CN204613404U - Based on the multipoint ranging apparatus of wire harness laser instrument and common CCD - Google Patents

Abstract

The utility model provides a kind of multipoint ranging apparatus based on wire harness laser instrument and common CCD, and this laser ranging system comprises generating laser, laser integer module, imaging lens group, ccd image sensor and DSP processing unit; Generating laser is wire harness laser through laser integer module integer; The transmit direction of generating laser and ccd image sensor place plane are at an angle; Generating laser is irradiated to the target object surface in the wide range of front through the wire harness laser that laser integer module sends, there is diffuse reflection, object in the broken line of reflection or curve and current field angle images on ccd image sensor jointly through imaging lens group, DSP processing unit processes the broken line of above-mentioned imaging or the view data of curve, according to angular relationship, ask for the testing distance of this angle direction; The utility model structure is simple, and user cost is low, can the distance of multiple point in one-shot measurement wide range, and distance measuring method is quick, sensitive.

Description

Based on the multipoint ranging apparatus of wire harness laser instrument and common CCD

Technical field

The utility model relates to a kind of distance measuring equipment, particularly relates to a kind of multipoint ranging apparatus based on wire harness laser instrument and common CCD.

Background technology

Laser has the features such as high brightness, high directivity, high monochromaticity and high coherence, greatly can improve measuring accuracy, be widely used on distance measuring equipment.Laser distance measurement method has the advantages that principle is simple, measuring speed is fast, ranging is far away, and at present, many indoor machine robot systems, use laser ranging system as main sensors, are used for drawing, locating and keep away barrier.

Traditional laser distance measurement method comprises impulse method, phase method and triangulation, and impulse method measuring accuracy is lower, and phase method is longer for stabilization time needed of at every turn finding range, and it is low that triangle telemetry has good effect production cost, is the focus of at present research.

Propose in the utility model to adopt a kind of laser integer type device, the laser integer that generating laser sends by this laser integer type device is wire harness laser, the wire harness laser that generating laser sends after integer is a wordline pattern in a wide range, suppose that wire harness Laser emission is on the target object in the wide range of front, the light of reflection can be mapped as different broken line line segments or curved segments, because the hot spot formed on target object at the laser rays sent is more fixing, so on CCD during imaging, the broken line line segment of different Range Imagings or the position at curved segments barycenter place also different.Detect the position of laser spot in shooting image by image algorithm different, obtain line segment centroid position, the formula of deriving according to the utility model can obtain object distance.Meanwhile, the utility model it is also proposed, and the thickness of the objects in front broken line of distance taken by difference or curve is also different: closely, and the line segment of imaging is thick, and line segment diameter may be tens pixels; At a distance, such as 5 meters of, the line segment of imaging is thin, and line segment diameter may only have several pixel.Record the feature of this different line segment thickness, can carry out from error correction striked distance value, the ranging frame for mistake can be given up.Meanwhile, as shown in Figure 3, distance of finding range recently is in theory G point, but due to laser be not the laser rays of a pixel, but have the laser rays of certain rugosity, so range finding is recently at I point; Same, the distance within H point all can not be taken pictures than more complete line Segment.For the image of these imperfect line segments, record the diverse location corresponding relation that its image calculates barycenter and actual barycenter in advance, statement can be used for the close-in measurement exceeding theoretical value.

Utility model content

The defect that the utility model exists for above-mentioned technology, provides a kind of multipoint ranging apparatus based on wire harness laser instrument and common CCD, and this distance measuring equipment can the distance of multiple point in one-shot measurement wide range; Distance measuring equipment structure is simple, and user cost is low; Distance measuring method is quick, sensitive, has very high using value in range finding fields such as communication, aviation, Smart Homes.

The utility model is achieved by the following technical solution, based on a multipoint ranging apparatus for wire harness laser instrument and common CCD, this laser ranging system comprises generating laser, laser integer module, imaging lens group, ccd image sensor and DSP processing unit; Described generating laser is wire harness laser through laser integer module integer, and the transmit direction of generating laser and ccd image sensor place plane are at an angle; Generating laser is a particular value to the distance at ccd image sensor center; Generating laser is irradiated to the target object surface in the wide range of front through the wire harness laser that laser integer module sends, there is diffuse reflection, the light of reflection can be mapped as different broken line line segments or curved segments, and other objects in the broken line line segment of above-mentioned reflection or curved segments and current field angle image on ccd image sensor jointly through imaging lens group; DSP processing unit collects broken line line segment or the curved segments of above-mentioned imaging, then according to angular relationship, can ask for the testing distance of this angle direction.

Described laser integer module is arranged on described generating laser rear end, for being wire harness laser by a Shu Jiguang integer.

Described laser integer module can be molded lens, vibrating reed, rotating prism.

Described imaging lens group comprises an optical filter further, and optical filter is arranged on described imaging lens group front end, in order to filter the light of specific wavelength.

Described distance measuring equipment comprises a pedestal further, and described generating laser, imaging lens group, general CCD image sensor and DSP processing unit are fixing on the base.

Described generating laser is 3cm ~ 9cm to the distance range at described ccd image sensor center.

Described DSP processing unit comprises fifo module, connects wire, DSP circuit.

The utility model has following beneficial effect:

1) the wire harness laser that in the utility model, generating laser sends through laser integer module integer, being irradiated to objects ahead body surface reflection imaging is broken line line segment or curved segments, carry out data processing through DSP processing unit and obtain testing distance, the utility model can the distance of multiple point in one-shot measurement wide range, improve measuring accuracy, make measuring distance more fast accurately.

2) the utility model structure is simple, and user cost is low, and at communication, aviation, Smart Home, especially there is very high using value in robot range finding field.

Accompanying drawing explanation

Fig. 1 is distance measuring equipment structural representation described in the utility model

Fig. 2 is distance measuring equipment side view described in the utility model

Fig. 3 is described in the utility model at Y direction distance-finding method schematic diagram

Fig. 4 is described in the utility model at X-direction distance-finding method schematic diagram

Fig. 5 is the broken line line segment schematic diagram of distance measuring equipment described in the utility model imaging on different distance metope

Fig. 6 is the broken line line segment schematic diagram that distance measuring equipment described in the utility model faces metope imaging

Fig. 7 is that distance measuring equipment described in the utility model is tiltedly facing to the broken line line segment schematic diagram that metope obtains

In figure, symbol represents: 1: generating laser; 2:DSP circuit; 3:FIFO module; 4: imaging len; 5: general CCD image sensor; 6: connect wire; 7: pedestal; 8:DSP processing unit; 9: optical filter; 10: laser integer module

Embodiment

Below in conjunction with accompanying drawing, the utility model is described further.

As shown in Figure 1, a kind of multipoint ranging apparatus based on wire harness laser instrument and common CCD, this device comprises generating laser 1, laser integer module 10, imaging lens group 4, ccd image sensor 5 and DSP processing unit 8, generating laser 1 is wire harness laser through laser integer module 10 integer, wire harness laser is irradiated to target object surface to be measured in the wide range of front, there is diffuse reflection, the light of reflection can be mapped as different broken line line segments or curved segments, object in above-mentioned broken line line segment or curved segments and current field angle images on ccd image sensor 5 through imaging lens group 4 jointly, ccd image sensor 5 image data transmission to DSP processing unit 8, realize light signal and be converted to electric signal, broken line line segment or the curved segments of above-mentioned imaging is gathered through DSP processing unit 8, and calculate its barycenter, according to angular relationship and then calculate testing distance.

Described laser integer module 10 is arranged on the rear end of generating laser 1, for being wire harness laser by a Shu Jiguang integer;

In the present embodiment, laser integer module 10 is molded lens group, and in other embodiments of the present utility model, laser integer module 10 also can be vibrating reed, can also be rotating prism.

DSP processing unit 8 comprises fifo module 3, connects wire 6, DSP circuit 2; Imaging lens group 4 comprises an optical filter 9 further, and optical filter 9 is arranged on described lens combination 4 front end, in order to filter the light of specific wavelength.

As shown in Figure 2, this distance measuring equipment comprises a pedestal 7 further, described generating laser 1, imaging lens group 4, general CCD image sensor 5 and DSP processing unit 8 is fixing on the base, pedestal 8 is angled with general CCD image sensor place plane, and in the present embodiment, angulation can be 84.3 °; Generating laser 1 can be 5 ㎝ to the distance of imaging lens group 4.

Specifically, the utility model also provides a kind of distance-finding method of above-mentioned laser ranging system:

The distance-finding method of above-mentioned laser ranging system is:

1) view data is obtained: the transmit direction of adjustment generating laser and ccd image sensor place plane are at an angle, generating laser is irradiated to target object surface to be measured in the wide range of front through the wire harness laser that laser integer module sends, there is diffuse reflection, object in the broken line of reflection or curve and current field angle images on ccd image sensor jointly through imaging lens group, the broken line of reflection or curve are imaged as broken line line segment or the curved segments of many high brightness, other backgrounds are imaged as the data comparing low-light level, one frame of digital view data of ccd image sensor record correspondence direction, and this frame image data is transferred to DSP processing unit, this two field picture have recorded the view data of digitizing in the current time angle of view,

2) image data processing: DSP processing unit is to step 1) described in view data process, first with the distortion of digital algorithm removal of images, then carry out data smoothing and eliminate noise, finally set thresholding and carry out binaryzation;

3) again according to step 1) described in broken line line segment or curved segments left-right relation to image smoothing so that eliminate noise, each bar broken line line segment or curved segments are adjusted to broken line from left to right, make same X-coordinate to only have a highlighted line segment exist;

4) ask for the barycenter of the highlighted line segment in each X-coordinate: being added up by the point coordinate of the highlighted line segment of same X-coordinate is averaged, the barycenter that can obtain corresponding X-coordinate is Y; Calculate through this step, in any one X-coordinate from left to right, only may have the highlighted center of mass point of the Y being no more than 1; For certain X, if there is 1 Y center of mass point, represent distance on this direction in finding range, if there is no Y center of mass point, represent distance on this direction not in finding range.

Described in algorithm principle, in image formed by CCD, each row of X-direction represent an imaging angle, and Y-axis imager coordinate representative range finding is apart from the vertical range of corresponding current location.

5) according to all (X, Y) computation and measurement angles from left to right and measuring distance:

A) for some (X, Y), vertical range d is asked according to Y-axis coordinate, as shown in Figure 3: known laser transmitter is p to the distance of CCD lens group, CCD camera lens is 2 α, CCD camera lens axis and generating laser angle in Y-axis field angle is that n is the coordinate of laser spots in Y-axis, y is always the counting of CCD imaging in Y direction

Solve as follows: establish L=BE, so release according to Similar Principle of Triangle:

$\frac{\mathrm{CD}}{\mathrm{DF}}=\frac{n}{y}=\frac{L\·\mathrm{tg\α}-(L-\frac{p}{\mathrm{tg\θ}})\·\mathrm{tg\θ}}{2\·L\·\mathrm{tg\α}}$ Formula (1)

Draw according to formula (1): $\frac{n}{y}=\frac{L\·(\mathrm{tg\α}-\mathrm{tg\θ})+p}{2\·L\·\mathrm{tg\α}}$ Formula (2)

Drawn by formula (2): $L=\frac{p\·y}{2\·n\·\mathrm{tg\α}-y\·(\mathrm{tg\α}-\mathrm{tg\θ})}$ Formula (3)

Again because $d=\mathrm{AC}=\frac{L}{\cos \mathrm{\θ}}$ Formula (4)

Draw vertical range d, $d=\frac{p\·y}{\cos \mathrm{\θ}\·[2\·n\·\mathrm{tg\α}-y\·(\mathrm{tg\α}-\mathrm{tg\θ})]}$ Formula (5)

In addition, for nearest measurement point G, as the theoretical value n=y of G, bring formula (5) into, can try to achieve and measure range d recently _g, $d_G=\frac{p}{\cos \mathrm{\θ}\·(\mathrm{tg\α}+\mathrm{tg\θ})};$

B) known CCD camera lens field angle in X-axis is 2 β, and view data is O at the central point of X-axis, and as shown in Figure 4: each X represents a direction, formed by X-direction and Y-direction, deflection is γ, for the coordinate points of x=m, y=n, formula (6), releases measuring distance d _x, formula (7)

Step a) in asked for this direction vertical range be d, in conjunction with formula (5) and formula (7), can in the hope of d _x, obtain range measurement (γ, d _x) be distance d in γ direction _x;

$d_x=\frac{p\·y}{\cos \mathrm{\γ}\·\cos \mathrm{\θ}\·[2\·n\·\mathrm{tg\α}-y\·(\mathrm{tg\α}-\mathrm{tg\θ})]};$

C) repeat step a) and step b), calculated the range finding angle of 2X point in whole 2 β wide range from left to right and range finding distance and the range measurement output of 2X within the scope of whole 2 β being put.

Step 3) relation that comprises broken line thickness and vertical range further carries out self calibration step: suppose that the hot spot that laser is formed on target object is more fixing, so on CCD during imaging, the broken line line segment of different Range Imagings or the thickness of curved segments also different, as shown in Figure 5, in figure, the left side is that laser is irradiated on the metope of different distance, is from left to right followed successively by by as far as closely; The right of figure is the broken line line segment schematic diagram of the different thicknesses of imaging, and line segment is from left to right followed successively by from fine to coarse; Record different distance imaging broken line line segment or the relation of curved segments thickness characteristic and vertical range as self calibration index, exclude erroneous distance measurement.

By reference to the accompanying drawings shown in 3, G point is distance of finding range recently in theory, but due to the laser rays that wire harness laser is not a pixel, but be imaged as high brightness broken line line segment or curved segments, so nearest point distance measurement is at I point, same, distance within H point all can not be taken pictures than more complete broken line line segment or curved segments, the utility model asks for barycenter to the image objects within H point distance at the imperfect broken line line segment within the scope of CCD or curved segments, simultaneously, the actual distance corresponding according to this imperfect barycenter of actual observation record, thus obtain the finding range exceeding theoretical value.

Accompanying drawing 6 is the broken line line segment schematic diagram that distance measuring equipment described in the utility model faces metope imaging, and laser instrument faces metope, and it is straight line line segment that laser is irradiated to broken line or the curve imaging on CCD that metope reflects.

Accompanying drawing 7 is the broken line line segment schematic diagram that distance measuring equipment described in the utility model tiltedly faces toward metope imaging, and laser instrument is tiltedly facing to metope, and it is a diagonal segment lines that laser is irradiated to broken line or the curve imaging on CCD that metope reflects.

Previous embodiment and advantage are only exemplary, should not be understood to limit the disclosure.The utility model easily can be applied to the equipment of other type.In addition, the description of exemplary embodiment of the present disclosure is indicative, does not limit the scope of the claims, and many replacements, modifications and variations are obvious to those skilled in the art.

Claims (6)

1., based on a multipoint ranging apparatus for wire harness laser instrument and common CCD, this laser ranging system comprises generating laser, laser integer module, imaging lens group, ccd image sensor and DSP processing unit; Described generating laser is wire harness laser through laser integer module integer, and the transmit direction of generating laser and ccd image sensor place plane are at an angle; Generating laser is a particular value to the distance at ccd image sensor center; Generating laser is irradiated to the target object surface in the wide range of front through the wire harness laser that laser integer module sends, there is diffuse reflection, the light of reflection can be mapped as different broken line line segments or curved segments, and other objects in the broken line line segment of above-mentioned reflection or curved segments and current field angle image on ccd image sensor jointly through imaging lens group; DSP processing unit collects broken line line segment or the curved segments of above-mentioned imaging, then according to angular relationship, can ask for the testing distance of this angle direction.

2. laser ranging system according to claim 1, is characterized in that: described laser integer module is arranged on described generating laser rear end, for being wire harness laser by a Shu Jiguang integer;

Described laser integer module can be molded lens group, also can for vibrating reed, can also for rotating prism.

3. laser ranging system according to claim 1, is characterized in that: described imaging lens group comprises an optical filter further;

Described optical filter is arranged on described imaging lens group front end, in order to filter the light of specific wavelength.

4. laser ranging system according to claim 1, is characterized in that: described distance measuring equipment comprises a pedestal further, and described generating laser, imaging lens group, general CCD image sensor and DSP processing unit are fixing on the base.

5. laser ranging system according to claim 1, is characterized in that: described generating laser is 3cm ~ 9cm to the distance range at described ccd image sensor center.

6. laser ranging system according to claim 1, is characterized in that: described DSP processing unit comprises fifo module, connects wire, DSP circuit.