CN111866487A - Quick range finding camera - Google Patents

Quick range finding camera Download PDF

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Publication number
CN111866487A
CN111866487A CN202010756144.5A CN202010756144A CN111866487A CN 111866487 A CN111866487 A CN 111866487A CN 202010756144 A CN202010756144 A CN 202010756144A CN 111866487 A CN111866487 A CN 111866487A
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CN
China
Prior art keywords
camera
illumination intensity
circular ring
shaped track
fixed camera
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Withdrawn
Application number
CN202010756144.5A
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Chinese (zh)
Inventor
李昶劫
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Hangzhou Yunxiaomi Intelligent Technology Co ltd
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Hangzhou Yunxiaomi Intelligent Technology Co ltd
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Priority to CN202010756144.5A priority Critical patent/CN111866487A/en
Publication of CN111866487A publication Critical patent/CN111866487A/en
Withdrawn legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • 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

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application provides a camera is surveyed to quick range, its characterized in that: comprises a fixed camera with an illumination intensity sensor; a controller; an adjustment mechanism; the annular track is coaxial with the central axis of the fixed camera, and a plurality of illumination intensity sensors are uniformly distributed on the annular track along the circumference; the moving camera moves around the circular ring-shaped track under the control of the adjusting mechanism, the adjusting mechanism is provided with preset positions which are in one-to-one alignment with the illumination intensity sensors on the circular ring-shaped track, the moving camera can be controlled to stay at the required preset positions, and the fixed camera, the moving camera, the adjusting mechanism and the illumination intensity sensors are electrically connected with the controller; the controller searches for an illumination intensity sensor with the reading closest to that of the illumination intensity sensor on the fixed camera on the circular ring track according to the illumination intensity information acquired by the illumination intensity sensor, and controls the adjusting mechanism to enable the fixed camera to reach a preset position corresponding to the closest illumination intensity sensor.

Description

Quick range finding camera
Technical Field
The application relates to the field of computer-aided vision, in particular to a camera for quickly measuring distance.
Background
The binocular stereo vision is a branch of computer vision, two cameras are used for simultaneously photographing objects, and the three-dimensional coordinates of scene points are calculated according to the position relation of the scene points on the images of the left camera and the right camera, so that the distance measurement of each point can be realized. Description the accompanying figure 1 shows the principle of binocular ranging. Any point on the image surface of the left camera can find a corresponding matching point on the image surface of the right camera, and the distance of the observed point can be calculated through several algorithms according to the position difference between the two cameras which are output to the computer system. It can be seen that finding corresponding matching points in the images respectively captured by the two cameras is a key element of binocular ranging.
The problems of the prior art are as follows: the computer system aims at the comparison calculation of two collected pictures, the two pictures need to be calculated and compared, if the illumination is uniform (close to parallel light), the two pictures are mostly the same and only partially different, so that the program is easy to compare the deviation caused by the angles of the two cameras. However, when the illumination is not uniform (for example, the point light source is a point light source, or the point light source and the two cameras form a specific angle), the pictures taken by the two cameras are very different due to different illumination conditions (for example, one whole is brighter and one whole is darker), so that the positions of the same points in the two pictures are difficult to find for calculation only by a computer degree, or even cannot be solved; or long-term calculation is performed, but the accuracy is not good.
There have been some proposals for the above problems, as cited document 1: the CN107147891B optical axis adjustable type three-eye depth acquisition camera adjusts the obtained image by changing the included angle or the position relationship of the two-eye distance measurement camera during the distance measurement, but the position of the lens is the basic position converted by the two-eye distance measurement coordinate, and after the lens is shifted, the distance measurement coordinate system is changed accordingly, which brings inconvenience in application.
Disclosure of Invention
Problem (A)
1. A binocular distance measuring system is designed aiming at the non-ideal lighting conditions (such as deviated point light sources), so that the success rate is improved;
2. in the case where the system layout of the dual cameras itself must be adjusted (as in the case of cited document 1), the transformation of the coordinate system is simplified, and the adjustment speed is accelerated.
(II) technical scheme
In order to solve the technical problem, the application provides a camera is surveyed to quick distance, its characterized in that: comprises that
A fixed camera with an illumination intensity sensor;
a controller;
an adjustment mechanism;
the annular track is coaxial with the central axis of the fixed camera, and a plurality of illumination intensity sensors are uniformly distributed on the annular track along the circumference;
the moving camera moves around the circular ring-shaped track under the control of the adjusting mechanism, the adjusting mechanism is provided with preset positions which are in one-to-one alignment with the illumination intensity sensors on the circular ring-shaped track and can control the moving camera to stay at the required preset positions,
the fixed camera, the movable camera, the adjusting mechanism and the illumination intensity sensor are electrically connected with the controller;
the controller searches an illumination intensity sensor with the reading closest to that of the illumination intensity sensor on the fixed camera on the circular ring-shaped track according to the illumination intensity information acquired by the illumination intensity sensor, and controls the adjusting mechanism to enable the fixed camera to reach a preset position corresponding to the closest illumination intensity sensor;
the controller takes the geometric center of the image acquisition element of the fixed camera as the origin of coordinates, and calculates the relative distance between the target to be measured and the origin of coordinates by comparing the image deviation acquired by the fixed camera and the movable camera.
Further, the adjusting mechanism is an inner gear ring and a planetary gear mechanism.
Furthermore, the pitching mechanism enables the circular ring-shaped track to do pitching motion integrally, the fixed camera is fixedly connected with the circular ring-shaped track, the circle center of the circular ring-shaped track is located at the geometric center of an image acquisition device of the fixed camera, and the rotating shaft of the pitching motion passes through the circle center of the circular ring-shaped track.
Furthermore, the steering mechanism enables the circular ring-shaped track to integrally perform steering motion, the fixed camera is fixedly connected with the circular ring-shaped track, the circle center of the circular ring-shaped track is located at the geometric center of an image acquisition device of the fixed camera, and a rotating shaft of the steering motion passes through the circle center of the circular ring-shaped track.
Further, the adjusting range of the pitching mechanism is plus or minus 15 degrees.
Further, the adjustment range of the steering mechanism is plus or minus 15 degrees.
Further, the device also comprises a deflection mechanism which can deflect the moving camera along the collector connecting line.
(III) advantageous effects
1. The conventional coordinate of the binocular ranging system is improved, so that the imaging point of the fixed camera becomes a new coordinate zero point, and the self-regulation of the system is greatly facilitated.
2. The scheme overcomes the influence of a point light source on the collected picture, so that the mechanism can measure the distance as far as possible under an ideal illumination condition, and the accuracy is improved.
3. The deflection of the moving camera is a preset value of the adjusting mechanism, and the adjusting response speed is high.
Drawings
FIG. 1 is a schematic diagram of binocular distance measurement in the prior art;
FIG. 2 is a schematic diagram of the front view of the apparatus of the present application;
FIG. 3 is a schematic view of a portion of the structure of FIG. 2 at A;
FIG. 4 is a schematic diagram of the interaction between the position and angle transformation process of the image capture device and the point light source.
Reference numerals
1. Fixed camera
2. Illumination intensity sensor
3. Moving camera
4. Circular ring track
5. Adjusting mechanism
6. Pitching mechanism
7. Steering mechanism
8. Image acquisition device is to line
9. Deflection mechanism
10. Preset position
Detailed Description
The present invention will be further described with reference to the following examples. It should be noted that, for brevity and convenience, the "camera" is used to refer to various image capturing devices (such as CCD, CMOS, image capturing card, etc.), and is not limited to dynamic continuous capturing but also includes static one-time capturing.
As shown in fig. 2 and 4, the binocular distance measuring camera according to the present application is characterized in that: comprises that
A fixed camera 1 with a light intensity sensor 2;
a controller;
an adjusting mechanism 5;
the circular ring-shaped track 4 is coaxial with the central axis of the fixed camera 1, and a plurality of illumination intensity sensors 2 are uniformly distributed on the circular ring-shaped track 4 along the circumference;
the moving camera 3 moves around the circular ring-shaped track 4 under the control of the adjusting mechanism 5, the adjusting mechanism 5 is provided with preset positions 10 which are in one-to-one alignment with the illumination intensity sensors 2 on the circular ring-shaped track, the moving camera can be controlled to stay at the required preset positions 10,
the fixed camera, the movable camera, the adjusting mechanism and the illumination intensity sensor are electrically connected with the controller;
the controller searches for an illumination intensity sensor with the reading closest to that of the illumination intensity sensor on the fixed camera on the circular track according to the illumination intensity information acquired by the illumination intensity sensor, and controls the adjusting mechanism 5 to enable the movable camera to reach a preset position 10 corresponding to the closest illumination intensity sensor;
the controller takes the geometric center of the image acquisition element of the fixed camera 1 as the origin of coordinates, and calculates the relative distance between the target to be measured and the origin of coordinates by comparing the image offsets acquired by the fixed camera 1 and the movable camera 3.
The key point of the scheme is that the traditional binocular distance measuring system is changed into a fixed-moving camera system, the distance is calculated by taking the image and the position of one (fixed camera) as a reference, and a coordinate system for calculating the distance is determined and fixed at first, so that various transformations are facilitated.
Secondly, in order to reduce the influence of illumination on the collected images (the most ideal situation is that the ambient light is parallel light at infinity, so that the images collected by the two cameras are different in angle, but not in shade, and are easy to compare and calculate, and under the condition of a point light source, the influence of different angles on the collected images is very large, so that the system sometimes cannot compare the same position point in the two images, see the situation (I) in the attached figure 4 of the specification), the scheme designs a set of light searching system, firstly measures the illumination intensity at the fixed camera serving as a reference, then finds the position of an illumination intensity sensor with the illumination intensity closest to the reference on the circular track, and then moves the movable camera to the position for distance measurement.
The whole process is shown in fig. 4(I) to (II), in fig. 4(I), the left side is a moving camera, the right side is a fixed camera, the large dots are point light sources, and the dotted line is a collector connecting line 8. Therefore, through position conversion, the geometric parameters of the distance measuring system are not changed (mainly the distance between the two cameras and the zero coordinates), but the difference of the included angles of the two cameras relative to the point light source is reduced, so that the illumination conditions converge.
The adjusting mechanism can preset adjusting positions with the same number as the illumination intensity sensors on the circular ring track, and when the position where the illumination intensity is matched is obtained, the adjusting mechanism is directly adjusted to the preset positions, so that the reaction time is not influenced.
Further, the adjusting mechanism is an inner gear ring and a planetary gear mechanism.
Furthermore, the pitching mechanism 6 is further provided for enabling the circular ring-shaped track to perform pitching motion integrally, the fixed camera 1 is fixedly connected with the circular ring-shaped track 4, the circle center of the circular ring-shaped track 4 is located at the geometric center of an image acquisition device of the fixed camera 1, and the rotating shaft of the pitching motion passes through the circle center of the circular ring-shaped track 4.
Furthermore, the device is also provided with a steering mechanism 7 which enables the circular ring-shaped track to integrally perform steering motion, the fixed camera 1 is fixedly connected with the circular ring-shaped track 4, the circle center of the circular ring-shaped track is positioned at the geometric center of an image acquisition device of the fixed camera 1, and a rotating shaft of the steering motion passes through the circle center of the circular ring-shaped track 4.
Because the distance measurement origin coordinates of the device are determined on the image acquisition device of the moving camera, the optimal situation is that the moving camera is best illuminated (the reflected light of the light source is directly projected), the pitching mechanism and the steering mechanism are set, all angular positions are traversed within the adjusting range of the pitching mechanism and the steering mechanism before the distance measurement is started, the best illuminated position is found, and then the action of the adjusting mechanism is started. And because the centers of circles of the two rotating mechanisms are both at the coordinate center, the measurement is not influenced.
Further, the adjusting range of the pitching mechanism is plus or minus 15 degrees.
Further, the adjustment range of the steering mechanism is plus or minus 15 degrees.
Referring to cases (II) - (III) in fig. 4, the fixed camera finds the most suitable illumination position by the pitching mechanism and the steering mechanism, and the actual coordinates are not affected because the rotation centers of both mechanisms are located at the image capturing element.
Further, a deflection mechanism is included which can deflect the moving camera 3 along the harvester line 8.
When the controller has a certain difference value according to the fact that the read brightness value on the circular ring track is closest to the brightness value on the fixed camera, it is shown that the difference is large due to the special angle of the incident light, and at this time, the deflection mechanism is controlled to deflect the moving camera to the fixed camera, so that further adjustment is completed (see cases (III) - (IV) in fig. 4).
In the adjusting process, in order to ensure that the central area of the picture shot by the movable camera is basically consistent with the central area of the fixed camera, a linkage mechanism can be designed to ensure that the movable camera does not do planetary rotation motion with the planet wheel but only does revolution motion; or a rotation processing program for drawing collected by the moving camera according to the rotation angle of the adjusting mechanism is added into the controller.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims (7)

1. The utility model provides a camera is surveyed to quick range, its characterized in that: comprises that
A fixed camera with an illumination intensity sensor;
a controller;
an adjustment mechanism;
the annular track is coaxial with the central axis of the fixed camera, and a plurality of illumination intensity sensors are uniformly distributed on the annular track along the circumference;
the moving camera moves around the circular ring-shaped track under the control of the adjusting mechanism, the adjusting mechanism is provided with preset positions which are in one-to-one alignment with the illumination intensity sensors on the circular ring-shaped track and can control the moving camera to stay at the required preset positions,
the fixed camera, the movable camera, the adjusting mechanism and the illumination intensity sensor are electrically connected with the controller;
the controller searches an illumination intensity sensor with the reading closest to that of the illumination intensity sensor on the fixed camera on the circular ring-shaped track according to the illumination intensity information acquired by the illumination intensity sensor, and controls the adjusting mechanism to enable the fixed camera to reach a preset position corresponding to the closest illumination intensity sensor;
the controller takes the geometric center of the image acquisition element of the fixed camera as the origin of coordinates, and calculates the relative distance between the target to be measured and the origin of coordinates by comparing the image deviation acquired by the fixed camera and the movable camera.
2. The fast ranging camera as claimed in claim 1, wherein: the adjusting mechanism is an inner gear ring and a planetary wheel mechanism.
3. The fast ranging camera as claimed in claim 1, wherein: the pitching mechanism is used for enabling the circular ring-shaped track to integrally perform pitching motion, the fixed camera is fixedly connected with the circular ring-shaped track, the circle center of the circular ring-shaped track is located at the geometric center of an image acquisition device of the fixed camera, and a rotating shaft of the pitching motion passes through the circle center of the circular ring-shaped track.
4. The fast ranging camera as claimed in claim 1, wherein: the steering mechanism is used for enabling the circular ring-shaped track to integrally perform steering motion, the fixed camera is fixedly connected with the circular ring-shaped track, the circle center of the circular ring-shaped track is located at the geometric center of an image acquisition device of the fixed camera, and a rotating shaft of the steering motion passes through the circle center of the circular ring-shaped track.
5. The fast ranging camera as claimed in claim 1, wherein: the adjusting range of the pitching mechanism is plus or minus 15 degrees.
6. The fast ranging camera as claimed in claim 1, wherein: the adjusting range of the steering mechanism is plus or minus 15 degrees.
7. The fast ranging camera as claimed in claim 1, wherein: the device also comprises a deflection mechanism which can make the moving camera deflect along the connecting line of the collector.
CN202010756144.5A 2020-07-31 2020-07-31 Quick range finding camera Withdrawn CN111866487A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010756144.5A CN111866487A (en) 2020-07-31 2020-07-31 Quick range finding camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010756144.5A CN111866487A (en) 2020-07-31 2020-07-31 Quick range finding camera

Publications (1)

Publication Number Publication Date
CN111866487A true CN111866487A (en) 2020-10-30

Family

ID=72945903

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010756144.5A Withdrawn CN111866487A (en) 2020-07-31 2020-07-31 Quick range finding camera

Country Status (1)

Country Link
CN (1) CN111866487A (en)

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