CN108885384B - Image focusing system and method based on laser radar ranging - Google Patents

Image focusing system and method based on laser radar ranging Download PDF

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CN108885384B
CN108885384B CN201680083977.1A CN201680083977A CN108885384B CN 108885384 B CN108885384 B CN 108885384B CN 201680083977 A CN201680083977 A CN 201680083977A CN 108885384 B CN108885384 B CN 108885384B
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distance
slave
focusing
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master
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CN108885384A (en
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徐红兵
何景川
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MOVCAM Tech CO Ltd
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects
    • 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
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems

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  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

An image focusing system (100), method based on lidar ranging, the system (100) comprising: the device comprises a main ranging module (101), at least one slave ranging module (102), a laser radar ranging sensor (108) and a focusing device (103), wherein the main ranging module (101) is connected with the slave ranging modules (102) in a short-distance wireless communication mode. The technical scheme has the function of automatically controlling the lens to rotate the focusing ring to enable the camera to quickly follow the focus.

Description

Image focusing system and method based on laser radar ranging
Technical Field
The invention relates to the field of camera shooting and communication, in particular to an image focusing system and method based on laser radar ranging.
Background
With the development of the film and television industry, the photographing apparatus is also more advanced and intelligent, and in the prior art, the automatic focusing mode of the image can be generally as follows: and a device for measuring the distance between the focusing object and the focal plane of the camera by using a laser range finder or an ultrasonic range finder and controlling the automatic focusing of the camera according to the distance. However, the laser range finder or the ultrasonic range finder can only be aligned with the midpoint of the image or fixed at a certain angle, and in practical application, the focusing object may be at any position of the image, so that continuous focusing cannot be performed or focusing cannot be performed accurately. Under the condition that the automatic focusing is not suitable, manual focusing can be only realized, a skilled focusing worker needs years of focusing experience, and under the condition that the depth of field is shallow and a focusing target continuously moves, the manual focusing is extremely difficult.
Therefore, accurate and fast focusing cannot be realized in image focusing in the prior art, and especially, fast and accurate focusing cannot be realized in a motion state of a focusing object.
Disclosure of Invention
The invention provides an image focusing system based on laser radar ranging, which adopts a laser radar ranging sensor to detect a plurality of points and then determines a point with the minimum distance difference as a focusing distance by screening the plurality of points, thereby realizing quick and accurate focusing, and having the advantage of quick and accurate focusing.
In a first aspect, an image focusing system based on lidar ranging is provided, the system comprising: the system comprises a main ranging module, at least one slave ranging module, a laser radar ranging sensor and focusing equipment, wherein the main ranging module is communicated with the slave ranging modules in a short-distance wireless communication mode;
the master ranging module is used for broadcasting a distance acquisition message to at least one slave ranging module in a short-distance wireless communication mode, wherein the distance acquisition message comprises an identifier of the slave ranging module needing to acquire the distance;
the slave ranging module is used for analyzing the distance acquisition message, comparing the identifier of the slave ranging module in the distance acquisition message with the locally stored identifier, and if the identifier is consistent with the locally stored identifier, sending the distance acquisition response message;
the main ranging module is used for receiving the distance acquisition response message, recording the receiving time of the distance acquisition response message, acquiring a master-slave distance between the slave ranging module and the main ranging module to be acquired according to the sending time of the distance acquisition message and the receiving time of the response message, and sending the master-slave distance to the focusing equipment;
the laser radar ranging sensor is used for transmitting a plurality of laser beams and receiving reflected signals to acquire a plurality of laser detection distances;
the focusing device is used for calculating the difference value between the master-slave distance correction value and each laser detection distance correction value, acquiring the minimum difference value in the difference values, and if the minimum difference value is smaller than a set threshold value, adjusting the rotation angle of the lens to the focusing ring according to the laser detection distance correction value corresponding to the minimum difference value;
the master-slave distance correction value is as follows: and adding or subtracting the master-slave deviation value from the master-slave distance, wherein the laser detection distance correction value is as follows: and adding or subtracting the laser deviation value from the laser detection distance.
Optionally, the focusing apparatus is specifically configured to
And adjusting the L-tone according to the laser detection distance correction value, inquiring the focusing ring rotation angle corresponding to the L-tone from a pre-stored distance and focusing ring rotation angle mapping list, and then rotating the lens focusing ring to the focusing ring rotation angle corresponding to the L-tone.
Optionally, the focusing apparatus is specifically configured to
If the L-tone can not be inquired from a mapping list of the pre-stored distance and the focusing ring rotation angle, two distances L adjacent to the L-tone are obtainednAnd Ln+1And LnAnd Ln+1Corresponding rotation angle theta of lensnAnd thetan+1Then, calculating the rotation angle theta of the lens focusing ring through a preset formula; then the lens focusing ring is rotated to theta; the preset formula is specifically as follows:
Figure BDA0001810068570000021
optionally, the short-range wireless communication method specifically includes:
WIFI, bluetooth, ultra wideband or ZIGBEE.
In a second aspect, an image focusing system method based on laser radar ranging is provided, the method comprising:
the master ranging module broadcasts a distance acquisition message to at least one slave ranging module in a short-distance wireless communication mode, wherein the distance acquisition message comprises an identifier of the slave ranging module needing to acquire the distance;
the slave ranging module analyzes the distance acquisition message, compares the identifier of the slave ranging module in the distance acquisition message with the locally stored identifier, and sends the distance acquisition response message if the identifier is consistent with the locally stored identifier;
the master ranging module receives the distance acquisition response message, records the receiving time of the distance acquisition response message, acquires the master-slave distance between the slave ranging module and the master ranging module according to the sending time of the distance acquisition message and the receiving time of the response message, and sends the master-slave distance to the focusing equipment;
the laser radar ranging sensor transmits a plurality of laser beams and receives the reflected signals to acquire a plurality of laser detection distances;
the focusing equipment calculates the difference value between the master-slave distance correction value and each laser detection distance correction value, obtains the minimum difference value in the difference values, and adjusts the rotation angle of the lens focusing ring according to the laser detection distance correction value corresponding to the minimum difference value if the minimum difference value is smaller than a set threshold value;
the master-slave distance correction value is as follows: and adding or subtracting the master-slave deviation value from the master-slave distance, wherein the laser detection distance correction value is as follows: and adding or subtracting the laser deviation value from the laser detection distance.
Optionally, the adjusting the rotation angle of the lens to the focus ring according to the laser detection distance correction value corresponding to the minimum difference specifically includes:
and inquiring the focusing ring rotation angle corresponding to the L tone from a pre-stored distance and focusing ring rotation angle mapping list according to the laser detection distance correction value L tone, and then rotating the lens focusing ring to the focusing ring rotation angle corresponding to the L tone.
Optionally, the focusing apparatus is specifically configured to
If the L-tone can not be inquired from a mapping list of the pre-stored distance and the focusing ring rotation angle, two distances L adjacent to the L-tone are obtainednAnd Ln+1And LnAnd Ln+1Corresponding rotation angle theta of lensnAnd thetan+1Then, calculating the rotation angle theta of the lens focusing ring through a preset formula; then will beThe lens focusing ring rotates to theta; the preset formula is specifically as follows:
Figure BDA0001810068570000031
optionally, the short-range wireless communication method specifically includes:
WIFI, bluetooth, ultra wideband or ZIGBEE.
In a third aspect, a shooting system is provided, and the shooting system comprises the image focusing system for image focusing based on laser radar ranging.
Optionally, the main ranging module and the laser radar ranging sensor are both fixedly mounted on the image acquisition device.
The technical scheme provided by each embodiment has the advantage of accurate movement and focus following.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an image focusing system for laser radar ranging according to a first preferred embodiment of the present invention;
fig. 2A is a schematic structural diagram of a camera according to a first preferred embodiment of the present invention;
FIG. 2B is a schematic diagram of a lidar ranging sensor according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an image capturing device according to a first preferred embodiment of the present invention;
FIG. 4 is a flowchart of an image focusing system for laser radar ranging according to a second preferred embodiment of the present invention;
fig. 5 is a structural diagram of a photographing system according to a third preferred embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a diagram illustrating an image focusing system 100 based on lidar ranging according to a first preferred embodiment of the present invention, as shown in fig. 1, the system includes: the system comprises a master ranging module 101, at least one slave ranging module 102 (as an example of a plurality of slave ranging modules in fig. 1), a lidar ranging sensor 108 and a focusing device 103, wherein the master ranging module 101 communicates with the plurality of slave ranging modules through short-range wireless communication, one slave ranging module is fixed in relative position with a focusing object (such as an actor), the focusing device 103 is installed on an image acquisition device (such as a camera), the master ranging module 101 is fixed in relative position with the image acquisition device, and the lidar ranging sensor 108 is fixed in relative position with the image acquisition device (the master ranging module is preferably installed on the image acquisition device).
A master ranging module 101, configured to broadcast a distance acquisition message to at least one slave ranging module 102 in a short-range wireless communication manner, where the distance acquisition message includes an identifier of the slave ranging module 102 that needs to acquire a distance;
the short-range wireless communication method in the main ranging module 101 includes, but is not limited to: ultra-wideband (UWB), WIFI, bluetooth or ZIGBEE, although other short-range wireless communication methods may be adopted in other embodiments of the first preferred embodiment of the present invention, and the first preferred embodiment of the present invention is not limited to the specific expression of the short-range communication method. The expression form of the distance acquisition message in the main ranging module 101 is not limited, the distance acquisition message may be a new message customized by a user, and of course, the distance acquisition message may also be carried in an extension byte of the short-range wireless communication standard protocol.
The slave ranging module 102 is configured to parse the distance acquisition message, compare an identifier of the slave ranging module in the distance acquisition message with a locally stored identifier, send the distance acquisition response message if the identifier is consistent with the locally stored identifier, and not process the distance acquisition message if the identifier is inconsistent with the locally stored identifier;
the method for analyzing the distance acquisition message from the ranging module 102 may adopt an analysis method in the prior art, and the present invention is not limited to the analysis method. For example, in an embodiment of the first preferred embodiment of the present invention, the identifier of the slave ranging module may specifically be: MAC address or product designation; of course, in another embodiment of the first preferred embodiment of the present invention, the identifier of the slave ranging module may also be an identifier set by the user, for example, the identifier of the first slave ranging module is set to 01, and the identifier of the second slave ranging module is set to 11, in addition, the user may also replace different slave ranging modules according to the actual focusing requirement, the replacement mode may be replaced by one or more physical buttons, for example, in an actual application, different slave ranging modules may also be replaced by different software commands.
A master ranging module 101, configured to receive the distance acquisition response message, record the receiving time of the distance acquisition response message, acquire a master-slave distance between the slave ranging module and the master ranging module according to the sending time of the distance acquisition message and the receiving time of the response message, and send the master-slave distance to the focusing device 103;
the master-slave distance may be obtained by the master-slave distance module 101, specifically, the master-slave distance L is [ (t3-t0) - (t2-t1) ] × C/2; where L is the master-slave distance, t0 is the time to send the distance acquisition message, t3 is the time to receive the response message, t2 is the time to send the response message, t1 is the time to receive the distance acquisition message, and C may be the propagation speed, generally the speed of light; the t2 and t1 may be carried in the response message, but it is needless to say that t2 and t1 may not be carried in the response message in practical applications, and the user may set the slave ranging module so that the difference between t2 and t1 is a constant value, for example, 0.1s, or may set the difference to another value, for example, 0.2 s.
The laser radar ranging sensor 108 is used for emitting a plurality of laser beams and receiving reflected signals to obtain a plurality of laser detection distances;
the laser radar ranging sensor can be specifically a device or a module capable of realizing multipoint ranging through laser, for example, a two-dimensional laser ranging module, and of course, other devices can be adopted in practical application as long as the device can realize multipoint ranging through laser.
And the focusing device 103 is used for calculating a difference value between the master-slave distance correction value and each laser detection distance correction value, acquiring a minimum difference value in the difference values, and if the minimum difference value is smaller than a set threshold value, adjusting the rotation angle of the lens and the focusing ring according to the laser detection distance correction value corresponding to the minimum difference value.
The master-slave distance correction value may specifically be a master-slave distance plus or minus a master-slave deviation, and the laser detection distance correction value may specifically be: the laser detection distance is added or subtracted with the laser deviation. The master-slave deviation and the laser deviation can be set automatically according to actual conditions, the two deviation values can be the same, and in actual application, the two deviation values are different in most conditions. The adjusting the rotation angle of the lens to the focus ring according to the laser detection distance correction value corresponding to the minimum difference may specifically be: and inquiring the rotation angle of the focusing ring corresponding to the L tone from a pre-stored distance and focusing ring rotation angle mapping list according to the laser detection distance correction value L tone. The data stored in the above distance and focusing ring rotation angle mapping list may be as follows: (L)1，θ1),(L2，θ2).....(Ln，θn)，(Ln+1，θn+1) ...; l in the above stored datanIs the scale of the focusing circle of the lens, is distance data, and the meaning of the scale is that the focusing circle of the lens rotatesWhen the time is reached, if the linear distance between the focal plane of the camera and the focusing object is equal to the scale, the focusing object is accurately focused, and the image is clear; thetanThe rotation angle of the lens represents the rotation angle of the lens focusing ring from the initial position to the current position.
The foregoing implementation manner may specifically include: if the L-tone can not be inquired from a mapping list of the pre-stored distance and the focusing ring rotation angle, two distances L adjacent to the L-tone are obtainednAnd Ln+1And two adjacent distances LnAnd Ln+1Corresponding rotation angle theta of lensnAnd thetan+1Then, calculating the rotation angle theta of the lens focusing ring through a preset formula; the preset formula may specifically be:
Figure BDA0001810068570000061
wherein theta is the calculated rotation angle of the lens focusing ring, thetanIs LnCorresponding angle of rotation, thetan+1Is Ln+1A corresponding rotation angle; l isnAnd Ln+1And two distance values adjacent to the L tone in the pre-stored distance and focusing ring rotation angle mapping list.
By adopting the technical scheme of the first preferred embodiment of the invention, the advantages of high precision of the distance measuring instrument are utilized, the camera is focused accurately, the characteristic that the wireless distance measuring module can measure distance continuously is utilized, when an actor moves continuously, the actor can be quickly focused, specifically, for laser radar distance measurement, because the laser beam is emitted, multi-point detection can be realized, for a focusing object, the distance measurement of a plurality of points can be realized, for example, 16-point distance measurement, the laser distance measurement can be realized as long as 1 laser point or focusing object is shot in 16 laser points or laser beams, so that the focusing object can be focused, only one laser beam or laser point is needed for a one-dimensional laser distance measuring unit, and only one point can be used for measuring distance, so that one point is easy to deviate from a focusing object, and the accurate focusing distance cannot be obtained, accurate follow-up cannot be achieved, for laser radar ranging, due to the fact that the laser radar ranging is provided with a plurality of laser beams, the follow-up can be achieved as long as any one of the laser beams irradiates the follow-up object, the method is particularly suitable for moving focusing objects, and for photographers, accurate follow-up can be achieved as long as the photographer aims at the rough direction, so that the method has the advantage of accurate follow-up.
In the first preferred embodiment of the present invention, the distance between the master ranging module and the slave ranging module is measured by UWB, a plurality of distances are detected by the lidar ranging sensor, then the closest distance is selected from the plurality of distances according to the master-slave distance, and the difference value is within a set threshold range, and the angle of rotation of the focusing ring is adjusted according to the distance.
In practical applications, the above-mentioned focusing ring may also be referred to as a focusing ring, and the corresponding "focusing" may also be referred to as "focusing".
The focusing apparatus may be embodied as a focusing device of an image pickup apparatus such as a video camera or DV, but in the first preferred embodiment of the present invention, the focusing apparatus preferentially selects a focusing apparatus of a professional video camera, for example, a focusing motor (for example, a video camera during movie shooting, as shown in fig. 2A). As shown in fig. 3, the image acquiring apparatus 300 may specifically include: the focusing motor 31, the motor driver 32 and the master controller 33, wherein the master controller 33 comprises but is not limited to a microprocessor 330 (the specific model can be: STM32F103), a FLASH ROM 331, an OLED display screen 332 and keys 334;
the focusing motor is used for driving the lens to rotate the focusing ring;
the motor driver is used for driving the focusing motor to rotate;
the main controller is used for receiving the distance value output by the main distance measuring module and controlling the motor driver; wherein the content of the first and second substances,
the microprocessor is mainly used for receiving the distance value output by the main ranging module 101 and controlling the motor driver; the FLASHROM mainly stores program codes and data of a mapping table; the OLED display screen is mainly used for displaying distance values and parameters, and the keys are mainly used for setting the parameters and switching among the plurality of slave ranging modules; naturally, the above-mentioned setting parameters and the switching manner between the plurality of slave ranging modules may also be switched by means of manual wheel rotation, and in practical application, the setting parameters and the switching between the plurality of slave ranging modules may also be implemented by other manners.
As shown in fig. 4, a second preferred embodiment of the present invention provides an image focusing method based on lidar ranging, where the image focusing method is performed by an image focusing system based on lidar ranging, and the method as shown in fig. 4 includes the following steps:
step S401, the main ranging module broadcasts a distance acquisition message to at least one slave ranging module in a short-distance wireless communication mode, wherein the distance acquisition message comprises an identifier of the slave ranging module needing to acquire the distance;
the short-range wireless communication method in step S401 includes, but is not limited to: the present invention is not limited to the specific form of the short-range wireless communication method, and may be implemented by any other method, such as ultra-wideband, WIFI, bluetooth, or ZIGBEE. The expression form of the distance acquisition message in the main ranging module 101 is not limited, the distance acquisition message may be a new message customized by a user, and of course, the distance acquisition message may also be carried in an extension byte of the short-range wireless communication standard protocol.
Step S402, the slave ranging module analyzes the distance acquisition message, compares the identifier of the slave ranging module in the distance acquisition message with the locally stored identifier, and if the identifier is consistent with the locally stored identifier, sends the distance acquisition response message;
the method for analyzing the distance acquisition message in step S402 may adopt an analysis method in the prior art, and the analysis method is not limited in the present invention. For example, in an embodiment of the second preferred embodiment of the present invention, the identifier of the slave ranging module may specifically be: MAC address or product designation; of course, in another embodiment of the second preferred embodiment of the present invention, the identifier of the slave ranging module may also be an identifier set by the user, for example, the identifier of the first slave ranging module is set to 01, and the identifier of the second slave ranging module is set to 11.
Step S403, the master ranging module receives the distance acquisition response message, records the receiving time of the distance acquisition response message, acquires the master-slave distance between the slave ranging module and the master ranging module according to the sending time of the distance acquisition message and the receiving time of the response message, and sends the master-slave distance to the focusing device;
the master-slave distance may be obtained in step S403, specifically, the master-slave distance L is [ (t3-t0) - (t2-t1) ] × C/2; where L is the master-slave distance, t0 is the time to send the distance acquisition message, t3 is the time to receive the response message, t2 is the time to send the response message, t1 is the time to receive the distance acquisition message, and C may be the propagation speed, generally the speed of light; the t2 and t1 may be carried in the response message, but it is needless to say that t2 and t1 may not be carried in the response message in practical applications, and the user may set the slave ranging module so that the difference between t2 and t1 is a constant value, for example, 0.1s, or may set the difference to another value, for example, 0.2 s.
S404, the laser radar ranging sensor emits a plurality of laser beams, and receives the reflected signals to obtain a plurality of laser detection distances;
step S405, the focusing device calculates the difference value between the master-slave distance correction value and each laser detection distance correction value, obtains the minimum difference value in the difference values, and adjusts the rotation angle of the lens and the focusing ring according to the laser detection distance correction value corresponding to the minimum difference value if the minimum difference value is smaller than a set threshold value.
The adjusting the rotation angle of the lens to the focus ring according to the laser detection distance correction value corresponding to the minimum difference may specifically be: inquiring from a pre-stored distance and focusing ring rotation angle mapping list according to a laser detection distance correction value L toneAnd adjusting the corresponding rotation angle of the focusing ring from the L. The data stored in the above distance and focusing ring rotation angle mapping list may be as follows: (L)1，θ1),(L2，θ2).....(Ln，θn)，(Ln+1，θn+1) ...; l in the above stored datanThe scale of the focusing ring of the lens is distance data, and the scale means that when the focusing ring of the lens rotates to the moment, if the linear distance between a camera focal plane and a focusing object is equal to the scale, the focusing object is accurately focused, and an image is clear; thetanThe rotation angle of the lens represents the rotation angle of the lens focusing ring from the initial position to the current position.
The foregoing implementation manner may specifically include: if the L-tone can not be inquired from a mapping list of the pre-stored distance and the focusing ring rotation angle, two distances L adjacent to the L-tone are obtainednAnd Ln+1And two adjacent distances LnAnd Ln+1Corresponding rotation angle theta of lensnAnd thetan+1Then, calculating the rotation angle theta of the lens focusing ring through a preset formula; the preset formula may specifically be:
Figure BDA0001810068570000091
wherein theta is the calculated rotation angle of the lens focusing ring, thetanIs LnCorresponding angle of rotation, thetan+1Is Ln+1A corresponding rotation angle; l isnAnd Ln+1And two distance values adjacent to the L tone in the pre-stored distance and focusing ring rotation angle mapping list.
By adopting the technical scheme of the second preferred embodiment of the invention, the advantage of high precision of the range finder is utilized, the camera is focused accurately, the characteristic of continuous range finding of the wireless range finding module is utilized, when an actor moves continuously, the actor can be focused quickly, specifically, for the laser radar range finding sensor, because the laser beam is emitted, multi-point detection can be realized, for a focusing object, because the focusing object can realize range finding of a plurality of points, for example, 16-point range finding, only 1 point of 16 points is shot on the focusing object (as shown in figure 2B), laser range finding can be realized, so that the focusing is realized, for a one-dimensional laser range finding unit, only one point is needed, for the moving focusing object, the camera is required to have a high level, otherwise, if the one point cannot be opposite to the moving focusing object, it is not possible to obtain an accurate follow-up focus value, and for the laser radar range sensor, since it is a plurality of laser beams, the follow-up focus can be realized as long as any one of the laser beams hits the object to be followed, which is particularly suitable for the object to be focused that moves, and for the photographer, it is possible to realize accurate follow-up focus as long as the photographer is aligned in the approximate direction, so that it has an advantage of accurate follow-up focus.
Referring to fig. 5, fig. 5 is a photographing system 500 according to a third preferred embodiment of the present invention, including: an image focusing system 100 based on lidar ranging; the specific structure of the image focusing system 100 based on lidar ranging can be referred to the description of the first preferred embodiment of the present invention, and is not repeated here.
Preferably, the main ranging module and the laser radar ranging sensor are both fixedly mounted on the image acquisition device.
It should be noted that, for simplicity of description, the above-mentioned method embodiments or examples are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments or examples described in this specification are presently preferred, and that no acts or elements are necessarily required of the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. Those skilled in the art may combine or combine features of different embodiments and features of different embodiments described in this specification.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by hardware, firmware, or a combination thereof. When implemented in software, the functions described above may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. Taking this as an example but not limiting: the computer-readable medium may include Random Access Memory (RAM), Read-Only Memory (ROM), electrically erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-on Memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Furthermore, the method is simple. Any connection is properly termed a computer-readable medium. For example, if software is transmitted from a website, a server, or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, the coaxial cable, the fiber optic cable, the twisted pair, the DSL, or the wireless technologies such as infrared, radio, and microwave are included in the fixation of the medium. Disk (Disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy Disk and blu-ray disc where disks usually reproduce data magnetically, while discs refer to reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An image focusing system based on lidar ranging, the system comprising: the system comprises a main ranging module, at least one slave ranging module, a laser radar ranging sensor and focusing equipment, wherein the main ranging module is communicated with the slave ranging modules in a short-distance wireless communication mode;
the master ranging module is used for broadcasting a distance acquisition message to at least one slave ranging module in a short-distance wireless communication mode, wherein the distance acquisition message comprises an identifier of the slave ranging module needing to acquire the distance;
the slave ranging module is used for analyzing the distance acquisition message, comparing the identifier of the slave ranging module in the distance acquisition message with the locally stored identifier, and if the identifier is consistent with the locally stored identifier, sending the distance acquisition response message;
the main ranging module is used for receiving the distance acquisition response message, recording the receiving time of the distance acquisition response message, acquiring a master-slave distance between the slave ranging module and the main ranging module to be acquired according to the sending time of the distance acquisition message and the receiving time of the response message, and sending the master-slave distance to the focusing equipment;
the laser radar ranging sensor is used for transmitting a plurality of laser beams and receiving reflected signals to acquire a plurality of laser detection distances;
the focusing device is used for calculating the difference value between the master-slave distance correction value and each laser detection distance correction value, acquiring the minimum difference value in the difference values, and if the minimum difference value is smaller than a set threshold value, adjusting the rotation angle of the lens to the focusing ring according to the laser detection distance correction value corresponding to the minimum difference value;
the master-slave distance correction value is as follows: and adding or subtracting the master-slave deviation value from the master-slave distance, wherein the laser detection distance correction value is as follows: and adding or subtracting the laser deviation value from the laser detection distance.
2. The lidar ranging-based image focusing system of claim 1, wherein the focusing apparatus is specifically configured to
And adjusting the L-tone according to the laser detection distance correction value, inquiring the focusing ring rotation angle corresponding to the L-tone from a pre-stored distance and focusing ring rotation angle mapping list, and then rotating the lens focusing ring to the focusing ring rotation angle corresponding to the L-tone.
3. The lidar ranging-based image focusing system of claim 2, wherein the focusing apparatus is specifically configured to
If the L-tone can not be inquired from a mapping list of the pre-stored distance and the focusing ring rotation angle, two distances L adjacent to the L-tone are obtainednAnd Ln+1And LnAnd Ln+1Corresponding rotation angle theta of lensnAnd thetan+1Then, calculating the rotation angle theta of the lens focusing ring through a preset formula; then the lens focusing ring is rotated to theta; the preset formula is specifically as follows:
Figure FDA0002526379020000021
4. the image focusing system based on lidar ranging according to any one of claims 1 to 3, wherein the short-range wireless communication means specifically comprises:
WIFI, bluetooth, ultra wideband or ZIGBEE.
5. An image focusing method based on laser radar ranging is characterized by comprising the following steps:
the master ranging module broadcasts a distance acquisition message to at least one slave ranging module in a short-distance wireless communication mode, wherein the distance acquisition message comprises an identifier of the slave ranging module needing to acquire the distance;
the slave ranging module analyzes the distance acquisition message, compares the identifier of the slave ranging module in the distance acquisition message with the locally stored identifier, and sends the distance acquisition response message if the identifier is consistent with the locally stored identifier;
the master ranging module receives the distance acquisition response message, records the receiving time of the distance acquisition response message, acquires the master-slave distance between the slave ranging module and the master ranging module according to the sending time of the distance acquisition message and the receiving time of the response message, and sends the master-slave distance to the focusing equipment;
the laser radar ranging sensor transmits a plurality of laser beams and receives the reflected signals to acquire a plurality of laser detection distances;
the focusing equipment calculates the difference value between the master-slave distance correction value and each laser detection distance correction value, obtains the minimum difference value in the difference values, and adjusts the rotation angle of the lens focusing ring according to the laser detection distance correction value corresponding to the minimum difference value if the minimum difference value is smaller than a set threshold value;
the master-slave distance correction value is as follows: and adding or subtracting the master-slave deviation value from the master-slave distance, wherein the laser detection distance correction value is as follows: and adding or subtracting the laser deviation value from the laser detection distance.
6. The method of claim 5, wherein the adjusting the rotation angle of the lens and the focus ring according to the laser detection distance correction value corresponding to the minimum difference comprises:
and inquiring the focusing ring rotation angle corresponding to the L tone from a pre-stored distance and focusing ring rotation angle mapping list according to the laser detection distance correction value L tone, and then rotating the lens focusing ring to the focusing ring rotation angle corresponding to the L tone.
7. The lidar ranging-based image focusing method according to claim 6, wherein the focusing device is specifically configured to
If the L-tone can not be inquired from a mapping list of the pre-stored distance and the focusing ring rotation angle, two distances L adjacent to the L-tone are obtainednAnd Ln+1And LnAnd Ln+1Corresponding rotation angle theta of lensnAnd thetan+1Then, calculating the rotation angle theta of the lens focusing ring through a preset formula; then the lens focusing ring is rotated to theta; the preset formula is specifically as follows:
Figure FDA0002526379020000031
8. the method according to any of claims 5 to 7, wherein the short-range wireless communication means specifically comprises:
WIFI, bluetooth, ultra wideband or ZIGBEE.
9. A camera system, characterized in that it comprises a lidar ranging-based image focusing system according to any of claims 1-4.
10. The camera system as claimed in claim 9, wherein the main ranging module and the lidar ranging sensor are fixedly mounted on the image capturing device.
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