CN203069176U - Ranging device and ranging system thereof - Google Patents
Ranging device and ranging system thereof Download PDFInfo
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- CN203069176U CN203069176U CN 201320021721 CN201320021721U CN203069176U CN 203069176 U CN203069176 U CN 203069176U CN 201320021721 CN201320021721 CN 201320021721 CN 201320021721 U CN201320021721 U CN 201320021721U CN 203069176 U CN203069176 U CN 203069176U
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Abstract
The utility model discloses a ranging device and a ranging system thereof. The ranging device comprises a first photographing part and a second photographing part, wherein the first photographing part comprises one or more photographing lenses and photographing sensors corresponding to the photographing lenses; the second photographing part comprises a plurality of photographing lenses and photographing sensors corresponding to the photographing lenses; the photographing lenses of the first photographing part and the photographing lenses of the second photographing part are respectively arranged on two surfaces; and the two surfaces form a known included angle. The ranging device also comprises a signal processor connected with the photographing parts. The utility model also discloses the ranging system which comprises two matched ranging devices and can realize a real-time ranging effect. By a flexible and expanded base line real-time calculating method, a high-precision ranging result can be obtained.
Description
Technical field
The utility model relates to the technical field of range observation, is specifically related to a kind of distance measuring equipment and range measurement system thereof.
Background technology
About measuring method and the instrument of distance, roughly can be divided into two classes, that is, adjust time-of-flight method and stereo-picture method continuously.
The modulating apparatus of adjusting time-of-flight method continuously comprises light source transmitter and light source receiver.Receiver receives the light that reflects from target object, and measure light from the target object to the receiver between the required time, and the distance between computing equipment and the target object thus.The advantage of this method is that the distance of each object in the scene can accurately be measured.Limitation is, the power of light emitters to measuring distance or a plurality of target the time measurement very big restriction is arranged, and this method belongs to invasive and measures.So-called invasive is measured, and refer to that measurement means has influence on measurement target, thereby measured target perceives; For example laser, radar, acoustic measurement etc., by to the distance of signals such as measurement target generation laser with measurement target, but the laser signal that sends has influence on measurement target, and also measured target perceives easily.
The image instrument of stereo-picture method generally comprises two cameras, is used for the captured target image.The difference of two width of cloth images is parallax angle and equity, and these two indexs can be used for measuring distance.The advantage of this method is all target ranges that can measure fast in the scene, and is that Noninvasive is measured.Yet this method only is used for measuring the spacing of closer object usually in prior art.Yet, when measurement target is far away, the measuring accuracy deficiency.
As everyone knows, triangulation method can be used for measuring distance, height and related angle.As far back as 263 years Christian eras, before just about 1800, as what prove in Liu Hui one width of cloth picture, the method that this application sight line takes measurement of an angle was set up.Yet this method can only be measured point-to-point situation, and can not measure the distance of all objects in the scene fast automaticly.Photogrammetric method utilization shooting instrument is surveyed and drawn and is monitored, but this method is not real-time usually, is not what be specifically designed to apart from debugging functions.
Utilize digital camera to measure on a large scale, advantage has much at a distance.This method can capture all information, thereby calculates the distance between nearly all object in the scene, and this measuring method right and wrong are invasive.And along with the development of computer technology and great scale integrated circuit, the operand of Chan Shenging also is inappreciable therefrom.
Digital camera is well-known in prior art, and has been applied to more and more in mobile phone and other mobile devices.The utility model of many camera lenses multisensor digital camera has obtained mandate (grant number: No.6,611,289 titles: the digital camera that uses many camera lenses multisensor) of United States Patent (USP).Utility model people: people such as Yu Yanbin.In January, 1999, this is that first application utilizes many camera lenses, multi-sensor technology to obtain the patent of digital picture.In this patent, the multiple image data are obtained by multisensor, many camera lenses, and by after the image processor processing, export final image.The advantage of many camera lenses multi-sensor technology is a lot, as high resolving power, high dynamic range, flexible and broad visual angle etc., can obtain best application at the utility model.
Obviously, below three key elements computer vision scheme based on range finding that will make become feasible: the advanced algorithm of stereo vision method and triangulation, the VLSI (very large scale integrated circuit) of high-speed computer and low-power consumption and with the high digital performance camera of many camera lenses multisensor.This many camera lenses of use multisensor carries out new architecture and the example of distance correction, measurement, exploration and mapping function, will highlight gradually, and make unprecedented achievement.
The utility model content
One of the purpose of this utility model is to design a kind of distance measuring equipment that is convenient for measuring.
Two of the purpose of this utility model is to design a kind of being convenient for measuring, but has the range measurement system of expansion base line length.
Be the technical scheme that realizes that one of the purpose of this utility model adopts: a kind of distance measuring equipment, comprise first image pickup part and second image pickup part, wherein first image pickup part comprises one or more pick-up lenss and the image sensor corresponding with pick-up lens, and second image pickup part comprises a plurality of pick-up lenss and the image sensor corresponding with pick-up lens; The pick-up lens of the pick-up lens of first image pickup part and second image pickup part is located at two surfaces respectively, and two surfaces are positioned at two pedestals or are positioned on the same pedestal, and the known angle of angulation between these two surfaces; Comprise signal processor, be connected with each image pickup part, be used for the shooting action of control image pickup part, and the receiving sensor picture signal of taking and the distance that calculates target object.
Preferably, the angle of described two surface formation is acute angle, right angle or obtuse angle; Pick-up lens is located at the lateral surface of angle, towards the outside of angle.
Preferably, comprise recognition device, be connected with described pedestal dismounting.
Preferably, described recognition device can mainly play the mark effect for structures such as spherical, star, polygons, convenient identification.Recognition device is connected in the top of first pedestal by support bar.Calculate between two distance measuring equipments apart from the time, be calculation level with two labelling apparatus positions, thereby avoided the excessive problem of being inconvenient to identify of distance measuring equipment.
Preferably, described pedestal is mobile communication terminal.
Preferably, described mobile communication terminal is mobile phone; Described mobile phone is clamshell handset, and the pick-up lens of the pick-up lens of first image pickup part and second image pickup part is located at respectively on the fuselage and lid of clamshell handset; Or described mobile phone is stick-type phone, and the pick-up lens of the pick-up lens of first image pickup part and second image pickup part is located at respectively on two stick-type phone, and these two stick-type phone connect by snap-in structure.
Preferably, when described mobile phone is stick-type phone, transmits signal by the physical medium that is in contact with one another between two stick-type phone, or transmit signal by wireless mode; Adopt the mode of real-time or semireal time to transmit signal between two stick-type phone.
Wherein, the physical medium that is in contact with one another is construed as visible, tangible physical medium.
Mean the transmission of picture rather than the transmission of video semireal time.In field of signal transmissions, photography be essential synchronously, generally adopt real-time mode to transmit signal, but the mutual transmission mode of image can be non real-time.The transmission of video generally is real-time, picture generally be non real-time or semireal time.
No matter be the signal transmission form of which kind of mode, receiving equipment receives the time of signal, and its time-delay is sure.For real-time mode, as voice communication, its time-delay is subjected to some parameter limit.But for semireal time, because the condition of its communication channel is uncertain, the time that at every turn receives signal can be different, and as seen its time-delay is uncertain.
Be example with SMS, SMS is a kind of storage and transmits service, that is to say that transmission of Information is not directly to send to receiving equipment from transmitting apparatus, and transmits by the SMS center all the time.If receiving equipment is in not-connected status, then information will send when receiving equipment connects again.
For two technical schemes that adopt that realize the purpose of this utility model are: a kind of range measurement system, to be formed by two described distance measuring equipments, first image pickup part of each distance measuring equipment is towards target to be measured, and second image pickup part is towards another distance measuring equipment; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for transmitting signal between two distance measuring equipments.
Preferably, each distance measuring equipment includes recognition device, is connected with the pedestal dismounting; Second image pickup part is towards the recognition device of another distance measuring equipment.
Preferably, first image pickup part of two distance measuring equipments includes a plurality of pick-up lenss and the image sensor corresponding with pick-up lens, and different pick-up lenss have different focal lengths.
For two technical schemes that adopt that realize the purpose of this utility model are: a kind of range measurement system, comprise two described distance measuring equipments and labelling apparatus, first image pickup part of each distance measuring equipment is towards target to be measured, and second image pickup part is towards labelling apparatus; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for transmitting signal between two distance measuring equipments.
Preferably, first image pickup part of two distance measuring equipments includes a plurality of pick-up lenss and the image sensor corresponding with pick-up lens, and different pick-up lenss have different focal lengths.
Preferably, described labelling apparatus is provided with a plurality of labels, and different labels have different colours.Label can be structures such as spherical, star, polygon, mainly plays the mark effect, convenient identification.
Utilize the distance-finding method of above-mentioned range measurement system to be:
Scheme one
A kind of distance-finding method comprises that this method of distance measuring equipment comprises the steps:
The image calculation of first shooting point that step 3, processor obtain according to step 2 goes out the distance of first shooting point and second shooting point, draws the base length of first shooting point and second shooting point.
Step 4, processor be according to the photographic images of the target to be measured that obtains in the step 1, calculates with first shooting point to be the summit, to be the size of the angle on limit with baseline and target direction to be measured; Processor is according to the photographic images of the target to be measured that obtains in the step 2, calculates with second shooting point to be the summit, to be the size of the angle on limit with baseline and target direction to be measured;
Corner dimension and base length that step 5, processor are calculated according to above-mentioned steps utilize the principle of triangle edges angular dependence to calculate distance between target to be measured and two shooting points.
Scheme two
A kind of distance-finding method comprises distance measuring equipment and recognition device, and this method comprises the steps:
Step 3, distance measuring equipment is placed second shooting point, and recognition device places first shooting point, first image pickup part is towards target to be measured, and second image pickup part is towards recognition device; First image pickup part controlled by processor and second image pickup part is taken simultaneously, obtains the photographic images of second group of target to be measured and recognition device;
Step 4, processor calculate the distance of first shooting point and second shooting point respectively according to the photographic images of first group or second group recognition device, get the mean value of twice calculating, draw the base length of first shooting point and second shooting point;
Step 5, processor be according to the photographic images of first group of target to be measured, calculates with first shooting point to be the summit, to be the size of the angle on limit with baseline and target direction to be measured; Processor is according to the photographic images of second group of target to be measured, calculates with second shooting point to be the summit, to be the size of the angle on limit with baseline and target direction to be measured;
The size of two angles that step 6, processor are calculated according to step 5, and the base length calculated of step 4 utilize the principle of triangle edges angular dependence to calculate distance between target to be measured and two shooting points.
Preferably, described recognition device is the point-like thing, or the known article of length.Point-like thing wherein is as spherical shape or the spherical object of approximate circle.The article that length is known, as shaft-like or approximate shaft-like object, the distance on it between 2 is known.The point-like thing can also be located on the length known object, as the two ends of rhabodoid.
Scheme three
A kind of distance-finding method comprises range measurement system, and range measurement system comprises first distance measuring equipment and second distance measuring equipment, and this method may further comprise the steps:
All image pickup parts of step 3, two distance measuring equipments of processor control are taken simultaneously, obtain photographic images;
Step 4, one of them distance measuring equipment will be taken the picture signal that obtains and be transferred to another distance measuring equipment by the physical medium that is in contact with one another or by the wireless signal transmission receiving trap, and this distance measuring equipment that receives photographic images is main distance measuring equipment;
Step 5, main distance measuring equipment are taken the distance that the image calculation that obtains goes out first shooting point and second shooting point according to second image pickup part of first distance measuring equipment or second distance measuring equipment respectively, get the mean value of twice calculating, draw the base length of first shooting point and second shooting point;
Preferably, comprise the step of correction: before the shooting, each image pickup part is proofreaied and correct, recorded the parameter of its focal length and focal aperture, and the actual measurement angle of location of pixels correspondence on the sensor; Give distance measuring equipment with the data transmission of correction entries, be used for revising the result of calculation of main distance measuring equipment.
Preferably, according to calculate the length of baseline and the distance of target to be measured and two shooting points, choose first shooting point and second shooting point again, make the length of baseline greater than 1/10th of target to be measured and two shooting point distances, repeating step two is to step 6, and survey this moment is net result.
Scheme four
A kind of distance-finding method comprises range measurement system, and range measurement system comprises first distance measuring equipment, second distance measuring equipment and labelling apparatus, and this method may further comprise the steps:
All image pickup parts of step 3, two distance measuring equipments of processor control are taken simultaneously, obtain photographic images;
Step 4, one of them distance measuring equipment will be taken the picture signal that obtains and be transferred to another distance measuring equipment by the physical medium that is in contact with one another or by the wireless signal transmission receiving trap, and this distance measuring equipment that receives photographic images is main distance measuring equipment;
Step 5, two distance measuring equipments of main distance measuring equipment foundation are taken the image of the labelling apparatus that obtains, and calculate the base length of first shooting point and second shooting point;
Preferably, comprise the step of correction: before the shooting, each image pickup part is proofreaied and correct, recorded the parameter of its focal length and focal aperture, and the actual measurement angle of location of pixels correspondence on the sensor; Give distance measuring equipment with the data transmission of correction entries, be used for revising the result of calculation of main distance measuring equipment.
Preferably, according to calculate the length of baseline and the distance of target to be measured and two shooting points, choose first shooting point and second shooting point again, make the length of baseline greater than 1/10th of target to be measured and two shooting point distances, repeating step two is to step 6, and survey this moment is net result.
Preferably, described labelling apparatus is the point-like thing, or the known article of length.Point-like thing wherein is as spherical shape or the spherical object of approximate circle.The article that length is known, as shaft-like or approximate shaft-like object, the distance on it between 2 is known.The point-like thing can also be located on the length known object, as the two ends of rhabodoid.
Preferably, the image that the described image pickup part of the application obtains target to be measured comprises, obtains by the mode of taking pictures, or obtains by the mode of image in the intercepting camera shooting and video; For example, can capture video limit, limit image in the intercepting video, so realize the better effects if of real time distance.
The utility model is distance-finding method and the distance-measuring equipment with many camera lenses multisensor.Distance measuring equipment is made up of two or more camera lenses and sensor groups, and the image that produces according to equipment or organize image sets that instrument produces more and finish a plurality of triangles operations and calculate.This instrument is gathered the image of target object and reference point simultaneously, the angle between target object and the datum line can accurately measured and encode again.This instrument can find corresponding point automatically and use the trigonometric calculations distance.This method is very rigorous, quick, accurate, and can high precision, efficiently in the wide-measuring range carry out range finding.
The utility model is the utility model of a shooting range measurement system, and it has overcome the problem by the short baseline of the stereoscopic vision measuring system of a plurality of devices and digital signal processing mode.It is one, and this system has flexibly and the baseline real-time computing technique that enlarges based on the Range Measurement System of digital camera and non-intrusive measurement, thereby obtains the measurement data of high-precision distance or other information.Enlarging baseline can be by two or more multi-lens camera with consistent mode collaborative work, and by real-time measurements and calculations acquisition.
Description of drawings
Fig. 1 is the front view of the utility model embodiment distance measuring equipment
Fig. 2 is the rear view of the utility model embodiment distance measuring equipment
Fig. 3 is the structural representation of the utility model embodiment distance measuring equipment
Fig. 4 is the range measurement principle synoptic diagram of the utility model embodiment distance measuring equipment
Fig. 5 is the range measurement principle synoptic diagram of the utility model embodiment distance measuring equipment
Fig. 6 is the range measurement principle synoptic diagram of the utility model embodiment distance measuring equipment
Fig. 7 is that the utility model embodiment distance measuring equipment is used the fundamental diagram that label calculates base length
Fig. 8 is the structural representation of this labelling apparatus
Fig. 9 is that the utility model embodiment distance measuring equipment is used the fundamental diagram that label calculates base length
Figure 10 is the principle schematic that the utility model embodiment distance measuring equipment calculates the visual angle value
Embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is described further:
As depicted in figs. 1 and 2, be a kind of embodiment of the present utility model, the structural representation of distance measuring equipment comprises first pedestal 1 and second pedestal 2, and first pedestal 1 and second pedestal 2 are plate-like structure in the present embodiment, and vertical setting mutually.The outside of two pedestals is equipped with a plurality of cameras, is respectively described first image pickup part and second image pickup part.
As shown in Figure 1, evenly be provided with five cameras on the lateral surface of first pedestal 1, comprising two long-focus cameras 4 and three short focal length cameras 3; Also evenly be provided with five cameras 5 on the lateral surface of second pedestal 2, be short focal length camera.Also comprise a recognition device 6 among Fig. 1, be specially a spherical recognition device, be located at the upside of first pedestal 1, as the end points that calculates base length between two distance measuring equipments.
As shown in Figure 2, the medial surface of first pedestal 1 is provided with LCD display 8, is used for showing, operating touch-control etc.The display screen top is provided with the button 7 of this distance measuring equipment of operation work.
As shown in Figure 3, be the simplified structure synoptic diagram of embodiment illustrated in figures 1 and 2, four camera lenses and sensor are divided into two groups among the figure, in the face of different directions is carried out work.First pedestal 1 is vertical mutually with second pedestal 2, camera on first pedestal 1 comprises lens 31 and sensor 32, camera on second pedestal also comprises lens 51 and sensor 52, and the data that all cameras are taken all are transferred to signal processor 9 and concentrate calculation process.Number in the figure 10 is photographic subjects, and dotted arrow 12 is opticpath, and solid arrow 11 is data line; The imaging on sensor of photographic subjects 10 scioptics, sensor is connected with signal processor 9, gives signal processor 9 with the image signal transmission that receives.
The distance measuring equipment of Fig. 3 has the function of the image information of two views that obtain both direction at one time.Camera lens on one of them pedestal and sensor groups are used for measuring base length, i.e. distance between two distance measuring equipments, be generally two arrangement of mirrors heads and sensor work measurement baseline simultaneously, in some cases, only need wherein an arrangement of mirrors head and sensor can measure the length of baseline.When a plurality of lens group focused on single body, they cooperated in harmony, to obtain than individual equipment more performance.Signal processor 9 among the figure receives and handles the data from four sensors.When two distance measuring equipments are worked simultaneously, a wireless or wired image data transmission device just need be arranged, view data is sent in all two or one of them distance measuring equipment.
Particularly, signal processor 9, be responsible for view data is handled, in the present embodiment, processor 9 also is responsible for the control to many camera lenses and multisensor video camera, camera on two pedestals points to different directions respectively, and the angle between these two groups of cameras can be fixing, also can carry out high-precision configuration or adjustment.If in order to obtain higher spatial resolution, this working mechanism can be easy to be extended to more camera lenses, the configuration mode of multisensor more, as using the situation of telephoto lens and wide-angle lens simultaneously.
The distance measuring equipment of present embodiment also has synchro control, can take pictures simultaneously to guarantee two distance measuring equipments.Under AD HOC, only use a wherein table apparatus, this moment is static to liking.The function of other of present embodiment camera is commonplace, as automatic exposure control, and focusing automatically (or artificial focusing) etc.
For other embodiment, distance measuring equipment of the present utility model should have two arrangement of mirrors head and sensors at least, is distributed in (first and second pedestals of corresponding previous embodiment) in two planes; Wherein have at least an arrangement of mirrors head and sensor to focus on the target to be measured; Angle between two planes at camera lens and sensor place is fixing or predefined, or is adjustable pattern.For described two planes, the camera lens on each plane and the number of sensor groups can be above two; As a rule, the camera lens on that plane that responsible execution baseline calculates and the number of sensor groups have two at least, therefore, can directly measure two angle and distances between device at one time, calculate baseline; In addition, be responsible for taking that plane of calculating target to be measured, need one or more camera lenses and sensor groups, in order to better elevation information is measured.
First and second pedestals of present embodiment distance measuring equipment can be two turnover panels of clamshell phone in the market, at the lateral surface of clamshell phone camera lens and recognition device are set, and have conveniently, practical, the effect easily promoted the use of.In addition, first and second pedestals can also be that two bar phones or panel computer are connected to form by the assembling mode that engages, basis at existing bar phone or panel computer arranges buckle, make it can unite use, at this moment, can specify wherein a bar phone or panel computer centralized calculation during deal with data; In addition, when buckle is set, data-interface can also be set carries out mutual communication, also can adopt the Wireless transmission mode communication certainly.
As everyone knows, two camera lenses utilize parallax and Triangle Model calculating principle can measure the distance of target object, but because equipment and human factor, and the precision of the distance that the camera lens of two fixed bases is measured is with the big and variation of the change of distance.That is, more far away apart from camera lens when target object, it is more big apart from Size Error that camera lens records.Just look like the situation of eye-observation, when 10 meters of range estimations during with interior object, can estimate its distance more exactly; But during the object beyond estimating a kilometer, it is quite big that the error of estimation becomes.
Utility model people analyzes through calculation, finds that the distance of working as between two camera lenses (referring to so-called baseline) is more big, and the error of the target object distance of measuring under the square one is more little.Present embodiment is a portable distance measuring equipment.When we consulted relevant pattern, we can find on different views, have a lot of similar numbers corresponding with similar master drawing now.
Obviously, triangulation can utilize following equation to calculate distance:
z=c*(f*p)/b (1)
Wherein, coefficient c is determined by a plurality of factors, can determine at correction link; F is the focal length of camera lens; P is the observation proof test value of two images of same target; B is two distances between camera lens, as the length of baseline.
Corresponding one group of given parameter, then being expressed as follows of single order deviation:
δz=(c*f/b)*δp-(c*f*f*p/b
2)*δb (2)
There are other several methods can improve the degree of accuracy of range observation here.Wherein, the deviation that is caused by proof test value is to cause the main cause of final error.Calculating the depth distance, and when measuring distance is distant, one or can both cause the great error of calculation even less than the proof test value of a pixel.We can expand focal distance f, measure the accuracy of verification to improve odd even.But the visual field that so long focal length simultaneously also can confining device also can become heavy simultaneously and can't use flexibly.For example, Chang Gui camera lens has 60 ° visual angle.If use the telephoto lens of 100 multiples, its visual angle also just has only 1/10th of conventional camera lens so, has just had only 6 ° visual angle.Certainly on the other hand, this long-focus method also can be used by appropriateness, and perhaps the mode with other is used in combination.As in the present embodiment, the camera of camera lens multisensor more than can guarantee big observation visual angle and high-precision observation effect.This camera can adopt different focal simultaneously at different directions, adopts standard focal length as a direction, and another direction adopts the focal length (2-3 zoom factor doubly) of 4-10X.And odd even resolution also can rise to high definition from single-definition, as rising to 3000 from 512.
Here there is a cover to adopt the detailed description of the stereo-picture matching algorithm of shorter baseline.
A kind of performance parameter of existing system is described as follows:
Configuration: 22cm baseline, 512 * 372,40 ° visual angle
Effective working range: 2.7 meters 35 meters;
Range resolution: in the time of 3 meters, reach 0.01 meter, in the time of 38 meters, reach 1.1 meters;
Spatial resolution: in the time of 3 meters, reach 0.004 meter, in the time of 38 meters, reach 0.05 meter;
Imaging: Micron MT9V022CMOS imager;
Adopt global shutter.
Wherein, range resolution refers to the resolution of depth direction, and spatial resolution refers to horizontal resolution.
As can be seen, when the distance of range finding object became big, error also increased simultaneously.Two reasons are arranged here:
Even 1 angular resolution is constant, spatial resolution has also reduced;
2, than long distance, it is more and more littler that parallax becomes.For a given baseline (as 22cm), when distance changes to 38 meters from 3 meters, spatial resolution also changes to 0.05 meter by 0.004 meter, just about 12 times.But the range resolution of this moment changes to 1.1 meters, just about 110 times from 0.01 meter.By contrasting identical data, can release easily, if use the high definition sensor (3000 * 2000) of varifocal camera lens (direction adopts 4X, the camera lens of 2X therein) and 6 mega pixels, can under the situation that does not change baseline, resolution be improved 12 times so.For example, if baseline is increased to 22 meters, it is far away that range finding distance so will be increased to several kms.As shown in Figure 1, in the configuration of many camera lenses multisensor, the camera lens of different focal can be used simultaneously, and all advantages of wide-angle and high precision measurement of angle can both be had simultaneously.
From formula (2) as can be seen, the parallax that is caused by the verification measuring error follows the length of baseline to be inversely proportional to.So baseline is more long, final error will be more little.And as can be seen, the final error that the error ratio that is caused by verification is caused by baseline itself wants much responsive.In fact, final error square being directly proportional with baseline self only.Therefore, we can draw a conclusion, that be exactly the more efficient methods of improving range observation be the baseline of expansion system.
The range measurement principle of present embodiment:
What Fig. 4 described is the schematic diagram of stereoscopic vision measuring distance.If two camera lenses 13 and sensor 14 are installed on the same device, then setting angle α, β and the distance R between two sensors is known.Therefore, just can easily calculate the distance of measurement target 10.In fact, Here it is utilizes the basic framework of stereocamera measuring distance.Yet owing to be limited by limited base length, this class device has only limited resolution of ranging.
Fig. 5 shows is one and has flexibly and the improved distance measuring equipment of the baseline R of expansion, and wherein one group of lens 13 and sensor 14 can rotate around another group lens and sensor, but also rotation simultaneously, thus adjust the visual angle flexibly.As the improvement project of Fig. 4, if angle [alpha] and angle beta can be measured accurately, so just can calculate the distance of measurement target 10.Owing to expanded baseline R, so the measuring accuracy of distance is enhanced also.Yet when two camera lenses 13 and sensor 14 were not on same distance measuring equipment, how to take measurement of an angle α and angle beta were only the thing of true difficulty.Though in some sense, two distance measuring equipments can both record high-precision angle value with additive method, such as using astronomical sight.
Distance measuring equipment shown in Figure 6 is the usage example in the actual environment, adopts series system work between two distance measuring equipments among the figure.Each distance measuring equipment has a recognition device, for another device observes.The distance measuring equipment on the left side and the right is respectively taken a photo to same object 10 at one time.View data is concentrated in one of them distance measuring equipment and handles.Baseline 15 can record by arbitrary device wherein, or records to reduce mistake jointly by two devices as far as possible.Then, can measure the distance between object 10 and distance measuring equipment by angle [alpha] and angle beta.13 is lens among Fig. 6, and 14 is sensor.In the example of Fig. 6, has only one group towards lens and the sensor groups of object 10.
Fig. 7 is the schematic diagram of expansion baseline in the 2D plane, supposes that namely all objects all are to be in same plane.Here have two independently distance measuring equipments, two gauge point 10-2 and 10-3 are positioned at the middle part of two devices, and the length L 1 between two gauge points is known, are used for calculating the length of baseline 15.When the view data from two devices is concentrated in one of them device when handling, the value of baseline 15 will at first be calculated.Then, the distance between object 10-1 to be measured and arbitrary distance measuring equipment also can measuredly obtain.Among Fig. 7,13 is lens, and 14 is sensor; Angle [alpha] and angle beta are respectively the angle between object 10-1 to be measured, distance measuring equipment and the gauge point 10-2, and angle θ and angle Y are respectively the angle between two distance measuring equipments and gauge point 10-2, the 10-3; L2 is that gauge point 10-2 is to the distance of baseline 15 on the direction of two gauge point place straight lines.
Fig. 8 is a 3D labelling apparatus 10, and it has 3 marker a, b, the c that can be used for doing the distance correction, and distance and the angle between line among the figure between those identification points are known.It uses its when range finding as the aid of range finding, is placed between two distance measuring equipments, and distance and the angle between itself and each label calculated in each distance measuring equipment independent measurement, thereby further calculates two parallax ranges between the distance measuring equipment.
Shown in Figure 9 is the situation of 3D range finding, and highly (z) also should be considered into.About two distance measuring equipments obtain gauge point 10a, 10b and 10c, also have the image of object 10d to be measured.Distance between the gauge point and angle all are known, in the situation of 3D, if two distance measuring equipments just need be obtained the length of 10a-10b and 10b-10c not on same surface level, thereby calculate two base length between the distance measuring equipment.Based on to L1, the measurement of L2 and L3 is calculated, and just can calculate the value of the datum line between C1 and C2.Then, just can try to achieve the distance of the object 10d to be measured that will measure according to the angle [alpha] that records and angle beta.Among the figure, angle θ and angle Y are respectively the angle between two distance measuring equipments and gauge point 10a, the 10b.
Figure 10 has illustrated the association between the last pixel compensation of sensor plane (the measuring object plane also is) and angle.Can come the value at the visual angle between two corresponding in calculating pixel compensating images objects with this association.Among Figure 10,13 is lens, and 14 is sensor.
Digital camera can be considered to human a kind of extended capability, is used for measuring the angle of two objects in the Same Scene.Shown in Figure 10, the leg-of-mutton angle corresponding pixel difference (compensation) relevant with object in the image.As can be seen, these angle difference are also inconsistent, but determined by the pixel of relative position in the image.If two figure are that the pixel verification differential seat angle of same target will be consistent so by the device picked-up of two camera lenses of one group of band and sensor.
The relation of the measurement of angle among Figure 10 and pixel compensation mensuration can be described below:
For a small objects Δ of object plane, suppose that its corresponding angle is α, little side-play amount corresponding on the sensor plane is δ.
Δ=R*(tg(γ+α)-tg(γ))
=R*sin(α)/(cos(γ)*cos(γ+α))
=R*sin(α)/(cos(γ)*(cos(γ)cos(α)-sin(γ)sin(α)))
When Y=0, then:
Δ=R*sin(α)/cos(α)
=R*sin (α) is if the value of α is very little
So, α=sin
-1(Δ/R)
When the standard visual angle of Y=30 ° of camera lens, then:
Δ=R*sin(α)/(√3)/4*(((√3)cos(α)-sin(α))
=R*sin (α)/(3/4) is if the value of α is very little
Therefore, α=sin
-1(4 Δs/3R)
Wherein, √ 3 expressions are to the meaning of 3 extracting operations, sin
-1Be arcsin function.
This means that for arbitrary pixel of sensor plane, if the visual angle increases, then Dui Ying Space Angle also increases.Usually, the geometric distortion of camera lens (TV distortion) scope is 2-0.1%, is greater than the degree of distortion of a pixel.Therefore, we can adopt other mechanism to control and minimize aliasing, as electronic calibration etc.
The precision of above-mentioned measurement of angle and pixel compensation measurement result is subjected to the influence of camera lens and sensor mass, and therefore, the better equipment of use that can be suitable is to obtain higher performance.For example, the amount of pixels of horizontal direction can be adjusted to 3000px from the 640px of single-definition.
The parameter of a kind of Typical Disposition of present embodiment distance measuring equipment is:
Configuration: 60 ° at baseline 6.5-30cm visual angle;
Effective range: 1-3500 rice;
Spatial resolution: 0.001m3m to0.5m3500m;
Resolution of ranging: 0.01m3m to3m3500m (baseline is 350 meters);
Optics: focal length: 6-25mm;
Imaging device: many cmos imagers (2000 * 3000) of 6 mega pixels.
Present embodiment has multiple function, according to measuring required precision, selects different use-patterns.
When needs measure closer object apart from the time, in 100 meters, only need the distance measuring equipment of a present embodiment to work independently and get final product, measure the distance of the object that meets accuracy requirement by the cooperation of two camera lenses, as shown in Figure 4 and Figure 5.
When needs measure remote object apart from the time, beyond 1 kilometer, for reaching more excellent measuring accuracy, need to increase the length of baseline between two camera lenses, can use the distance measuring equipment of two present embodiments this moment, the use that cooperatively interacts of these two distance measuring equipments, the distance between it is the length of baseline.So can obtain for example 100 meters base length with interior expansion, compare the baseline of original single distance measuring equipment, improve distance measuring precision greatly.In the existing equipment, base length often is subjected to the shape of equipment itself, the restriction of size, and for portable set, the length of its baseline usually can be greater than 10 meters.Increase the length of baseline again as need, this is that existing equipment is out of the question.When the distance measuring equipment of use present embodiment obtained bigger base length, first pedestal of distance measuring equipment was used for taking the image of object to be checked towards object under test; Second pedestal is towards another distance measuring equipment, and second pedestal of two distance measuring equipments is used for measuring the distance between two distance measuring equipments toward each other.The image that camera on first pedestal of same distance measuring equipment is taken can be used for deblurring to be handled, and the image that first pedestal of different distance measuring equipments is taken can be used for calculating the distance of object under test.Base length between two distance measuring equipments is as the criterion with the distance between the recognition device.Two modes that distance measuring equipment is worked simultaneously, simple, quick, real-time, be particularly useful for the range finding work of moving object.As shown in Figure 6.
If remote object to be measured is static, the user can also only can finish the task of precision distance measurement with the distance measuring equipment of a present embodiment.Operate as follows, the user earlier A point take the photograph the image of object under test, go to B point to absorb the image of object under test then, the distance that acquisition A, B are ordered, and shooting angle, computer can draw the distance of object under test as calculated.The mode that obtains A, B point distance has, the artificial measurement, but this mode is comparatively inconvenient; More excellent, the recognition device on the distance measuring equipment can be taken off and be put in the A point, the camera on second pedestal of B point use distance measuring equipment is taken then, utilizes distance measuring equipment itself to record the distance that A, B are ordered.
When further need to measure farther apart from the time, beyond 10 kilometers, be the precision that continues to keep good, need further to increase the length of baseline, as base length being increased to hundreds of rice even more than 1 kilometer, the method for last two sections described measurement baselines is incompatible.Can between two distance measuring equipments, establish label in advance, as Fig. 7, Fig. 8 and shown in Figure 9, distance between each reference point of label is known, if the reference point more than three, then the angle between the reference point is known, and second pedestal of two distance measuring equipments is all towards label, measure respectively separately and the reference point of label between angle and distance, comprehensively calculate two distances between the distance measuring equipment again, so improved the precision when measuring baseline greatly.A plurality of reference points are set, and can cooperate with each other to calculate also further reduces error.
When needs are measured big object, such as building, mountain etc., need this moment the camera lens of long and short focal length to be used simultaneously.The focal length of camera lens and the visual angle of camera lens and range resolution have the relation of contradiction, than the camera lens of long-focus, have range resolution preferably, but its visual angle are less, when the object of measuring as needs is big, even can not be filmed object fully; Though yet the camera lens of shorter focal length has wideer visual angle, its range resolution is relatively poor, crosses when far away when measuring object distance, can't satisfy the requirement of precision.Camera on distance measuring equipment first pedestal of present embodiment has different focal lengths, and the camera of different focal can be worked simultaneously, cooperatively interacts each other to reduce the influence of the little and range resolution difference in visual angle.
The embodiment of the utility model distance-finding method is as follows:
For each many camera lenses and multi-sensor group, camera lens and number of sensors can be above two.As a rule, camera lens and the number of sensors of being responsible for that group of execution baseline calculating have two, even more.Therefore, can directly measure two angle and distances between device at one time.In addition, also need many one or several camera lenses and sensor for the distance of measurement target, in order to better elevation information is measured.
This device has synchronization mechanism, can take pictures simultaneously to guarantee two table apparatus.Under specific circumstances, only use a wherein table apparatus, this moment is static to liking.Other camera apparatus is commonplace, as automatic exposure control, and focusing automatically (or artificial focusing) etc.
By wireless mode photo opporunity is carried out synchronously between two distance measuring equipments, and in the back exchange image data of taking pictures.Because each device has the real-time clock of oneself, so can pre-set program carry out all operations.
Among other the embodiment, also adopt wireless mode, as high accurate GPS or similar system, Local wireless network or similar system can adopt time-of-flight method and optical triangulation method to measure and confirm the value of baseline.The reference point that other are known, as the sun, the moon, how much reference points and reference mark, or mutual reference point can both be used to accurately to obtain relative position and angle between device, the perhaps angle value between object apparatus.Therefore, can carry out better range operation thus.In addition, the image of range finding object is obtained in shooting described in the utility model, and its style of shooting should comprise the photo of direct shooting range finding object, and the picture in the video of intercepting shooting range finding object.
Method is described: in the present embodiment, preferably proofread and correct distance measuring equipment earlier.After the calibration, the user can configure the wherein parameter of an arrangement of mirrors head and sensor by an object, and another arrangement of mirrors head and sensor then arrange base measurement by other device.After taking pictures simultaneously, intercourse view data between two groups of devices, thereby calculate the value of baseline and distance.Detailed operating process is described below:
1, calibration: for a given setting, as the parameter of focal length and focal aperture, need proofread and correct each pixel of sensor, and note.The actual measurement angle of location of pixels correspondence also can go on record, and is embodied in the final calculating.All errors all go on record as factors such as lens aberration, systematic error and installation deviation.Need proofread and correct respectively in level and vertical direction.In measurement in space, can use two groups or more camera lens and sensor, before calculating distance, also will proofread and correct by the measurement of actual range.Some parameter all will be set and be proofreaied and correct especially as the distance between camera lens and the sensor.The numerical value of proofreading and correct will be as the built-in storage data of device.
2, configuration device: for the range finding of object in the scene, adopt two distance measuring equipments, two distance measuring equipments work in series model.Base length between two distance measuring equipments at least should by range finding from 1/10th, could guarantee measuring accuracy preferably.One arrangement of mirrors head of distance measuring equipment and sensor are facing to the range finding object, and another is organized then facing to another distance measuring equipment (perhaps labelling apparatus, reference point).
3, object is taken pictures with other distance measuring equipments: guarantee that camera lens and sensor that all are relevant all are adjusted to good suitable state.Usually, the two arrangement of mirrors heads of taking same target preferably have same or analogous parameter setting, as the time shutter, to reduce the pixel matching treatment in later stage.In specific time, place, two distance measuring equipments totally four arrangement of mirrors heads are taken pictures simultaneously.
4, with wireless or other modes with image data transmission in processor: the view data that one of them distance measuring equipment is obtained, together with relevant description, sum of errors parameter is set, as the angle between two arrangement of mirrors heads, aperture, zoom factor, time shutter, correction data etc., be transferred to together on another distance measuring equipment.Carry out data by a distance measuring equipment and collect and carry out the data processing.
5, calculate baseline value: at first the image data information of obtaining by this distance measuring equipment is calculated baseline, verifies by the view data of another distance measuring equipment and confirms.
6, calculate distance: to a given object, earlier by the stereo-picture matching algorithm, as estimation, find out the respective pixel collection of the target of two distance measuring equipments shootings.Calculate the angle between baseline and object then.And then calculate the distance of object.
Got back to for the 3rd step, calculate again once, thus checking and improve ranging data.
The announcement of book and instruction according to the above description, the utility model those skilled in the art can also change and revise above-mentioned embodiment.Therefore, the embodiment that discloses and describe above the utility model is not limited to also should fall in the protection domain of claim of the present utility model modifications and changes more of the present utility model.In addition, although used some specific terms in this instructions, these terms do not constitute any restriction to the utility model just for convenience of description.
Claims (11)
1. distance measuring equipment, it is characterized in that: comprise first image pickup part and second image pickup part, wherein first image pickup part comprises one or more pick-up lenss and the image sensor corresponding with pick-up lens, and second image pickup part comprises a plurality of pick-up lenss and the image sensor corresponding with pick-up lens;
The pick-up lens of the pick-up lens of first image pickup part and second image pickup part is located at two surfaces respectively, and two surfaces are positioned at two pedestals or are positioned on the same pedestal, and the known angle of angulation between these two surfaces;
Comprise signal processor, be connected with each image pickup part, be used for the shooting action of control image pickup part, and the receiving sensor picture signal of taking and the distance that calculates target object.
2. distance measuring equipment according to claim 1 is characterized in that: the angles that described two surfaces form are acute angle, right angle or obtuse angle; Pick-up lens is located at the lateral surface of angle, towards the outside of angle.
3. distance measuring equipment according to claim 1 is characterized in that: comprise recognition device, be connected with described pedestal dismounting.
4. distance measuring equipment according to claim 1, it is characterized in that: described pedestal is mobile communication terminal.
5. distance measuring equipment according to claim 4, it is characterized in that: described mobile communication terminal is mobile phone;
Described mobile phone is clamshell handset, and the pick-up lens of the pick-up lens of first image pickup part and second image pickup part is located at respectively on the fuselage and lid of clamshell handset; Or,
Described mobile phone is stick-type phone, and the pick-up lens of the pick-up lens of first image pickup part and second image pickup part is located at respectively on two stick-type phone, and these two stick-type phone connect by snap-in structure.
6. distance measuring equipment according to claim 5 is characterized in that: when described mobile phone is stick-type phone, transmits signal by the physical medium that is in contact with one another between two stick-type phone, or transmit signal by wireless mode; Signal transmission between two stick-type phone is in real time or semireal time.
7. an application rights requires the range measurement system of 1 distance measuring equipment, and it is characterized in that: be made up of two described distance measuring equipments, first image pickup part of each distance measuring equipment is towards target to be measured, and second image pickup part is towards another distance measuring equipment; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for transmitting signal between two distance measuring equipments.
8. distance measuring equipment according to claim 7, it is characterized in that: each distance measuring equipment includes recognition device, is connected with the pedestal dismounting; Second image pickup part is towards the recognition device of another distance measuring equipment.
9. an application rights requires the range measurement system of 1 distance measuring equipment, and it is characterized in that: comprise two described distance measuring equipments and labelling apparatus, first image pickup part of each distance measuring equipment is towards target to be measured, and second image pickup part is towards labelling apparatus; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for transmitting signal between two distance measuring equipments.
10. according to claim 7 or 9 described range measurement systems, it is characterized in that: first image pickup part of two distance measuring equipments includes a plurality of pick-up lenss and the image sensor corresponding with pick-up lens, and different pick-up lenss have different focal lengths.
11. range measurement system according to claim 9 is characterized in that: described labelling apparatus is provided with a plurality of labels.
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| CN 201320021721 CN203069176U (en) | 2013-01-15 | 2013-01-15 | Ranging device and ranging system thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103090846A (en) * | 2013-01-15 | 2013-05-08 | 广州市盛光微电子有限公司 | Distance measuring device, distance measuring system and distance measuring method |
| CN104580874A (en) * | 2013-10-22 | 2015-04-29 | 中兴通讯股份有限公司 | Camera shooting equipment and picture taking method thereof |
| CN107643071A (en) * | 2016-07-20 | 2018-01-30 | 陈进益 | Mobile distance measuring device and distance measuring method thereof and land area measuring method |
-
2013
- 2013-01-15 CN CN 201320021721 patent/CN203069176U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103090846A (en) * | 2013-01-15 | 2013-05-08 | 广州市盛光微电子有限公司 | Distance measuring device, distance measuring system and distance measuring method |
| CN103090846B (en) * | 2013-01-15 | 2016-08-10 | 广州市盛光微电子有限公司 | A kind of range unit, range-measurement system and distance-finding method thereof |
| CN104580874A (en) * | 2013-10-22 | 2015-04-29 | 中兴通讯股份有限公司 | Camera shooting equipment and picture taking method thereof |
| CN107643071A (en) * | 2016-07-20 | 2018-01-30 | 陈进益 | Mobile distance measuring device and distance measuring method thereof and land area measuring method |
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