CN109146942A - Picture depth measuring device and method - Google Patents
Picture depth measuring device and method Download PDFInfo
- Publication number
- CN109146942A CN109146942A CN201810853484.2A CN201810853484A CN109146942A CN 109146942 A CN109146942 A CN 109146942A CN 201810853484 A CN201810853484 A CN 201810853484A CN 109146942 A CN109146942 A CN 109146942A
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- Prior art keywords
- light valve
- valve matrix
- infrared detector
- light
- infrared
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- 238000000034 method Methods 0.000 title abstract description 11
- 239000011159 matrix material Substances 0.000 claims abstract description 65
- 238000003384 imaging method Methods 0.000 claims abstract description 30
- 230000000007 visual effect Effects 0.000 claims abstract description 19
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000005855 radiation Effects 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 230000004438 eyesight Effects 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of picture depth measuring device, with light valve matrix, infrared spotlight, the imaging lens with imaging focal plane, the infrared detector with photosensitive window, light source drive, modulating signal source, light valve matrix scanner driver, phase detectors and visual information processor.The modulating signal source is connect with light source drive and light source drive is connect with infrared spotlight, the imaging lens and infrared detector are mounted on two opposite sides of light valve matrix, the light valve matrix scanner driver is connected with light valve matrix, visual information processor respectively, infrared detector is connect with visual information processor, the modulating signal source, infrared detector are connected with phase detectors respectively, and phase detectors are connect with visual information processor.The present invention efficiently solves that laser raster scan information collection speed is at high cost slowly, and the information that TOP method obtains is few, the not high drawback of binocular vision precision.
Description
Technical field
The present invention relates to indoor autonomous robot field, especially a kind of picture depth measuring device and method.
Background technique
Interior autonomous robot navigation and barrier measurement have laser raster scan, TOF, binocular vision etc. more at present
Kind method.Wherein laser raster scan information collection speed is slow, and the information that TOP method obtains is few, and binocular vision precision is limited to
Sensor pixel amount.
Summary of the invention
In order to overcome drawbacks described above, the present invention provides a kind of picture depth measuring device and method, have production it is simple,
It is at low cost, efficiently solve that laser raster scan information collection speed is at high cost slowly, the information that TOP method obtains is few, binocular vision
Feel the not high drawback of precision.
The present invention in order to solve technical solution used by its technical problem first is that: a kind of picture depth measuring device, tool
There are light valve matrix, infrared spotlight, the imaging lens with imaging focal plane, the infrared detector with photosensitive window, light source to drive
Dynamic device, modulating signal source, light valve matrix scanner driver, phase detectors and visual information processor, the modulating signal source
It is connect with light source drive and light source drive is connect to which infrared spotlight is connected by light source drive with infrared spotlight
Modulating signal source forms modulation point radiation of light source wave, and the imaging lens and infrared detector are mounted on two pairs of light valve matrix
Side, the light valve matrix scanner driver are connected with light valve matrix, visual information processor respectively, infrared detector and image
Message handler connection, the modulating signal source, infrared detector are connected with phase detectors respectively, phase detectors and figure
As message handler connects.
As the further improvement of technical solution of the present invention one, the imaging focal plane of the imaging lens is adjusted to fall in light
On valve matrix.
As the further improvement of technical solution of the present invention one, the photosensitive window of the infrared detector is mounted on light valve matrix
Effective optical path on.
As the further improvement of technical solution of the present invention one, the photosensitive window of the infrared detector and having for light valve matrix
Effect area matches.
The present invention in order to solve technical solution used by its technical problem second is that: a kind of picture depth measurement method, packet
Include following steps:
Infrared spotlight connects modulating signal source by light source drive and forms modulation point radiation of light source wave；
The photosensitive window of infrared detector is mounted on the effective optical path of light valve matrix, and guarantees the photosensitive of infrared detector
The effective area of window and light valve matrix matches；
Imaging lens are mounted on light valve matrix makes the imaging of imaging lens burnt relative to the other side of infrared detector
Plane is fallen on light valve matrix；
The address information that light valve opens state is sent to light valve matrix and image letter by light valve matrix scanner driver respectively
Cease processor；
Visual information processor can be obtained measured object by the information of infrared detector and light valve matrix scanner driver
Plane coordinates in the picture；
The phase information that the signal of modulating signal source and infrared detector is handled through phase detectors is sent to image
Message handler can be obtained the depth information of measured object.
As the further improvement of technical solution of the present invention two, the sensitivity I 1 (Lux) and light valve of infrared detector are estimated
The relationship of matrix: set: incident illuminance I2 (Lux), the effective area of light valve matrix are D (square metre), and light valve opens having for state
Imitating area is d (square metre)；If ignoring the loss of light valve matrix, imaging lens: I1=I2* (d/D)；It selects accordingly infrared
The parameter and detection range of point light source.
The beneficial effects of the present invention are: visual information processor of the present invention is driven by infrared detector and light valve matrix scanning
The information of dynamic device can be obtained the plane coordinates of measured object in the picture, by the signal of modulating signal source and infrared detector through phase
The phase information that bit detector is handled, which is sent to visual information processor, can be obtained the depth information of measured object, thus this hair
The bright phase using the measurement each valid pixel of measured object, obtains the depth information of image, has production simple, at low cost, has
Effect solves that laser raster scan information collection speed is at high cost slowly, and the information that TOP method obtains is few, and binocular vision precision is not high
The drawbacks of.
Detailed description of the invention
Fig. 1 is the constitutional diagram of picture depth measuring device of the present invention.
Fig. 2 is that the light valve of picture depth measuring device of the present invention opens the schematic diagram of state.
The figures above is compareed, explanation is supplemented as follows:
The photosensitive window of 1--- light valve matrix 2---
3--- infrared spotlight 4--- imaging lens
5--- infrared detector 6--- light source drive
7--- modulating signal source 8--- light valve matrix scanner driver
9--- phase detectors 10--- visual information processor
11--- light valve opens state
Specific embodiment
Please refer to Fig. 1 and Fig. 2, a kind of picture depth measuring device, with light valve matrix 1, infrared spotlight 3, have at
As the imaging lens 4, the infrared detector 5 with photosensitive window 2, light source drive 6, modulating signal source 7, light valve matrix of focal plane
Scanner driver 8, phase detectors 9 and visual information processor 10.The modulating signal source 7 connect with light source drive 6 and
Light source drive 6 is connect to which infrared spotlight 3 connects the formation of modulating signal source 7 by light source drive 6 with infrared spotlight 3
Modulation point radiation of light source wave.The imaging lens 4 and infrared detector 5 are mounted on two opposite sides of light valve matrix 1, the light valve square
Battle array scanner driver 8 is connected with light valve matrix 1, visual information processor 10 respectively, infrared detector 5 and Image Information Processing
Device 10 connects, and the modulating signal source 7, infrared detector 5 are connected with phase detectors 9 respectively, phase detectors 9 and image
Message handler 10 connects.
The light valve matrix scanner driver 8 is used to acquire the address information that light valve opens state 11.Light valve opens state 11
The open state of a certain unit in light valve matrix 1, with the visible material object of magnifying glass.Light valve matrix 1 is by N number of controllable light valve
What unit was constituted, for example, it is open state that black, which represents a certain light valve unit, in Fig. 2, other light valve units are to close shape
State.Visual information processor 10 can be obtained measured object by the information of infrared detector 5 and light valve matrix scanner driver 8 and exist
The signal of modulating signal source 7 and infrared detector 5 is handled obtained phase through phase detectors 9 by the plane coordinates in image
Information, which is sent to visual information processor 10, can be obtained the depth information of measured object.
The specific installation site of the imaging lens 4 is that the imaging focal plane of imaging lens 4 is adjusted to fall in light valve matrix
On 1.
The specific installation site of the infrared detector is that the photosensitive window 2 of infrared detector 5 is mounted on light valve matrix 1
On effective optical path.
The photosensitive window 2 and the effective area of light valve matrix 1 of the infrared detector 5 match.
The invention further relates to a kind of picture depth measurement methods, include the following steps:
Infrared spotlight 3 connects modulating signal source 7 by light source drive 6 and forms modulation point radiation of light source wave；
The photosensitive window 2 of infrared detector 5 is mounted on the effective optical path of light valve matrix 1, and guarantees infrared detector 5
The effective area of photosensitive window 2 and light valve matrix 1 matches；
By imaging lens 4 be mounted on light valve matrix 1 relative to the other side of infrared detector 5 make imaging lens 4 at
As focal plane is fallen on light valve matrix 1；
The address information that light valve opens state 11 is sent to light valve matrix 1 and figure by light valve matrix scanner driver 8 respectively
As message handler 10；
Visual information processor 10 by the information of infrared detector 5 and light valve matrix scanner driver 8 can be obtained by
Survey the plane coordinates of object in the picture；
The signal of modulating signal source 7 and infrared detector 5 is handled into obtained phase information through phase detectors 9 and is sent to figure
As message handler 10 can be obtained the depth information of measured object.
It estimates the sensitivity I 1 (Lux) of infrared detector (5) and the relationship of light valve matrix (1): setting: incident illuminance I2
(Lux), the effective area of light valve matrix (1) is D (square metre), and the effective area that light valve opens state (11) is d (square metre)；If
Ignore the loss of light valve matrix (1), imaging lens (4), then: I1=I2* (d/D)；The parameter of infrared spotlight (3) is selected accordingly
And detection range.
The present invention obtains the depth information of image using the phase of the measurement each valid pixel of measured object, has production letter
It is single, at low cost, efficiently solve that laser raster scan information collection speed is at high cost slowly, the information that TOP method obtains is few, binocular
The not high drawback of visual acuity.
Claims (6)
1. a kind of picture depth measuring device, it is characterized in that: with light valve matrix, infrared spotlight, with imaging focal plane
Imaging lens, the infrared detector with photosensitive window, light source drive, modulating signal source, light valve matrix scanner driver, phase
Detector and visual information processor, the modulating signal source is connect with light source drive and light source drive and infrared spotlight
Connection forms modulation point radiation of light source wave, the imaging lens to which infrared spotlight connects modulating signal source by light source drive
Head and infrared detector are mounted on two opposite sides of light valve matrix, the light valve matrix scanner driver respectively with light valve matrix, figure
As message handler is connected, infrared detector is connect with visual information processor, the modulating signal source, infrared detector point
It is not connected with phase detectors, phase detectors are connect with visual information processor.
2. picture depth measuring device according to claim 1, it is characterized in that: the imaging focal plane tune of the imaging lens
Whole is to fall on light valve matrix.
3. picture depth measuring device according to claim 1 or 2, it is characterized in that: the photosensitive window of the infrared detector
It is mounted on the effective optical path of light valve matrix.
4. picture depth measuring device according to claim 3, it is characterized in that: the photosensitive window and light of the infrared detector
The effective area of valve matrix matches.
5. a kind of picture depth measurement method, it is characterized in that: including the following steps:
Infrared spotlight connects modulating signal source by light source drive and forms modulation point radiation of light source wave；
The photosensitive window of infrared detector is mounted on the effective optical path of light valve matrix, and guarantee the photosensitive window of infrared detector with
The effective area of light valve matrix matches；
Imaging lens are mounted on the imaging focal plane that light valve matrix makes relative to the other side of infrared detector imaging lens
It falls on light valve matrix；
The address information that light valve opens state is sent at light valve matrix and image information respectively by light valve matrix scanner driver
Manage device；
Visual information processor, which can be obtained measured object by the information of infrared detector and light valve matrix scanner driver, is scheming
Plane coordinates as in；
The phase information that the signal of modulating signal source and infrared detector is handled through phase detectors is sent to image information
Processor can be obtained the depth information of measured object.
6. picture depth measurement method according to claim 5, it is characterized in that: the sensitivity I 1 of estimation infrared detector
(Lux) and the relationship of light valve matrix: set: incident illuminance I2 (Lux), the effective area of light valve matrix are D (square metre), light valve
The effective area for opening state is d (square metre)；If ignoring the loss of light valve matrix, imaging lens: I1=I2* (d/D)；According to
The parameter and detection range of this selection infrared spotlight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810853484.2A CN109146942B (en) | 2018-07-30 | 2018-07-30 | Image depth measuring device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810853484.2A CN109146942B (en) | 2018-07-30 | 2018-07-30 | Image depth measuring device and method |
Publications (2)
| Publication Number | Publication Date |
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| CN109146942A true CN109146942A (en) | 2019-01-04 |
| CN109146942B CN109146942B (en) | 2024-04-05 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86102354A (en) * | 1985-03-05 | 1986-12-03 | 洛贾公司 | Electronic type pigment control method and based on the colour demonstration of this method |
| DE3688701D1 (en) * | 1985-10-22 | 1993-08-19 | Magnavox Electronic Systems | INFRARED SCAN FOR STEREOSCOPIC IMAGE GENERATION. |
| CN2177464Y (en) * | 1993-11-12 | 1994-09-21 | 河南省高技术创业服务中心 | Light-controlled electronic goggles for electric welding |
| CN104482934A (en) * | 2014-12-30 | 2015-04-01 | 华中科技大学 | Multi-transducer fusion-based super-near distance autonomous navigation device and method |
| CN208460065U (en) * | 2018-07-30 | 2019-02-01 | 苏州穿山甲机器人股份有限公司 | Picture depth measuring device |
-
2018
- 2018-07-30 CN CN201810853484.2A patent/CN109146942B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86102354A (en) * | 1985-03-05 | 1986-12-03 | 洛贾公司 | Electronic type pigment control method and based on the colour demonstration of this method |
| DE3688701D1 (en) * | 1985-10-22 | 1993-08-19 | Magnavox Electronic Systems | INFRARED SCAN FOR STEREOSCOPIC IMAGE GENERATION. |
| CN2177464Y (en) * | 1993-11-12 | 1994-09-21 | 河南省高技术创业服务中心 | Light-controlled electronic goggles for electric welding |
| CN104482934A (en) * | 2014-12-30 | 2015-04-01 | 华中科技大学 | Multi-transducer fusion-based super-near distance autonomous navigation device and method |
| CN208460065U (en) * | 2018-07-30 | 2019-02-01 | 苏州穿山甲机器人股份有限公司 | Picture depth measuring device |
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| Publication number | Publication date |
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| CN109146942B (en) | 2024-04-05 |
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