CN108279421B - Time-of-flight camera with high resolution color images - Google Patents
Time-of-flight camera with high resolution color images Download PDFInfo
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- CN108279421B CN108279421B CN201810080649.7A CN201810080649A CN108279421B CN 108279421 B CN108279421 B CN 108279421B CN 201810080649 A CN201810080649 A CN 201810080649A CN 108279421 B CN108279421 B CN 108279421B
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- 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
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Abstract
The invention discloses a time-of-flight camera with a high-resolution color image, which comprises a light emitting source, a light receiving device and an information processing device, wherein the light receiving device is controlled by a controller to switch a time divider into a distance measurement mode and a color imaging mode in a time-sharing mode, when the controller controls the light receiving device to be in the distance measurement mode, the light emitting source emits a beam of near infrared light of a certain section to irradiate a target object, the target object reflects the light and is received by the light receiving device, charges are induced and then the light is sent to the controller, and the controller calculates a three-dimensional distance according to the charges. The distance measurement and color imaging device of the invention share one light receiving device, and a color imaging light receiving device is not needed on the basis of the distance measurement light receiving device, thus reducing the volume of the TOF camera and facilitating the integration. In addition, reducing one color imaging receiving device inevitably reduces the consumption of electric power, reducing the power of the entire TOF camera.
Description
Technical Field
The invention relates to the technical field of cameras, in particular to a time-of-flight camera with a high-resolution color image.
Background
The existing TOF camera with a color image is a time of flight (TOF) camera which adds a color imaging module on the basis of a common TOF camera and then superposes the obtained two images to obtain the color image with three-dimensional distance information. In this way, an additional camera is added, so that the size is larger, the integration with small size is inconvenient, the cost is increased, and the power consumption is increased.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides the time-of-flight camera with the high-resolution color image, the three-dimensional distance measurement and the color imaging share one imaging module, and the volume of the time-of-flight camera with the color image information is reduced.
In order to achieve the above purpose, the invention provides a time-of-flight camera with a high-resolution color image, which comprises an emission light source, a light receiving device and an information processing device, wherein the emission light source and the light receiving device are both electrically connected with the information processing device, and the information processing device controls the emission light source and the light receiving device to work;
the light receiving device comprises a three-dimensional distance measuring unit and a color imaging unit, a time divider and a controller are arranged in the information processing device, the output end of the controller is electrically connected with the time divider, the time divider is respectively and electrically connected with the three-dimensional distance measuring unit and the color imaging unit, and the three-dimensional distance measuring unit and the color imaging unit are respectively and electrically connected with the input end of the controller;
the light receiving device is controlled by the controller to switch a time divider into a distance measuring mode or a color imaging mode in a time-sharing mode, when the light receiving device is controlled by the controller to be in the distance measuring mode, the light emitting source emits a beam of near-infrared light of a certain section to irradiate a target object, the target object reflects the light and is received by the light receiving device, charges are induced and then the reflected light is sent to the controller, and the controller calculates a three-dimensional distance through the charges;
when the controller controls the light receiving device to switch to the color imaging mode in a time-sharing manner, the light receiving device receives light transmitted by a target object and performs color imaging;
and the controller synthesizes the three-dimensional distance information obtained in the distance measuring mode and the color imaging information obtained in the color imaging mode to obtain a three-dimensional color image with both the color image and the three-dimensional distance information.
The camera also comprises a light filtering device which only allows visible light to pass through, and only allows visible light with the wavelength band between 380-780nm to pass through in a color imaging mode; in the distance measuring mode, only near infrared light with the wave band between 800nm and 1100nm passes through; the light filtering device is positioned in front of the light receiving device, and light reflected by the target object is filtered by the light filtering device, so that light in a visible light to near-infrared light band is received by the light receiving device.
The camera further comprises a micro-optical receiving device, the light filtering device and the light receiving device are sequentially placed from left to right, and light reflected by a target after being emitted by the emitting light source is focused and imaged after being expanded by the micro-optical device and homogenized by the micro-optical device is filtered by the light filtering device.
The light receiving device is an area array receiving device, a plurality of pixel points are arranged in an area array mode in the light receiving device, each pixel point is provided with two shutter control units, the time divider is electrically connected with the distance measuring unit through one shutter control unit, and the time divider is electrically connected with the color imaging unit through the other shutter control unit; a shutter control unit for controlling
A shutter control unit for controlling the range mode.
The light ray filtering device is a flat plate made of transparent materials, the thickness of the flat plate is 0.1mm-5mm, and the surface of the flat plate is plated with a film layer.
The emission light source comprises a laser chip and a plurality of point light sources distributed on the laser chip, and the plurality of point light sources are distributed in a multipoint vertical array structure; and the light emitting surfaces of the point light sources face the direction of the target object.
The invention has the beneficial effects that: compared with the prior art, the time-of-flight camera with the high-resolution color image comprises the emitting light source, the light receiving device and the information processing device, wherein the light receiving device comprises the three-dimensional distance measuring unit and the color imaging unit, the light receiving device is controlled by the information processing device to have a distance measuring mode or a color imaging mode, so that the distance measuring and the color imaging share one light receiving device, and a color imaging light receiving device is not required to be added on the basis of the distance measuring light receiving device, so that the size of the TOF camera can be reduced, and the TOF camera is convenient to integrate. And because the adopted light receiving device can perform three-dimensional black-and-white ranging and color imaging in a time-sharing manner, the utilization rate of the light receiving device can be improved, the cost is reduced, and the resolution ratio is improved. In addition, reducing one color imaging receiving device inevitably reduces the consumption of electric power, reducing the power of the entire TOF camera.
Drawings
FIG. 1 is a schematic diagram of a time-of-flight camera with high resolution color images according to the present invention;
FIG. 2 is a schematic diagram of a relationship between a light receiving device and an information processing device according to the present invention.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings. Referring to fig. 1-2, the time-of-flight camera with high resolution color image provided by the present invention comprises a light emitting source 1, a light receiving device 2 and an information processing device 3, wherein the light emitting source and the light receiving device are electrically connected to the information processing device, and the information processing device controls the light emitting source and the light receiving device to work;
the light receiving device 2 comprises a three-dimensional distance measuring unit 21 and a color imaging unit 22, a time divider 31 and a controller 32 are arranged in the information processing device 3, the output end of the controller is electrically connected with the time divider, the time divider is respectively and electrically connected with the three-dimensional distance measuring unit and the color imaging unit, and the three-dimensional distance measuring unit and the color imaging unit are respectively and electrically connected with the input end of the controller;
the light receiving device is controlled by the controller to switch a time divider into a distance measuring mode or a color imaging mode in a time-sharing mode, when the light receiving device is controlled by the controller to be in the distance measuring mode, the transmitting light source transmits a beam of near-infrared light to irradiate a target object 6, the target object reflects the light and is received by the light receiving device, charges are induced and then the reflected light is sent to the controller, and the controller calculates a three-dimensional distance through the charges;
when the controller controls the light receiving device to switch to the color imaging mode in a time-sharing manner, the light receiving device receives light transmitted by a target object and performs color imaging;
and the controller synthesizes the three-dimensional distance information obtained in the distance measuring mode and the color imaging information obtained in the color imaging mode to obtain a three-dimensional color image with both the color image and the three-dimensional distance information.
Compared with the prior art, the time-of-flight camera with the high-resolution color image comprises the emitting light source, the light receiving device and the information processing device, wherein the light receiving device comprises the three-dimensional distance measuring unit and the color imaging unit, the light receiving device is controlled by the information processing device to have a distance measuring mode or a color imaging mode, so that the distance measuring and the color imaging share one light receiving device, and a color imaging light receiving device is not required to be added on the basis of the distance measuring light receiving device, so that the size of the TOF camera can be reduced, and the TOF camera is convenient to integrate. And because the light receiving device that adopts can carry out range finding and color imaging by the timesharing, can improve light receiving device's utilization ratio, reduce cost has improved resolution ratio. In addition, reducing one color imaging receiving device inevitably reduces the consumption of electric power, reducing the power of the entire TOF camera.
In the embodiment, the camera further comprises a light filtering device 4 for only allowing visible light to pass through, and in the color imaging mode, only allowing visible light with a wavelength band between 380-780nm to pass through; in the distance measuring mode, only near infrared light with the wave band between 800nm and 1100nm passes through; the light filtering device is positioned in front of the light receiving device, and light reflected by the target object is filtered by the light filtering device, so that light in a visible light to near-infrared light band is received by the light receiving device, and the three-dimensional distance measurement is carried out.
In this embodiment, this camera still includes little optical receiver 5, little optical receiver, light filter equipment and light receiver three place from a left side to the right side in proper order, the light that is reflected by the target after the launching source transmission passes through little optical device and expands the beam dodging after the focus formation of image by light filter equipment again and filters.
In this embodiment, the light receiving device is an area array receiving device, and the light receiving device has a plurality of pixel point area array arranged therein, each pixel point has two shutter control units 23, the time divider is electrically connected with the distance measuring unit through one of the shutter control units, and the time divider is electrically connected with the color imaging unit through the other shutter control unit; a shutter control unit is used for controlling the color imaging mode, and a shutter control unit is used for controlling the distance measuring mode.
In this embodiment, the light filtering device is a flat plate made of transparent material, the thickness of the flat plate is between 0.1mm and 5mm, and the surface of the flat plate is plated with a film layer. The light ray filtering device has the light ray transmittance of at least more than 50% in a visible light wave band (380nm-780nm), the light ray transmittance of less than 50% in a 780nm-820nm wave band, the light ray transmittance of more than 50% in an 820nm-880nm wave band and the light ray transmittance of less than 50% in a 880nm-1200nm wave band.
In this embodiment, the emission light source includes a laser chip and a plurality of point light sources distributed on the laser chip, and the plurality of point light sources are distributed in a multi-point vertical array structure; and the light emitting surfaces of the point light sources face the direction of the target object. Because the emission light source is homogenized twice after being composed of a plurality of point light source vertical arrays, the quality of the light beam is more uniform, the frosted point of the rotating wool glass is eliminated, the quality of the light beam is more exquisite, and the monitoring requirement of high-definition night vision fine feature capture or imaging of the existing 4K series camera can be met.
The light receiving device is different from the existing light receiving device, and the existing light receiving device generally has only one global shutter or line scanning shutter and can only be used for imaging; the light receiving device of the invention has at least two shutter control units in each pixel, can open or close one of the shutters according to different phases of received light, and finally carries out distance calculation according to the proportion of the electric charge quantity sensed by the shutter receiving light, thereby being used for distance measurement. The light receiving device is a color receiving device, color imaging and distance measurement can be carried out in a time-sharing mode, a color mode is utilized during color imaging, the light filtering device only allows visible light to pass through, and only one shutter works at the moment to collect color image information; when the distance is measured, the light filtering device only allows a certain infrared band to pass through, other light is cut off, and the distance is measured by using the two shutter control units to obtain distance information. And finally, synthesizing the information generated by the two modes to obtain a color image with distance information. The information processing device is used for switching a color imaging mode and a black-and-white ranging mode in a time-sharing manner, processing the received information and finally synthesizing a color image with distance information; the light receiving device is a color and certain infrared spectrum receiving device, color imaging and three-dimensional distance measurement can be carried out in a time-sharing mode, a color mode is utilized during color imaging, and a distance measurement mode can be switched to obtain three-dimensional distance information during three-dimensional distance measurement; and finally, superposing the generated information in the two modes to obtain a color image with three-dimensional distance information.
The specific working principle of the invention is as follows: the light receiving device can perform three-dimensional distance measurement and color imaging in a time-sharing manner, and finally the information processing device superposes three-dimensional distance measurement information and color image information to obtain a three-dimensional image with both three-dimensional distance information and color image information.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (6)
1. The time-of-flight camera with the high-resolution color image is characterized by comprising an emitting light source, a light receiving device and an information processing device, wherein the emitting light source and the light receiving device are electrically connected with the information processing device, and the emitting light source and the light receiving device are controlled to work by the information processing device;
the light receiving device comprises a three-dimensional distance measuring unit and a color imaging unit, a time divider and a controller are arranged in the information processing device, the output end of the controller is electrically connected with the time divider, the time divider is respectively and electrically connected with the three-dimensional distance measuring unit and the color imaging unit, and the three-dimensional distance measuring unit and the color imaging unit are respectively and electrically connected with the input end of the controller; the light receiving device is controlled by the controller to switch a time divider into a distance measuring mode or a color imaging mode in a time-sharing mode, when the light receiving device is controlled by the controller to be in the distance measuring mode, the light emitting source emits a beam of near-infrared light of a certain section to irradiate a target object, the target object reflects the light and is received by the light receiving device, charges are induced and then the reflected light is sent to the controller, and the controller calculates a three-dimensional distance through the charges; when the controller controls the light receiving device to switch to the color imaging mode in a time-sharing manner, the light receiving device receives light transmitted by a target object and performs color imaging; and the controller synthesizes the three-dimensional distance information obtained in the distance measuring mode and the color imaging information obtained in the color imaging mode to obtain a three-dimensional color image with both the color image and the three-dimensional distance information.
2. The time-of-flight camera with a high resolution color image according to claim 1, further comprising a light filtering device for passing only visible light, and in the color imaging mode, passing only visible light with a wavelength band between 380 and 780 nm; in the distance measuring mode, only near infrared light with the wave band between 800nm and 1100nm passes through; the light filtering device is positioned in front of the light receiving device, and light reflected by the target object is filtered by the light filtering device, so that light in a visible light to near-infrared light band is received by the light receiving device.
3. The time-of-flight camera according to claim 2, further comprising a micro-optical receiving device, the light filtering device and the light receiving device are sequentially disposed from left to right, and the light reflected by the target after being emitted from the emission light source is focused and imaged after being expanded by the micro-optical device and then filtered by the light filtering device.
4. The time-of-flight camera with a high resolution color image according to claim 1, wherein the light receiving device is an area array receiving device and has a plurality of pixel points arranged in an area array, each pixel point has two shutter control units, the time divider is electrically connected to the distance measuring unit through one of the shutter control units, and the time divider is electrically connected to the color imaging unit through the other shutter control unit; a shutter control unit is used for controlling the color imaging mode, and a shutter control unit is used for controlling the distance measuring mode.
5. The time-of-flight camera according to claim 2, wherein the light filter is a flat plate made of transparent material, the thickness of the flat plate is between 0.1mm and 5mm, and the surface of the flat plate is coated with a film.
6. The time-of-flight camera with a high resolution color image according to claim 1, wherein the emission light source comprises a laser chip and a plurality of point light sources distributed on the laser chip, the plurality of point light sources being distributed in a multi-point vertical array structure; and the light emitting surfaces of the point light sources face the direction of the target object.
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| 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 |
| CN113542717A (en) * | 2021-06-18 | 2021-10-22 | 黄初镇 | Camera device with radar function |
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