CN108279421A - Time-of-flight camera with high-resolution colour picture - Google Patents
Time-of-flight camera with high-resolution colour picture Download PDFInfo
- Publication number
- CN108279421A CN108279421A CN201810080649.7A CN201810080649A CN108279421A CN 108279421 A CN108279421 A CN 108279421A CN 201810080649 A CN201810080649 A CN 201810080649A CN 108279421 A CN108279421 A CN 108279421A
- Authority
- CN
- China
- Prior art keywords
- light
- receiver device
- light receiver
- controller
- colour
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The invention discloses a kind of time-of-flight cameras with high-resolution colour picture, the camera includes transmitting light source, light receiver device and information processing unit, light receiver device carries out timesharing by controller control clock divider and is switched to distance measurement mode and colour imaging pattern, when the controller control light receiver device is distance measurement mode, transmitting light source emits a branch of certain section of near infrared light and is pointed into object, the object reflection light is simultaneously received by light receiver device, and controller is sent to after charge inducing, controller calculates three-dimensional distance by charge.Ranging of the present invention and colour imaging share a light receiver device, do not have to add a colour imaging light receiver device again on the basis of ranging light receiver device, can reduce the volume of TOF camera in this way, convenient for integrated.In addition, reducing by a colour imaging reception device, the consumption of electrical power will necessarily be reduced, reduce the power of entire TOF camera.
Description
Technical field
The present invention relates to camera technique field more particularly to a kind of flight time phases with high-resolution colour picture
Machine.
Background technology
The existing TOF camera with coloured image is to add a colour imaging mould again on the basis of general T OF cameras
Then block is overlapped two kinds of obtained images, just obtained the flight time of the coloured image with three-dimensional distance information
（TOF）Camera.It does so and adds additional a camera, therefore cause volume bigger, be not easy to small size and integrate, separately
It is outer also to increase cost, increase power consumption.
Invention content
Shortcoming present in view of the above technology, the present invention provide a kind of flight with high-resolution colour picture
Time camera, three-dimensional ranging and colour imaging share an image-forming module, reduce the flight time with color image information
The volume of camera.
To achieve the above object, the present invention provides a kind of time-of-flight camera with high-resolution colour picture, including
Emit light source, light receiver device and information processing unit, the transmitting light source and light receiver device are and information processing apparatus
Electrical connection is set, and transmitting light source and light receiver device work are controlled by information processing unit；
The light receiver device includes that three-dimensional distance measuring unit and color imaging member, described information processing unit are built-in with timesharing
The output end of device and controller, the controller is electrically connected with clock divider, and the clock divider respectively with three-dimensional distance measuring unit and
Color imaging member is electrically connected, and the three-dimensional distance measuring unit and color imaging member are electrically connected with the input terminal of controller respectively；
Light receiver device carries out timesharing by controller control clock divider and is switched to distance measurement mode and colour imaging pattern, the control
When device control light receiver device processed is distance measurement mode, transmitting light source emits a branch of certain section of near infrared light and is pointed into object, institute
It states object reflection light and is received by light receiver device, and be sent to controller after charge inducing, controller passes through
Charge calculates three-dimensional distance；
When the controller control light receiver device timesharing is switched to colour imaging pattern, light receiver device receives object
The light of transmission simultaneously carries out colour imaging；
The colour imaging information that the three-dimensional distance information and colour imaging pattern that the controller is obtained by distance measurement mode obtain,
Synthesis obtains not only carrying coloured image but also the three-dimensional color image with three-dimensional distance information.
Wherein, the camera further include only allow visible light by light filter device, and under colour imaging pattern, only allow
Visible light of the wave band between 380-780nm passes through；In the distance measuring mode, only allow wave band close red between 800nm-1100nm
Outer light passes through；The light filter device is located in front of light receiver device, and the light of object reflection is filtered by light
After device filtering, obtains visible light and received to the light of near infrared light wave band by light receiver device.
Wherein, which further includes micro-optics reception device, the micro-optics reception device, light filter device and light
Reception device three is sequentially placed from left to right, is filled by micro-optics by the light of object reflection after the transmitting light source transmitting
It sets and is filtered again by light filter device after focal imaging after expanding even light.
Wherein, the light receiver device is a face battle array reception device, and has multiple pixel face battle array arrangements inside it,
There are two shutter control unit, clock divider is electrically connected by one of shutter control unit with distance measuring unit each pixel
It connects, and clock divider is electrically connected by another shutter control unit with color imaging member；One shutter control unit is for controlling
Colour imaging pattern processed, a shutter control unit is for controlling distance measurement mode.
Wherein, the light filter device is a tablet made of transparent material, and the thickness of the tablet is in 0.1mm-5mm
Between, and its surface is coated with film layer.
Wherein, multiple point light sources that the transmitting light source includes laser chip and is distributed on laser chip, multiple light
Source is in multiple spot orthogonal array structure distribution；And the light-emitting surface of multiple point light sources is towards object direction.
The beneficial effects of the invention are as follows：Compared with prior art, provided by the invention with high-resolution colour picture
Time-of-flight camera, which includes transmitting light source, light receiver device and information processing unit, and light receiver device includes
Three-dimensional distance measuring unit and color imaging member, by information processing unit control so that light receiver device have distance measurement mode and
Colour imaging pattern so that ranging and colour imaging share a light receiver device, do not have in ranging light receiver device
On the basis of again plus a colour imaging light receiver device, the volume of TOF camera can be reduced in this way, convenient for integrated.
And the light receiver device due to using can carry out three-dimensional black and white ranging and colour imaging with timesharing, can improve light receiver dress
The utilization rate set reduces cost and improves resolution ratio.In addition, reducing by a colour imaging reception device, electricity will necessarily be reduced
The consumption of power reduces the power of entire TOF camera.
Description of the drawings
Fig. 1 is the structural schematic diagram of the time-of-flight camera with high-resolution colour picture of the present invention；
Fig. 2 is the relation principle figure of light receiver device and information processing unit in the present invention.
Specific implementation mode
In order to more clearly state the present invention, the present invention is further described below in conjunction with the accompanying drawings.
Please refer to Fig.1-2, the time-of-flight camera provided by the invention with high-resolution colour picture, including transmitting light
Source 1, light receiver device 2 and information processing unit 3, the transmitting light source and light receiver device are electric with information processing unit
Connection, and transmitting light source and light receiver device work are controlled by information processing unit；
The light receiver device 2 includes three-dimensional distance measuring unit 21 and color imaging member 22, built in described information processing unit 3
There is clock divider 31 and controller 32, the output end of the controller to be electrically connected with clock divider, and the clock divider respectively with three-dimensional
Distance measuring unit and color imaging member electrical connection, it is described three-dimensional distance measuring unit and color imaging member respectively with the input of controller
End electrical connection；
Light receiver device carries out timesharing by controller control clock divider and is switched to distance measurement mode and colour imaging pattern, the control
When device control light receiver device processed is distance measurement mode, transmitting light source emits a branch of certain section of near infrared light and is pointed into object 6, institute
It states object reflection light and is received by light receiver device, and be sent to controller after charge inducing, controller passes through
Charge calculates three-dimensional distance；
When the controller control light receiver device timesharing is switched to colour imaging pattern, light receiver device receives object
The light of transmission simultaneously carries out colour imaging；
The colour imaging information that the three-dimensional distance information and colour imaging pattern that the controller is obtained by distance measurement mode obtain,
Synthesis obtains not only carrying coloured image but also the three-dimensional color image with three-dimensional distance information.
Compared to the prior art the case where, the time-of-flight camera provided by the invention with high-resolution colour picture,
The camera includes transmitting light source, light receiver device and information processing unit, and light receiver device includes three-dimensional distance measuring unit
And color imaging member, it is controlled by information processing unit so that light receiver device has distance measurement mode and colour imaging mould
Formula so that ranging and colour imaging share a light receiver device, do not have to again add on the basis of ranging light receiver device
One colour imaging light receiver device, can reduce the volume of TOF camera in this way, convenient for integrated.And due to using
Light receiver device can carry out ranging and colour imaging with timesharing, the utilization rate of light receiver device can be improved, reduce at
Originally and resolution ratio is improved.In addition, reducing by a colour imaging reception device, the consumption of electrical power will necessarily be reduced, reduced whole
The power of a TOF camera.
In the present embodiment, the camera further include only allow visible light by light filter device 4, and in colour imaging mould
Under formula, visible light of the wave band between 380-780nm is only allowed to pass through；In the distance measuring mode, only allow wave band in 800nm-1100nm
Between near infrared light pass through；The light filter device is located in front of light receiver device, and the light of object reflection is logical
After crossing the filtering of light filter device, obtains visible light and received to the light of near infrared light wave band by light receiver device, this
In three-dimensional ranging be.
In the present embodiment, which further includes micro-optics reception device 5, the micro-optics reception device, light filtering
Device and light receiver device three are sequentially placed from left to right, are led to by the light of object reflection after the transmitting light source transmitting
It crosses micro-optic device and expands and be filtered again by light filter device after focal imaging after even light.
In the present embodiment, the light receiver device is a face battle array reception device, and has multiple pixels inside it
Face battle array arrangement, there are two shutter control units 23 for each pixel, and clock divider is by one of shutter control unit and surveys
It is electrically connected away from unit, and clock divider is electrically connected by another shutter control unit with color imaging member；One shutter control
Unit is for controlling colour imaging pattern, and a shutter control unit is for controlling distance measurement mode.
In the present embodiment, the light filter device is a tablet made of transparent material, and the thickness of the tablet exists
Between 0.1mm-5mm, and its surface is coated with film layer.Light filter device is in visible light wave range（380nm-780nm）Light penetrates
Rate at least 50% or more is less than 50%, in 820nm-880nm wave band light penetrations in 780nm-820nm wave band light penetrations
50% or more, it is less than 50% in 880nm-1200nm wave band light penetrations.
In the present embodiment, multiple point light sources that the transmitting light source includes laser chip and is distributed on laser chip,
Multiple point light sources are in multiple spot orthogonal array structure distribution；And the light-emitting surface of multiple point light sources is towards object direction..Because of transmitting
Light source is secondary after being made of multiple point light source orthogonal arrays to be homogenized, and the beam quality worked it out so evenly, eliminates a mao glass
Frosted point when piece rotates, keeps beam quality finer and smoother, can meet the high clear night vision fine feature of existing 4K series video camera
The monitoring demand for capturing or being imaged.
Heretofore described light receiver device is different from existing light receiver device, and existing light receiver device generally has
Only there are one global shutter or row scanning shutter, it is only used for being imaged；And each pixel of light receiver device of the present invention is at least
There are two shutter control units, can open or close wherein some shutter according to the light out of phase of reception, finally
The ratio for the quantity of electric charge that light is incuded is received to be calculated into row distance according to shutter, can be used for ranging.The light receiver
Device is a colored reception device, and colour imaging and ranging can be carried out with timesharing, and when colour imaging utilizes color mode, light
Filter device only allows visible light to pass through, and at this moment only there are one shutters to work, and acquires color image information；In ranging, light filters
Device only allows a certain infrared band to pass through, other light ray cuts, using two shutter control units come ranging, obtains distance letter
Breath.The information for being finally synthesizing both of which generation obtains the coloured image with range information.Described information processing unit is used for
Timesharing switchable color imaging pattern and black and white distance measurement mode, and received information is handled, it is finally synthesizing with range information
Coloured image；The light receiver device is a colour and certain section of infrared spectrum reception device, and colour imaging and three-dimensional are surveyed
Away from can be carried out with timesharing, when colour imaging, utilizes color mode, and distance measurement mode can be switched in three-dimensional ranging and obtains three
Tie up range information；The information that last both of which superposition generates obtains the coloured image with three-dimensional distance information.
The present invention concrete operating principle be：Transmitting light source transmitting Ray Of Light is pointed into object, object reflection light
And received by light receiver device, light receiver device can carry out three-dimensional ranging and colour imaging, last information processing with timesharing
The three-dimensional ranging information of device superposition and color image information, so that it may to obtain existing three-dimensional distance information chromatic colour image information again
3-D view.
Disclosed above is only several specific embodiments of the present invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think variation should all fall into protection scope of the present invention.
Claims (6)
1. a kind of time-of-flight camera with high-resolution colour picture, which is characterized in that including transmitting light source, light receiver
Device and information processing unit, the transmitting light source and light receiver device are electrically connected with information processing unit, and by information
Processing unit control transmitting light source and light receiver device work；
The light receiver device includes that three-dimensional distance measuring unit and color imaging member, described information processing unit are built-in with timesharing
The output end of device and controller, the controller is electrically connected with clock divider, and the clock divider respectively with three-dimensional distance measuring unit and
Color imaging member is electrically connected, and the three-dimensional distance measuring unit and color imaging member are electrically connected with the input terminal of controller respectively；
Light receiver device carries out timesharing by controller control clock divider and is switched to distance measurement mode and colour imaging pattern, the control
When device control light receiver device processed is distance measurement mode, transmitting light source emits a branch of certain section of near infrared light and is pointed into object, institute
It states object reflection light and is received by light receiver device, and be sent to controller after charge inducing, controller passes through
Charge calculates three-dimensional distance；
When the controller control light receiver device timesharing is switched to colour imaging pattern, light receiver device receives object
The light of transmission simultaneously carries out colour imaging；
The colour imaging information that the three-dimensional distance information and colour imaging pattern that the controller is obtained by distance measurement mode obtain,
Synthesis obtains not only carrying coloured image but also the three-dimensional color image with three-dimensional distance information.
2. the time-of-flight camera according to claim 1 with high-resolution colour picture, which is characterized in that the camera
Further include only allow visible light by light filter device, and under colour imaging pattern, only allow wave band between 380-780nm
Visible light pass through；In the distance measuring mode, near infrared light of the wave band between 800nm-1100nm is only allowed to pass through；The light mistake
After filter device is located in front of light receiver device, and the light of object reflection is filtered by light filter device, obtain visible
The light of light near infrared light wave band is received by light receiver device.
3. the time-of-flight camera according to claim 2 with high-resolution colour picture, which is characterized in that the camera
Further include micro-optics reception device, the micro-optics reception device, light filter device and light receiver device three from a left side to
The right side is sequentially placed, and is focused into after expanding even light by micro-optic device by the light of object reflection after the transmitting light source transmitting
It is filtered again by light filter device as after.
4. the time-of-flight camera according to claim 1 with high-resolution colour picture, which is characterized in that the light
Line reception device is face battle array reception device, and has multiple pixel faces battle array arrangements inside it, there are two each pixel is equal
Shutter control unit, clock divider are electrically connected by one of shutter control unit with distance measuring unit, and clock divider pass through it is another
A shutter control unit is electrically connected with color imaging member；One shutter control unit is for controlling colour imaging pattern, one
Shutter control unit is for controlling distance measurement mode.
5. the time-of-flight camera according to claim 2 with high-resolution colour picture, which is characterized in that the light
Line filter device is a tablet made of transparent material, and the thickness of the tablet is between 0.1mm-5mm, and its surface is coated with film
Layer.
6. the time-of-flight camera according to claim 1 with high-resolution colour picture, which is characterized in that the hair
It includes laser chip and multiple point light sources for being distributed on laser chip to penetrate light source, and multiple point light sources are in multiple spot orthogonal array structure
Distribution；And the light-emitting surface of multiple point light sources is towards object direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810080649.7A CN108279421B (en) | 2018-01-28 | 2018-01-28 | Time-of-flight camera with high resolution color images |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810080649.7A CN108279421B (en) | 2018-01-28 | 2018-01-28 | Time-of-flight camera with high resolution color images |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108279421A true CN108279421A (en) | 2018-07-13 |
| CN108279421B CN108279421B (en) | 2021-09-28 |
Family
ID=62805426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810080649.7A Expired - Fee Related CN108279421B (en) | 2018-01-28 | 2018-01-28 | Time-of-flight camera with high resolution color images |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108279421B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031334A (en) * | 2018-08-27 | 2018-12-18 | 湖北工业大学 | A kind of safety monitoring system and method based on 3-D image ranging |
| CN110708531A (en) * | 2019-10-15 | 2020-01-17 | 浙江晶鲸科技有限公司 | Infrared light structure module and working method thereof |
| CN112118371A (en) * | 2019-06-20 | 2020-12-22 | 中兴通讯股份有限公司 | TOF optical sensing device, mobile terminal and image generation method |
| CN115499637A (en) * | 2021-06-18 | 2022-12-20 | 黄初镇 | Camera device with radar function |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003062849A2 (en) * | 2002-01-22 | 2003-07-31 | E-Businesscontrols Corp. | Gps-enhanced system and method for automatically capturing and co-registering virtual models of a site |
| CN103148839B (en) * | 2013-02-06 | 2014-12-17 | 北京空间机电研究所 | Lens light splitting mode-based focal plane splicing aerial surveying camera with extra large plane |
| CN106408524A (en) * | 2016-08-17 | 2017-02-15 | 南京理工大学 | Two-dimensional image-assisted depth image enhancement method |
| CN106612387A (en) * | 2015-10-15 | 2017-05-03 | 杭州海康威视数字技术股份有限公司 | Combined depth map acquisition method and depth camera |
| CN107295236A (en) * | 2017-08-11 | 2017-10-24 | 深圳市唯特视科技有限公司 | A kind of snapshot Difference Imaging method based on time-of-flight sensor |
| US20170366713A1 (en) * | 2013-12-05 | 2017-12-21 | Samsung Electronics Co., Ltd. | Camera for measuring depth image and method of measuring depth image using the same |
| CN107563347A (en) * | 2017-09-20 | 2018-01-09 | 南京行者易智能交通科技有限公司 | A kind of passenger flow counting method and apparatus based on TOF camera |
| CN107631699A (en) * | 2017-08-18 | 2018-01-26 | 中北大学 | Weld seam three-dimensional appearance construction method based on network laser |
-
2018
- 2018-01-28 CN CN201810080649.7A patent/CN108279421B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003062849A2 (en) * | 2002-01-22 | 2003-07-31 | E-Businesscontrols Corp. | Gps-enhanced system and method for automatically capturing and co-registering virtual models of a site |
| CN103148839B (en) * | 2013-02-06 | 2014-12-17 | 北京空间机电研究所 | Lens light splitting mode-based focal plane splicing aerial surveying camera with extra large plane |
| US20170366713A1 (en) * | 2013-12-05 | 2017-12-21 | Samsung Electronics Co., Ltd. | Camera for measuring depth image and method of measuring depth image using the same |
| CN106612387A (en) * | 2015-10-15 | 2017-05-03 | 杭州海康威视数字技术股份有限公司 | Combined depth map acquisition method and depth camera |
| CN106408524A (en) * | 2016-08-17 | 2017-02-15 | 南京理工大学 | Two-dimensional image-assisted depth image enhancement method |
| CN107295236A (en) * | 2017-08-11 | 2017-10-24 | 深圳市唯特视科技有限公司 | A kind of snapshot Difference Imaging method based on time-of-flight sensor |
| CN107631699A (en) * | 2017-08-18 | 2018-01-26 | 中北大学 | Weld seam three-dimensional appearance construction method based on network laser |
| CN107563347A (en) * | 2017-09-20 | 2018-01-09 | 南京行者易智能交通科技有限公司 | A kind of passenger flow counting method and apparatus based on TOF camera |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031334A (en) * | 2018-08-27 | 2018-12-18 | 湖北工业大学 | A kind of safety monitoring system and method based on 3-D image ranging |
| CN112118371A (en) * | 2019-06-20 | 2020-12-22 | 中兴通讯股份有限公司 | TOF optical sensing device, mobile terminal and image generation method |
| CN110708531A (en) * | 2019-10-15 | 2020-01-17 | 浙江晶鲸科技有限公司 | Infrared light structure module and working method thereof |
| CN115499637A (en) * | 2021-06-18 | 2022-12-20 | 黄初镇 | Camera device with radar function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108279421B (en) | 2021-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109565567B (en) | Three-dimensional telepresence terminal and method | |
| CN108279421A (en) | Time-of-flight camera with high-resolution colour picture | |
| DE102018129009A1 (en) | Dynamic vision sensor and projector for depth imaging | |
| US10739111B2 (en) | Cloaking systems and methods | |
| CN104301647B (en) | The display device of different images can be projected on the display region | |
| CN108174180B (en) | A kind of display device, display system and 3 D displaying method | |
| US8908054B1 (en) | Optics apparatus for hands-free focus | |
| CN206865574U (en) | Color image pickup device under a kind of low-light (level) environment | |
| CN101968603A (en) | Stereoscopic imaging apparatus and stereoscopic imaging method | |
| CN103605210A (en) | Virtual type integrated imaging 3D display device | |
| CN107783353A (en) | For catching the apparatus and system of stereopsis | |
| CN104297930A (en) | Integrated imaging three-dimensional display device and system | |
| CN206117890U (en) | 360 degrees virtual reality imaging system in panorama | |
| CN106406016A (en) | Three-dimensional imaging device, three-dimensional imaging system and three-dimensional imaging method | |
| CN1201338A (en) | Video displaying method and apparatus thereof | |
| CN106817794A (en) | TOF circuit modules and its application | |
| CN102973238A (en) | 3D (three dimensional) lens for endoscope device | |
| CN103777453A (en) | True 3D image display system and display method | |
| CN102566250B (en) | A kind of optical projection system of naked-eye auto-stereoscopic display and display | |
| CN108181782A (en) | Zigzag type panorama imager without blind spot | |
| CN103713463A (en) | True three-dimensional image display system and display method | |
| CN103713462A (en) | True three-dimensional image display system and display method | |
| CN103376637A (en) | 3D camera system | |
| US2349071A (en) | Method of and apparatus for producing images by television in stereoscopic relief | |
| CN104469340A (en) | Stereoscopic video co-optical-center imaging system and imaging method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210928 Termination date: 20220128 |