CN106707526A - Automatic focusing method and system for light source projector - Google Patents
Automatic focusing method and system for light source projector Download PDFInfo
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- CN106707526A CN106707526A CN201611155524.3A CN201611155524A CN106707526A CN 106707526 A CN106707526 A CN 106707526A CN 201611155524 A CN201611155524 A CN 201611155524A CN 106707526 A CN106707526 A CN 106707526A
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- G—PHYSICS
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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Abstract
The invention provides an automatic focusing method and system for a light source projector. The method comprises the steps that S1 a light source projector projects at least one light beam to the space; S2 an acquisition module acquires the light spot image of the light beam; S3 according to the acquired light spot image, a calculation module calculates definition parameter values; and S4 a focusing module compares the parameter values acquired in real time to acquire the optimum parameter value, and adjusts a light source to the optimum position according to the optimum parameter value. According to the method and the system, automatic focusing of the light source projector is realized; the problem of poor precision caused by manual focusing in the prior art is overcome; and the focusing efficiency is greatly improved.
Description
Technical field
The present invention relates to optical technology and field of computer technology, and in particular to a kind of automatic focusing side of light sources project instrument
Method and system.
Background technology
Laser-projector can be usually used in optical measurement, the generation of the depth camera of structure light and wide is especially currently based on
General application, has promoted continuing to develop as the laser-projector of one of its part.Most laser-projector is used at present
Be single edge-emitting laser light source, with continuing to develop for laser, planar laser with vertical cavity because its angle of divergence is small,
The advantages of power consumption and low cost, small volume are easily integrated will be used by increasing laser-projector.
Although vertical cavity surface emitting laser has the advantages that many, the regulation of relative position is then relative in an assembling process
Difficulty, relative position here is referred between light source and collimation lens or the distance between other optical elements.With single side
Transmitting LASER Light Source is compared, and due to the increase on quantity of light source, the number of beams projected by optical element is also increased, carried out
The light beam that is referred to during regulation is more to cause artificial judgment to be difficult to judge whether in optimal relative position.
The content of the invention
To solve the above problems, the present invention provides the automatic focusing method and system of a kind of light sources project instrument, and it can enter
Row automatic focusing, and effectively solve the problems, such as that the precision that artificial focusing or mechanical focusing are brought is forbidden.
The present invention provides a kind of automatic focusing method of light sources project instrument, comprises the following steps：
S1：Light sources project instrument goes out at least one light beam to space projection；
S2：Acquisition module gathers the light spot image of the light beam；
S3：According to the light spot image for being gathered, computing module calculates the parameter value of definition in real time；
S4：Focusing module constantly adjusts the relative position of light source, repeat step S1-S3；
S4：Focusing module is contrasted the real-time parameter value for obtaining, and obtains optimum parameter value, will according to optimum parameter value
Light source is adjusted to optimum position.
Preferably, the light sources project instrument includes light source and optical element；The light source includes monochromatic light and multiple light courcess, described
Multiple light courcess includes multiple planar laser with vertical cavity；The optical element include lens, diffraction optical element in one or two.
Preferably, the step S3 includes：According to the light spot image for being gathered, computing module calculates the pixel of light spot image
Area size and/or pixel region pixel value, or light spot image edge brightness gradient.
Further preferably, the pixel region size of the computing module calculating light spot image includes：
S311：Light spot image is pre-processed；
S312：Spot identification is carried out to pretreated light spot image；
S313：Calculate the pixel quantity in each spot area；
S314：Using the total of the pixel quantity in each spot area and/or the average pixel region size as light spot image.
Further preferably, the pixel region pixel value of the computing module calculating light spot image includes：
S321：Light spot image is pre-processed；
S322：Spot identification is carried out to pretreated light spot image；
S323：Calculate the pixel value of each pixel in each spot area；
S324：Using the total of the pixel value in each spot area and/or the average pixel region pixel value as light spot image.
Further preferably, the edge brightness gradient of computing module calculating light spot image includes in the step S3：
S331：Light spot image is pre-processed；
S332：Spot identification is carried out to pretreated light spot image；
S333：Calculate the edge brightness gradient of each hot spot；
S334：Using the total of the edge brightness gradient of each hot spot and/or the average edge brightness gradient as light spot image.
Further preferably, the step S333 calculates the edge brightness gradient of spot area by equation below meter
Calculate：
Wherein P (x, y) represents the edge pixel point of spot area, along x side
Upward gradient is expressed as：The gradient for going up in the y-direction is expressed as：
Further preferably, it is described pretreatment is carried out to light spot image to include：Setting pixel value threshold value, is carried out to image
Threshold value is screened.
Further preferably, the step S5 includes：Focusing module is by the minimum value of the pixel region size of light spot image
As optimum parameter value, and light source is adjusted to optimum position.
Further preferably, the step S5 includes：Focusing module is by the maximum of the pixel region pixel value of light spot image
Value is adjusted to optimum position light source as optimum parameter value.
Further preferably, the step S5 includes：Focusing module is by the pixel region pixel value and pixel of light spot image
The maximum of the ratio of area size is adjusted to optimum position light source as optimum parameter value.
Further preferably, the step S4 includes：Focusing module is by the maximum of the edge brightness gradient of light spot image
As optimum parameter value, and light source is adjusted to optimum position.
The present invention also provides a kind of automatic focusing system of light sources project instrument, including light sources project instrument, acquisition module, calculating
Module and focusing module, the light sources project instrument are used to go out light beam to space projection；The acquisition module is used for Real-time Collection institute
State the light spot image of light beam；The computing module is used to, according to the light spot image for being gathered, the parameter value of definition is calculated in real time；
The focusing module is used for the relative position of constantly adjustment light source, and is contrasted according to the real-time parameter value for obtaining, and obtains most
Good parameter value, adjusts to optimum position light source according to optimum parameter value.
Beneficial effects of the present invention：The present invention is by light sources project instrument, between acquisition module, computing module and focusing module
Mutual cooperation, realize full-automatic real-time adjustment.The relative position of light source is constantly adjusted by focusing module, acquisition module is real-time
The light spot image of the light beam that collection light sources project instrument is projected out, and calculate the definition of light spot image in real time using computing module
Parameter value, parameter value of the focusing module again to obtaining is compared, and obtains optimum value and carries out automatic focusing.By side as above
Method realizes automatic focusing, the problem that can effectively overcome the brought precision of artificial focusing not high, and focusing efficiency is substantially improved.
Brief description of the drawings
Fig. 1 is the automatic focusing method schematic flow sheet of light sources project instrument；
Fig. 2 is light sources project instrument and the schematic diagram that the position positioned opposite of camera is indirect type；
Fig. 3 is light sources project instrument and the schematic diagram that the position positioned opposite of camera is direct-type；
Fig. 4 is the light spot image schematic diagram of the light beam of camera collection；
Fig. 5 is the light spot image schematic diagram of single light beam.
Specific embodiment
With reference to specific embodiment and compare accompanying drawing the present invention be described in further detail, it should be emphasised that,
What the description below was merely exemplary, rather than in order to limit the scope of the present invention and its application.
As shown in figure 1, the present invention provides a kind of automatic focusing method of light sources project instrument, comprise the following steps：S1：Light source
Projecting apparatus goes out at least one light beam to space projection；S2：The light spot image of light beam described in acquisition module Real-time Collection；S3：According to
The light spot image for being gathered, computing module calculates the parameter value of definition in real time；S4：Focusing module constantly adjusts the relative of light source
Position, repeat step S1-S3；S5：Focusing module is contrasted the real-time parameter value for obtaining, and obtains optimum parameter value, according to
Optimum parameter value adjusts to optimum position light source.
Light sources project instrument is projected
Light sources project instrument includes single light source projecting apparatus and projector with multiple lamp light source, is mainly used in being projected out light beam in space
To form specific pattern, for example：Projection module used in depth camera, the pattern that light beam is formed is speckle pattern.Work as light
When source projecting apparatus is single light source projecting apparatus, the light beam that it is projected out is a branch of；If light sources project instrument is projector with multiple lamp light source,
The light beam that it is projected out is multi beam.
In existing projector with multiple lamp light source, more common is laser-projector, using single edge-emitting laser light source
Or vertical cavity surface emitting laser.The present embodiment preferred vertical cavity surface emitting lasers, it has the small angle of divergence, power consumption and cost
The advantages of low, small volume is easily integrated.According to different application demands, laser selects the light of different emission, such as visible
Light, ultraviolet light, infrared light etc..
General projecting apparatus in addition to a light source, also includes optical element, such as collimation lens, the light beam that light source is launched
Concentrated on direction after collimated lens so that emergent light is directional light.Especially, for depth camera, also include
For the diffraction optical element (DOE) for expanding, DOE is used for laser beam reshaping, such as：Homogenization, collimation, focusing, formation specific pattern
Case etc.；In the presence of DOE, either single light source or projector with multiple lamp light source, light beam are divided into multi beam.DOE may be used also with lens
An optical element is integrated into, is conducive to reducing volume, light beam successively experiences lens and DOE so that emergent light is that multi beam is parallel
Light.
In the assembling process of light sources project instrument, the distance between light source and optical element have especially according to specific demand
Requirement.Usually, when light source is on the focal length of optical element, the light beam of projecting apparatus either all will by collimation or intensity
Reach optimum efficiency.To below illustrate how to realize automatic focusing for the purpose of this effect.In other demands, although purpose
It is different, but it is required for adjusting the distance of light source and optical element, and method as described above can be applicable.
Light spot image is gathered
The present invention is to realize automatic focusing by way of image procossing, i.e., gather the light of light beam using acquisition module
Spot image, judged by way of image procossing current projector whether in projection optimum efficiency and whether need into
Row adjustment.Acquisition module can be camera etc., and the camera is including general camera and depth camera etc..
The acquisition mode of light spot image can have two kinds of indirect type and direct-type, respectively as shown in Figure 2 and Figure 3.Shown in Fig. 2
Be using projecting apparatus to the plane projection beam pattern of space one, then gather the image using camera；And Fig. 3 is then using throwing
Shadow instrument is directly projected to camera, and the image is gathered by camera.The former is utilized under general scenario, although needing extra plane
Device, but because the increase of light beam travels, the spot size that it is formed are also larger, the image collected by camera is easier to make for
Image procossing and identification.
It is worth noting that, the optical wavelength that phase function is received should be consistent with projection optical wavelength.Such as when light source swashs for infrared
Light time, camera also should be infrared camera.
Light spot image is pre-processed
The light spot image schematic diagram that Fig. 4 is collected for camera.A total of 16 hot spots shown in figure, what is actually obtained
In image, the profile of hot spot not necessarily clearly, therefore is pre-processed firstly the need of to light spot image, specifically, setting
One pixel value threshold value M, then carries out threshold value screening to image, and the pixel is retained when threshold value is more than M, when threshold value is less than M
The pixel value of image is set to 0.By the way that after threshold value Screening Treatment, each hot spot has more obvious profile, in order to follow-up
The automatic identification of computer.
In another embodiment, the shape of hot spot can also have an other shapes, such as square, oval etc., herein not
Limit.
Spot identification
After image preprocessing, however not excluded that with the presence of some outliers, these outliers are needed by the restriction of image algorithm
To eliminate its influence to hot spot treatment, the step is referred to as spot identification, be by the pixel in Computer Automatic Recognition glossing up,
And the influence of outlier is removed, comprise the following steps that：
First, all hot spot closed areas are found using the function of search similar to function floodfill.For example,
By row with certain step-length (such as step-length be 5 pixels) search pixel value whether be more than threshold value M, if more than if with the point as
Whether initial point is diffused search, adjacent pixel values is judged more than M, if then classifying as same hot spot closed area, Zhi Daojian
All of pixel in the complete hot spot of rope.As shown in figure 5, the pixel of light tone filling is all pictures in the hot spot for searching
Element, and the pixel of oblique line filling is then considered as other " hot spots ", is actually outlier.
Secondly, the minimum pixel quantity limit value of hot spot is set.The purpose of this setting is to distinguish outlier and light
Spot, general outlier is the noise in image, and the pixel region that it includes is smaller, and hot spot is then larger.
Finally, the closed area that will be searched in the first step judged, comprising pixel quantity regarding more than limit value
It is hot spot, other are then considered as outlier.
Spot area size is calculated
In spot identification step, the pixel quantity included in each spot area is actually calculated, this
In pixel quantity is considered as single spot area size.
It is to need to weigh the focusing effect to all light sources in the present invention, so that the hot spot for calculating entire image is big
It is small, two ways is employed herein, one kind is by all of spot size summation in image；Another kind is that hot spot in image is big
It is small to be averaging.
In other embodiments, it is possibility to have the mode of others expression spot area size, such as percents etc.
Deng as long as the mode for being the same as weighing spot area size in effect is intended to be included among the present invention.
Spot area brightness calculation
Pixel value reflects the brightness of spot area in image.The pixel value of each pixel in each spot area is extracted first；
Secondly the average value of total and/or single hot spot pixel value of all hot spot pixel values is calculated；Finally by the total of all hot spot pixel values
And/or average value is used as the pixel region pixel value of light spot image.
In other embodiments, it is possibility to have the mode of others expression spot area brightness, such as percents etc.
Deng as long as the mode for being the same as weighing spot area size in effect is intended to be included among the present invention.
Spot area edge brightness gradient calculation
Spot area edge brightness gradient can reflect the intensity of hot spot.It is because image is two dimensional image thus bright
Degree gradient is needed to consider two dimensions, can be calculated by below equation：
Wherein, P (x, y) represents the edge pixel point of spot area, and the gradient for going up in the x-direction is expressed as：The gradient for going up in the y-direction is expressed as：Gradient
Can be by other method for expressing.
Finally using the total and/or average value of the edge brightness gradient of all hot spots as light spot image edge brightness gradient.
Automatic focusing
Light source most preferably directly determines spot area in beam pattern with whether the position of optical element reaches in projecting apparatus
Size and region brightness.Specifically, position reaches most preferably when spot area is minimum；Position reaches most when hot spot brightness is most strong
It is good.Adjust automatically is by instant adjustment distance and to IMAQ and judgement, when spot area size or/and hot spot
Then adjusted when brightness is most strong and terminated.
Can be focused by following four mode herein：
1) the pixel region size according to spot area is focused, i.e., constantly adjust and calculate pixel region size,
By the minimum position of pixel region size as focusing optimum position.
2) the pixel region pixel value according to spot area is focused, i.e., constantly adjust and calculate pixel region pixel
Value, by the maximum position of pixel region pixel value as focusing optimum position.
3) the pixel region size and pixel value according to spot area are focused, i.e., constantly adjust and calculate pixel region
Domain size and pixel value, by pixel region pixel value and the maximum position of pixel region size ratio as focusing optimum bit
Put.
4) the edge brightness gradient according to spot area is focused, i.e., constantly adjust and calculate edge brightness gradient,
Using the maximum position of edge brightness gradient as focusing optimum position.
Present invention incorporates digital image processing techniques, by being made with spot size, brightness, brightness step as described above
The automatic focusing of light sources project instrument is realized for measurement foundation, especially in the automatic focusing of projector with multiple lamp light source, the party
The high precision of method, speed are fast, overcome precision when manually being focused to single source or multiple light courcess not enough, slow-footed to lack
Fall into.
Above content is to combine specific/preferred embodiment further description made for the present invention, it is impossible to recognized
Fixed specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
Without departing from the inventive concept of the premise, its implementation method that can also have been described to these makes some replacements or modification,
And these are substituted or variant should all be considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of automatic focusing method of light sources project instrument, it is characterised in that comprise the following steps：
S1：Light sources project instrument goes out at least one light beam to space projection；
S2：The light spot image of light beam described in acquisition module Real-time Collection；
S3：According to the light spot image for being gathered, computing module calculates the parameter value of definition in real time；
S4：Focusing module constantly adjusts the relative position of light source, repeat step S1-S3；
S5：Focusing module is contrasted the real-time parameter value for obtaining, and obtains optimum parameter value, according to optimum parameter value by light source
Adjust to optimum position.
2. automatic focusing method as claimed in claim 1, it is characterised in that the light sources project instrument includes light source and optics unit
Part；The light source includes single light source and multiple light courcess, and the multiple light courcess includes multiple planar laser with vertical cavity；The optical element bag
Include one or two in lens, diffraction optical element.
3. automatic focusing method as claimed in claim 1, it is characterised in that the step S3 includes：According to the light for being gathered
Spot image, the pixel region size or/and pixel region pixel value of computing module real-time computing facula image, or light spot image
Edge brightness gradient.
4. automatic focusing method as claimed in claim 3, it is characterised in that computing module calculates hot spot figure in the step S3
The pixel region size of picture includes：
S311：Light spot image is pre-processed；
S312：Spot identification is carried out to pretreated light spot image；
S313：Calculate the pixel quantity in each spot area；
S314：Using the total of the pixel quantity in each spot area and/or the average pixel region size as light spot image.
5. automatic focusing method as claimed in claim 3, it is characterised in that computing module calculates hot spot figure in the step S3
The pixel region pixel value of picture includes：
S321：Light spot image is pre-processed；
S322：Spot identification is carried out to pretreated light spot image；
S323：Calculate the pixel value of each pixel in each spot area；
S324：Using the total of the pixel value in each spot area and/or the average pixel region pixel value as light spot image.
6. automatic focusing method as claimed in claim 3, it is characterised in that computing module calculates hot spot figure in the step S3
The edge brightness gradient of picture includes：
S331：Light spot image is pre-processed；
S332：Spot identification is carried out to pretreated light spot image；
S333：Calculate the edge brightness gradient of each hot spot；
S334：Using the total of the edge brightness gradient of each hot spot and/or the average edge brightness gradient as light spot image.
7. automatic focusing method as claimed in claim 6, it is characterised in that the step S333 calculates the edge brightness of hot spot
Gradient is calculated by equation below：
Wherein P (x, y) represents the edge pixel point of spot area, and the gradient for going up in the x-direction is expressed as：
The gradient for going up in the y-direction is expressed as：
8. the automatic focusing method as described in claim 4-6 is any, it is characterised in that described to be pre-processed to light spot image
Including：Setting pixel value threshold value, threshold value screening is carried out to light spot image.
9. automatic focusing method as claimed in claim 3, it is characterised in that the step S5 includes：Focusing module is by hot spot
The minimum value of the pixel region size of image is adjusted to optimum position light source as optimum parameter value；
Or focusing module using the maximum of the pixel region pixel value of light spot image as optimum parameter value, and by light source adjust to
Optimum position；
Or focusing module using the maximum of the pixel region pixel value of light spot image and the ratio of pixel region size as optimal
Parameter value, and light source is adjusted to optimum position；
Or focusing module using the maximum of the edge brightness gradient of light spot image as optimum parameter value, and light source is adjusted to most
Best placement.
10. a kind of automatic focusing system of light sources project instrument, it is characterised in that including light sources project instrument, acquisition module, calculate mould
Block and focusing module, the light sources project instrument are used to go out at least one light beam to space projection；The acquisition module is used for real-time
Gather the light spot image of the light beam；The computing module is used to, according to the light beam image for being gathered, definition is calculated in real time
Parameter value；The focusing module is used for the relative position of constantly adjustment light source, and is contrasted according to the real-time parameter value for obtaining,
Optimum parameter value is obtained, light source is adjusted to optimum position according to optimum parameter value.
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| CN115047433B (en) * | 2022-08-16 | 2022-11-01 | 杭州宇称电子技术有限公司 | Optical automatic adjusting method for TOF distance measuring system and application thereof |
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