CN205333856U - Low -cost laser rangefinder based on ordinary camera chip - Google Patents
Low -cost laser rangefinder based on ordinary camera chip Download PDFInfo
- Publication number
- CN205333856U CN205333856U CN201620016814.9U CN201620016814U CN205333856U CN 205333856 U CN205333856 U CN 205333856U CN 201620016814 U CN201620016814 U CN 201620016814U CN 205333856 U CN205333856 U CN 205333856U
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- China
- Prior art keywords
- camera chip
- laser
- common camera
- processing unit
- distance
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
Abstract
The utility model provides a low -cost laser rangefinder based on ordinary camera chip, this laser rangefinder include laser emitter, imaging lens group, ordinary camera chip and image processing unit, laser emitter's transmit direction and a certain angle setting of ordinary camera chip place plane one -tenth, laser emitter is a designated value to the distance at ordinary camera chip center, the laser beam shines the object body surface face that awaits measuring, takes place the diffuse reflection, and the facula of reflection forms images on ordinary camera chip through imaging lens group with the object in the current angle of vision jointly, and process image processing unit receives the facula, calculates the distance that awaits measuring. The utility model discloses simple structure, the user is with low costs, the range finding mode is quick, sensitive, has very high using value in range finding fields such as communication, aviation, intelligent houses.
Description
Technical field
This utility model relates to a kind of range unit, particularly relates to a kind of cost laser range unit based on common camera chip。
Background technology
Laser has the features such as high brightness, high directivity, high monochromaticity and high coherence, can be greatly improved measuring accuracy, be widely used on range unit。Laser distance measurement method has the advantages that principle is simple, measuring speed is fast, ranging is remote, at present, many Indoor Robot systems, use laser ranging system as main sensors, for picture map, location and avoidance。
Traditional laser distance measurement method includes impulse method, phase method and triangulation, and impulse method certainty of measurement is relatively low, and phase method is longer for stabilization time needed of every time finding range, and triangle telemetry has preferably that application effect production cost is low, is the focus of research at present。Assuming that Laser emission is to target object, the hot spot formed on target object is more fixing, then on common camera chip during imaging, also different in the position at the laser spot barycenter place of different Range Imagings。Detecting laser spot position in shooting image by image algorithm different, obtain facula mass center position, the formula derived according to the present invention can obtain object distance。, present invention also proposes, the different taken spot size of objects in front distance is also different: closely, the hot spot of imaging is big, and spot diameter is likely tens pixels meanwhile；At a distance, for instance 5 meters of, the hot spot of imaging is little, and spot diameter is likely to only several pixels。Record the feature of these different spot sizes, it is possible to striked distance value being carried out from error correction, the ranging frame for mistake can be given up。Meanwhile, as shown in Figure 3, range finding distance is G point recently in theory, but is not a pixel due to laser, but a piece of hot spot, so range finding is at I point recently；Same, the distance within H point all can not be taken pictures than more complete image spot。For the image of these imperfect hot spots, record its image in advance and calculate the diverse location corresponding relation of barycenter and actual barycenter, it is possible to be used for stating the close-in measurement beyond theoretical value。
Utility model content
The defect that this utility model exists for above-mentioned technology, it is provided that a kind of cost laser range unit based on common camera chip, range unit simple in construction of the present utility model, user cost is low；Distance-finding method is quick, sensitive, has significantly high using value in range finding fields such as communication, aviation, Smart Homes。
This utility model is achieved by the following technical solution, a kind of cost laser range unit based on common camera chip, it is characterised in that: this device includes generating laser, imaging lens group, common camera chip and graphics processing unit；The transmitting direction of generating laser is with common camera chip place plane at an angle, generating laser gives off laser beam and is irradiated to target object surface to be measured, there is diffuse-reflectance, the hot spot of reflection images on common camera chip with the imaged battery of lens of object in current field angle jointly, realize optical signal and be converted to the signal of telecommunication, common camera chip is transferred to graphics processing unit view data, and graphics processing unit gathers hot spot and calculates testing distance。
Described graphics processing unit includes fifo module, connects wire, processor DSP circuit；The data image signal of common camera chip output, is buffered in fifo module by connecting wire, or directly inputs DSP circuit and process。
This range unit farther includes a pedestal, and described imaging lens group, common camera chip and graphics processing unit are fixing on the base。
The transmitting direction of described generating laser ranges for 81 °～86 ° with described common camera chip place plane angulation。
Described generating laser is 3cm～9cm to the distance range of described common camera chip center。
Described common camera chip includes but not limited to ccd image sensor, cmos image sensor。
In sum, this utility model provides a kind of cost laser range unit based on common camera chip, this range unit sends light beam by generating laser and is irradiated on target object to be measured, from target object, the light beam of reflection is converted to the signal of telecommunication through common camera chip image sensor optical signal, process through graphics processing unit data and obtain testing distance information, simple in construction, user cost is low, at communication, aviation, Smart Home, especially there is significantly high using value in robot range finding field。
Accompanying drawing explanation
Fig. 1 is laser ranging system structural representation described in the utility model
Fig. 2 is laser ranging system structural side view described in the utility model
Fig. 3 is laser distance measuring principle figure described in the utility model
Fig. 4 is the representation of laser facula design sketch after processing
Fig. 5 is the imperfect hot spot schematic diagram closely taken pictures
In figure, symbol represents: 1: generating laser；2:DSP circuit；3:FIFO module；4: imaging lens group；5: common camera chip；6: connect wire；7: pedestal；8: graphics processing unit
A-is light spot image closely；The remote light spot image of b-；Distance light spot image in c-
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described further。
As it is shown in figure 1, a kind of cost laser range unit based on common camera chip, this device includes generating laser 1, imaging lens group 4, common camera chip 5 and graphics processing unit 8；Described graphics processing unit 8 includes fifo module 3, connects wire 6, DSP circuit 2；The data image signal of common camera chip 5 output, is buffered in fifo module 3 by connecting wire, or directly inputs DSP circuit 2 and process。
As in figure 2 it is shown, this generating laser further comprises a pedestal 7, described imaging lens group 4, common camera chip 5 and graphics processing unit 8 are fixed on this pedestal 7；Described generating laser 1 launch direction and described common camera chip 5 place plane angulation range for 81 °～86 °, in the present embodiment preferably 84.3 °。
Described generating laser 1 is 3cm～9cm to the distance range at described common camera chip 5 center, preferred 5cm in the present embodiment。
Common camera chip 5 selects ccd image sensor in the present embodiment；In another embodiment of the present utility model, common camera chip 5 selects cmos image sensor。
This range unit sends light beam by generating laser 1 and is irradiated on target object to be measured, from target object, the light beam of reflection is converted to the signal of telecommunication through 5 optical signals of common camera chip, process through graphics processing unit 8 data and obtain testing distance information, simple in construction, volume is little, user cost is low, and at communication, aviation, Smart Home, especially there is significantly high using value in robot range finding field。
Specifically, this utility model also provides for the distance-finding method of a kind of above-mentioned laser ranging system:
1) sending point-like laser bundle from generating laser 1 and be irradiated to target object surface generation diffuse-reflectance to be measured, the hot spot of reflection images on common camera chip 5 jointly with the imaged battery of lens of object in current field angle, it is achieved optical signal is converted to the signal of telecommunication；
2) after common camera chip 5 obtains this two field picture hot spot, first pattern distortion is eliminated with digital algorithm, then color and brightness according to laser smooth, finally carry out binary conversion treatment, can obtaining image effect figure as shown in Figure 4, in actual measurement, the edge of hot spot generally will not be so smooth。
Wherein, for the laser spot at different Range Imagings, by recording in the spot size characteristic of different distance and the relation of distance as self calibration index, exclude erroneous distance measurement。
3) to step 2) in process hot spot ask for barycenter: be judged to high coordinate points by after all binaryzations, whole coordinate points add up and are averaged, finally can obtain (an X, Y) coordinate figure, this coordinate figure is exactly center of mass point position, and center-of-mass coordinate Y correspondence starts several n-th point from images bottom；The more remote position of distance, more on the lower, to account for pixel more few for hot spot simultaneously for imaging facula；Otherwise, the more near position of distance, imaging facula is more top, and to account for pixel more many for hot spot simultaneously。
4) testing distance is calculated, as shown in Figure 3, the known imaging len group switching centre B distance from laser instrument A is p, the angle of visual field of imaging lens group is 2 α, the coverage of the whole angle of visual field is DF, n is facula mass center corresponding the counting of coordinate Y in above-mentioned image, and total Y-axis that y is common camera chip imaging is counted, according to triangle law, draw equation below:
As shown in Fig. 3, Fig. 5, G point is distance of finding range recently in theory, but is not a pixel due to laser, but a piece of hot spot, so range finding is at I point recently；Same, the distance within H point all can not be taken pictures than more complete image spot；The imperfect hot spot in common camera chip range within H point is asked for barycenter, meanwhile, according to the actual distance that this imperfect barycenter of actual observation record is corresponding, thus obtaining the finding range beyond theoretical value。
Previous embodiment and advantage are merely illustrative of, and are understood not to the restriction disclosure。This utility model is readily applicable to other type of equipment。Additionally, the description of the exemplary embodiment of the disclosure is indicative, not limiting the scope of the claims, many replacement, modifications and variations will be apparent to practitioners skilled in the art。
Claims (6)
1. the cost laser range unit based on common camera chip, it is characterised in that: this device includes generating laser, imaging lens group, common camera chip and graphics processing unit；The transmitting direction of generating laser is with common camera chip place plane at an angle, generating laser gives off laser beam and is irradiated to target object surface to be measured, there is diffuse-reflectance, the hot spot of reflection images on common camera chip with the imaged battery of lens of object in current field angle jointly, realize optical signal and be converted to the signal of telecommunication, common camera chip is transferred to graphics processing unit view data, and graphics processing unit gathers hot spot and calculates testing distance。
2. laser ranging system according to claim 1, it is characterised in that: described graphics processing unit includes fifo module, connects wire, processor DSP circuit；The data image signal of common camera chip output, is buffered in fifo module by connecting wire, or directly inputs DSP circuit and process。
3. laser ranging system according to claim 1, it is characterised in that: this range unit farther includes a pedestal, and described imaging lens group, common camera chip and graphics processing unit are fixing on the base。
4. laser ranging system according to claim 3, it is characterised in that: the transmitting direction of described generating laser ranges for 81 °～86 ° with described common camera chip place plane angulation。
5. laser ranging system according to claim 1, it is characterised in that: described generating laser is 3cm～9cm to the distance range of described common camera chip center。
6. laser ranging system according to claim 1, it is characterised in that: described common camera chip includes but not limited to ccd image sensor, cmos image sensor。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015100513134 | 2015-01-30 | ||
| CN201510051313 | 2015-01-30 |
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| CN205333856U true CN205333856U (en) | 2016-06-22 |
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| CN201620016814.9U Expired - Fee Related CN205333856U (en) | 2015-01-30 | 2016-01-08 | Low -cost laser rangefinder based on ordinary camera chip |
| CN201610011419.6A Active CN105717513B (en) | 2015-01-30 | 2016-01-08 | A kind of cost laser distance measuring method based on common camera chip |
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| CN201610011419.6A Active CN105717513B (en) | 2015-01-30 | 2016-01-08 | A kind of cost laser distance measuring method based on common camera chip |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717513A (en) * | 2015-01-30 | 2016-06-29 | 北京雷动云合智能技术有限公司 | Low-cost laser distance measurement apparatus and method based on common pick-up head chip |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526609B (en) * | 2016-12-15 | 2023-08-01 | 深圳市迈测科技股份有限公司 | Laser ranging system, device, combined device and method |
| CN109143253A (en) * | 2018-08-17 | 2019-01-04 | 哈尔滨拓思科技有限公司 | A kind of laser ranging module and distance measuring method |
| CN110967702A (en) * | 2018-09-30 | 2020-04-07 | 上海铁路通信有限公司 | Dynamic ranging system and method under high-power pulse laser environment |
| CN110196431A (en) * | 2019-07-09 | 2019-09-03 | 南京信息工程大学 | Inexpensive interior 3D laser scanning and ranging system and method based on ARM |
| CN114511489A (en) * | 2020-10-23 | 2022-05-17 | 浙江睿熙科技有限公司 | Beam divergence angle detection method and system of VCSEL chip and electronic equipment |
| CN113050113B (en) * | 2021-03-10 | 2023-08-01 | 广州南方卫星导航仪器有限公司 | Laser spot positioning method and device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6271918B2 (en) * | 1999-02-04 | 2001-08-07 | National Research Council Of Canada | Virtual multiple aperture 3-D range sensor |
| CN100359286C (en) * | 2004-07-08 | 2008-01-02 | 武汉理工大学 | Method for improving laser measuring accuracy in image processing |
| CN201615948U (en) * | 2010-02-09 | 2010-10-27 | 卢波 | Single-point distance measurement system |
| CN102360079B (en) * | 2011-07-05 | 2013-03-06 | 上海理工大学 | Laser range finder and working method thereof |
| CN205333856U (en) * | 2015-01-30 | 2016-06-22 | 北京雷动云合智能技术有限公司 | Low -cost laser rangefinder based on ordinary camera chip |
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- 2016-01-08 CN CN201620016814.9U patent/CN205333856U/en not_active Expired - Fee Related
- 2016-01-08 CN CN201610011419.6A patent/CN105717513B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717513A (en) * | 2015-01-30 | 2016-06-29 | 北京雷动云合智能技术有限公司 | Low-cost laser distance measurement apparatus and method based on common pick-up head chip |
| CN105717513B (en) * | 2015-01-30 | 2018-12-14 | 北京雷动云合智能技术有限公司 | A kind of cost laser distance measuring method based on common camera chip |
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| Publication number | Publication date |
|---|---|
| CN105717513B (en) | 2018-12-14 |
| CN105717513A (en) | 2016-06-29 |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20200108 |