CN108241244A - The lighting system of depth camera - Google Patents
The lighting system of depth camera Download PDFInfo
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- CN108241244A CN108241244A CN201810204400.2A CN201810204400A CN108241244A CN 108241244 A CN108241244 A CN 108241244A CN 201810204400 A CN201810204400 A CN 201810204400A CN 108241244 A CN108241244 A CN 108241244A
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- depth camera
- lighting system
- groove
- field
- camera according
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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
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of lighting system of depth camera, which includes：The groove of the rectangular shape on the front panel of depth camera shell is arranged on, groove has stepped inner wall；Light source in groove.Above-mentioned technical proposal can realize that illumination region matches with camera field of view of receiver, reduce influence of the optical signal for being reflected or being scattered by non-measured target to measurement accuracy and accuracy.
Description
Technical field
The present invention relates to depth camera technical field, it particularly relates to a kind of lighting system of depth camera.
Background technology
With the development of optical measurement, the depth camera based on TOF (Time of Flight) technology is gradually ripe,
Start to apply in fields such as three-dimensional measurement, gesture control, robot navigation, security protection and monitoring.TOF depth cameras are by lighting system
It is formed with system two parts are received, basic principle is that the light of active light source is received after object reflects by camera, according to light by sending out
This period of reception is mapped to calculate the distance of target and depth camera.Lighting system is generally using infrared invisible wave band
Light emitting diode, laser diode or vertical cavity surface emitting laser progress active illumination, reception system and traditional camera
Image-forming principle is similar, target object is imaged in the image plane of depth camera by lens, each pixel is in addition to having at this time
Target image information also carries depth information.
For TOF depth cameras, need the optical signal being reflected back by receiving target that could obtain accurate depth
Information but if illumination region is excessive, mismatches, the illumination of this part is reflected through other targets with the field of view of receiver of depth camera
Or the optical signal after scattering may also enter the visual field of depth camera.According to the operation principle of TOF depth cameras, either continuously
Wave modulation either impulse modulation mode is required for pixel on sensor to carry out charge integration to the optical signal of return, then
The flight time of light extraction could be calculated.In this way, the optical signal into the reflection of other targets or the scattering of depth camera visual field can shadow
The charge integration of pixel is rung, and then influences the calculating of the flight time of light, the error of measurement distance value is caused to become larger.
Can the lighting system that accurate depth information and depth camera be obtained closely related, using light emitting diode, swashs
The general intermediate strong edge of all presentations of hot spot distribution of the lighting systems such as optical diode is weak, along with camera illuminance of image plane defers to image space
The quadruplicate attenuation law of field angle cosine, to ensure that each pixel can normally obtain depth information in camera image plane
Illumination region area is asked to be greater than camera field of view of receiver area.For light emitting diode, the angle of divergence is generally all very big, can see
Into being lambert's body, entire hemispherical space can be illuminated, illumination region is very big；And for laser diode, horizontal direction
It is different with the angle of divergence of vertical direction, and the angle of divergence is smaller, generally adds the diffusion sheet expanded light beam angle of divergence in actual use, together
When to spot intensity distribution play homogenized effect, can also realize the requirement illuminated on a large scale.In order to improve the profit of lighting source
With rate, reflector cover can be designed, by the high reflection characteristic of reflector cover inner surface, reduces the diffusing reflection loss of luminous energy.With
For laser diode illumination, laser diode is placed in reflector cover, light-emitting window adds optical diffusion sheet to realize a wide range of light
Learn scene lighting.For TOF depth cameras, field of view of receiver size is codetermined by camera lens and sensor target surface size,
And it both horizontally and vertically has differences, i.e. horizontal field of view angle and vertical field of view angle difference.Existing illumination scheme
The problem of illumination zone covering needs the target area illuminated is only focused on, to the size and field of view of receiver of field of view of receiver in water
The problems such as square to difference with vertical direction, do not consider in illumination scheme.
Therefore, in the illumination scheme of existing TOF depth cameras, not according to the characteristics of the field of view of receiver of depth camera
The lighting system of depth camera is designed, illumination region is generally circular in cross section, and much larger than TOF depth camera field of view of receiver
Need, cause to be reflected by non-measured target or be scattered back Lai optical signal enter the field of view of receiver of depth camera, this is to cause phase
One of source of machine measurement error.
Invention content
For the problems in the relevant technologies, the present invention proposes a kind of lighting system of depth camera, can realize lighting area
The field of view of receiver of domain and depth camera matches.
The technical proposal of the invention is realized in this way：
According to an aspect of the invention, there is provided a kind of lighting system of depth camera, including：It is arranged on depth camera
The groove of rectangular shape on the front panel of shell, groove have stepped inner wall；Light source in groove.
Preferably, stepped inner wall structure is the inner wall handled by frosted blacking delustring.
Preferably, above groove, groove is concentric multiple rectangles.
Preferably, the interval between the adjacent rectangle of any two is equal.
Preferably, wherein, the field of view of receiver of depth camera has horizontal field of view angle and vertical field of view angle, the length-width ratio of rectangle
It is related to the ratio between horizontal field of view tangent of an angle value and vertical field of view tangent of an angle value.
Preferably, four times of area for the field of view of receiver of depth camera of the area of the illumination region of lighting system.
Preferably, the quantity of groove is multiple, and multiple grooves are uniformly distributed around the reception camera lens of depth camera.
Preferably, the bottom surface of groove has the hole for fixed light source.
Preferably, light source is infrared black light light source.
The beneficial effects of the present invention are：By setting the groove with stepped inner wall, can realize illumination region with
Camera field of view of receiver matches, and reduces influence of the optical signal for being reflected or being scattered by non-measured target to measurement accuracy and accuracy.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic diagram of the lighting system of depth camera according to embodiments of the present invention；
Fig. 2 is the schematic top plan view of the groove in Fig. 1.
Fig. 3 is the assembling schematic diagram of the light source and groove in Fig. 1.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's all other embodiments obtained belong to what the present invention protected
Range.
With reference to shown in Fig. 1 to Fig. 3, the lighting system 100 of depth camera according to embodiments of the present invention includes：It is arranged on
The groove 10 of rectangular shape on the front panel of TOF depth camera shells, groove 10 have stepped inner wall 15；Lighting system
100 further include the light source 20 in groove 10.
The lighting system 100 of the present invention by setting the groove 10 with stepped inner wall 15, can to illuminating bundle into
Row shaping, the illumination zone of limiting light source are realized that illumination region matches with camera field of view of receiver, are reduced anti-by non-measured target
Influence of the optical signal penetrated or scattered to measurement accuracy and accuracy.
Preferably, light source 20 is infrared black light light source 20.In one embodiment, light source 20 is light emitting diode,
And light emitting diode, using infrared invisible light source 20, wavelength is preferably 850nm.
Preferably, stepped inner wall 15 is configured to the inner wall handled by frosted blacking delustring.
As shown in Fig. 2, in terms of the top of groove 10, groove 10 is concentric multiple rectangles, and the size of outermost rectangle is most
Greatly, the size of most inner side rectangle is minimum.And preferred, the interval between the adjacent rectangle of any two is equal.
Wherein, the field of view of receiver of TOF depth cameras has horizontal field of view angle and vertical field of view angle, the length-width ratio and water of rectangle
The tangent value for looking squarely rink corner is related to the ratio between vertical field of view tangent of an angle value.
The area of the illumination region of lighting system is four times of the area of the field of view of receiver of TOF depth cameras.Specifically,
It is TOF under same distance value according to the length of illumination region at a certain distance and the value of width using 10 bottom centre of groove as origin
Twice (i.e. area is four times) of the length of depth camera field of view of receiver and wide value, it may be determined that the horizontal divergence angle of lighting source 20
And vertical divergence angle, and then can determine 10 depth of groove and the size of rectangle light-emitting window.
With reference to shown in Fig. 2 and Fig. 3, the bottom surface of groove 10 has the hole 19 for fixed light source 20.10 bottom of groove is set
There is cylindrical hole 19, the size of cylindrical hole 19 is matched with the size of light source 20, and light source 20 is embedding by the hole 19 of the cylinder
Enter in groove 10.
As shown in Figure 1, the quantity of groove 10 is multiple, correspondingly, being both provided with a light source 20 in each groove 10.By
The limitation of single source 20 (such as light emitting diode) luminous power, generally using multiple light sources 20, multiple light sources 20 distinguish position
In in corresponding groove 10, to meet the measurement range of TOF depth cameras.
Preferably, multiple grooves 10 are uniformly distributed around the reception camera lens 50 of TOF depth cameras.As shown in Figure 1, TOF is deep
The groove 10 on degree camera front panel with stepped inner wall 15 can be uniformly distributed in annular shape, and it is deep that TOF is placed at circle ring center
The reception camera lens 50 of camera is spent, the selection of annular radii is not interfered between camera lighting system and reception system as principle.
In conclusion the present invention provides a kind of lighting system of TOF depth cameras to match with field of view of receiver, it can
Non-measured target reflection or the influence of scattered light signal are reduced, improves precision and accuracy that TOF depth cameras measure.Pass through setting
The groove with stepped inner wall, for carrying out shaping, the horizontal divergence of light beam to the light beam of TOF depth camera lighting systems
Angle and vertical divergence angle match with the horizontal field of view angle of TOF depth camera field of view of receiver and vertical field of view angle.It can be in not shadow
On the basis of ringing TOF depth camera work measurements, reduce the optical signal for being reflected or being scattered by non-measured target to the greatest extent and tied to measuring
The influence of fruit improves precision and accuracy that TOF depth cameras measure.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (9)
1. a kind of lighting system of depth camera, which is characterized in that including：
The groove of the rectangular shape on the front panel of depth camera shell is arranged on, the groove has stepped inner wall；
Light source in the groove.
2. the lighting system of depth camera according to claim 1, which is characterized in that the step type inner wall structure is warp
Cross the inner wall of frosted blacking delustring processing.
3. the lighting system of depth camera according to claim 1, which is characterized in that above the groove, institute
Groove is stated as concentric multiple rectangles.
4. the lighting system of depth camera according to claim 3, which is characterized in that between the adjacent rectangle of any two
Interval it is equal.
5. the lighting system of depth camera according to claim 3, which is characterized in that wherein, the depth camera connects
Rating field has horizontal field of view angle and a vertical field of view angle, the length-width ratio of the rectangle and horizontal field of view tangent of an angle value and vertical regards
The ratio between tangent value of rink corner correlation.
6. the lighting system of depth camera according to claim 1, which is characterized in that the illumination region of the lighting system
Four times of area for the field of view of receiver of the depth camera of area.
7. the lighting system of depth camera according to claim 1, which is characterized in that the quantity of the groove to be multiple,
The multiple groove is uniformly distributed around the reception camera lens of the depth camera.
8. the lighting system of depth camera according to claim 1, which is characterized in that the bottom surface of the groove, which has, to be used for
The hole of the fixed light source.
9. the lighting system of depth camera according to claim 1, which is characterized in that the light source is infrared black light
Light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810204400.2A CN108241244B (en) | 2018-03-13 | 2018-03-13 | Illumination system for depth camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810204400.2A CN108241244B (en) | 2018-03-13 | 2018-03-13 | Illumination system for depth camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108241244A true CN108241244A (en) | 2018-07-03 |
| CN108241244B CN108241244B (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810204400.2A Active CN108241244B (en) | 2018-03-13 | 2018-03-13 | Illumination system for depth camera |
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| CN (1) | CN108241244B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566047A (en) * | 2010-12-14 | 2012-07-11 | 三星电子株式会社 | Illumination optical system and 3D image acquisition apparatus including the same |
| CN203883954U (en) * | 2014-06-17 | 2014-10-15 | 立普思股份有限公司 | Depth camera device with packaging structure |
| CN104166296A (en) * | 2013-05-17 | 2014-11-26 | 西克股份公司 | Illumination apparatus and method for producing an illuminated field for a 3D camera |
| US20160178992A1 (en) * | 2014-12-19 | 2016-06-23 | Sick Ag | Fringe projector and method of illuminating a scenery with a variable fringe pattern |
| US20180054565A1 (en) * | 2016-08-18 | 2018-02-22 | Verily Life Sciences Llc | Dermal camera attachment |
-
2018
- 2018-03-13 CN CN201810204400.2A patent/CN108241244B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566047A (en) * | 2010-12-14 | 2012-07-11 | 三星电子株式会社 | Illumination optical system and 3D image acquisition apparatus including the same |
| CN104166296A (en) * | 2013-05-17 | 2014-11-26 | 西克股份公司 | Illumination apparatus and method for producing an illuminated field for a 3D camera |
| CN203883954U (en) * | 2014-06-17 | 2014-10-15 | 立普思股份有限公司 | Depth camera device with packaging structure |
| US20160178992A1 (en) * | 2014-12-19 | 2016-06-23 | Sick Ag | Fringe projector and method of illuminating a scenery with a variable fringe pattern |
| US20180054565A1 (en) * | 2016-08-18 | 2018-02-22 | Verily Life Sciences Llc | Dermal camera attachment |
Non-Patent Citations (1)
| Title |
|---|
| 曹正东等: "《大学物理实验》", 31 December 2016 * |
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| Publication number | Publication date |
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| CN108241244B (en) | 2021-10-08 |
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Address after: 230012 intersection of Fangxing Avenue and Yulan Avenue, Taohua Industrial Park Development Zone, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Taihe Intelligent Technology Group Co.,Ltd. Address before: 230012 intersection of Fangxing Avenue and Yulan Avenue, Taohua Industrial Park Development Zone, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: HEFEI TAIHE OPTOELECTRONIC TECHNOLOGY Co.,Ltd. |