CN110345863A - A kind of solid state annular three-dimensional imaging device - Google Patents
A kind of solid state annular three-dimensional imaging device Download PDFInfo
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- CN110345863A CN110345863A CN201810279996.2A CN201810279996A CN110345863A CN 110345863 A CN110345863 A CN 110345863A CN 201810279996 A CN201810279996 A CN 201810279996A CN 110345863 A CN110345863 A CN 110345863A
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- module
- light
- back taper
- frame supporting
- solid state
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- 238000003384 imaging method Methods 0.000 title claims abstract description 31
- 239000007787 solid Substances 0.000 title claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 49
- 230000002093 peripheral effect Effects 0.000 claims abstract description 5
- 230000011514 reflex Effects 0.000 claims abstract description 3
- 125000003367 polycyclic group Chemical group 0.000 claims description 3
- 239000000571 coke Substances 0.000 claims 1
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004446 light reflex Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
Abstract
The invention belongs to field of photoelectric technology, in particular to a kind of solid state annular three-dimensional imaging device.Including frame supporting module and the optical transmitter module being set in frame supporting module and electronic circuit module, electronic circuit module is for controlling optical transmitter module transmitting light, one end of frame supporting module is equipped with the light cone reflecting module for converting ring structure light for light and being reflected into peripheral object region, the other end of frame supporting module, which is equipped with, is equipped with photographing module positioned at the face battle array optical receiver module and back taper reflecting module of frame supporting module inner side and outer side or the other end of frame supporting module；Back taper reflecting module is used to reflex to the reflection light of object in target area in the battle array optical receiver module of face, and face battle array optical receiver module is used to receive the reflection light of back taper reflecting module reflection and is converted into photosignal output.The present invention has the characteristics that structure is simple, small in size, the service life is long relative to the structure of traditional simple scan formula.
Description
Technical field
The invention belongs to field of photoelectric technology, in particular to a kind of solid state annular three-dimensional imaging device.
Background technique
Traditional image technique refers to that two-dimensional image, single image do not have depth information more, with the hair of technology
Exhibition, more and more application scenarios want to obtain three-dimensional information.Main embodiment includes: binocular vision scheme, red
External structure light combination camera scheme, pulse type laser scanning combine camera scheme etc..
Binocular vision scheme needs largely to calculate the matching etc. for realizing characteristic point during image processing, and works as distance
When farther out, binocular cannot achieve three-dimensional building；Infrared structure light combination camera scheme is suitble to the three-dimensional structure of short distance
It builds；The farther away place of distance that pulse type laser scanning combines camera scheme that can measure simultaneously, and there is high-precision spy
Point.For indoor mobile robot field, movement speed is slower, and ambient light interference is weaker, therefore structure light combines camera shooting
Head scheme is a kind of proper scheme.At present structure light scheme include: grid structure light, it is single-line type structure light, multi-thread
Formula structure light etc., structure light is applied on object, and camera is by observation, and analysis obtains three-dimensional distance information, but it only can
To realizing three-dimensional measurement within the scope of certain angle in front of device.
The existing device for realizing wide-angle or 360 ° of three-dimensional measurement, receiving module and transmitting module are located in device
Between, it is unfavorable for the wiring of device, two reflecting mirrors are closer the high-acruracy survey for being unfavorable for device, are unfavorable for the shape on camera
At clearly as.
Summary of the invention
In view of the above-mentioned problems, utilizing cone the purpose of the present invention is to provide a kind of solid state annular three-dimensional imaging device
The laser of focusing is become ring structure light by shape reflecting mirror, realizes 360 ° of omnidirectional, then passes through face battle array light-receiving mould
Block observation structure light, by each orientation object of information analysis of structure light for being received on analysis area array sensor and device away from
From.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of solid state annular three-dimensional imaging device, including frame supporting module and be set in the frame supporting module
Optical transmitter module and electronic circuit module, the electronic circuit module is for controlling optical transmitter module transmitting light, institute
The one end for stating frame supporting module is equipped with for converting ring structure light for the light and being reflected into peripheral object region
Light cone reflecting module, the other end of the frame supporting module is equipped with and is located at frame supporting module inner side and outer side
Face battle array optical receiver module and the other end of back taper reflecting module or the frame supporting module be equipped with photographing module；It is described
Back taper reflecting module is used to reflex to the reflection light of object in the target area in the face battle array optical receiver module, described
Face battle array optical receiver module is used to receive the reflection light of the back taper reflecting module reflection and is converted into photosignal output.
The light cone reflecting module includes the circular cone that transmitting supports thin wall and is set in the transmitting support thin wall
The light is reflected into ring structure light by light reflection mirror, the circular cone light reflection mirror, and the transmitting support thin wall has light
Line penetrability.
The cone that the circular cone light reflection mirror is 360 °, or be part-conical configuration.
The circular cone light reflection mirror is that can reflect polycyclic shape structure light along axial multistage cone reflecting surface structure.
The back taper reflecting module includes the back taper for receiving support thin wall and being set in the reception support thin wall
Reflecting mirror, the reception support thin wall have penetrability to light.
The cone or part-conical configuration that the back taper reflecting mirror is 360 °.
The back taper reflecting mirror is interior concave conical shape or outer convexly tapered or plane conical structure.
The face battle array optical receiver module includes lens and area array sensor, and the lens are used for the back taper reflecting module
The reflection light of reflection focuses on the area array sensor, and the area array sensor is for receiving the reflection light and turning
It is changed to photosignal output.
The optical transmitter module, light cone reflecting module, back taper reflecting module and face battle array optical receiver module are co-axially mounted.
The photographing module is the panorama camera photographing module with the optical transmitter module axis coaxle, or is sent out with the light
Penetrate module axis coaxle or vertical ultra wide-angle imaging module, or the wide-angle imaging mould vertical with the optical transmitter module axis
Block.
The invention has the advantages and beneficial effects that:
1. the present invention can be realized the three-dimensional imaging of annular, and not need to drive component rotation by motor, completely solid
State structure has the characteristics that structure is simple, calibration is easy, the high life.
2. the present invention has the characteristics that highly integrated, promote system dimension small, and be easily installed.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention one；
Fig. 2 is image-forming principle schematic diagram on the same orientation different distance object area array sensor of the present invention；
Fig. 3 is the schematic illustration that present invention optimization back taper curved surface of reflector realizes that nearby compression stretches at a distance；
Fig. 4 is the imaging position schematic diagram that area array sensor of the present invention receives respective distances point in Fig. 3；
Fig. 5 is the more conical reflecting surface structure schematic illustrations of the present invention；
Fig. 6 is the structural schematic diagram of the embodiment of the present invention two；
Fig. 7 is the structural schematic diagram of the embodiment of the present invention three；
Fig. 8 is the structural schematic diagram of the embodiment of the present invention four.
In figure: 1 is optical transmitter module；2 be light cone reflecting module；21 be circular cone light reflection mirror；22 be transmitting support thin-walled
Shell；3 be back taper reflecting module；31 be back taper reflecting mirror；32 support thin wall to receive；4 be face battle array optical receiver module；41 be face
Array sensor；5 be electronic circuit module；51 be power supply and communication interface；6 frame supporting modules；7 image mould for panorama camera
Block；8 be ultra wide-angle imaging module；9 be wide-angle imaging module, and M is ring structure light.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of solid state annular three-dimensional imaging device provided by the invention, including frame supporting module 6 and
The optical transmitter module 1 and electronic circuit module 5 being set in frame supporting module 6, electronic circuit module 5 is for controlling light emitting
Module 1 emits light, one end of frame supporting module 6 be equipped with for by light be converted into ring structure light (M as shown in figure 1) and
The light cone reflecting module 2 being reflected into peripheral object region, the other end of frame supporting module 6, which is equipped with, is located at frame supporting module
The face battle array optical receiver module 4 and back taper reflecting module 3 of 6 inner side and outer side, back taper reflecting module 3 are used for object in target area
Reflection light reflex to face battle array optical receiver module 4 in, face battle array optical receiver module 4 be used for receive back taper reflecting module 3 reflection
Reflection light is simultaneously converted into photosignal output；Device measuring principle as shown in Fig. 2, in target area with device same direction,
The A point and B point of different distance are imaged on a point and b point of area array sensor 41 respectively, and so on, ring structure light action arrives
Peripheral object region in object can correspond to corresponding position on area array sensor 41.
Optical transmitter module 1, light cone reflecting module 2, back taper reflecting module 3 and face battle array optical receiver module 4 are co-axially mounted.Light cone
Reflecting module 2 includes the circular cone light reflection mirror 21 that transmitting supports thin wall 22 and is set in transmitting support thin wall 22, circular cone
Light is reflected into ring structure light by light reflection mirror 21, and transmitting support thin wall 22 has light transmissibility.
Circular cone light reflection mirror 21 is 360 ° of cone, or the part circle of non-360-degree can also be designed as according to angle demand
Pyramidal structure.
As shown in figure 4, circular cone light reflection mirror 21 is to send out optical transmitter module 1 along axial multistage cone reflecting surface structure
The light penetrated can reflect polycyclic shape structure light.
Back taper reflecting module 3 includes the back taper reflection for receiving support thin wall 32 and being set in reception support thin wall 32
Mirror 31, receiving support thin wall 32 has penetrability to light.
Back taper reflecting mirror 31 is 360 ° of cone, or the part-conical of non-360-degree can also be designed as according to angle demand
Shape structure.
Back taper reflecting mirror 31 is interior concave conical shape or outer convexly tapered or plane conical structure, the embodiment of the present invention
In, back taper reflecting mirror 31 is interior concave conical shape, as shown in Figure 2.The curved design energy of the back taper reflecting mirror 31 of back taper reflecting module 3
Enough realize the image formation by rays of face battle array optical receiver module 4, for the measurement accuracy for improving distant location, the curved surface of back taper reflecting mirror 31 is set
Meter have nearby imaging compression, at a distance imaging stretch one or both of effect, as shown in figure 3,1 in environment, 2,3,4,5,
6,7 mutual spacing distances are equal, by the optical design of back taper reflecting mirror 31, pair that forms it on area array sensor 41
The mutual distance of the point 1,2,3,4,5,6,7 answered is also equal, as shown in Figure 4.
Face battle array optical receiver module 4 includes lens and area array sensor 41, and lens are located at back taper reflecting mirror 31 and area array sensing
Between device 41, the reflection light for reflecting back taper reflecting mirror 31 focuses to area array sensor 41, and area array sensor 41 is used
It is exported in receiving reflection light and being converted to photosignal.
The wavelength of light that optical transmitter module 1 emits is selected according to use environment demand, and area array sensor 41 is that can feel
The sensor of wavelength of light should be emitted.Electronic circuit module 5 has power supply and communication interface 51, has in frame supporting module 6
To outer installing hole.
Electronic circuit module 5 controls the transmitting effect of light of optical transmitter module 1 to the circular cone light reflection mirror of light cone reflecting module 2
On 21, light will turn into ring structure light emitting to periphery, and when there is barrier on periphery, light is radiated on barrier, part
Light will be reflected on the back taper reflecting mirror 31 of back taper reflecting module 3, later face battle array of the effect of light to face battle array optical receiver module 4
On sensor 41, according to optical information received on area array sensor 41, calculates barrier in each orientation and realized at a distance from device
Three-dimensional imaging.
The back taper reflecting module 3 of 6 other end of frame supporting module and face battle array optical receiver module 4 can be replaced photographing module.
Embodiment two
As shown in figure 5, the present embodiment two and the difference of embodiment one are: by the back taper reflecting module 3 in embodiment one
The panorama camera photographing module 7 with 1 axis coaxle of optical transmitter module is replaced with face battle array optical receiver module 4, the present embodiment two
Other structures feature is the same as example 1, and details are not described herein.
Embodiment three
As shown in fig. 6, the present embodiment three and the difference of embodiment one are: by the back taper reflecting module 3 in embodiment one
It is replaced with and 1 axis coaxle of optical transmitter module or vertical ultra wide-angle imaging module 8 with face battle array optical receiver module 4.The present embodiment
Three other structures feature is the same as example 1, and details are not described herein.
Example IV
As shown in fig. 7, the present embodiment four and the difference of embodiment one are: by the back taper reflecting module 3 in embodiment one
The wide-angle imaging module 9 vertical with 1 axis of optical transmitter module is replaced with face battle array optical receiver module 4.The present embodiment four it is other
Structure feature is the same as example 1, and details are not described herein.
The present invention can be realized the three-dimensional imaging of annular, and not need to drive component rotation, completely solid-state by motor
Structure has the characteristics that structure is simple, calibration is easy, the high life.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of solid state annular three-dimensional imaging device, which is characterized in that including frame supporting module (6) and be set to the frame
Optical transmitter module (1) and electronic circuit module (5) in frame supporting module (6), the electronic circuit module (5) is for controlling institute
Optical transmitter module (1) transmitting light is stated, one end of the frame supporting module (6) is equipped with for converting annular for the light
Structure light and the light cone reflecting module (2) being reflected into peripheral object region, the other end of the frame supporting module (6) are equipped with
It is located at the face battle array optical receiver module (4) and back taper reflecting module (3) of frame supporting module (6) inner side and outer side, or
The other end of frame supporting module (6) described in person is equipped with photographing module；The back taper reflecting module (3) is used for the target area
The reflection light of object reflexes in the face battle array optical receiver module (4) in domain, and the face battle array optical receiver module (4) is for receiving
The reflection light of back taper reflecting module (3) reflection is simultaneously converted into photosignal output.
2. solid state annular three-dimensional imaging device according to claim 1, which is characterized in that described
Light cone reflecting module (2) includes the circle that transmitting supports thin wall (22) and is set in transmitting support thin wall (22)
It bores light reflection mirror (21), the light is reflected into ring structure light by the circular cone light reflection mirror (21), and the transmitting support is thin
Wall shell (22) has light transmissibility.
3. solid state annular three-dimensional imaging device according to claim 2, which is characterized in that described
The cone that circular cone light reflection mirror (21) is 360 °, or be part-conical configuration.
4. solid state annular three-dimensional imaging device according to claim 2, which is characterized in that the circular cone light reflection mirror
It (21) is that can reflect polycyclic shape structure light along axial multistage cone reflecting surface structure.
5. solid state annular three-dimensional imaging device according to claim 1, which is characterized in that the back taper reflecting module
It (3) include the back taper reflecting mirror (31) for receiving support thin wall (32) and being set in reception support thin wall (32), institute
Stating reception support thin wall (32) has penetrability to light.
6. solid state annular three-dimensional imaging device according to claim 5, which is characterized in that described
The cone or part-conical configuration that back taper reflecting mirror (31) is 360 °.
7. solid state annular three-dimensional imaging device according to claim 5, which is characterized in that described
Back taper reflecting mirror (31) is interior concave conical shape or outer convexly tapered or plane conical structure.
8. solid state annular three-dimensional imaging device according to claim 1, which is characterized in that the face battle array optical receiver module
It (4) include lens and area array sensor (41), the reflection light that the lens are used to reflect the back taper reflecting module (3) is poly-
On coke to the area array sensor (41), the area array sensor (41) is for receiving the reflection light and being converted to photoelectricity
Signal output.
9. solid state annular three-dimensional imaging device according to claim 1, which is characterized in that the optical transmitter module (1),
Light cone reflecting module (2), back taper reflecting module (3) and face battle array optical receiver module (4) are co-axially mounted.
10. solid state annular three-dimensional imaging device according to claim 1, which is characterized in that the photographing module be with
The panorama camera photographing module (7) of optical transmitter module (1) axis coaxle, or with the optical transmitter module (1) axis coaxle
Or vertical ultra wide-angle imaging module (8), or the wide-angle imaging module (9) vertical with the optical transmitter module (1) axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810279996.2A CN110345863A (en) | 2018-04-01 | 2018-04-01 | A kind of solid state annular three-dimensional imaging device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810279996.2A CN110345863A (en) | 2018-04-01 | 2018-04-01 | A kind of solid state annular three-dimensional imaging device |
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| CN110345863A true CN110345863A (en) | 2019-10-18 |
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| CN201810279996.2A Pending CN110345863A (en) | 2018-04-01 | 2018-04-01 | A kind of solid state annular three-dimensional imaging device |
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Cited By (2)
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| CN111854698A (en) * | 2020-07-01 | 2020-10-30 | 南京理工大学 | Miniaturized low-cost road surface obstacle warning visual positioning sensor and warning method |
| WO2023173863A1 (en) * | 2022-03-15 | 2023-09-21 | 华为技术有限公司 | Imaging system and video monitoring device |
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