angle θ
lD, and while image sensor 130 rotary sensing error angle θ
cS1with θ
cS2.Distance measuring equipment 100 still can calculate recoverable sensing error angle θ by parameter calculation circuit 150
cS2with θ
cS1correction parameter A and the luminous error angle of recoverable θ
lDcorrection parameter B, to allow, apart from counting circuit 140, can correctly calculate testing distance D
m.
In addition, known according to formula (13), when calculating testing distance D apart from counting circuit 140
mtime, reflected light L when only needing correction parameter A, correction parameter B that parameter calculation circuit 150 exports and measuring determinand MO
rDimage space D
cS, and do not need camera lens LEN
1focal length D
fwith known distance L.In other words, even in process of production, camera lens LEN
1focal length D
fhave error, or known distance L is because assembling produces error, still can be according to formula (13) correctly to calculate testing distance D apart from counting circuit 140
m.
Please refer to Fig. 7.Fig. 7 is the schematic diagram of the first embodiment 700 of the structure of explanation image sensor of the present invention.As shown in Figure 7, the M of image sensor 700 sensing cell is arranged in the capable K row of N.In image sensor 700, the position in the horizontal direction of every a line sensing cell (or direction of the X-axis shown in Fig. 7) is all identical.Furthermore, establish sensing cell CS
11～CS
nKwidth be all W
pIX, and establish sensing cell CS
11left side in the position of horizontal direction, can be expressed as zero, so, with the center of every a line sensing cell, represent the position in its horizontal direction, the 1st row sensing cell CS
11～CS
1Kposition in horizontal direction can be expressed as 1/2 * W
pIX; The 2nd row sensing cell CS
21～CS
2Kposition in horizontal direction can be expressed as 3/2 * W
pIX; The capable sensing cell CS of N
n1～CS
nKposition in horizontal direction can be expressed as [(2 * N-1) * W
pIX]/2, other can the rest may be inferred, therefore repeat no more.Therefore, as shown in the above description, in image sensor 700, each row sensing cell position in horizontal direction all can be expressed as { 1/2 * W
pIX, 3/2 * W
pIX..., [(2 * N-1) * W
pIX]/2}, so each row sensing cell position in horizontal direction is all identical.
Please refer to Fig. 8.Fig. 8 utilizes image sensor 700 with detecting reflected light L for illustrating
rDimage space D
cSthe schematic diagram of principle of work.Circle shown in the first half of Fig. 8 is used for representing reflected light L
rDposition in image sensor 700 imagings, that is to say, by the sensing cell that circle covered, can sense reflected light L
rDenergy, and produce larger light sensing signal S
lS.In order to obtain reflected light L
rDimage space D
cS, now, the light sensing signal S that every a line sensing cell can be produced
lSbe added (if Fig. 8 is as shown in second), to obtain the accumulative total light sensing signal S in horizontal direction (X-direction)
aLS.For example, according to the 1st row sensing cell CS
11～CS
1Klight sensing signal plus and the accumulative total light sensing signal that produces is S
aLS1; According to the 2nd row sensing cell CS
21～CS
2Klight sensing signal plus and the accumulative total light sensing signal that produces is S
aLS2; According to the capable sensing cell CS of N
n1～CS
nKlight sensing signal plus and the accumulative total light sensing signal that produces is S
aLSN, other can the rest may be inferred, therefore repeat no more.Owing to receiving reflected light L
rDsensing cell can produce higher light sensing signal, therefore approach reflected light L
rDimage space D
cSthe sensing cell of (meaning is circle center) all can produce higher light sensing signal.In other words, if at accumulative total light sensing signal S
aLS1～S
aLSNin, corresponding to the capable sensing cell CS of F
f1～CS
fKaccumulative total light sensing signal S
aLSFthere is maximal value, represent reflected light L
rDimage space (circle center) be positioned at the capable sensing cell of F.Thus, can represent reflected light L in the position of the capable sensing cell of F in horizontal direction
rDimage space D
cS.For example, as shown in Figure 8, the 5th row sensing cell CS
51～CS
5Kcorresponding accumulative total light sensing signal S
aLS5there is maximal value, therefore can judge reflected light L
rDimage space (circle center) be positioned at the 5th row sensing cell, thus, can the position 9/2 * W of the 5th row sensing cell in horizontal direction
pIXrepresent reflected light L
rDimage space D
cS.
Please refer to Fig. 9.Fig. 9 is the schematic diagram of another embodiment 900 of the structure of explanation image sensor of the present invention.As shown in Figure 9, the M of image sensor 900 sensing cell is arranged in the capable K row of N.Compared to image sensor 700, the shift length D of being separated by of the position in the horizontal direction (or direction of the X-axis shown in Fig. 9) of other row sensing cell that each row sensing cell of image sensor 900 is adjacent
sF(in Fig. 9, suppose shift length D
sFequal W
pIX/ 2).For example, the 1st row sensing cell CS
11～CS
n1position in horizontal direction can be expressed as { 1/2 * W
pIX, 3/2 * W
pIX..., [(2 * N+1) * W
pIX]/2}; The 2nd row sensing cell CS
12～CS
n2position in horizontal direction can be expressed as { W
pIX, 2 * W
pIX..., [2 * N * W
pIX]/2}; K row sensing cell CS
1K～CS
nKposition in horizontal direction can be expressed as { [1/2+ (K-1)/2] * W
pIX, [3/2+ (K-1)/2] * W
pIX..., [(2 * N-1)/2+ (K-1)/2] * W
pIX, other can the rest may be inferred, therefore repeat no more.
Please refer to Figure 10.Figure 10 utilizes image sensor 900 with detecting reflected light L for illustrating
rDimage space D
cSthe schematic diagram of principle of work.Circle shown in the first half of Figure 10 is used for representing reflected light L
rDin the position of image sensor 900 imagings.According to the sensing cell CS of image sensor 900
11～CS
nKlight sensing signal and the accumulative total light sensing signal that produces is S
aLS1～S
aLS2N.Wherein add up light sensing signal S
aLS1corresponding sensing range is that horizontal direction is upper set to 0～W
pIX/ 2, due at sensing cell CS
11～CS
nKamong, only there is sensing cell CS
11sensing range contain accumulative total light sensing signal S
aLS1corresponding sensing range, therefore accumulative total light sensing signal S
aLS1equal sensing cell CS
11the value of light sensing signal; Accumulative total light sensing signal S
aLS2corresponding sensing range is position W in horizontal direction
pIX/ 2～W
pIX, due at sensing cell CS
11～CS
nKamong, sensing cell CS
11with CS
12sensing range all contain accumulative total light sensing signal S
aLS2corresponding sensing range, therefore accumulative total light sensing signal S
aLS2can be by being added sensing cell CS
11with CS
21light sensing signal and obtain, other accumulative total light sensing signal can be obtained by similar approach, therefore repeat no more.If at accumulative total light sensing signal S
aLS1～S
aLS2Nin, accumulative total light sensing signal S
aLSFthere is maximal value, represent reflected light L
rDimage space (circle center) be positioned at corresponding to accumulative total light sensing signal S
aLSFhorizontal direction on position.For example, as shown in figure 10, accumulative total light sensing signal S
aLS10there is maximal value, therefore can judge reflected light L
rDimage space (circle center) be positioned at corresponding to accumulative total light sensing signal S
aLS10horizontal direction on position.Due to accumulative total light sensing signal S
aLS10corresponding sensing range is 9/2 * W
pIX～5 * W
pIX, therefore add up light sensing signal S
aLS10position in corresponding horizontal direction can be expressed as 19/4 * W
pIX.So, reflected light L
rDimage space (circle center) can add up light sensing signal S
aLS10position 19/4 * W in horizontal direction
pIXrepresent.
In addition,, compared to image sensor 700, image sensor 900 has higher resolution.For example, when utilizing image sensor 700 to detect reflected light L
rDimage space D
cStime, if reflected light L
rDimage space D
cS(circle center) physical location in horizontal direction is (17/4) * W
pIX, now add up light sensing signal S
aLS5there is maximal value, so reflected light L
rDimage space D
cScan be with the 5th row sensing cell of image sensor 700 the position 9/2 * W in horizontal direction
pIXrepresent; If reflected light L
rDimage space D
cS(circle center) physical location in horizontal direction slightly moves, and becomes as (19/4) * W
pIX, now add up light sensing signal S
aLS5still there is maximal value, that is to say, although reflected light L
rDimage space D
cS(circle center) physical location in horizontal direction is from (17/4) * W
pIXbecome (19/4) * W
pIXbut, reflected light L
rDimage space D
cSstill can be with the 5th row sensing cell of image sensor 700 the position 9/2 * W in horizontal direction
pIXrepresent.
Yet, when utilizing image sensor 900 to detect reflected light L
rDimage space D
cStime, if reflected light L
rDimage space D
cS(circle center) physical location in horizontal direction is (17/4) * W
pIX, now add up light sensing signal S
aLS9there is maximal value, so reflected light L
rDimage space D
cScan be with accumulative total light sensing signal S
aLS9position 17/4 * W in horizontal direction
pIXrepresent; Yet, if reflected light L
rDimage space D
cS(circle center) physical location in horizontal direction slightly moves, and becomes as (19/4) * W
pIX, now add up light sensing signal S
aLS10there is maximal value, so reflected light L
rDimage space D
cScan be with accumulative total light sensing signal S
aLS10position 19/4 * W in horizontal direction
pIXrepresent.Hence one can see that, utilizes image sensor 900 can detect more accurately reflected light L
rDimage space D
cS.Furthermore, compared to image sensor 700, in image sensor 900, the shift length that the position in the horizontal direction of other row sensing cell being adjacent by each row sensing cell of adjustment is separated by, can make image sensor 900 have higher resolution.
In addition,, in image sensor 900, the shift length that the position in the horizontal direction of other row sensing cell that each row sensing cell is adjacent (or direction of the X-axis shown in Fig. 9) is separated by does not limit identical.For example, the shift length between the 1st row sensing cell and the sensing cell of the 2nd row is W
pIX/ 2, and the 2nd row sensing cell and the 3rd row sensing cell between shift length be W
pIX/ 4.Now, still can be by the method described in Figure 10 to utilize image sensor 900 to detect reflected light L
rDimage space D
cS.
Please refer to Figure 11.Figure 11 is the schematic diagram of another embodiment 1100 of the structure of explanation image sensor of the present invention.As shown in figure 11, the M of image sensor 1100 sensing cell is arranged in the capable Q row of N.Image sensor 1100 and 700 difference is, each sensing cell of image sensor 700 is a square, and each sensing cell of image sensor 1100 is a rectangle.For example, the width of each sensing cell of image sensor 700 with highly all equal W
pIX, and the width of each sensing cell of image sensor 1100 is W
pIX, be highly designed to (W
pIX* K/Q), wherein Q < K, that is to say, it is upper that the minor face of each sensing cell of image sensor 1100 is positioned at horizontal direction (X-direction), and long limit is positioned in vertical direction.In other words, every a line sensing cell of image sensor 1100 has the width identical with each sensing cell of image sensor 700, although and the number Q of every a line sensing cell of image sensor 1100 is less than the number K of every a line sensing cell of image sensor 700, the total area of every a line sensing cell of image sensor 1100 still remains identical with image sensor 700.Be similar to image sensor 700, image sensor 1100 provides M sensing signal that M sensing cell produce to apart from counting circuit, so that calculate accumulative total light sensing signal S apart from counting circuit
aLS1～S
aLSN.For example, according to the 1st row sensing cell CS
11～CS
1Qlight sensing signal plus and the accumulative total light sensing signal that produces is S
aLS1; According to the 2nd row sensing cell CS
21～CS
2Qlight sensing signal plus and the accumulative total light sensing signal that produces is S
aLS2; According to the capable sensing cell CS of N
n1～CS
nQlight sensing signal plus and the accumulative total light sensing signal that produces is S
aLSN, other can the rest may be inferred, therefore repeat no more.Thus, apart from counting circuit, can utilize the method described in Fig. 8, with according to accumulative total light sensing signal S
aLS1～S
aLSNobtain reflected light L
rDimage space, and and then calculate testing distance D
m.
Compared to image sensor 700, due in image sensor 1100, the long limit of each sensing cell is positioned at and in vertical direction, makes the number of every a line sensing cell less (meaning is Q < K), therefore can reduce apart from counting circuit in producing accumulative total light sensing signal S
aLS1～S
aLSNthe number of times that Shi Suoxu is cumulative.Because the total area of every a line sensing cell of image sensor 1100 still remains identical with image sensor 700, the energy of the light that therefore the received camera lens LEN of every a line sensing cell converges remains unchanged.In other words, when utilizing image sensor 1100, can reduce apart from counting circuit in producing accumulative total light sensing signal S
aLS1～S
aLSNthe operand that Shi Suoxu processes, and maintain accumulative total light sensing signal S simultaneously
aLS1～S
aLSNsignal to noise ratio (S/N ratio).In addition, in image sensor 1100, the minor face of each sensing cell is positioned in horizontal direction, and its width is still maintained W
pIX.In other words, utilize image sensor 1100 to calculate reflected light L
rDduring image space in horizontal direction, its resolution with utilize the situation of image sensor 700 identical.Therefore, compared to image sensor 700, image sensor 1100 can reduce the operand apart from the required processing of counting circuit, and maintains signal to noise ratio (S/N ratio) and the resolution of image space in horizontal direction (meaning is the direction that minor face is positioned at) of accumulative total light sensing signal simultaneously.
Please refer to Figure 12.Figure 12 illustrates the schematic diagram of the range measurement system 1200 of a tool calibration function of the present invention.As shown in figure 12, range measurement system 1200 comprises a distance measuring equipment 100 and a translucent sheet 1201.For convenience of description, only depict the part assembly (luminescence component 120 and image sensor 130) of distance measuring equipment 100 in Figure 12, remaining component is omitted.As the associated description of previous Fig. 4 to Fig. 6, in order to proofread and correct luminous error angle and the sensing error angle of distance measuring equipment 100, distance measuring equipment 100 need to carry out the correction of twice, that is will send detected light L twice
iD, could obtain respectively luminous and sensing error angle.Compared to distance measuring equipment 100, range measurement system 1200 only needs once to proofread and correct, as long as that is send detected light L one time
iD, just can obtain luminous and sensing error angle simultaneously.Specification specified is as rear.In addition,, in order to allow reader more understand the function mode of range measurement system 1200, the drafting about light in Figure 12 represents the intensity of this light with the width of a light.
The distance that translucent sheet 1201 and distance measuring equipment are 100 is known distance D
cT; Proofread and correct thing CO
1and the distance that distance measuring equipment is 100 is known distance D
c1.The characteristic of translucent sheet 1201 is for when a light is incident upon translucent sheet 1201, and the part light of this light can be reflected, and all the other parts can be penetrated over.As luminescence component transmitting detected light L
iDtime, detected light L
iDcan first arrive at translucent sheet 1201, now detected light L
iDpart light can penetrate translucent sheet 1201 and become detected light L
iDX; Detected light L
iDpart light can be reflected by translucent sheet 1201 and become reflected light L
rDY.Follow reflected light L
rDYbe incident to image sensor 130 and image in sensing cell CS
y(that is image space D
cSY).Then detected light L
iDXarrive at and proofread and correct thing CO
1, be corrected thing CO
1reflect and become reflected light L
rDX.Reflected light L
rDXbe incident to image sensor 130 and image in sensing cell CS
x(that is image space D
cSx).Thus, parameter calculation circuit 150 just can be according to known distance D
c1with D
cT, and image space D
cSXwith D
cSY, draw the luminous error angle of distance measuring equipment 100 and sensing error angle and produce correction parameter A and B, to allow, apart from counting circuit 140, can correctly calculate testing distance.
In addition, in range measurement system 1200, can utilize and adjust light by the ratio of translucent sheet 1201, make to be finally incident to the reflected light L of image sensor 130
rDXwith L
rDYrough equate of intensity.Thus, just can effectively improve signal to noise ratio (S/N ratio) (signal noise rate, SNR).In order not allow Figure 12 too chaotic, reflected light L
rDXbe depicted as directly into being incident upon image sensor 130.In fact, reflected light L
rDXstill can cause reflected light L by translucent sheet 1201
rDXpart light by translucent sheet 1201, reflected, make to be finally incident to the reflected light L of image sensor 130
rDXintensity weaken once again.Therefore, suppose that it is M/N that a light is incident to the ratio that translucent sheet 1201 passed through, wherein N is greater than M; And the reflectivity of proofreading and correct thing is K/L, and wherein L is greater than K, is finally incident to the reflected light L of image sensor 130
rDXwith L
rDYcompared to original detected light L
iDintensity (representing with Q) can draw with following formula:
Q
X＝(M/N)×(K/L)×(M/N)；
Q
Y＝(N-M/N)；
The numerical value of lifting a reality is example, establishes M/N and be 65%, K/L is 90%, intensity Q
xequal 65% * 90% * 65%=38%; Intensity Q
yequal 35%, can learn that the light intensity that is finally incident under these circumstances image sensor 130 is rough equal.
Please refer to Figure 13.Figure 13 is the schematic diagram of two kinds of embodiment of explanation translucent sheet 1201 of the present invention.As shown in FIG. 13A, translucent sheet 1201 can be the translucent sheet that a monoblock has a penetrance, and so-called penetrance is the detecting light wavelength of sending for luminescence component 120 herein.For instance, if the detected light that luminescence component 120 sends is infrared ray, 1201 pairs of infrared rays of translucent sheet of Figure 13 A have a penetrance.In addition, as shown in Figure 13 B, translucent sheet 1201 also can be by two part J
1with J
2institute forms.Part J
1be the detected light L sending for luminescence component 120
iDfor all-transparent, that is detected light L
iDcan be completely by part J
1; Part J
2for the detected light L sending for luminescence component
iDfor entirely opaque, that is detected light L
iDcan be completely by part J
2institute reflects.Therefore, when luminescence component 120, sending detected light L
iDtime, there is detected light L partly
iDcan be incident to part J
1and by becoming detected light L
iDX; The detected light L that has part
iDcan be incident to part J
2and reflection becomes reflected light L
rDY.Thus, the translucent sheet shown in Figure 13 B 1201 also can be reached required effect.
In sum, the range measurement system of tool calibration function provided by the present invention, by a translucent sheet is set, reaches to send detected light one time, just can learn assembly error angle and be proofreaied and correct, and offers the convenience that user is larger.
The foregoing is only the preferred embodiments of the present invention, all equalizations of doing according to the claims in the present invention change and modify, and all should belong to covering scope of the present invention.
Claims (14)
1. a range measurement system for tool calibration function, comprises:
One proofreaies and correct thing;
One translucent sheet; And
One distance measuring equipment, and there is respectively one first and one second known distance between this correction thing, this translucent sheet, and this translucent sheet is arranged between this correction thing and this distance measuring equipment, and this distance measuring equipment comprises:
One luminescence component, is used for sending a detected light, has a luminous error angle;
One image sensor, has a sensing error angle;
Wherein the part light of this detected light is reflected to become one first reflected light through this translucent sheet by this correction thing, and is incident to one first image space of this image sensor;
Wherein the part light of this detected light is reflected to become one second reflected light by this translucent sheet, and is incident to one second image space of this image sensor; And
One parameter calculation circuit, be used for according to this first with this second known distance, this first with this second image space, calculate this luminous error angle and this sensing error angle.
2. range measurement system as claimed in claim 1, wherein this is first rough identical with this second catoptrical intensity.
3. range measurement system as claimed in claim 1, wherein this translucent sheet has a penetrance for this detected light.
4. range measurement system as claimed in claim 1, wherein this translucent sheet comprises a first and a second portion ，Gai first is transparent for this detected light; This second portion is opaque for this detected light.
5. range measurement system as claimed in claim 4, the light that wherein this detected light is incident in this second portion of this translucent sheet is reflected and becomes this second reflected light.
6. range measurement system as claimed in claim 1, wherein this distance measuring equipment separately comprises one first camera lens; This luminescence component is used for sending detected light directive one determinand, so that this determinand produces a reflected light, this first camera lens is used for converging a bias light or this reflected light, and this image sensor is used for the energy of the light that this first camera lens of sensing converges, to produce M optical sense signal.
7. range measurement system as claimed in claim 6, wherein this distance measuring equipment separately comprises:
One luminous/sensing control circuit, be used for a distance sensing during stage, control this luminescence component luminous, and control the energy of the light that this first camera lens of this image sensor sensing converged simultaneously, to produce M the first optical sense signal, within a noise sensing stage, control this luminescence component not luminous, and control the energy of the light that this first camera lens of this image sensor sensing converges simultaneously, to produce M the second optical sense signal;
Wherein M represents positive integer; And
One apart from counting circuit, be used for according to this M the first optical sense signal and this M the second optical sense signal, to judge the image space of this reflected light on this image sensor, and according to the preset distance between a focal length of this image space, this first camera lens, this luminescence component and this image sensor, to calculate the testing distance between this distance measuring equipment and this determinand.
8. proofread and correct a method for a distance measuring equipment, comprise:
One translucent sheet is set to be proofreaied and correct between thing in this distance measuring equipment and;
Wherein between this distance measuring equipment and this translucent sheet, there is one first known distance;
Wherein between this distance measuring equipment and this correction thing, there is one second known distance;
One of this distance measuring equipment luminescence component sends a detected light and partly by this translucent sheet, is reflected to become the second reflected light so that a first part of this detected light is reflected to become one second of the first reflected light and this detected light by this translucent sheet by this correction thing;
This first reflected light is incident to one first image space of an image sensor of this distance measuring equipment;
This second reflected light is incident to one second image space of an image sensor of this distance measuring equipment; And
According to this first with this second known distance, this first with this second image space, draw at least one error angle of this distance measuring equipment.
9. method as claimed in claim 8, the luminous error angle that wherein this error angle is this luminescence component.
10. method as claimed in claim 8, the sensing error angle that wherein this error angle is this image sensor.
11. methods as claimed in claim 8, wherein this is first rough identical with this second catoptrical intensity.
12. methods as claimed in claim 8, wherein this translucent sheet has a penetrance for this detected light.
13. methods as claimed in claim 8, wherein this translucent sheet comprises a first and a second portion ，Gai first is transparent for this detected light; This second portion is opaque for this detected light.
14. methods as claimed in claim 13, the light that wherein this detected light is incident in this second portion of this translucent sheet is reflected and becomes this second reflected light.
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| CN111089612B (en) * | 2014-09-24 | 2022-06-21 | 原相科技股份有限公司 | Optical sensor and optical sensing system |
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