CN105004324A - Monocular vision sensor with triangulation ranging function - Google Patents
Monocular vision sensor with triangulation ranging function Download PDFInfo
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- CN105004324A CN105004324A CN201510248456.4A CN201510248456A CN105004324A CN 105004324 A CN105004324 A CN 105004324A CN 201510248456 A CN201510248456 A CN 201510248456A CN 105004324 A CN105004324 A CN 105004324A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
Abstract
The invention provides a monocular vision sensor with a triangulation ranging function. The monocular vision sensor with the triangulation ranging function mainly comprises a shell, a socket, a circuit board, an imaging device, a laser device, a focus lens set, an illuminating light source, an imaging lens set, a measurement window and the like. A laser beam emitted by the laser device forms a collimated laser beam after passing through the focus lens set, and laser light spots are formed on the surface of a measured target. The imaging lens set images the measured target on the surface of the imaging device together with the laser light spots. Both the two-dimensional information and the distance information of the measured target can be obtained at the same time through calculation, and thus the three-dimensional information of the measured target is obtained by means of the monocular vision sensor. Compared with a conventional vision sensor, the monocular vision sensor with the triangulation ranging function has the advantages that a two-dimensional image of the measured target is obtained, meanwhile the value of the distance between the vision sensor and the measured target can be accurately obtained, and thus a three-dimensional vision sensor can be formed; in addition, the degree of integration is high, the size is small, cost is low, and measurement of a two-dimensional inclination angle can also be achieved.
Description
Technical field
What the present invention relates to is a kind of industrial sensor of field of measuring technique, specifically a kind of monocular three-dimensional visual sensor with range of triangle function.
Background technology
Vision sensor be a kind of computer vision technique that utilizes to simulate the sensor of biological vision function, be also a kind of sensor that current intelligence degree is the highest.Vision sensor can numerous information of disposable acquisition measured target, such as shape, size, color, quantity, position, attitude etc., are typically multi-functional, multiparameter, intellectualized sensor.Current vision sensor has been applied to national economy every field, and range of application is more and more wider, particularly particularly outstanding in high-tech areas such as robot, advanced manufactures.Conventional vision sensor, main one or more image device that adopts obtains measured target for information about.
But there are some obvious problems and shortcomings in current existing vision sensor, particularly for monocular vision sensor, its single image-forming component only can obtain the two dimensional image of scene, therefore only can obtain the two-dimensional signal (such as length, angle, area, diameter, width, distance etc.) of measured target, and cannot three-dimensional information be obtained.The particularly distance value of vision sensor and measured target, existing vision sensor all cannot accurately directly obtain.These problems above-mentioned are also the common faults of the vision sensor of the overwhelming majority at present, and become the development of restriction vision sensor and the obstacle applied.
Between current acquisition vision sensor and target, the method for range information, mainly adopts technique of binocular stereoscopic vision, namely adopts the vision sensor with two imaging apparatuss.Binocular Stereo Vision System is taken the target in Same Scene simultaneously by two video cameras of diverse location, by calculating the parallax of the corresponding point in two images of some unique points in target, then through a series of projection inverse transformation, the final D coordinates value obtaining this spatial point.Compare other Stereo Vision (as holography, lens board three-dimensional imaging etc.), the mode of binocular stereo vision direct modeling mankind eyes process scene, reliable, easy, wide adaptability.Binocular stereo vision relates to many challenging difficult problems in the fields such as artificial intelligence, computer graphics and cognitive psychology, lot of domestic and foreign scholar has carried out deep research, and has been widely used in by technique of binocular stereoscopic vision among the national economy such as industrial and agricultural production, daily life major domain.
But, there are fatal principle shortcomings and deficiencies in traditional binocular stereo vision: the distance accuracy between gauge head and target is very low, depth information is inaccurate, cause longitudinal register precision well below plane positioning precision, cannot meet accurate three-dimensional positioning accuracy request, and the defect in principle cannot improve further.Particularly when measured target is comparatively far away, two video camera close together when, longitudinal register precision more cannot ensure, even complete failure.On the other hand, Binocular Stereo Vision System composition is complicated, bulky, cannot miniaturization, more can not realize embedded system.This problem seriously constrains the widespread use of vision system, has become a bottleneck problem and the technology barrier of visual field development.Therefore, new method, the new approaches of research accurate three-dimensional location, proposing brand-new monocular three-dimensional visual sensor, is the only way that practical application is moved towards in three dimensional vision system field.
Summary of the invention
The object of the invention is to cannot the problem of range information between Obtaining Accurate vision sensor and measured target for existing monocular vision sensor, proposes a kind of monocular three-dimensional visual sensor can with range of triangle function.
Typical laser triangulation technology is innovatively introduced among traditional vision detection system by the present invention, propose a kind of vision system new ideas with range of triangle function, solve the drawback that distance accuracy is low, depth localization is poor of traditional binocular stereo visual system from principle.This vision sensor, while acquisition measured target two-dimensional signal, accurately can obtain the distance value of sensor and measured target.Monocular vision and laser triangulation two kinds of high-tech approaches combine by this method dexterously, greatly extend the performance of traditional monocular vision sensor.Eliminate complicacy and the high cost of binocular vision sensor, and distance accuracy is higher simultaneously.
the present invention is achieved by the following technical solutions:
The present invention proposes a kind of monocular three-dimensional visual sensor with range of triangle function, mainly comprises: shell, socket, circuit board, image device, laser instrument, focus lamp group, lighting source, imaging lens group, measurement window etc.Imaging lens group is arranged in image device front end, realizes the acquisition to target image in tested scene; Lighting source is arranged in around imaging lens group, for illuminating tested scene and measured target; Laser instrument is placed in image device and imaging lens group surrounding, and focus lamp group is arranged in laser instrument front end, for generation of the laser beam of focussed collimated; The switch controlling laser instrument is responsible for by circuit board, reads the data image signal of image device, carries out processing and obtain final three-dimensional measuring result, and by socket Output rusults to host computer; All devices are placed within shell, form Integral video sense sensor; Case nose is provided with the measurement window of printing opacity, and what ensure laser beam sends the accurate imaging with scene image.
The vision sensor course of work of the present invention is as follows: under the control of circuit board, the laser beam sent by laser instrument forms a branch of collimated laser beam after focus lamp group, through being radiated at measured target surface after measurement window, and form corresponding laser facula on measured target surface.Measured target (together with laser facula) is imaged onto image device on the surface by imaging lens group, thus obtains video image.The data of this image are sent into circuit board and are processed, and by calculating two-dimensional signal and the range information that can obtain measured target simultaneously, thus achieve the three-dimensional information utilizing monocular vision sensor to obtain measured target.Measurement result can be transferred to host computer by socket.
Image device of the present invention can adopt conventional digital type image sensor, such as Using Plane Array CCD Device or face battle array cmos device, and type selecting is convenient, maintenance cost is low, interchangeability good.The pixel of image device can be selected according to the requirement of measuring accuracy.
Imaging lens group of the present invention can adopt conventional various industrial lens, comprise standard focal length camera lens, wide-angle lens, long shot etc., and can recently select the optical parametric of camera lens according to the different size of measured target and with the distance of vision sensor.In order to ensure image quality, require that the eyeglass of imaging lens group has less distortion and distortion, and lens surface should be coated with anti-reflection film.
Lighting source of the present invention can adopt conventional lighting source, and luminescent spectrum can be selected according to the feature difference of measured target, such as White LED light source, monochromatic LED light source etc.
The quantity of lighting source of the present invention can be selected as required, is generally 2 ~ 8 and is advisable, and is symmetrically arranged in imaging lens group surrounding.
Laser instrument of the present invention can adopt conventional laser instrument, such as laser diode or laser module.
The special character of laser instrument of the present invention is: the luminescent spectrum of this laser instrument should be selected according to the spectrum of lighting source, and has with the spectrum of lighting source and significantly distinguish and difference.If the spectrum of lighting source is visible ray, then the spectrum of laser instrument then should be invisible light (such as infrared light or ultraviolet light etc.), and vice versa.Like this, image device only needs Polaroidly can obtain measured target image and representation of laser facula, thus can obtain 3 D stereo information, and the function obtaining range finding can not affect the acquisition of original two-dimensional signal.
The special character of laser instrument of the present invention is also: the quantity of this laser instrument is the multiple of 4, such as 4,8 etc., and being symmetrically arranged in the surrounding of imaging lens group and lighting source, the optical axis of each laser instrument is parallel with the optical axis of imaging lens group, thus can form multiple collimated laser beam.
The special character of focus lamp group of the present invention is: this focus lamp group needs to have focusing and alignment function simultaneously, makes laser beam after this focus lamp group become a branch of tiny and laser beam of collimation, thus ensures distance accuracy.Concrete focusing and collimation requirements, depend on the height of positioning precision, and General Requirements spot size is no more than 50 times of location resolving power.
The special character of circuit board of the present invention is: circuit board of the present invention has the function of 4 aspects simultaneously: (1) controls laser instrument, makes it the laser beam that output power is applicable to; (2) data of sampling imaging device, obtain digital picture; (3) data are processed, obtain two-dimensional signal and the range information of measured target simultaneously; (4) three-dimensional measuring result is outputted to host computer.
The special character of circuit board of the present invention is also: circuit board of the present invention can utilize the position calculation of laser facula to go out the distance of vision sensor and measured target.When the distance of measured target and vision sensor changes, the image space of hot spot on image device that laser beam is formed on measured target surface also changes thereupon, can calculate the distance between measured target and vision sensor thus.
The special character of circuit board of the present invention is also: time the displacement between measured target and vision sensor is translation (not producing inclination angle), vision sensor utilizes all laser faculas to calculate separately the distance of this point respectively, and the arithmetic mean of the distance value then calculated using all laser faculas is as final range measurements.
The special character of circuit board of the present invention is also: when measured target produces time, vision sensor utilizes all laser faculas to calculate separately the distance of this point equally respectively, then the distance between the distance value calculated with all laser faculas and laser instrument to calculate the inclination angle of measured target, thus can obtain two-dimentional measurement of dip angle value.
Measurement window of the present invention can adopt normal optical glass to make, and is two-sidedly coated with anti-reflection film.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the monocular vision sensor composition schematic diagram with range of triangle function of the present invention;
Fig. 2 is the principle schematic that vision sensor of the present invention realizes range finding;
Fig. 3 is vision sensor distance of the present invention and the relation schematic diagram of image space
Fig. 4 is vision sensor translation distance Computing Principle schematic diagram of the present invention
Fig. 5 is vision sensor of the present invention two dimension measurement of dip angle principle schematic
In figure, 1 is shell, and 2 is socket, and 3 is circuit board, and 4 is image device, and 5 is laser instrument, and 6 is focus lamp group, and 7 is lighting source, and 8 is imaging lens group, and 9 is measurement window, and 10 is measured target.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The present invention proposes a kind of monocular vision sensor with range of triangle function, its composition as shown in Figure 1, mainly comprises: shell 1, socket 2, circuit board 3, image device 4, laser instrument 5, focus lamp group 6, lighting source 7, imaging lens group 8, measurement window 9 etc.Imaging lens group 8 is arranged in image device 4 front end, realizes the acquisition to target 10 image in tested scene; Lighting source 7 is arranged in imaging lens group 8 around, for illuminating tested scene and measured target 10; Laser instrument 5 is placed in image device 4 and imaging lens group 6 surrounding, and focus lamp group 6 is arranged in laser instrument 5 front end, for generation of the laser beam of focussed collimated; The switch controlling laser instrument 5 is responsible for by circuit board 3, reads the data image signal of image device 4, carries out processing and obtain final three-dimensional measuring result, and by socket 2 Output rusults to host computer; All devices are placed within shell 1, form Integral video sense sensor; Shell 1 front end is provided with the measurement window 9 of printing opacity, and what ensure laser beam sends the accurate imaging with scene image.
The vision sensor course of work of the present invention is as follows: under the control of circuit board 3, the laser beam sent by laser instrument 5 forms a branch of collimated laser beam after focus lamp group 6, through the surface being radiated at measured target 10 after measurement window 9, and form corresponding laser facula on the surface of measured target 10.Imaging lens group 8 by measured target 10(together with laser facula) be imaged onto on the surface of image device 4, thus obtain video image.The data of this image are sent into circuit board 3 and are processed, and by calculating two-dimensional signal and the range information that can obtain measured target 10 simultaneously, thus achieve the three-dimensional information utilizing monocular vision sensor to obtain measured target.Measurement result can be transferred to host computer by socket 2.
Image device 4 of the present invention can adopt conventional digital type image sensor, such as Using Plane Array CCD Device or face battle array cmos device, and type selecting is convenient, maintenance cost is low, interchangeability good.The pixel of image device 4 can be selected according to the requirement of measuring accuracy.Such as, suppose that measuring visual field size is 400mm × 300mm, measurement resolution requires that, for 0.01mm, segmentation multiple is 10, then the pixel request of image device should be 400/(0.01 × 10)=4000pixel.
Imaging lens group 8 of the present invention can adopt conventional various industrial lens, comprise standard focal length camera lens, wide-angle lens, long shot etc., and can recently select the optical parametric of camera lens according to the different size of measured target and with the distance of vision sensor.In order to ensure image quality, require that the eyeglass of imaging lens group 8 has less distortion and distortion, and lens surface should be coated with anti-reflection film.Such as, suppose that measuring visual field size is 400mm × 300mm, the distance between vision sensor and measured target 10 is 300mm, then the visual angle of camera lens is 2 × arctan(0.5 × 400/300)=67, therefore can select visual angle be about 70 industrial lens.
Lighting source 7 of the present invention can adopt conventional lighting source, and luminescent spectrum can be selected according to the feature difference of measured target, such as, for needing the occasion obtaining measured target color information, White LED light source can be adopted to throw light on.If only need the profile information obtaining tested target, monochromatic LED light source etc. can be adopted.
The quantity of lighting source 7 of the present invention can be selected as required, is generally 2 ~ 8 and is advisable, and is symmetrically arranged in imaging lens group 8 surrounding.
Laser instrument 5 of the present invention can adopt conventional laser instrument, such as laser diode or laser module.
The special character of laser instrument 5 of the present invention is: the luminescent spectrum of this laser instrument should be selected according to the spectrum of lighting source 7, and has with the spectrum of lighting source 7 and significantly distinguish and difference.If the spectrum of lighting source 7 is visible rays, then the spectrum of laser instrument 5 then should be invisible light (such as infrared light or ultraviolet light etc.), and vice versa.Like this, Polaroid image and the representation of laser facula that can obtain measured target 10 of image device 4 need, thus 3 D stereo information can be obtained, and also the function obtaining range finding can not affect the acquisition of original two-dimensional signal.
The special character of laser instrument 5 of the present invention is also: the quantity of this laser instrument is the multiple of 4, such as 4,8 etc., and be symmetrically arranged in the surrounding of imaging lens group 8 and lighting source 7, the optical axis of each laser instrument 5 is parallel with the optical axis of imaging lens group 8, thus can form multiple collimated laser beam (being 4 laser beam in Fig. 1).
The special character of focus lamp group 6 of the present invention is: this focus lamp 6 needs to have focusing and alignment function simultaneously, makes laser beam after this focus lamp group 6 become a branch of tiny and laser beam of collimation, thus ensures distance accuracy.Concrete focusing and collimation requirements, depend on the height of positioning precision.Such as, suppose that the distance between vision sensor and measured target 10 is 300mm, range finding resolving power requirement is 0.01mm, then the spot size that laser beam is formed on measured surface should be not more than 50 times of resolving power, is namely no more than 0.5mm.
The special character of circuit board 3 of the present invention is: circuit board 3 of the present invention has the function of 4 aspects simultaneously: (1) controls laser instrument 5, makes it the laser beam that output power is applicable to; (2) data of sampling imaging device 4, obtain digital picture; (3) data are processed, obtain two-dimensional signal and the range information of measured target 10 simultaneously; (4) three-dimensional measuring result is outputted to host computer.
The special character of circuit board 3 of the present invention is also: circuit board 3 of the present invention can utilize the position calculation of multiple laser facula to go out the distance of measured target 10.When measured target 10 changes with the distance of vision sensor, the image space of hot spot on image device 4 that laser beam is formed on measured target 10 surface also changes thereupon, can calculate the distance between measured target 10 and vision sensor thus.
As shown in Figure 2, when measured target 10 and the distance of vision sensor are
dtime, the image space of laser facula on image device 4 corresponding is with it
p.According to laser triangulation principle, image space
pwith distance
dbetween relation as shown in Figure 3.Therefore, image space can be passed through
pcalculate the distance between measured target and vision sensor
d.
The special character of circuit board 3 of the present invention is also: time the displacement between measured target 10 and vision sensor is translation (not producing inclination angle), vision sensor utilizes all laser faculas to calculate separately the distance of this point respectively, and the arithmetic mean of the distance value then calculated using all laser faculas is as final range measurements.
As shown in Figure 4, suppose that vision sensor adopts 4 laser instruments 5 to realize distance measurement function, 4 range measurement can be obtained thus
d 1,
d 2,
d 3with
d 4.Now, the range measurements between vision sensor and measured target 10 can be taken as the arithmetic mean of 4 distance measurement values, namely
The special character of circuit board 3 of the present invention is also: when measured target 10 produces time, vision sensor utilizes all laser faculas to calculate separately the distance of this point equally respectively, then the distance between the distance value calculated with all laser faculas and laser instrument to calculate the inclination angle of measured target, thus can obtain two-dimentional measurement of dip angle value.
As shown in Figure 5, when supposing that measured target 10 produces inclination angle theta, the distance value that the hot spot that upper and lower two laser instruments produce calculates
d 1with
3change.Suppose that the distance of two laser instruments is
w, then the tilt angle measurement of measured target 10 can adopt these two distance measurement values to calculate, namely
Measurement window 9 of the present invention can adopt normal optical glass to make, and is two-sidedly coated with anti-reflection film.
The invention has the beneficial effects as follows, compared with existing conventional vision sensor, the exhausted sensor of monocular vision of the present invention, while acquisition measured target two dimensional image, accurately can obtain the distance value between vision sensor and measured target, thus can form monocular three-dimensional visual sensor.And vision sensor of the present invention is monocular vision sensor, integrated level is high, volume is little, cost is low, meets most measurement occasion demand, facilitates practical application.In addition, vision sensor of the present invention can also realize the measurement at two-dimentional inclination angle, realizes a tractor serves several purposes.
Claims (12)
1. there is a monocular vision sensor for range of triangle function, it is characterized in that: this vision sensor is by shell, socket, circuit board, image device, laser instrument, focus lamp group, lighting source, imaging lens group, measurement window etc.
2. vision sensor according to claim 1, is characterized in that: described imaging lens group is arranged in image device front end, realizes the acquisition to target image in tested scene; Lighting source is arranged in around imaging lens group, for illuminating tested scene and measured target; Laser instrument is placed in image device and imaging lens group surrounding, and focus lamp group is arranged in laser instrument front end, for generation of the laser beam of focussed collimated; The switch controlling laser instrument is responsible for by circuit board, reads the data image signal of image device, carries out processing and obtain final three-dimensional measuring result, and by socket Output rusults to host computer; All devices are placed within shell, form Integral video sense sensor; Case nose is provided with the measurement window of printing opacity, and what ensure laser beam sends the accurate imaging with scene image.
3. laser instrument according to claim 1, is characterized in that: the luminescent spectrum of described laser instrument should be selected according to the spectrum of lighting source, and has with the spectrum of lighting source and significantly distinguish and difference.
4. laser instrument according to claim 3, is characterized in that: if the spectrum of lighting source is visible ray, then the spectrum of laser instrument then should be invisible light (such as infrared light or ultraviolet light etc.), and vice versa.
5. laser instrument according to claim 3, it is characterized in that: described laser instrument is multiple, its quantity is generally the multiple of 4, such as 4,8 etc., and be symmetrically arranged in the surrounding of imaging lens group and lighting source, the optical axis of each laser instrument is parallel with the optical axis of imaging lens group, thus can form multiple collimated laser beam.
6. focus lamp group according to claim 1, is characterized in that: described focus lamp group needs to have focusing and alignment function simultaneously, makes laser beam after this focus lamp group become a branch of tiny and laser beam of collimation, thus ensures distance accuracy.
7. focus lamp group according to claim 6, is characterized in that: concrete focusing and collimation requirements, depends on the height of positioning precision, and General Requirements spot size is no more than 50 times of location resolving power.
8. circuit board according to claim 1, is characterized in that: described circuit board has the function of 4 aspects simultaneously: (1) controls laser instrument, makes it the laser beam that output power is applicable to; (2) data of sampling imaging device, obtain digital picture; (3) data are processed, obtain two-dimensional signal and the range information of measured target simultaneously; (4) three-dimensional measuring result is outputted to host computer.
9. circuit board according to claim 6, is further characterized in that: described circuit board can utilize the position calculation of laser facula to go out the distance of vision sensor and measured target.
10. circuit board according to claim 9, be further characterized in that: when the distance of measured target and vision sensor changes, the image space of hot spot on image device that laser beam is formed on measured target surface also changes thereupon, can calculate the distance between measured target and vision sensor thus.
11. monocular vision sensors according to claim 1, be further characterized in that: time the displacement between measured target and vision sensor is translation (not producing inclination angle), vision sensor utilizes all laser faculas to calculate separately the distance of this point respectively, and the arithmetic mean of the distance value then calculated using all laser faculas is as final range measurements.
12. monocular vision sensors according to claim 1, be further characterized in that: when measured target produces time, vision sensor utilizes all laser faculas to calculate separately the distance of this point equally respectively, then the distance between the distance value calculated with all laser faculas and laser instrument to calculate the inclination angle of measured target, thus can obtain two-dimentional measurement of dip angle value.
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| CN112721799A (en) * | 2019-10-12 | 2021-04-30 | 上海博泰悦臻电子设备制造有限公司 | Reminding method and device and computer storage medium |
| CN115046478A (en) * | 2022-08-10 | 2022-09-13 | 深之蓝海洋科技股份有限公司 | Underwater relative pose measuring method and device |
| CN115046478B (en) * | 2022-08-10 | 2022-12-02 | 深之蓝海洋科技股份有限公司 | Underwater relative pose measuring method and device |
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