CN109146942B - Image depth measuring device and method - Google Patents
Image depth measuring device and method Download PDFInfo
- Publication number
- CN109146942B CN109146942B CN201810853484.2A CN201810853484A CN109146942B CN 109146942 B CN109146942 B CN 109146942B CN 201810853484 A CN201810853484 A CN 201810853484A CN 109146942 B CN109146942 B CN 109146942B
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- light valve
- valve matrix
- light source
- infrared detector
- infrared
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000011159 matrix material Substances 0.000 claims abstract description 66
- 238000003384 imaging method Methods 0.000 claims abstract description 32
- 230000005855 radiation Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000691 measurement method Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010070834 Sensitisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000008313 sensitization Effects 0.000 description 1
Classifications
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- 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
Abstract
An image depth measuring device has a light valve matrix, an infrared point light source, an imaging lens with an imaging focal plane, an infrared detector with a photosensitive window, a light source driver, a modulation signal source, a light valve matrix scanning driver, a phase detector and an image information processor. The modulating signal source is connected with the light source driver, the light source driver is connected with the infrared point light source, the imaging lens and the infrared detector are arranged on two opposite sides of the light valve matrix, the light valve matrix scanning driver is respectively connected with the light valve matrix and the image information processor, the infrared detector is connected with the image information processor, the modulating signal source and the infrared detector are respectively connected with the phase detector, and the phase detector is connected with the image information processor. The invention effectively solves the defects of low laser raster scanning information acquisition speed, high cost, less information acquired by the TOP method and low binocular vision precision.
Description
Technical Field
The invention relates to the field of indoor autonomous walking robots, in particular to an image depth measuring device and method.
Background
At present, the navigation and obstacle measurement of the indoor autonomous walking robot have various methods such as laser raster scanning, TOF, binocular vision and the like. The laser raster scanning information acquisition speed is low, the TOP method acquires less information, and binocular vision accuracy is limited by the pixel quantity of the sensor.
Disclosure of Invention
In order to overcome the defects, the invention provides an image depth measuring device and method, which have the advantages of simple manufacture and low cost, and effectively solve the defects of low laser raster scanning information acquisition speed, high cost, less information acquired by a TOP method and low binocular vision precision.
The first technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an image depth measuring device, has light valve matrix, infrared point light source, has imaging lens of formation of image focal plane, has infrared detector, light source driver, modulation signal source, light valve matrix scanning driver, phase detector and image information processor of sensitization window, thereby modulation signal source is connected with light source driver and infrared point light source are connected thereby infrared point light source passes through light source driver and connects modulation signal source and form modulation point light source radiant wave, imaging lens and infrared detector are installed in the both sides of light valve matrix, light valve matrix scanning driver is connected with light valve matrix, image information processor respectively, infrared detector is connected with image information processor, modulation signal source, infrared detector are connected with phase detector respectively, phase detector is connected with image information processor.
As a further improvement of the first aspect of the present invention, the imaging focal plane of the imaging lens is adjusted to fall on the light valve matrix.
As a further improvement of the first technical scheme of the invention, the photosensitive window of the infrared detector is arranged on the effective light path of the light valve matrix.
As a further improvement of the first technical scheme of the invention, the photosensitive window of the infrared detector is matched with the effective area of the light valve matrix.
The second technical scheme adopted by the invention for solving the technical problems is as follows: an image depth measurement method, comprising the steps of:
the infrared point light source is connected with the modulation signal source through the light source driver to form a modulation point light source radiation wave;
installing a photosensitive window of the infrared detector on an effective light path of the light valve matrix, and ensuring that the photosensitive window of the infrared detector is matched with the effective area of the light valve matrix;
mounting an imaging lens on the other side of the light valve matrix relative to the infrared detector so that an imaging focal plane of the imaging lens falls on the light valve matrix;
address information of the opening state of the light valve is respectively sent to a light valve matrix and an image information processor through a light valve matrix scanning driver;
the image information processor can obtain the plane coordinates of the measured object in the image through the information of the infrared detector and the light valve matrix scanning driver;
and sending the phase information obtained by processing signals of the modulation signal source and the infrared detector through the phase detector to an image information processor to obtain the depth information of the measured object.
As a further improvement of the second embodiment of the present invention, the relationship between the sensitivity I1 (Lux) of the infrared detector and the light valve matrix is estimated: setting: the incident illuminance I2 (Lux), the effective area of the light valve matrix is D (square meter), and the effective area of the light valve in the on state is D (square meter); if the loss of the light valve matrix and the imaging lens is ignored, the following steps are performed: i1 =i2 x (D/D); the parameters and detection distance of the infrared point light source are selected accordingly.
The beneficial effects of the invention are as follows: the image information processor can obtain the plane coordinates of the measured object in the image through the information of the infrared detector and the light valve matrix scanning driver, and the phase information obtained by processing signals of the modulating signal source and the infrared detector through the phase detector is sent to the image information processor to obtain the depth information of the measured object.
Drawings
FIG. 1 is a combined view of an image depth measuring apparatus according to the present invention.
FIG. 2 is a schematic diagram of an open state of a light valve of the image depth measuring device of the present invention.
The following supplementary explanation is made with reference to the above drawings:
1-light valve matrix 2-photosensitive window
3-infrared point light source 4-imaging lens
5-infrared detector 6-light source driver
7-modulating signal source 8-light valve matrix scanning driver
9-phase detector 10-image information processor
11-light valve on state
Detailed Description
Referring to fig. 1 and 2, an image depth measuring apparatus includes a light valve matrix 1, an infrared point light source 3, an imaging lens 4 having an imaging focal plane, an infrared detector 5 having a photosensitive window 2, a light source driver 6, a modulation signal source 7, a light valve matrix scanning driver 8, a phase detector 9, and an image information processor 10. The modulated signal source 7 is connected to the light source driver 6 and the light source driver 6 is connected to the infrared point light source 3 such that the infrared point light source 3 is connected to the modulated signal source 7 through the light source driver 6 to form a modulated point light source radiation wave. The imaging lens 4 and the infrared detector 5 are arranged on two opposite sides of the light valve matrix 1, the light valve matrix scanning driver 8 is respectively connected with the light valve matrix 1 and the image information processor 10, the infrared detector 5 is connected with the image information processor 10, the modulation signal source 7 and the infrared detector 5 are respectively connected with the phase detector 9, and the phase detector 9 is connected with the image information processor 10.
The light valve matrix scan driver 8 is configured to collect address information of the on state 11 of the light valve. The light valve on state 11 is the on state of a certain cell in the light valve matrix 1, and is a physical object visible by a magnifying glass. The light valve matrix 1 is formed by N controllable light valve units, e.g. in fig. 2 black indicates that one of the light valve units is in an on state and the other light valve units are in an off state. The image information processor 10 can obtain the plane coordinates of the measured object in the image through the information of the infrared detector 5 and the light valve matrix scanning driver 8, and the phase information obtained by processing the signals of the modulating signal source 7 and the infrared detector 5 through the phase detector 9 is sent to the image information processor 10 to obtain the depth information of the measured object.
The specific installation position of the imaging lens 4 is that the imaging focal plane of the imaging lens 4 is adjusted to fall on the light valve matrix 1.
The specific installation position of the infrared detector is that the photosensitive window 2 of the infrared detector 5 is installed on the effective light path of the light valve matrix 1.
The photosensitive window 2 of the infrared detector 5 is matched with the effective area of the light valve matrix 1.
The invention also relates to an image depth measurement method, which comprises the following steps:
the infrared point light source 3 is connected with a modulation signal source 7 through a light source driver 6 to form a modulation point light source radiation wave;
the photosensitive window 2 of the infrared detector 5 is arranged on the effective light path of the light valve matrix 1, and the photosensitive window 2 of the infrared detector 5 is matched with the effective area of the light valve matrix 1;
mounting the imaging lens 4 on the other side of the light valve matrix 1 with respect to the infrared detector 5 such that the imaging focal plane of the imaging lens 4 falls on the light valve matrix 1;
address information of the light valve on state 11 is respectively sent to the light valve matrix 1 and the image information processor 10 through the light valve matrix scanning driver 8;
the image information processor 10 can obtain the plane coordinates of the measured object in the image through the information of the infrared detector 5 and the light valve matrix scanning driver 8;
the phase information obtained by processing the signals of the modulating signal source 7 and the infrared detector 5 through the phase detector 9 is sent to the image information processor 10, and the depth information of the measured object can be obtained.
Estimating the relation between the sensitivity I1 (Lux) of the infrared detector (5) and the light valve matrix (1): setting: the incident illuminance I2 (Lux), the effective area of the light valve matrix (1) is D (square meter), and the effective area of the light valve on state (11) is D (square meter); if the loss of the light valve matrix (1) and the imaging lens (4) is ignored, the following steps are performed: i1 =i2 x (D/D); the parameters and detection distance of the infrared point light source (3) are selected accordingly.
The invention adopts the phase of each effective pixel of the measured object to obtain the depth information of the image, has simple manufacture and low cost, and effectively solves the defects of low acquisition speed and high cost of laser raster scanning information, less information obtained by the TOP method and low binocular vision precision.
Claims (6)
1. An image depth measuring device, characterized by: the infrared point light source imaging device comprises a light valve matrix, an infrared point light source, an imaging lens with an imaging focal plane, an infrared detector with a photosensitive window, a light source driver, a modulation signal source, a light valve matrix scanning driver, a phase detector and an image information processor, wherein the modulation signal source is connected with the light source driver, the light source driver is connected with the infrared point light source, the infrared point light source is connected with the modulation signal source through the light source driver to form modulation point light source radiation waves, the imaging lens and the infrared detector are arranged on two opposite sides of the light valve matrix, the light valve matrix scanning driver is respectively connected with the light valve matrix and the image information processor, the infrared detector is connected with the image information processor, and the modulation signal source and the infrared detector are respectively connected with the phase detector, and the phase detector is connected with the image information processor.
2. The image depth measurement apparatus of claim 1, wherein: the imaging focal plane of the imaging lens is adjusted to fall on the light valve matrix.
3. The image depth measuring apparatus according to claim 1 or 2, characterized in that: the photosensitive window of the infrared detector is arranged on the effective light path of the light valve matrix.
4. An image depth measuring apparatus according to claim 3, wherein: the photosensitive window of the infrared detector is matched with the effective area of the light valve matrix.
5. An image depth measuring method comprising the image depth measuring apparatus of claim 1, characterized by: the method comprises the following steps:
the infrared point light source is connected with the modulation signal source through the light source driver to form a modulation point light source radiation wave;
installing a photosensitive window of the infrared detector on an effective light path of the light valve matrix, and ensuring that the photosensitive window of the infrared detector is matched with the effective area of the light valve matrix;
mounting an imaging lens on the other side of the light valve matrix relative to the infrared detector so that an imaging focal plane of the imaging lens falls on the light valve matrix;
address information of the opening state of the light valve is respectively sent to a light valve matrix and an image information processor through a light valve matrix scanning driver;
the image information processor can obtain the plane coordinates of the measured object in the image through the information of the infrared detector and the light valve matrix scanning driver;
and sending the phase information obtained by processing signals of the modulation signal source and the infrared detector through the phase detector to an image information processor to obtain the depth information of the measured object.
6. The image depth measurement method according to claim 5, wherein: estimating the relation between the sensitivity I1 (Lux) of the infrared detector and the light valve matrix: setting: the incident illuminance I2 (Lux), the effective area of the light valve matrix is D (square meter), and the effective area of the light valve in the on state is D (square meter); if the loss of the light valve matrix and the imaging lens is ignored, the following steps are performed: i1 =i2 x (D/D); the parameters and detection distance of the infrared point light source are selected accordingly.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810853484.2A CN109146942B (en) | 2018-07-30 | 2018-07-30 | Image depth measuring device and method |
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| CN109146942A CN109146942A (en) | 2019-01-04 |
| CN109146942B true 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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| CN109146942A (en) | 2019-01-04 |
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