CN112824929A - Precision measurement method, device and equipment of TOF module - Google Patents
Precision measurement method, device and equipment of TOF module Download PDFInfo
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- CN112824929A CN112824929A CN201911142351.5A CN201911142351A CN112824929A CN 112824929 A CN112824929 A CN 112824929A CN 201911142351 A CN201911142351 A CN 201911142351A CN 112824929 A CN112824929 A CN 112824929A
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- G01—MEASURING; TESTING
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Abstract
The application relates to a precision measurement method, a device and equipment of a TOF module, wherein the method comprises the following steps: controlling an emission unit of the TOF module to emit light rays into an incident optical fiber; acquiring a sampling image formed by shooting light rays reflected by a receiving unit of the TOF module from each branch optical fiber, and acquiring a depth distance value in the sampling image; comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result; and acquiring the precision value of the TOF module according to the comparison result. Through dividing the incident optical fiber into multichannel branch optic fibre, make the receiving module of TOF module can receive the light that multichannel optical path length is inequality branch optic fibre reflects back, form the sampling image, thereby make the TOF module can be quick acquire the depth distance value that different optical path lengths correspond, the position of having avoided constantly adjusting the TOF module obtains the loaded down with trivial details step of different depth distance values, the precision measurement efficiency of whole TOF module has been improved, adapt to the big assessment in batches.
Description
Technical Field
The application relates to the technical field of camera modules, in particular to a precision measurement method, device and equipment of a TOF module.
Background
With the development of the photographing technology, a 3D photographing technology has appeared, for example, when an existing TOF (Time of Flight) module is used for photographing an object, 3D profile information of the object can be obtained, specifically, light rays are emitted through an emitting unit, then a receiving unit receives the light rays reflected back from the object, and the Flight Time of the light rays in the flying process is obtained.
However, the TOF module needs to be subjected to precision evaluation to ensure shooting precision, and the traditional TOF module precision evaluation method mainly comprises the steps of placing the TOF module at a position point with a different distance from a white wall to test to obtain a distance precision value curve of the TOF module at a different distance, so that the precision performance of the TOF module is comprehensively reflected.
Disclosure of Invention
Therefore, it is necessary to provide a method, an apparatus and a device for measuring accuracy of a TOF module, which can improve the accuracy measurement efficiency of the TOF module, in order to solve the technical problem of low accuracy evaluation efficiency of the conventional TOF module.
A precision measurement method of a TOF module comprises the following steps:
controlling an emission unit of the TOF module to emit light into an incident optical fiber, wherein the incident optical fiber forms two or more branch optical fibers after being branched, and the optical path lengths of the branch optical fibers are different;
acquiring a sampling image, wherein the sampling image is formed by shooting light rays reflected by a receiving unit of the TOF module from each branch optical fiber, and acquiring a depth distance value in the sampling image;
comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result;
and acquiring the precision value of the TOF module according to the comparison result.
According to the method, the incident optical fiber is divided into the multiple paths of branch optical fibers, so that the receiving module of the TOF module can receive the light rays reflected by the branch optical fibers with different multi-path optical path lengths to form the sampling image, the TOF module can rapidly obtain the depth distance values corresponding to the different optical path lengths, the tedious step that the position of the TOF module needs to be continuously adjusted to obtain the different depth distance values is avoided, the precision measurement efficiency of the whole TOF module is improved, and the TOF module is suitable for large-batch evaluation.
In one embodiment, before controlling the emitting unit to emit the light into the incident optical fiber, the method comprises the following steps: judging whether the preset station has the TOF module currently, if so, taking the TOF module as the TOF module to be tested, controlling the emission unit of the TOF module to be tested to be in butt joint with the incident optical fiber, and entering the step of controlling the emission unit to emit light into the incident optical fiber.
Whether have the TOF module in presetting the station through setting up and detecting, can make the precision measurement process automation of TOF module, need not that the operator comes manual emission unit and the butt joint of incidence optic fibre with the TOF module that awaits measuring, improve big batch TOF module precision measurement's efficiency.
In one embodiment, acquiring a sampling image, where the sampling image is of a light shooting stroke reflected by a receiving unit of a TOF module from each branch optical fiber, and acquiring a depth distance value in the sampling image, includes: acquiring an area image formed by the light reflected by each branch optical fiber in a sampling image; and obtaining the depth distance value of each branch optical fiber according to the area image.
By positioning the area image formed by each branch optical fiber in the sampling image and obtaining the depth distance value of each branch optical fiber from the area image, the precision value of the TOF module at different distances can be obtained subsequently only by shooting one sampling image, and the precision measurement efficiency of the TOF module is improved.
In one embodiment, comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result includes the steps of: and comparing the depth distance value of each branch optical fiber with the optical path length of the branch optical fiber to obtain a distance difference value, and taking the distance difference value as a comparison result.
The depth distance value of each branch optical fiber is compared with the length of the optical path of the branch, and the distance difference value of each branch optical fiber can be obtained, so that the precision measurement results of the TOF module in different branch optical fibers can be obtained.
In one embodiment, after comparing the depth distance value with the optical path length of each branch optical fiber and obtaining the comparison result, the method includes the following steps: and outputting the optical path length of each branch optical fiber and the distance difference value corresponding to each branch optical fiber to a display device for displaying.
The optical path length of each branch optical fiber and the distance difference of each branch optical fiber are displayed, so that a tester can visually know the precision condition of the current TOF module to be tested.
In one embodiment, after acquiring a sampling image formed by the light reflected by the receiving unit from each branch optical fiber and acquiring a depth distance value in the sampling image, the method further includes the following steps: and judging whether a next group of TOF modules enters a preset station or not, if so, controlling the emission unit of the next group of TOF modules to be in butt joint with the incident optical fiber, and controlling the emission unit to emit light to the incident optical fiber.
When precision measurement is accomplished to last a set of TOF module, can automatic control next a set of TOF module enter into preset the station, then continue to carry out precision measurement to next a set of TOF module, until accomplishing the precision measurement to all TOF modules, conveniently carry out precision measurement to big batch TOF module.
In one embodiment, the incident optical fiber is branched by the optical coupler to form two or more branched optical fibers.
Through setting up multichannel branch optic fibre for the light that the transmitting element of TOF module sent can be divided into a plurality of, propagates in each way branch optic fibre, thereby makes the follow-up precision value that can obtain TOF module under the different distances, has improved TOF module precision measurement's efficiency.
An accuracy measurement device of a TOF module, the device comprising:
the light emission control module is used for controlling the emission unit to emit light into the incident optical fiber, the incident optical fiber forms two or more branch optical fibers after being branched, and the optical path lengths of the branch optical fibers are different;
the distance value acquisition module is used for acquiring a sampling image, wherein the sampling image is formed by shooting light rays reflected by each branch optical fiber by a receiving unit of the TOF module, and a depth distance value in the sampling image is acquired;
the comparison module is used for comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result;
and the precision acquisition module is used for acquiring the precision value of the TOF module according to the comparison result.
Above-mentioned device, through being divided into multichannel branch optic fibre with the incident optic fibre, make the receiving element of TOF module can receive the light that multichannel optical path length is inequality branch optic fibre reflects back, form the sampling image, thereby make the TOF module can be quick acquire the depth distance value that different optical path length corresponds, the position of having avoided constantly adjusting the TOF module obtains the loaded down with trivial details step of different depth distance values, the precision measurement efficiency of whole TOF module has been improved, adapt to the big appraisal in batches.
An apparatus for precision measurement of a TOF module, the apparatus comprising: the TOF module comprises a controller, an incident optical fiber, a branch optical fiber and an optical fiber coupler, wherein the incident optical fiber is branched by the optical fiber coupler to form two or more branch optical fibers, the controller is used for accessing the TOF module to be tested, and the controller is used for measuring the precision of the TOF module according to the method.
Above-mentioned equipment, through being divided into multichannel branch optic fibre with the incident optic fibre, make the receiving element of TOF module can receive the light that multichannel optical path length is inequality branch optic fibre reflects back, form the sampling image, thereby make the TOF module can be quick acquire the depth distance value that different optical path length corresponds, the position of having avoided constantly adjusting the TOF module obtains the loaded down with trivial details step of different depth distance values, the precision measurement efficiency of whole TOF module has been improved, adapt to the big appraisal in batches.
In one embodiment, the apparatus further includes an optical fiber fixing projection plate and a dark box, the optical fiber fixing projection plate is disposed in the dark box, and the light outlet of each branch optical fiber is fixedly disposed on the optical fiber fixing projection plate.
Can guarantee through setting up the camera bellows that TOF module is not disturbed by external environment when carrying out precision measurement, the fixed projection board of optic fibre can make things convenient for every branch's optic fibre to fix, guarantees the accuracy of TOF module precision measurement in-process data.
Drawings
FIG. 1 is a schematic flow chart of a method for accuracy measurement of a TOF module according to an embodiment;
FIG. 2 is a schematic flow chart of a method for accuracy measurement of a TOF module according to an embodiment;
FIG. 3 is a block diagram of an exemplary precision measurement apparatus for a TOF module;
FIG. 4 is a block diagram of an apparatus for precision measurement of a TOF module according to an embodiment;
FIG. 5 is a schematic diagram of an apparatus for precision measurement of a TOF module according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a method for measuring accuracy of a TOF module, comprising the steps of:
and S300, controlling an emission unit of the TOF module to emit light rays to an incident optical fiber.
The incident optical fiber forms two or more branch optical fibers after being branched, and the optical path lengths of the branch optical fibers are different. Specifically, the controller, such as a computer or a microprocessor, may control the emission unit of the TOF module to emit light into the incident optical fiber, for example, the computer writes a corresponding control program to control the emission unit of the TOF module to emit infrared light into the incident optical fiber according to a predetermined frequency. The incoming optical fiber may be a total optical fiber (the number of incoming optical fibers is also not limited, and in other embodiments, the number of incoming optical fibers may be multiple), and the incoming optical fiber may be split by a splitter (the splitter may be a fiber coupler, etc.) to form multiple branch optical fibers, where the lengths of the branch optical fibers (the lengths of the branch optical fibers, i.e., the optical path lengths) are different. It can be understood that, after the light emitted from the emitting unit enters the incident optical fiber, the emitted light enters each branch optical fiber through the splitter, then continues to propagate in each branch optical fiber, and finally exits from the light exit of each branch optical fiber, where the light exiting from the light exit of the branch optical fiber represents the reflected light.
It should be noted that the TOF module may be a 3D-TOF camera module, which includes a transmitting unit and a receiving module, where the transmitting unit may transmit light (e.g., may transmit infrared light) to an optical fiber, and after the infrared light is transmitted, the infrared light is transmitted through the optical fiber to complete a closed loop of an optical path, so as to obtain reflected infrared light, and at this time, the receiving unit captures an image according to the reflected infrared light.
S400, acquiring a sampling image, and acquiring a depth distance value in the sampling image.
The sampling image is formed by shooting light reflected by each branch optical fiber by a receiving unit of the TOF module, and data communication can be carried out between the receiving unit of the TOF module and the controller (such as a computer) to obtain the sampling image, and corresponding algorithm operation is carried out to obtain a depth distance value in the sampling image.
It should be noted that, when light is reflected from the light outlet of each branch optical fiber, the receiving unit of the TOF module performs shooting at this time, and a sampling image is obtained according to the reflected light, and because the optical path lengths of each branch optical fiber are different, the propagation times of the light in the branch optical fibers are different, so that the depth distance values formed by the light reflected from the light outlet of each branch optical fiber in the sampling image are different. It should be noted that the depth distance value, i.e., the light ray, is emitted from the emitting unit and received by the receiving unit, and is obtained by shooting to obtain a sampled image, and then the receiving unit calculates according to the sampled image. Under ideal state, the depth distance value is equal with optic fibre optical path length, but receives the precision restriction of TOF module, can make depth distance value and optic fibre optical path length unequal, for example when shooing a certain object through the relatively poor TOF module of precision, the depth distance value that obtains in the object image that obtains from shooing will differ with the actual distance between object and the TOF module. Existing 3D cameras (e.g., 3D-TOF cameras, depth cameras, etc.) can obtain a distance between the camera and an object (i.e., a depth distance value) by capturing an image, calculating a time that a light ray passes from being emitted to being reflected back, and when the object has an irregular contour, obtaining a contour model of the object by capturing the image with the 3D camera. Obtaining the depth distance value from the sampled image is a conventional technique, and for example, the depth distance value may be obtained by performing analysis calculation through a corresponding algorithm, which is not described herein again.
S500, comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result.
Specifically, taking the example that the incident optical fiber is branched into two branched optical fibers, the optical path lengths of the two branched optical fibers are different. As already described above, the depth distance value represents a sampled image captured by the light reflected by the branch optical fiber by the receiving module of the TOF module, and is obtained from the sampled image, and the distance value is calculated by some series of algorithms according to the sampled image after the TOF module captures the sampled image. A controller (e.g., a computer) compares the depth distance value with the optical path length to obtain a comparison result. The comparison result may be a data difference value, for example, a difference operation is performed between the depth distance value and the optical path length, or the comparison result may also be a data coefficient, for example, a division operation is performed between the depth distance value and the optical path length, and the data type of the comparison result is not unique, which is not illustrated herein.
S700, acquiring the precision value of the TOF module according to the comparison result.
The controller (e.g., a computer) compares the comparison result with a preset accuracy table, so as to obtain accuracy values of the TOF module at different distances, where, for example, the preset accuracy table includes accuracy ranges of the TOF module at distances of 1m, 2m, 3m, and the like, when the comparison result is in the accuracy range, it indicates that the accuracy of the TOF module at the distance is better, and when the comparison result is outside the accuracy range, it indicates that the accuracy of the TOF module at the distance is worse.
According to the method, the incident optical fiber is divided into the multiple paths of branch optical fibers, so that the receiving unit of the TOF module can receive the light rays reflected by the branch optical fibers with different multi-path optical path lengths to form the sampling image, the TOF module can rapidly acquire the depth distance values corresponding to the different optical path lengths, the tedious step that the position of the TOF module needs to be continuously adjusted to obtain the different depth distance values is avoided, the precision measurement efficiency of the whole TOF module is improved, and the TOF module is suitable for large-batch evaluation.
In one embodiment, as shown in fig. 2, before step S300, the method further includes the steps of:
s100, judging whether the preset station has a TOF module currently.
S200, if yes, butting the emission unit of the TOF module with the incident optical fiber, and entering the step S300.
In the process of performing precision measurement on the TOF module, corresponding stations can be set according to the flow steps, each station corresponds to one flow step, the preset station can be an initial station where the TOF module starts to perform precision measurement, a corresponding infrared sensing device can be installed at the preset station, and the like, when the infrared sensing device senses that the TOF module exists at the preset station, the infrared sensing device can transmit a sensing signal to a controller (for example, a computer), and the controller (for example, the computer) can transmit a corresponding control signal to an auxiliary manipulator or a mobile platform, so that the TOF module on the preset station is in butt joint with an incident optical fiber, and then the process goes to step S300.
Whether have the TOF module in presetting the station through setting up and detecting, can make the precision measurement process automation of TOF module, need not that the operator comes manual emission unit and the butt joint of incidence optic fibre with the TOF module that awaits measuring, improve big batch TOF module precision measurement's efficiency.
In one embodiment, step S400 includes the steps of: acquiring an area image formed by the light reflected by each branch optical fiber in a sampling image; and obtaining the depth distance value of each branch optical fiber according to the area image. Specifically, because the optical path lengths of the branch optical fibers are different, the depth distance values represented by the area images formed by the light reflected by the branch optical fibers are also different. It should be noted that the area image is an image formed by light reflected by each branch optical fiber, the area images formed by light reflected by different branch optical fibers may be different, and the shape of the light outlet of a branch optical fiber may be adjusted to change the size, shape, and the like of the area image formed by the branch optical fiber, for example, the light outlet of a branch optical fiber may be adjusted to be circular or square, so that the shape and size of the area image on the sampling image are finally changed, and each branch optical fiber is conveniently distinguished and identified.
By positioning the area image formed by each branch optical fiber in the sampling image and obtaining the depth distance value of each branch optical fiber from the area image, the precision value of the TOF module at different distances can be obtained subsequently only by shooting one sampling image, and the precision measurement efficiency of the TOF module is improved.
In one embodiment, step S500 includes the steps of: and comparing the depth distance value of each branch optical fiber with the optical path length of the branch optical fiber to obtain a distance difference value, and taking the distance difference value as a comparison result.
The depth distance value of each branch optical fiber is compared with the length of the optical path of the branch, and the distance difference value of each branch optical fiber can be obtained, so that the precision measurement results of the TOF module in different branch optical fibers can be obtained.
In one embodiment, as shown in fig. 2, after step S500, the method further includes the steps of:
s600, outputting the optical path length of each branch optical fiber and the distance difference corresponding to each branch optical fiber to a display device for displaying.
The optical path length of each branch optical fiber may be preset, and the controller (e.g., a computer) may perform data communication with the display device after obtaining the distance difference corresponding to each branch optical fiber, and output the optical path length of each branch optical fiber and the distance difference corresponding to each branch optical fiber to the display device. Further, in other embodiments, the display device may be a liquid crystal display.
In one embodiment, as shown in fig. 2, after step S400, the method further includes the steps of:
and S800, judging whether the next TOF module enters a preset station or not.
And S900, if yes, controlling the emission unit of the next group of TOF modules to be in butt joint with the incident optical fiber, and proceeding to the step S300.
The preset workstation can refer to the above description, and after the controller (e.g. a computer) obtains the depth distance value of the sampled image when the last TOF module finishes shooting the sampled image, the sampled image can be stored in the memory, and then the controller (e.g. the computer) can acquire the sampled image of the next TOF module.
When precision measurement is accomplished to last a set of TOF module, can automatic control next a set of TOF module enter into preset the station, then continue to carry out precision measurement to next a set of TOF module, until accomplishing the precision measurement to all TOF modules, conveniently carry out precision measurement to big batch TOF module.
In one embodiment, as shown in fig. 3, there is provided an accuracy measuring apparatus of a TOF module, the apparatus comprising:
the light emission control module 200 is used for controlling the emission unit to emit light into the incident optical fiber. The distance value obtaining module 300 is configured to obtain a sampling image and obtain a depth distance value in the sampling image, where the sampling image is formed by shooting light reflected by each branch optical fiber by a receiving unit of the TOF module. The comparing module 400 is configured to compare the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result; the precision obtaining module 600 is configured to obtain a precision value of the TOF module according to the comparison result. The incident optical fiber forms two or more branch optical fibers after being branched, and the optical path lengths of the branch optical fibers are different.
Above-mentioned device, through being divided into multichannel branch optic fibre with the incident optic fibre, make the receiving module of TOF module can receive the light that multichannel optical path length is inequality branch optic fibre reflects back, form the sampling image, thereby make the TOF module can be quick acquire the depth distance value that different optical path length corresponds, the position of having avoided constantly adjusting the TOF module obtains the loaded down with trivial details step of different depth distance values, the precision measurement efficiency of whole TOF module has been improved, adapt to the big appraisal in batches.
In an embodiment, as shown in fig. 4, the apparatus further includes a determining module 100, configured to determine whether a TOF module is currently located at a preset station before the light emission control module 200 controls the emitting unit to emit light into the incident optical fiber, and if so, use the TOF module as a to-be-detected TOF module, control the emitting unit of the to-be-detected TOF module to be in butt joint with the incident optical fiber, and turn to the light emission control module 200.
In one embodiment, the distance value obtaining module 300 further includes: and the area image acquisition module is used for acquiring an area image formed by the light reflected by each branch optical fiber in the sampling image. And the acquisition module is used for acquiring the depth distance value of each branch optical fiber according to the area image.
In one embodiment, the comparison module 400 further comprises: and the difference value calculation module is used for comparing the depth distance value of each path of branch optical fiber with the optical path length of the branch optical fiber to obtain a distance difference value, and taking the distance difference value as a comparison result.
In an embodiment, as shown in fig. 4, the apparatus further includes a display module 500, configured to compare the depth distance value with the optical path length of each branch optical fiber by the comparison module 400, and output the optical path length of each branch optical fiber and the distance difference corresponding to each branch optical fiber to a display device for displaying after the comparison result is obtained.
In an embodiment, as shown in fig. 4, the apparatus further includes a detection module 700, configured to, after the distance value obtaining module 300 obtains a sampling image formed by light reflected by the receiving unit from each branch optical fiber and obtains a depth distance value in the sampling image, determine whether a next TOF module enters a preset station, if so, control an emitting unit of the next TOF module to be in butt joint with the incident optical fiber, and turn to the light emitting control module 200 to execute control of the emitting unit to emit light into the incident optical fiber.
For specific limitations of the precision measurement device of the TOF module, reference may be made to the above limitations of the precision measurement method of the TOF module, and details are not described here. All or part of each module in the precision measuring device of the TOF module can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 5, an apparatus for measuring accuracy of a TOF module is provided, the apparatus includes a controller (not shown), an incident optical fiber 20, a branch optical fiber 30, and an optical fiber coupler 40, the incident optical fiber 20 is branched by the optical fiber coupler 40 to form two or more branch optical fibers 30, and the controller (not shown) is used for accessing the TOF module to be measured, that is, the controller needs to be connected with the TOF module to control the TOF module.
It should be noted that the controller body and the TOF module body to be tested are not shown in fig. 1, but fig. 1 shows the transmitting unit and the receiving unit of the TOF module to be tested. After the controller is connected to the TOF module to be tested, the emission unit 10 in the TOF module to be tested needs to emit light to enter the incident optical fiber 20, that is, the emission unit 10 needs to be aligned to the light entrance of the incident optical fiber 20 to ensure that the emitted light can enter the incident optical fiber 20, and the emission unit 10 can be aligned to the light entrance of the incident optical fiber 20 by controlling a corresponding manipulator and the like through the controller. The end of the incident optical fiber 20 is connected to the optical fiber coupler 40, and is split by the optical fiber coupler 40 to form a plurality of branch optical fibers 30 (for example, 4 branch optical fibers 30 are shown in fig. 1), each branch optical fiber 30 is led out from the optical fiber coupler 40, the light outlet of each branch optical fiber 30 can be in the same vertical plane, and the lengths of each branch optical fiber 30 are ensured to be different.
After the test is started, the emission unit 10 of the TOF module to be tested emits light (e.g., infrared light), and the light enters the incident optical fiber 20 and propagates therein, then is divided into a plurality of paths by the optical fiber coupler 40, and respectively enters the branch optical fibers 30 with different lengths to continue propagating, and finally exits from the light outlets of the branch optical fibers 30 with different lengths to be received by the receiving unit 70 of the TOF module to be tested, so that the TOF module to be tested only needs to be tested once, and a plurality of reflected light beams with different propagation distances can be obtained.
Above-mentioned equipment, through being divided into multichannel branch optic fibre 30 with incident optical fiber 20, make the receiving element 70 of the TOF module that awaits measuring can receive the light that the unequal branch optic fibre 30 of optical path length reflects back, form the sampling image, thereby make the TOF module that awaits measuring can be quick acquire the depth distance value that different optical path lengths correspond, the loaded down with trivial details step that the position of the TOF module that has avoided constantly adjusting to await measuring obtains different depth distance values, the whole precision measurement efficiency of the TOF module that awaits measuring has been improved, adapt to large batch precision test.
In one embodiment, as shown in fig. 5, the apparatus further includes a fiber fixing projection plate 50 and a dark box 60, the fiber fixing projection plate 50 is disposed in the dark box 60, and the light outlet of each branch optical fiber 30 is fixedly disposed on the fiber fixing projection plate 50.
Can guarantee through setting up camera bellows 60 that the TOF module that awaits measuring is not disturbed by external environment when carrying out precision measurement, reduce the environmental disturbance factor, the fixed projection board 50 of optic fibre can make things convenient for each way branch optic fibre 30 to fix, makes the light-emitting window of each way branch optic fibre 30 be in same perpendicular at least, avoids the light that jets out from each way branch optic fibre 30 to be in different departure points, guarantees the accuracy of precision measurement in-process data.
Further, in an embodiment, as shown in fig. 5, the dark box 60 is a cuboid, the light inlet of the incident optical fiber 20 is disposed on one side of the dark box 60, during testing, the emission unit 10 of the TOF module to be tested is aligned with the light inlet, the optical fiber fixing projection plate 50 is disposed in the dark box 60 and is parallel to the side of the dark box 60, the incident optical fiber 20 passes through the optical fiber fixing projection plate 50 and is connected to the optical fiber coupler 40 behind the optical fiber fixing projection plate 50 to perform branching, so as to obtain a plurality of branch optical fibers 30, and the light outlet of each branch optical fiber 30 is located on the optical fiber fixing projection plate 50. In an embodiment, the light outlet of each branch optical fiber 30 may be vertically arranged on the optical fiber fixing projection plate 50. When the optical path length needs to be adjusted, the optical fiber fixed projection plate 50 in the camera bellows 60 can be directly moved in parallel, so that the optical path lengths of all the branch optical fibers 30 can be adjusted, and the precision measurement of the TOF module to be measured is convenient.
In an embodiment, for sufficient disclosure of the present application, the present application is explained with reference to fig. 5, in fig. 5, a transmitting unit 10 is aligned with a light inlet of an incident optical fiber 20 and transmits light into the incident optical fiber 20, a fiber coupler 40 is connected to an end of the incident optical fiber 20, the fiber coupler 40 can divide the light propagating in the incident optical fiber 20 into a plurality of parts, each part of light enters a branch optical fiber 30 to propagate, and finally all the light exits from a light outlet of each branch optical fiber 30, a length of each branch optical fiber 30 can be adjusted, an end of each branch optical fiber 30 is fixed on an optical fiber fixing projection plate 50, and a receiving unit 70 photographs the optical fiber fixing projection plate 50 to receive an optical signal exiting from each branch optical fiber 30, thereby completing a closed loop of an optical path; because the lengths of the branch optical fibers 30 can be adjusted, the branch optical fibers 30 with different lengths can be set to realize optical path closed loops with different lengths, and the working conditions of the TOF module to be tested at different distances can be simulated only by calculating the relative distance (optical path length) between the receiving unit 70 and each branch optical fiber 30; after the TOF module to be tested obtains a sampling image through shooting, the position of each branch optical fiber 30 on the sampling image is positioned, the depth distance value on the corresponding position is calculated and compared with the actual length of the optical path, and therefore the precision values of the TOF module at different distances are obtained.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A precision measurement method of a TOF module is characterized by comprising the following steps:
controlling an emission unit of the TOF module to emit light into an incident optical fiber, wherein the incident optical fiber forms two or more branch optical fibers after being branched, and the optical path lengths of the branch optical fibers are different;
acquiring a sampling image and a depth distance value in the sampling image, wherein the sampling image is formed by shooting light reflected by each branch optical fiber by a receiving unit of a TOF module;
comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result;
and acquiring the precision value of the TOF module according to the comparison result.
2. The method of claim 1, wherein before controlling the emission unit to emit light into the incident optical fiber, the method comprises the steps of:
judging whether a TOF module exists at a preset station currently, if so, taking the TOF module as a TOF module to be tested, controlling a transmitting unit of the TOF module to be tested to be in butt joint with the incident optical fiber, and entering a step of controlling the transmitting unit to transmit light to the incident optical fiber.
3. The method according to claim 1, wherein the obtaining of the sampling image, which is formed by shooting the light reflected by each branch optical fiber by a receiving unit of the TOF module, and obtaining the depth distance value in the sampling image, comprises:
acquiring an area image formed by the light reflected by each branch optical fiber in the sampling image;
and acquiring the depth distance value of each branch optical fiber according to the area image.
4. The method of claim 3, wherein comparing the depth distance value with the optical path length of each of the branch optical fibers to obtain a comparison result comprises:
and comparing the depth distance value of each branch optical fiber with the optical path length of the branch optical fiber to obtain a distance difference value, and taking the distance difference value as the comparison result.
5. The method of claim 4, wherein the comparing the depth distance value with the optical path length of each of the branch optical fibers comprises:
and outputting the optical path length of each branch optical fiber and the distance difference corresponding to each branch optical fiber to a display device for displaying.
6. The method according to claim 2, wherein after acquiring the sampling image formed by the light reflected from each branch optical fiber by the receiving unit and acquiring the depth distance value in the sampling image, the method further comprises the steps of:
and judging whether a next group of TOF modules enters the preset station or not, if so, controlling the emission unit of the next group of TOF modules to be in butt joint with the incident optical fiber, and controlling the emission unit to emit light rays to the incident optical fiber.
7. The method of claim 1, wherein the incident optical fiber is split by a light coupler to form two or more branched optical fibers.
8. An accuracy measurement device of a TOF module, the device comprising:
the light emission control module is used for controlling the emission unit to emit light to the incident optical fiber, the incident optical fiber forms two or more branch optical fibers after being branched, and the optical path lengths of the branch optical fibers are different;
the distance value acquisition module is used for acquiring a sampling image, wherein the sampling image is formed by shooting light rays reflected by each branch optical fiber by a receiving unit of the TOF module, and a depth distance value in the sampling image is acquired;
the comparison module is used for comparing the depth distance value with the optical path length of each branch optical fiber to obtain a comparison result;
and the precision acquisition module is used for acquiring the precision value of the TOF module according to the comparison result.
9. An accuracy measurement device of a TOF module is characterized by comprising a controller, an incident optical fiber, a branch optical fiber and an optical fiber coupler, wherein the incident optical fiber is branched by the optical fiber coupler to form two or more branches of the branch optical fiber, the controller is used for accessing the TOF module to be measured, and the controller is used for performing accuracy measurement on the TOF module according to the method of any one of claims 1-7.
10. The apparatus according to claim 9, further comprising a fiber-fixed projection plate and a dark box, wherein the fiber-fixed projection plate is disposed in the dark box, and the light outlet of each branch fiber is fixedly disposed on the fiber-fixed projection plate.
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| CN201911142351.5A CN112824929A (en) | 2019-11-20 | 2019-11-20 | Precision measurement method, device and equipment of TOF module |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911142351.5A CN112824929A (en) | 2019-11-20 | 2019-11-20 | Precision measurement method, device and equipment of TOF module |
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