CN108051609A - A kind of speed measuring device and method based on single-photon avalanche detector lines array camera - Google Patents
A kind of speed measuring device and method based on single-photon avalanche detector lines array camera Download PDFInfo
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- CN108051609A CN108051609A CN201711282070.0A CN201711282070A CN108051609A CN 108051609 A CN108051609 A CN 108051609A CN 201711282070 A CN201711282070 A CN 201711282070A CN 108051609 A CN108051609 A CN 108051609A
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- photon avalanche
- avalanche detector
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000010354 integration Effects 0.000 claims abstract description 9
- 238000003384 imaging method Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 7
- 238000005286 illumination Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
Abstract
The present invention provides a kind of speed measuring device and method based on single-photon avalanche detector lines array camera.Line-scan digital camera is formed to tachometric survey for image device using single-photon avalanche detector, and the speed of moving object is calculated using longitudinal number of pixels, the camera single-row shooting time of integration and the camera shooting angle of object known dimensions and its correspondence in the picture.The unit of single-photon avalanche detector linear array includes single-photon avalanche detector, is quenched and reset circuit, counter and register；The output terminal of single-photon avalanche detector is sequentially connected to be quenched and is connected with reset circuit, counter, the output terminal of counter with register；Single-photon avalanche detector uses single-photon avalanche diode.Apparatus and method of the present invention has and can realize the more accurate remarkable advantage that tests the speed and test the speed in illumination stronger daytime, light weak night and extreme dark surrounds.
Description
Technical field
The present invention relates to the speed measuring device and method of a kind of moving target, the side to test the speed especially with imaging technique realization
Method.
Background technology
At present, for the main velocity measuring technique of moving target have microwave radar monitoring technology, laser measuring technology, feel line
Circle tests the speed with video frequency speed-measuring etc..
Microwave radar monitoring technology mainly utilizes Doppler effect (Doppler Effect) principle：When target is to radar
Antenna close to when, reflected signal frequency will be above transmitter frequency；Conversely, when target is gone away from antenna, reflected signal frequency
Rate will be less than transmitting probability.It by the change numerical value of frequency, can so calculate the relative velocity of target and radar, but the skill
Art receives and transmitting electromagnetic wave is affected by external signal, and data measured is easily disturbed.
Laser measuring technology is to calculate object range sensor distance twice using the flight time (TOF) of laser, so as to
Speed of moving body is calculated, but cost is higher needed for laser detection, and no record object other information function, with respect to other speed
Degree detection means has no advantage.Ground sensing coil speed measuring needs coil being mounted on underground, and when construction can destroy road surface, and Yi Shouhuan
Border influences to deform, and actual maintenance is costly.
Video frequency speed-measuring is based on imaging means, and the mode of image procossing is recycled to realize the measurement of speed, but video frequency speed-measuring
Means are limited to the external conditions such as illumination, and the video data volume is big, are unfavorable for generating date.
Existing line-scan digital camera velocity-measuring system generally uses common CCD or CMOS linear arrays to carry out speed as image device
Measurement, but common CCD or CMOS carry out data reading by the way of A/D conversions, by analog-digital converter (ADC) and device
Part expires trap limitation, and light intensity dynamic range is very limited, it is necessary to change camera sensitivity or change the time for exposure to realize pair
The imaging of varying environment light intensity, when environmental light intensity change is very quick, CCD and CMOS may be too late due to sensitivity change
When and there is the phenomenon that loss of data.
The content of the invention
The present invention is directed to the deficiency of existing speed-measuring method, proposes a kind of based on single-photon avalanche detector (SPAD) linear array phase
The speed measuring device and method of machine.
The technical solution that the device of the invention uses is as follows：
Line-scan digital camera and object to be shot are in one by a kind of speed measuring device based on single-photon avalanche detector lines array camera
Angle placement is determined, for scanning shoot object on the move；The line-scan digital camera includes single-photon avalanche detector linear array, described
Single-photon avalanche detector linear array includes the detector cells of multiple parallel arrangeds；The detector cells include single-photon avalanche
Detector is quenched and reset circuit, counter and register；The output terminal of the single-photon avalanche detector, which is sequentially connected, to be quenched
It goes out and is connected with reset circuit, counter, the output terminal of the counter with register；The single-photon avalanche detector is using single
Photon avalanches diode.
Further, the single-photon avalanche detector linear array is one or is the Multistage imaging linear array of a plurality of composition.
Further, described be quenched passively is quenched form with reset circuit use or form is actively quenched.
The technical solution that the method for the present invention uses is as follows：
A kind of speed-measuring method based on single-photon avalanche detector lines array camera is imaging using single-photon avalanche detector
Device forms line-scan digital camera to tachometric survey, using object known dimensions and its correspondence longitudinal number of pixels in the picture,
Camera is single-row to shoot the time of integration and camera shooting angle to calculate the speed v of moving object, and specific formula is：
Wherein, t is the time of integration that line-scan digital camera shoots a row image；θ is line-scan digital camera optical center line and shooting water
The angle of plane；Y is the known dimensions information in moving object, and n is the number of pixels of the corresponding image of known dimensions information.
The present invention detects mobile object speed using single-photon avalanche detector (SPAD) line-scan digital camera, has following notable
Advantage：
1) time of integration is more convenient adjustable, is conducive to improve longitudinal resolution, velocity measured is more accurate.
2) dynamic range is very big, high dynamic range imaging can be realized in the case where not changing camera lens thang-kng amount, in light
Speed measuring function can be realized according to stronger daytime and light weak night.
It 3), can be by irradiating near infrared light light filling, harmless to human eye in completely unglazed extreme dark surrounds
In the case of realize monitoring to object speed.
Description of the drawings
Fig. 1 is single-photon avalanche diode basic device structure diagram of the present invention；
Fig. 2 is single-photon avalanche detector cells structure diagram of the present invention；
Fig. 3 is the electrical block diagram that single-photon detector is passively quenched in the embodiment of the present invention；
Fig. 4 is that single-photon detector actively gates the electrical block diagram being quenched in the embodiment of the present invention；
Fig. 5 is the principle schematic that line-scan digital camera of the present invention tests moving object speed method；
Fig. 6 is to overlook shooting sports car image using SPAD linear arrays in the embodiment of the present invention；
Fig. 7 is that SPAD linear array eyelevel shot remote vehicle images are used in the embodiment of the present invention.
Specific embodiment
It in the following detailed description, will be with reference to operation principle, device and the work of attached drawing and result of implementation to the present invention
Method is described in detail.
In the mode scanning shoot movement that the present embodiment places SPAD line-scan digital cameras and object to be shot at an angle
Object obtains the translational speed of object by calculating the relation between size shared by known object size and corresponding imaging.It is used
Speed measuring device be the line-scan digital camera made using single-photon avalanche detector linear array, single-photon avalanche detector linear array includes more
A detector cells, detector cells include single-photon avalanche detector, be quenched with reset circuit, counter and register,
The output terminal of single-photon avalanche detector is sequentially connected to be quenched passes through transmission with reset circuit, counter, the output terminal of counter
Door is correspondingly connected with register, as shown in Figure 2.
Wherein, single-photon avalanche panel detector structure as shown in Figure 1, core devices be operating voltage be higher than avalanche point lid
Mode avalanche diode is removed from office, is quenched and big resistance (such as Fig. 3) or the realization of active gating circuit may be employed (as schemed with reset circuit
4) arrival of photon, is converted into pulse.Counter and register realize the counting and storage to pulse, realize with photon counting
Mode be imaged.By multiple said structure parallel arrangeds, single-photon avalanche detector image-forming linear array is just constituted, then in core
Piece periphery is subject to corresponding line and circuit control data is selected to read, it is possible to realize linear array.Using said chip as core image device, warp
The control programming for crossing shelling machine, board design, host computer and slave computer completes the line-scan digital camera of the present embodiment.Camera
Control system pass through ALTERA companies cyclone family chips and realize；Data transmission is transmitted to PC ends by usb protocol, and
Image procossing is carried out by rear end Matlab softwares；Digital level power supply is provided by USB power source；The device electric breakdown strength of SPAD is about
10.2V carries out high voltage supply using the over-pressed voltage of 12V；Camera lens is the light of purchase Edmund optics 5.6mm focal lengths/f number=2
Learn camera lens.Camera has the function of scanning imagery or establishing shot mobile object, is mainly fixed in the present embodiment using the camera
Shoot the function of mobile object.
The speed-measuring method of the present embodiment is as shown in figure 5, comprise the following steps：
1) line-scan digital camera is placed in position of the optical center line with shooting level face in θ angles；
2) SPAD line-scan digital cameras is set to shoot the time of integration of a row image as t；
3) setting in moving target has elevation information y known to one, and the number of pixels of corresponding image is n；
4) movement velocity of moving target can following formula obtain
From above formula, it is only necessary to know number of pixels n shared by the corresponding images of known elevation information y, camera shooting
One row time of integration t, optical center line angle with horizontal plane θ, you can calculate object speed.
Certainly, it is not limited in above-mentioned utilization known object height using the method for object known dimensions measurement object speed
The velocity test that carries out of mode, further include the method that known object other three-dimensional informations test the speed, such as believed using length
Breath can also calculate object speed.
It is illustrated in figure 6 SPAD line-scan digital cameras and overlooks the image shot during automobile is advanced.The SPAD single-row times of integration used
For 6ms, shooting height about 4m, spot for photography and automobile lateral separation 20m, calculate and understand that camera lens shooting center line is pressed from both sides with horizontal plane
Angle is θ=arccot (0.2)=12.5 °.China's standard car plate size be 440 × 140 (mm), while car plate imaging shared by pixel
Number is 6, therefore the gait of march that can calculate vehicle is 70km/h.
The image of SPAD line-scan digital camera eyelevel shot road traffics is illustrated in figure 7, utilizes image-forming range, known object ruler
The very little number of pixels as shared by being imaged wheel such as wheel diameters and known object can also calculate the movement velocity of vehicle, this
In repeat no more.
Claims (4)
1. a kind of speed measuring device based on single-photon avalanche detector lines array camera, which is characterized in that line-scan digital camera with it is to be captured
Object is placed at an angle, for scanning shoot object on the move；The line-scan digital camera includes single-photon avalanche detector
Linear array, the single-photon avalanche detector linear array include the detector cells of multiple parallel arrangeds；The detector cells include
Single-photon avalanche detector is quenched and reset circuit, counter and register；The output terminal of the single-photon avalanche detector
It is sequentially connected to be quenched and be connected with reset circuit, counter, the output terminal of the counter with register；The single-photon avalanche is visited
It surveys device and uses single-photon avalanche diode.
2. a kind of speed measuring device based on single-photon avalanche detector lines array camera according to claim 1, feature exist
In the single-photon avalanche detector linear array is one or the Multistage imaging linear array for a plurality of composition.
3. a kind of speed measuring device based on single-photon avalanche detector lines array camera according to claim 1 or 2, feature
It is, described be quenched passively is quenched form with reset circuit use or form is actively quenched.
4. a kind of speed-measuring method based on single-photon avalanche detector lines array camera, which is characterized in that visited using single-photon avalanche
It surveys device and forms line-scan digital camera for image device to tachometric survey, utilize object known dimensions and its longitudinal direction of correspondence in the picture
Number of pixels, camera are single-row to shoot the time of integration and camera shooting angle to calculate the speed v of moving object, specific formula
For：
<mrow>
<mi>v</mi>
<mo>=</mo>
<mfrac>
<mi>y</mi>
<mrow>
<mi>n</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>&CenterDot;</mo>
<mi>cot</mi>
<mi>&theta;</mi>
</mrow>
Wherein, t is the time of integration that line-scan digital camera shoots a row image；θ is line-scan digital camera optical center line and shooting level face
Angle；Y is the known dimensions information in moving object, and n is the number of pixels of the corresponding image of known dimensions information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711282070.0A CN108051609A (en) | 2017-12-07 | 2017-12-07 | A kind of speed measuring device and method based on single-photon avalanche detector lines array camera |
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| CN201711282070.0A CN108051609A (en) | 2017-12-07 | 2017-12-07 | A kind of speed measuring device and method based on single-photon avalanche detector lines array camera |
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Cited By (2)
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| CN110068808A (en) * | 2019-05-29 | 2019-07-30 | 南京芯视界微电子科技有限公司 | The receiver apparatus and laser radar of laser radar |
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