CN106153010A - Anti-sunshine vision detection system and method based on LED and reflex reflection - Google Patents

Anti-sunshine vision detection system and method based on LED and reflex reflection Download PDF

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Publication number
CN106153010A
CN106153010A CN201610590703.3A CN201610590703A CN106153010A CN 106153010 A CN106153010 A CN 106153010A CN 201610590703 A CN201610590703 A CN 201610590703A CN 106153010 A CN106153010 A CN 106153010A
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CN
China
Prior art keywords
described
reflective marker
sunshine
led
reflecting plate
Prior art date
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CN201610590703.3A
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Chinese (zh)
Inventor
陶卫
赵辉
邓凯鹏
金毅
张正琦
田家田
高文俊
李坤
孙可扬
高强
丰懿阳
何巧芝
钟虹
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上海交通大学
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Priority to CN201610590703.3A priority Critical patent/CN106153010A/en
Publication of CN106153010A publication Critical patent/CN106153010A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C2011/36Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information

Abstract

The present invention discloses a kind of anti-sunshine vision detection system based on LED and reflex reflection and method, described system includes emitting module, receiving unit, reflective marker and processing system, described emitting module and described receiving unit side by side arrangement, and it is directed at reflective marker simultaneously;Described emitting module, described receiving unit are all connected with described processing system;Reflective marker is placed on any feature point of measured target, and together moves with measured target, and reflective marker has retro-reflective properties;Described emitting module is made up of LED light source, focus lamp group and transmitting optical filter, and described receiving unit is made up of image collecting device and reception optical filter;The present invention passes through said system, and when ensuring that sunshine changes in 360 ° of incidence range, the image space in reflex reflection district is held essentially constant, thus overcomes interference and the impact of sunshine completely, thus significantly improves the precision of detecting system.

Description

Anti-sunshine vision detection system and method based on LED and reflex reflection

Technical field

The present invention relates to the vision detection system in detection technique field, specifically a kind of based on LED illumination with converse Penetrate the vision detection system that can resist sunshine interference and the method for technology.

Background technology

Vision detection system is Applied Computer Techniques, digital image processing techniques, Image Matching pattern-recognition, photography survey The theory of the subjects such as amount and method complete the measurement to object, thus have intelligence degree height, detection efficiency height, certainty of measurement High excellent performance, and be used widely.In actual measurement, relatively conventional situation is to utilize several spies of testee Levy point (for example disposing some special marks) and obtain relevant information.Therefore, the precision of whole measurement system be dependent on right The precision that mark center positions, and the reliability of whole detecting system depends on that can the picture rich in detail that obtain mark simultaneously accurate Determine position.

But in actual application process, when mark around stronger ambient light occurs, particularly having too In the environment of sunlight direct irradiation, traditional vision detection system will appear from very big problem: with angle of incidence of sunlight degree not With the reflective light intensity of common diffusing reflection mark can change.Owing to mark region reflectance factor and ambient background are more or less the same, Therefore mark region border is inconspicuous, thus cannot extract mark region exactly, causes positioning inaccurate or lost efficacy. One of this worldwide general character difficulties having become vision detection system, and there is no effective method both at home and abroad at present and come effectively The suppression interference to vision detection system for the sunshine.

Zhao Hui etc. (CN201110108191.X) propose a kind of vision detection system that can resist sunshine interference first And method, it is light source that this system uses laser instrument, utilizes reflecting material to make reflective marker, arranges arrowband before video camera Optical filter, can be effective against the interference to sunshine for the vision detection system.This be system and non-for opposing sunshine do It is highly effective for disturbing, but this system and two serious problems of non-existence: one, as the laser instrument of light source, due to laser The reason of the extremely strong coherence of itself, laser instrument produces obvious blackening in illumination region, thus causes illuminating region Illumination is substantially uneven, thus will produce measure error;Its two, typically use micro-prism material to make due to reflecting material, Microprism typically has a size of several mm rank, when the fabulous laser beam of collimation is irradiated on the reflective marker that reflecting material is made When, the reflection light beam that different microprisms produce there are differences, thus causes imaging on video camera for the reflective marker to occur The uneven phenomenon of light and shade, thus produce measure error.

Content of the invention

For deficiencies of the prior art, the present invention provides a kind of interference that both can resist sunshine, again may be used It to obtain high-precision vision detection system and method, is possible not only to effectively reduce the impact of sunshine, and can avoid sharp The even problem of visual field uneven illumination that light beam causes, it is possible to the reflection avoiding laser beam to produce after being irradiated to reflecting material is uneven Problem, thus significantly improve the precision of detecting system.

The present invention is achieved by the following technical solutions:

According to the first aspect of the invention, a kind of anti-sunshine vision detection system based on LED and reflex reflection is provided, Described system includes emitting module, receiving unit, reflective marker and processing system, and described emitting module is with described receiving unit simultaneously Row dispose, and are directed at reflective marker simultaneously;Described emitting module, described receiving unit are all connected with described processing system;Reflection Mark is placed on any feature point of measured target, and together moves with measured target;Wherein:

Described emitting module is made up of LED light source, focus lamp group and transmitting optical filter, and described receiving unit is by IMAQ Device and reception optical filter composition;Described LED light source is connected with described processing system and receives the control of described processing system and refers to Order sends a branch of diverging light, and divergent beams form a branch of beams of narrow-band light after described focus lamp group and described transmitting optical filter, And directly invest described reflective marker region, to form uniform illumination field of view;The reflection light beam warp of described reflective marker After crossing described reception optical filter, described image collecting device is produced vision signal and is transferred to described processing system;Described place Reason system is connected with described video camera, and described processing system receives the vision signal of described camera transmissions and to the video obtaining Signal is processed, and finally gives the particular location of reflective marker, thus realizes the positioning to measured target and detection.

Preferably, described LED light source is high-power LED light source, has volume advantage little, lightweight.

It is highly preferred that the spectral characteristic of described LED light source is consistent or close with the spectral characteristic of video camera.

Preferably, the divergent beams that LED light source is sent by described focus lamp group converge becomes a branch of low-angle light beam, and Invest reflective marker region, form the visual field of a uniform-illumination.

Preferably, described transmitting optical filter is narrow band pass filter so that invest the light beam of designation of emission for close to monochrome Light beam, to reduce the interference of sunshine further;

The centre wavelength of described transmitting optical filter determines according to the image device spectral characteristic of video camera.

Preferably, described reflective marker includes: substrate and the reflecting plate being positioned at substrate geometric center;Wherein:

Described reflecting plate is generally circular in shape or the multiple rule shape of rectangle;Reflecting plate uses reflecting material to make,

Described substrate be shaped as rectangle, circle, polygonal various regular shapes;Centered on substrate, symmetrical structure is light Lumber, coating sub-light diffuse-reflective material in surface is made.

It is highly preferred that described reflecting plate is made up of with the microprism being positioned at thin-film surface film layer, wherein: described thin Film layer is that transparent plastic membrane material is made, and described microprism is that the particle that raw material are made forms by polyvinyl chloride.

It is highly preferred that the area of described substrate is more than the area of reflecting plate;Further, the area of described substrate is More than the twice of reflecting plate area.

Preferably, described reception optical filter is narrow band pass filter so that the light beam entering video camera is only arrowband monochrome Light, to reduce the interference of sunshine further;

It is highly preferred that described reception optical filter is consistent with bandwidth with the centre wavelength of described transmitting optical filter.

Preferably, described image collecting device includes camera lens and video camera, and the reflection light beam of reflective marker is through receiving After optical filter, by lens imaging to the image planes of video camera, thus produce vision signal;Wherein:

Described video camera is area array CCD, cmos camera, and the accuracy and speed with specific reference to measurement requires to choose;

Described camera lens designs according to the size of reflective marker, distance and moving range and chooses.

Preferably, described processing system is made up of computer or high-performance microprocessor, is used for carrying out image procossing And analytical calculation, with the final center obtaining reflective marker.

The principle of system attack sunshine of the present invention interference is:

It when the divergent beams sending from LED light source are after focus lamp group and transmitting optical filter, is irradiated to reflection mark Will, due to the retro-reflective properties of reflecting material in reflecting plate, the reflection light of the overwhelming majority is all by along parallel with incident light Direction is back to described system position, and is received by camera lens and video camera;Therefore the imaging on video camera is not only The image of whole reflective marker region, and the hot spot that the reflecting plate that also reflecting material is made is formed, this hot spot Shape is exactly the shape of reflecting plate just, and the center of energy of hot spot is exactly the center of reflecting plate just, namely whole reflection mark The center of will, thus realize the accurate measurement of reflective marker centre coordinate.

(1) when the sun is in reflective marker dead ahead position, during i.e. described system rear:

Whole reflective marker region is illuminated by sunshine;Owing to the illumination in the whole region to reflective marker for the sunshine is equal Even, and the orienting reflex effect of the reflecting material of the reflecting plate of reflective marker makes the reflex reflection district i.e. brightness of reflecting plate remote Far above the diffusing reflection district i.e. reflectance lightness of substrate, therefore in the obtained image of video camera, the hot spot of reflecting plate imaging with Peripheral region contrast difference is obvious;Now, the image that video camera is obtained by processing system by arranging suitable threshold value is carried out Edge and the center of energy of hot spot are extracted by binary conversion treatment, thus realize reliably positioning accurately;The size of this threshold value The multiple conventional methods including method of floating threshold value are used to determine;Now, the existence of sunshine does not interferes with described system Work.

(2) when the sun is in the side anterior position of reflective marker, during the side front of i.e. described system:

Whole reflective marker is laterally illuminated by sunshine;Due to the orienting reflex characteristic of the reflecting material of reflecting plate, too The light overwhelming majority that sunlight is radiated at the i.e. reflecting plate in reflex reflection district will be reflected back toward sun position, described without entering The position at system place, only after the homogeneous beam that LED light source sends is irradiated to reflex reflection district i.e. reflecting plate, is reflected back toward The measurement point position at described system place;Therefore, obtain in the image of gained at video camera, the brightness of the i.e. substrate in diffusing reflection region will It is markedly less than reflex reflection district i.e. reflecting plate;Processing system is by arranging suitable threshold value by the edge of reflecting plate hot spot and energy The heart extracts, thus realizes reliably positioning accurately, and the existence of sunshine does not interferes with the work of described system equally;

(3) when the sun is in reflective marker back position:

Now reflective marker will not be illuminated by sunshine, is only irradiated to converse from the homogeneous beam that LED light source sends It after penetrating district i.e. reflecting plate, is reflected back toward the measurement point position at described system place;Sunshine backlight irradiation reflective marker, can produce Certain optical diffraction effect;Owing to the substrate of reflective marker blocks left and right, make the sunshine will not be to the i.e. reflecting plate in reflex reflection district Brightness produces impact;As long as the substrate of reflective marker be sizes substantially larger than the sensitizing range i.e. size of reflecting plate, sunshine due to The impact that diffraction produces can eliminate, and the now existence of sunshine does not interferes with the work of described system equally.

By above-mentioned measure, thus when ensure that sunshine changes in 360 ° of incidence range, reflex reflection district is i.e. reflected The image space of plate is held essentially constant, thus overcomes interference and the impact of sunshine completely.

According to the second aspect of the invention, a kind of anti-sunshine visible detection method based on LED and reflex reflection is provided, Specific as follows:

(1) under the control of processing system, LED light source is sent a branch of low-angle light beam and invests reflective marker;

(2) video camera is obtained the image of reflective marker by camera lens, and transmits to processing system;

(3) closing LED light source, video camera again obtains second image of reflective marker, and transmits to processing system;

(4) image obtaining twice is carried out difference processing by processing system, thus obtains the difference of reflecting plate in reflective marker Partial image;

(5) difference image that (4) are obtained by processing system is processed, to extract the edge wheel of reflecting plate in reflective marker Wide;

(6) processing system is fitted according to the edge contour data of reflecting plate, it is thus achieved that the centre coordinate of reflecting plate.

The present invention compared with prior art, has the advantages that

The present invention, using great power LED as light source, is aided with focus lamp group and narrow band pass filter, forms low-angle homogeneous beam And invest reflective marker, reflective marker utilizes the thin-film material with reflex reflection performance to make, and still arranges before video camera Narrow band pass filter, is so possible not only to effectively reduce the impact of sunshine, and can avoid the visual field illumination that laser beam causes Problem of non-uniform, it is possible to avoid the reflection problem of non-uniform that laser beam produces after being irradiated to reflecting material, thus significantly improve The precision of detecting system.

Brief description

By reading the detailed description made non-limiting example with reference to the following drawings, the further feature of the present invention, Objects and advantages will become more apparent upon:

Fig. 1 is the system composition structural representation of one embodiment of the invention;

Fig. 2 is the reflective marker structural representation of one embodiment of the invention;

Fig. 3 is that the anti-sunshine interference method based on orientation illumination and reflex reflection technology of one embodiment of the invention is former Reason schematic diagram;

In figure: 1 is LED light source, 2 is focus lamp group, and 3 for launching optical filter, and 4 is reflective marker, and 5 for receiving filter Mating plate, 6 is camera lens, and 7 is video camera, and 8 is processing system, and 9 is reflecting plate, and 10 is substrate.

Detailed description of the invention

Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area Personnel are further appreciated by the present invention, but do not limit the present invention in any form.It should be pointed out that, the ordinary skill to this area For personnel, without departing from the inventive concept of the premise, some deformation can also be made and improve.These broadly fall into the present invention Protection domain.

As it is shown in figure 1, a kind of anti-sunshine vision detection system based on LED and reflex reflection, described vision-based detection system System includes: LED light source the 1st, focus lamp group the 2nd, launch optical filter the 3rd, reflective marker the 4th, receive optical filter the 5th, camera lens the 6th, video camera 7 and place Reason system 8, wherein:

Described LED light source the 1st, focus lamp group 2 becomes emitting module with launching filter set 3, video camera the 5th, camera lens 6 and reception filter Mating plate 7 forms receiving unit;Described emitting module and described receiving unit side by side arrangement, and it is directed at reflective marker 4 simultaneously;Described Emitting module is all connected with processing system 8 with described receiving unit;Reflective marker 4 is placed in certain characteristic point of measured target On, it is possible to together move with measured target.

The workflow of system described in the present embodiment is as follows:

Under the control of processing system 8, LED light source 1 is sent a branch of diverging light, filter through focus lamp group 2 and transmitting Form a branch of low-angle beams of narrow-band light after piece 3, directly invest reflective marker 4 region, form uniform illumination field of view;Instead Penetrate the reflection light beam of mark 4 after receiving optical filter 5, be imaged onto on the image planes of video camera 7 by camera lens 6, the video of generation Signal is transferred to processing system 8;The vision signal obtaining is processed by processing system 8, finally gives the concrete of reflective marker 4 Position, thus realize the positioning to measured target and detection.

In the present embodiment, described LED light source 1 is high-power LED light source, has volume advantage little, lightweight.Example As for 12m detection range, the LED light source 1 of power about 20W can be used, can meet exposure and require.

In the present embodiment, the spectral characteristic of described LED light source 1 consistent with the spectral characteristic of video camera 7 as far as possible or Close.For example, it is assumed that the spectrum peak wavelength of video camera imaging device is 550nm, then the spectrum peak wavelength of LED light source 1 should It is advisable as close possible to 550nm

In the present embodiment, described focus lamp group 2, the divergent beams for sending LED light source 1 converge and become a branch of little Angle light beam, and invest reflective marker 4 region, form the visual field of a uniform-illumination.For example, it is assumed that reflective marker 4 away from From for 12m, required illumination field of view size is diameter 0.5m, then irradiating angle be about 2*arctan (0.5*0.5m/12m)= 2.4°。

In the present embodiment, described transmitting optical filter 3 is narrow band pass filter so that invest the light beam of designation of emission 4 for connecing Nearly homogeneous beam, in order to reduce the interference of sunshine further.

In the present embodiment, the centre wavelength of described transmitting optical filter 3 should be according to the Spectral Properties of video camera imaging device Property determines.For example, it is assumed that the spectrum peak wavelength of video camera imaging device is 550nm, then launch the centre wavelength of optical filter 3 Should be advisable as close possible to 550nm, and bandwidth is narrow as far as possible, generally ± about 30nm is advisable.

As in figure 2 it is shown, in the present embodiment, described reflective marker 4 includes reflecting plate 9 and substrate 10, wherein:

Described reflecting plate 9 is positioned at the geometric center of substrate 10, and its shape can be multiple rule shape, for example circular, rectangle Deng;Reflecting plate 9 uses reflecting material to make;

The light weight board of symmetrical structure centered on described substrate 10, surface applies sub-light diffuse-reflective material and makes, its shape Can be various regular shapes, such as rectangle, circle, polygon etc..

As preferably, described reflecting plate 9 is made up of with the microprism being positioned at thin-film surface film layer, wherein: thin Film layer is that transparent plastic membrane material is made, and microprism is the particle composition that polyvinyl chloride is raw material are made.

As preferably, described substrate 10 is made up of aluminum alloy materials, surface sand-blasting and black anodizing process.

As preferably, described substrate 10 area should be noticeably greater than the area of reflecting plate.Further, described substrate The area of 10 is more than the twice of described reflecting plate 9 area.For example, it is assumed that the size of reflecting plate 9 isThen square The length of side of substrate 10 can be advisable for more than 60mm.

In the present embodiment, described reception optical filter 5 is narrow band pass filter so that the light beam entering video camera 7 is only narrow Band monochromatic light, in order to reduce the interference of sunshine further.

As preferably, described reception optical filter 5 is consistent with bandwidth with the centre wavelength of described transmitting optical filter 3, Such as centre wavelength is 550nm, and bandwidth is ± 30nm.

In the present embodiment, described camera lens 6 can be designed according to the size of reflective marker 4, distance and moving range and Choose.For example, it is assumed that the distance of reflective marker 4 be 12m, traverse range for ± 250mm, a diameter of 40mm of reflecting plate 9, then The visual angle of camera lens 6 is 2*arctan [0.5* (250+20) mm/12m]=1.3 °.

In the present embodiment, described video camera 7 requires to choose according to the accuracy and speed of measurement, typically may select face Battle array CCD, cmos camera.For example, it is assumed that reflecting plate 9 traverse range is ± 250mm9, positioning accuracy request ± 0.5mm, Then relative accuracy is about 0.5mm/250mm=1/500, therefore the pixel count of video camera 7 should be not less than 500pixel × 500pixel is advisable.

In the present embodiment, described processing system 8 is made up of computer or high-performance microprocessor, Major Function be into The good analytical calculation of row image procossing, the final center obtaining reflective marker 4.

The present embodiment further relates to a kind of anti-sunshine visible detection method based on LED and reflex reflection, specific as follows:

(1) under the control of processing system 8, LED light source 1 is sent a branch of low-angle light beam, and invests reflective marker 4;

(2) video camera 7 is obtained the image of reflective marker 4 by camera lens 6, and transmits to processing system 8;

(3) closing LED light source 1, video camera 7 again obtains second image of reflective marker 4, and transmits to processing system 8;

(4) image obtaining twice is carried out difference processing by processing system 8, thus obtains reflecting plate 9 in reflective marker 4 Difference image;

(5) above-mentioned difference image is processed by processing system 8, extracts the edge contour of reflecting plate 9;

(6) processing system 8 is fitted according to the edge contour data of reflecting plate 9, it is thus achieved that its centre coordinate;

As it is shown on figure 3, the principle of the vision detection system opposing sunshine interference described in the present embodiment is:

When from the divergent beams that LED light source 1 sends through focus lamp group 2 with after launching optical filter 3, be irradiated to reflection Mark 4.Due to the retro-reflective properties of reflecting material in reflecting plate 9, the reflection light of the overwhelming majority all will be put down along with incident light The direction of row is back to detecting system position, and is received by camera lens 6 and video camera 7.Therefore, the imaging on video camera 7 It is not only the image of whole reflective marker 4 region, and the light that the reflecting plate 9 that also reflecting material is made is formed Spot.The shape of this hot spot is exactly the shape of reflecting plate 9 just, and the center of energy of hot spot is exactly the center of reflecting plate 9 just, also It is the center of whole reflective marker 4, thus realize the accurate measurement of reflective marker 4 centre coordinate.

When the sun is in reflective marker 4 dead ahead position (i.e. described vision detection system rear):

Whole reflective marker 4 region will be illuminated by sunshine.Illumination due to the whole region to reflective marker 4 for the sunshine It is uniform, and the orienting reflex effect of the reflecting material of reflecting plate 9 makes the brightness in reflex reflection district (i.e. reflecting plate 9) far away Higher than the reflectance lightness of diffusing reflection district (i.e. substrate 10), therefore in the obtained image of video camera 7, the light of reflecting plate 9 imaging Spot is obvious with peripheral region contrast difference.Now, processing system 8 is by arranging the figure that video camera 7 is obtained by suitable threshold value As carrying out binary conversion treatment, it is possible to extract edge and the center of energy of hot spot, thus realize reliably positioning accurately. The size of this threshold value can use the multiple conventional methods including method of floating threshold value to determine.Now, the existence of sunshine Do not interfere with the work of vision detection system.

When the sun is in side anterior position (being also in the side front of described vision detection system) of reflective marker 4:

Whole reflective marker 4 laterally will be illuminated by sunshine.Owing to the orienting reflex of the reflecting material of reflecting plate 9 is special Property, the light overwhelming majority in reflex reflection district for the sunlight will be reflected back toward sun position, described without entering The position at vision detection system place, only after the homogeneous beam that LED light source 1 sends is irradiated to reflex reflection district, is reflected Go back to the measurement point position at described vision detection system place.Therefore, obtain in the image of gained at video camera 7, diffusing reflection region Brightness will be markedly less than reflex reflection district.Therefore, processing system 8 again may be by arranging suitable threshold value by reflecting plate 9 hot spot Edge and center of energy extract, thus realize reliably position accurately, the existence of sunshine does not interferes with vision equally The work of detecting system.

When the sun is in reflective marker 4 back position:

Now reflective marker 4 will not be illuminated by sunshine, and the homogeneous beam only sending from LED light source 1 is irradiated to It behind reflex reflection district, is reflected back toward the measurement point position at shown vision detection system place.Sunshine backlight irradiation reflective marker 4, Certain optical diffraction effect will be produced.But, due to reflective marker 4 substrate 10 block left and right, make the sunshine will not be right The brightness in reflex reflection district (reflecting plate 9) produces impact.As long as the substrate 10 of reflective marker 4 be sizes substantially larger than sensitizing range (i.e. Reflecting plate 9) size, the impact that sunshine produces due to diffraction also can eliminate, and the now existence of sunshine is equally not The work of vision detection system can be affected.

By above-mentioned measure, when ensuring that sunshine changes in 360 ° of incidence range, reflex reflection district (i.e. reflecting plate 9) image space is held essentially constant, thus overcomes interference and the impact of sunshine completely.Meanwhile, can notable gram Take visual field uneven illumination and the uneven measure error producing of reflex reflection that LASER Light Source produces, increase substantially certainty of measurement.

Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, those skilled in the art can make various deformation or modification, this not shadow within the scope of the claims Ring the flesh and blood of the present invention.

Claims (10)

1. the anti-sunshine vision detection system based on LED and reflex reflection, it is characterised in that: described system includes transmitting group Part, receiving unit, reflective marker and processing system, described emitting module and described receiving unit side by side arrangement, and be directed at simultaneously Reflective marker;Described emitting module, described receiving unit are all connected with described processing system;Reflective marker is placed in measured target Any feature point on, and together move with measured target, reflective marker has retro-reflective properties;
Described emitting module is made up of LED light source, focus lamp group and transmitting optical filter, and described receiving unit is by image collecting device Form with receiving optical filter;Described LED light source is connected with described processing system and receives the control instruction of described processing system and sends out Going out a branch of diverging light, divergent beams form a branch of beams of narrow-band light after described focus lamp group and described transmitting optical filter, and directly Connect the described reflective marker region of trend of purchasing, to form uniform illumination field of view;The reflection light beam of described reflective marker is through institute After stating reception optical filter, described image collecting device is produced vision signal and is transferred to described processing system;Described process is System receives the vision signal of described camera transmissions and processes the vision signal obtaining, and finally gives the position of reflective marker Put, thus realize the positioning to measured target and detection.
2. a kind of anti-sunshine vision detection system based on LED and reflex reflection according to claim 1, its feature exists In: described LED light source is high-power LED light source, and the spectral characteristic of LED light source is consistent with the spectral characteristic of video camera or Close.
3. a kind of anti-sunshine vision detection system based on LED and reflex reflection according to claim 1, its feature exists In: the divergent beams that LED light source is sent by described focus lamp group converge becomes a branch of low-angle light beam, and invests reflective marker Region, forms the visual field of a uniform-illumination.
4. according to a kind of anti-sunshine vision detection system based on LED and reflex reflection described in claim 1, its feature exists In: described transmitting optical filter is narrow band pass filter so that the light beam investing designation of emission is close to homogeneous beam, with further Reduce the interference of sunshine;
Described reception optical filter is narrow band pass filter so that the light beam entering video camera is only arrowband monochromatic light, with further Reduce the interference of sunshine;
Described reception optical filter is consistent with bandwidth with the centre wavelength launching optical filter.
5. according to a kind of anti-sunshine vision detection system based on LED and reflex reflection described in claim 1, its feature exists In: described reflective marker includes: substrate and the reflecting plate being positioned at substrate geometric center;Wherein:
Described reflecting plate is generally circular in shape or the multiple rule shape of rectangle;Reflecting plate uses reflecting material to make;
The regular shape generally circular in shape or polygonal of described substrate;The light weight board of symmetrical structure, surface centered on substrate The sub-light diffuse-reflective material of coating is made.
6. according to a kind of anti-sunshine vision detection system based on LED and reflex reflection described in claim 5, its feature exists In: described reflecting plate is made up of with the microprism being positioned at thin-film surface film layer, wherein: described film layer is transparent plastic Membrane material is made, and described microprism is that the particle that raw material are made forms by polyvinyl chloride.
7. according to a kind of anti-sunshine vision detection system based on LED and reflex reflection described in claim 5, its feature exists In: the area of described substrate is more than the area of reflecting plate;Further, the area of described substrate is the two of reflecting plate area More than Bei.
8. according to a kind of anti-sunshine vision detection system based on LED and reflex reflection described in claim 1, its feature exists In: described image collecting device includes camera lens and video camera, and the reflection light beam of reflective marker is after receiving optical filter, by mirror Head is imaged onto in the image planes of video camera, thus produces vision signal;Wherein: described video camera is area array CCD or cmos camera.
9. according to a kind of anti-sunshine vision detection system based on LED and reflex reflection described in any one of claim 1-8, its It is characterised by: when the divergent beams sending from LED light source are after focus lamp group and transmitting optical filter, be irradiated to reflection mark Will, the reflecting plate that in reflective marker, reflecting material is made has a retro-reflective properties, the reflection light of the overwhelming majority all will along with The parallel direction of incident light is back to described system position, and is received by camera lens and video camera;Therefore on video camera Imaging is not only the image of whole reflective marker region, and the light that the reflecting plate that also reflecting material is made is formed Spot, the shape of this hot spot is exactly the shape of reflecting plate just, and the center of energy of hot spot is exactly the center of reflecting plate just, namely The center of whole reflective marker, thus realize the accurate measurement of reflective marker centre coordinate.
10. the anti-sunshine visible detection method based on the LED of system described in any one of claim 1-9 and reflex reflection, It is characterized in that, described method comprises the steps:
(1) under the control of processing system, LED light source is sent a branch of low-angle light beam and invests reflective marker;
(2) video camera is obtained the image of reflective marker by camera lens, and transmits to processing system;
(3) closing LED light source, video camera again obtains second image of reflective marker, and transmits to processing system;
(4) image that (2), (3) obtain twice is carried out difference processing by processing system, thus obtains reflecting plate in reflective marker Difference image;
(5) difference image that (4) are obtained by processing system is processed, to extract the edge contour of reflecting plate in reflective marker;
(6) processing system is fitted according to the edge contour data of reflecting plate, it is thus achieved that the centre coordinate of reflecting plate.
CN201610590703.3A 2016-07-25 2016-07-25 Anti-sunshine vision detection system and method based on LED and reflex reflection CN106153010A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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