CN106773495A - The automatic focusing method and system of projector with multiple lamp light source - Google Patents
The automatic focusing method and system of projector with multiple lamp light source Download PDFInfo
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
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Abstract
The invention discloses the automatic focusing method and system of a kind of projector with multiple lamp light source, the method includes：S1：Projector with multiple lamp light source is projected out multiple light beams to the multiple space planes with different depth；S2：Light spot image of the multiple light beam of acquisition module Real-time Collection in the multiple space plane；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 obtains optimum parameter value according to the real-time parameter value for obtaining, and light source is adjusted to optimum position.Described method and system can realize the automatic focusing of projector with multiple lamp light source, and overcome the brought precision of artificial focusing problem not high in the prior art, while efficiency of focusing is increased dramatically.
Description
Technical Field
The invention relates to the technical field of optics and computers, in particular to an automatic focusing method and system of a multi-light-source projector.
Background
Laser projectors are often used in optical measurements, and the generation and widespread use of depth cameras based on structured light in particular has led to the continuous development of laser projectors as one of its components. At present, most laser projectors adopt a single edge-emitting laser light source, and with the continuous development of lasers, vertical cavity surface lasers are adopted by more and more laser projectors due to the advantages of small divergence angle, low power consumption and cost, small size, easiness in integration and the like.
Despite the advantages of VCSELs, it is relatively difficult to adjust the relative position, which refers to the distance between the light source and the collimating lens or other optical element, during assembly. Compared with a single side-emitting laser light source, the number of light beams emitted by the optical element is increased due to the increase of the number of the light sources, and more light beams can be referred to during adjustment, so that the judgment of whether the light beams are at the optimal relative position is difficult to judge manually.
Disclosure of Invention
In order to solve the above problems, the present invention provides an automatic focusing method and system for a multi-light source projector, which can perform automatic focusing and effectively solve the problem of inaccurate precision caused by manual focusing or mechanical focusing.
The invention provides an automatic focusing method of a multi-light source projector, which comprises the following steps:
s1: the multi-light source projector projects a plurality of light beams to a plurality of spatial planes with different depths;
s2: the acquisition module acquires light spot images of the light beams on the plurality of spatial planes in real time;
s3: according to the acquired light spot image, the calculation module calculates the parameter value of the definition in real time;
s4: the focusing module continuously adjusts the relative position of the light source, and the steps S1-S3 are repeated;
s5: and the focusing module acquires an optimal parameter value according to the parameter value acquired in real time and adjusts the light source to an optimal position.
Preferably, the multi-light source projector includes a plurality of vertical cavity surface lasers having the same luminous intensity, luminous area and shape, and an optical element including one or both of a lens and a diffractive optical element.
Preferably, the plurality of spatial planes comprise: at least two planes with different distances from the projector, and at least one light beam is arranged on each plane.
Preferably, the maximum depth difference between the plurality of spatial planes is smaller than the depth of field range of the acquisition module.
Preferably, the step S3 includes:
s31: respectively extracting light spot images corresponding to the light beams on each plane;
s32: preprocessing the optical spot image;
s33: performing light spot identification on the preprocessed light spot image;
s34: calculating the average area of light spots on each plane;
s35: the degree of divergence of the beam is calculated from the average area on the different planes.
Further preferably, the divergence degree in the step S35 is measured by a standard deviation between average areas of the light spots on the respective planes.
Still more preferably, the expression of the standard deviation is as follows:
wherein N is the number of planes, Si、Respectively the average spot area on each plane and their average.
Still more preferably, the expression of the standard deviation is as follows:
wherein,where S isiRefers to the average spot area, m, in each planeiRefers to the magnification of the acquisition module at the position of each plane.
Further preferably, the step S5 is: and the focusing module takes the value with the minimum divergence degree as an optimal parameter value and the position with the minimum divergence degree as an optimal focusing position according to the divergence degree obtained in real time.
The invention also provides an automatic focusing system of the multi-light source projector, which comprises the multi-light source projector, an acquisition module, a calculation module and a focusing module, wherein the multi-light source projector is used for projecting a plurality of light beams to a plurality of space planes with different depths; the acquisition module is used for acquiring light spot images of the light beams on the plurality of spatial planes in real time; the calculation module is used for calculating the parameter value of the definition in real time according to the acquired light spot image; the focusing module is used for continuously adjusting the relative position of the light source, acquiring an optimal parameter value according to the parameter value acquired in real time, and adjusting the light source to the optimal position.
The invention has the beneficial effects that: the invention realizes full-automatic real-time adjustment through the mutual matching of the multi-light source projector, the acquisition module, the calculation module and the focusing module. The relative position of the light source is continuously adjusted through the focusing module, the collecting module collects light spot images of a plurality of light beams projected by the multi-light-source projector on a plurality of space planes in real time, the calculating module calculates definition parameter values of the light spot images in real time, and the focusing module obtains an optimal value according to the obtained parameter values and carries out automatic focusing. The method realizes automatic focusing, can effectively overcome the problem of low precision caused by manual focusing, and greatly improves the focusing efficiency.
Drawings
FIG. 1 is a schematic flow chart of an automatic focusing method for a multi-light source projector;
FIG. 2 is a schematic diagram of a layout of a light source projector and camera;
FIG. 3 is a schematic view of a spot image of a light beam collected by a camera;
fig. 4 is a schematic diagram of a spot image of a single light beam.
Detailed Description
The present invention is described in further detail below with reference to specific embodiments and with reference to the attached drawings, it should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.
As shown in fig. 1, the present invention provides an automatic focusing method for a multi-light source projector, comprising the following steps: s1: the multi-light source projector projects a plurality of light beams to a plurality of spatial planes with different depths; s2: the acquisition module acquires light spot images of the light beams on the plurality of spatial planes in real time; s3: according to the acquired light spot image, the calculation module calculates the parameter value of the definition in real time; s4: the focusing module continuously adjusts the relative position of the light source, and the steps S1-S3 are repeated; s5: and the focusing module acquires an optimal parameter value according to the parameter value acquired in real time and adjusts the light source to an optimal position.
Multiple light source projector projection
Multi-light source projectors are used primarily to project multiple beams into space to form specific patterns, such as: the pattern formed by the light beam is a speckle pattern in a projection module used in the depth camera.
In the conventional multi-light source projector, a laser projector is more commonly used, and a single edge-emitting laser light source or a vertical cavity surface-emitting laser is adopted. The vertical cavity surface emitting laser is preferred in the embodiment, and has the advantages of small divergence angle, low power consumption and cost, small volume, easiness in integration and the like. According to different application requirements, the laser selects light with different emission wavelengths, such as visible light, ultraviolet light, infrared light and the like.
In general, a projector includes an optical element, such as a collimating lens, in addition to a light source, and a light beam emitted from the light source is focused in a direction by the collimating lens, so that an emergent light is a parallel light. In particular, for depth cameras, a Diffractive Optical Element (DOE) is also included for expanding the beam, which DOEs serve for shaping the laser beam, such as: homogenization, collimation, focusing, formation of a specific pattern, etc. The DOE and the lens can also be integrated into an optical element, so that the volume is reduced, and the light beams pass through the lens and the DOE in sequence, so that the emergent light is a plurality of parallel light beams.
During the assembly of a light source projector, the distance between the light source and the optical element is particularly required according to specific requirements. Generally, when the light source is at the focal length of the optical element, the beam of the projector will be optimally collimated and/or focused. How to achieve the autofocus will be described below with the effect as an object. In other requirements, the distance between the light source and the optical element needs to be adjusted, although for different purposes, and the methods described above can be applied.
Light spot image acquisition
The invention realizes automatic focusing by an image processing mode, namely, an acquisition module is used for acquiring a light spot image of a light beam, and whether the current projector has the best projection effect or not and whether the current projector needs to be adjusted or not is judged by the image processing mode. The acquisition module may be a camera or the like, and the camera includes a general camera, a depth camera and the like.
The spot image is acquired as shown in fig. 2 by projecting a beam pattern onto at least two planes with different depths in space using a projector and then acquiring the spot image using a camera. Shown in fig. 2 are 4 planes with depths D1, D2, D3, and D4, respectively, as will be explained in the following description. In other embodiments, there may be other numbers of planes, and the specific arrangement of planes may have other forms, but it should be noted that the following points are included:
(1) each plane should have the same information such as texture, and at least one light beam (light spot) is arranged on each plane;
(2) the maximum depth difference between the planes should preferably be within the depth of field of the acquisition camera.
Among them, (2) is not a necessary condition but a preferable condition. Therefore, with the difference of the depths, the focal length of the acquisition camera can affect the imaging quality and the final focusing.
It should be noted that the wavelength of light that the camera can receive should coincide with the projected light wavelength. For example, when the light source is an infrared laser, the camera should also be an infrared camera.
Speckle image preprocessing
Fig. 3 is a schematic view of a light beam image captured by a camera. The figure shows a total of 16 beams, each at four different depth planes, each with 4 spots of light.
In an actually acquired image, the outline of the light spot is not necessarily very obvious, so that the light spot image needs to be preprocessed firstly, specifically, a pixel value threshold value M is set, then the image is subjected to threshold value screening, the pixel is retained when the threshold value is greater than M, and the pixel value of the image is set to 0 when the threshold value is less than M. After the threshold value screening processing, each light spot has a relatively obvious outline so as to facilitate the automatic identification of a subsequent computer.
Another method is to extract the outline of the light spot by gradient calculation, and to keep the image pixel values inside the outline, and to set the image pixel values outside the outline to 0. The shape of the light spot may have other shapes, such as a square shape, an oval shape, etc., which are not limited herein.
Light spot identification
After image preprocessing, the existence of some outliers is not excluded, the outliers need to be limited by an image algorithm to eliminate the influence of the outliers on the light spot processing, the step is called light spot identification, pixels in the light spots are automatically identified by a computer, and the influence of the outliers is eliminated, and the specific steps are as follows:
first, a search function similar to the function flodfil is used to find all spot enclosed areas. For example, searching whether the pixel value is greater than the threshold M by a certain step length (for example, the step length is 5 pixels) by rows, if so, performing diffusion search by using the point as a starting point, and determining whether the adjacent pixel value is greater than M, if so, classifying the adjacent pixel value as the same light spot closed region until all pixels in the light spot are searched. As shown in fig. 4, the pixels filled with bright color are all the pixels in the searched light spot, and the pixels filled with oblique lines are regarded as other "light spots", which are actually outliers.
Secondly, a minimum pixel number limit value of the light spot is set. The purpose of this setting is to distinguish outliers, which are typically noise in the image, which include small pixel areas and large spots.
And finally, judging the closed area searched in the first step, wherein the closed area with the number of pixels larger than a limit value is regarded as a light spot, and the other closed areas are regarded as outliers.
Planar spot area calculation
In the spot identification step, the number of pixels included in each spot region has been actually calculated, and here, the number of pixels is regarded as the area of a single spot region. And averaging the areas of the light spots on the same plane to obtain the average light spot area on the plane.
When the number of the light spots on each plane is the same, the sum of the areas of all the light spot areas on each plane or the average light spot area can be regarded as the area of the light spot on the plane for the next processing; when the number of spots on each plane is not the same, it is preferable to regard the average spot area as the plane spot area for the next processing.
In the following description, the average spot area is described.
Divergence calculation and autofocus
Since the light emitting areas of the light sources themselves are the same, the difference in the area sizes of the light spots on different planes in the image is mainly caused by the following two factors:
(1) the divergence degree of the light beam, when the scattering angle of the light beam is minimum, namely the focusing effect is optimal, the actual light spot size should be the same on different planes, and when the scattering angle is larger, the area of the actual light spot on different planes is different, specifically, the divergence degree increases with the distance;
(2) the areas of light spots in the images are different due to different amplification factors caused by different depths of the images of the acquisition cameras.
According to the factor (1), the proximity of the average areas of the light spots on different planes can be used to measure whether the distance between the light source and the optical element in the current projector is optimal. Theoretically, when the average light spot areas on the planes are the same, the optimal focusing effect is achieved.
In this embodiment, the proximity of the average spot area can be measured as the standard deviation. Namely:
where N is the number of planes, and in this embodiment, N is 4. Si、Respectively, mean spot area on each plane and their mean.
Smaller standard deviation values indicate closer spot areas on the respective surfaces, i.e., optimal focusing.
The above metric is then affected by the same effect on spot area as the (2) th factor described above. For example, if the current beam is divergent, the actual spot area on different planes increases with distance, and then according to the imaging principle, as the distance increases, the magnification decreases, i.e. the spot area decreases with distance in the captured image, which results in the same or even smaller spot area in the captured image even if the current beam is divergent.
To eliminate the effect of the magnification of the acquisition camera, the effect can be eliminated by the following two ways:
firstly, the depth change ranges of different planes are set in the depth field range of the acquisition camera, so that the influence caused by the magnification factor can be reduced to the maximum extent;
and secondly, calculating corresponding magnification times according to different distances by using the internal parameters of the acquisition camera, and compensating the area of the light spot on each plane in the image. Specifically, for example, the magnifications m are calculated on the planes D1, D2, D3, and D4, respectively1、m2、m3、m4The compensated planar light spot areas are respectively as follows:the calculation formula of the standard deviation at this time becomes:
wherein,
after the standard deviation is calculated, real-time focusing can be performed. Specifically, the positions of the light source and the optical element are continuously adjusted, and the position with the minimum standard deviation is used as the optimal position for focusing. The process of adjustment is roughly: the optical element is adjusted in one direction by using a control device, the change of the standard deviation is judged, if the standard deviation is smaller, the adjustment is continued, and if the standard deviation is larger, the adjustment direction is changed, so that the adjustment is carried out until the standard deviation is minimum.
The invention combines the digital image processing technology, realizes the automatic focusing of the multi-light source projector by taking the divergence degrees of the light beams on different planes as the measuring basis, has high precision and high speed, and overcomes the defects of insufficient precision and low speed when the single light source or the multi-light source is manually focused.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention.
Claims (10)
1. An automatic focusing method of a multi-light source projector is characterized by comprising the following steps:
s1: the multi-light source projector projects a plurality of light beams to a plurality of spatial planes with different depths;
s2: the acquisition module acquires light spot images of the light beams on the plurality of spatial planes in real time;
s3: according to the acquired light spot image, the calculation module calculates the parameter value of the definition in real time;
s4: the focusing module continuously adjusts the relative position of the light source, and the steps S1-S3 are repeated;
s5: and the focusing module acquires an optimal parameter value according to the parameter value acquired in real time and adjusts the light source to an optimal position.
2. The auto-focusing method of claim 1, wherein the multi-light source projector includes a plurality of vertical cavity surface lasers having the same luminous intensity, luminous area and shape, and an optical element including one or both of a lens and a diffractive optical element.
3. The autofocus method of claim 1, wherein the plurality of spatial planes comprises: at least two planes with different distances from the projector, and at least one light beam is arranged on each plane.
4. The autofocus method of claim 1, wherein a maximum depth difference between the plurality of spatial planes is less than a depth of field range of the acquisition module.
5. The auto-focusing method according to claim 1, wherein the step S3 includes:
s31: respectively extracting light spot images corresponding to the light beams on each plane;
s32: preprocessing the optical spot image;
s33: performing light spot identification on the preprocessed light spot image;
s34: calculating the average area of light spots on each plane;
s35: the degree of divergence of the beam is calculated from the average area on the different planes.
6. The auto-focusing method according to claim 5, wherein the degree of divergence in the step S35 is measured by a standard deviation between average areas of the light spots on the respective planes.
7. The auto-focusing method according to claim 6, wherein the expression formula of the standard deviation is:
wherein N is the number of planes, Si、Respectively the average spot area on each plane and their average.
8. The auto-focusing method according to claim 6, wherein the expression formula of the standard deviation is:
wherein,where S isiRefers to the average spot area, m, in each planeiRefers to the magnification of the acquisition module at the position of each plane.
9. The auto-focusing method according to claim 5, wherein the step S5 is: and the focusing module takes the value with the minimum divergence degree as an optimal parameter value and the position with the minimum divergence degree as an optimal focusing position according to the divergence degree obtained in real time.
10. An automatic focusing system of a multi-light source projector is characterized by comprising the multi-light source projector, an acquisition module, a calculation module and a focusing module, wherein the multi-light source projector is used for projecting a plurality of light beams to a plurality of space planes with different depths; the acquisition module is used for acquiring light spot images of the light beams on the plurality of spatial planes in real time; the calculation module is used for calculating the parameter value of the definition in real time according to the acquired light spot image; the focusing module is used for continuously adjusting the relative position of the light source, acquiring an optimal parameter value according to the parameter value acquired in real time, and adjusting the light source to the optimal position.
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| CN112532863A (en) * | 2019-09-19 | 2021-03-19 | 福州润森电气自动化有限公司 | Automatic ultraviolet image focusing method of solar blind ultraviolet camera |
| CN112747906A (en) * | 2021-01-28 | 2021-05-04 | 歌尔光学科技有限公司 | Light source detection method, detection device and readable storage medium |
| WO2021212917A1 (en) * | 2020-04-20 | 2021-10-28 | 奥比中光科技集团股份有限公司 | Device and method for measuring tof depth |
| CN114235868A (en) * | 2020-09-09 | 2022-03-25 | 中国科学院沈阳科学仪器股份有限公司 | Differential high-energy electron diffraction system with automatic focusing function and method |
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| CN115242982A (en) * | 2022-07-28 | 2022-10-25 | 业成科技（成都）有限公司 | Lens focusing method and system |
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