CN205593526U - Camera device , rotating device , range unit and ranging system - Google Patents

Abstract

The utility model provides a camera device, rotating device, range unit and ranging system, this camera device are used for finding range to the target object, include: a camera is including a light sensing device and a battery of lens, a slewing mechanism drives the camera with light sensing device's central point place straight line is the rotation axis, rotates between the primary importance on a rotation plane and the second place, wherein, when the camera is located the second place, the target object is in the last projection of imaging position on a projection plane of light sensing device is located light sensing device's central point is in in projection plane's the projection, projection plane is on a parallel with rotate the plane. The camera is the imaging position of target object on light sensing device when the primary importance to reach the turned angle of camera between the primary importance and the second place, can be used to calculate the distance of target object and camera, adopt the range finding of a camera alright completion object promptly.

Description

Camera head, tumbler, range unit and range-measurement system

Technical field

This utility model relates to 3D scanning technique field, particularly relates to a kind of camera head, tumbler, range unit and range-measurement system.

Background technology

3D scanning technique is in recent years by the technical field of extensive concern.The basis of 3D scanning technique, it is simply that by 3D scanning device, the distance of output front a certain object point distance 3D scanning device.

Prior art exists the 3D scanning technique of a kind of binocular parallax range finding.I.e. range-measurement system uses two photographic head to complete the range finding of object.This range-measurement system need two photographic head, relatively costly, and if need to measure longer distance, need to make its brachium (distances between two photographic head) longer, but this can increase the volume of device undoubtedly, cause use and inconvenient to carry.

Utility model content

In view of this, this utility model provides a kind of camera head, tumbler, range unit and range-measurement system, high in order to solve range-measurement system cost of the prior art, bulky problem.

For solving above-mentioned technical problem, this utility model provides a kind of camera head, for target object is found range, including:

One photographic head, including a sensor devices and a battery of lens；

One rotating mechanism, drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotate between primary importance and the second position on a rotational plane, wherein, when described photographic head is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices is positioned at the central point of described sensor devices in the projection of described projection plane, and described projection plane is parallel to described rotational plane.

Preferably, described primary importance is initial position, and the described second position is the position after rotating, and described camera head also includes:

First shooting controller, is connected with described photographic head, for when described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image；

Pivoting controller, it is connected with described first shooting controller and described rotating mechanism, for after described first shoots controller control described photographic head described first image of shooting, controlling described rotating mechanism drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotates on described rotational plane；

Second shooting controller, is connected with described photographic head and described pivoting controller, is used for controlling described photographic head and shoots image in rotation process；

Detector, it is connected with described photographic head and described second shooting controller, for the image shot in rotation process according to described photographic head, detect whether the projection on described projection plane of the described target object image space on described sensor devices is positioned at the central point of described sensor devices in the projection of described projection plane, when detect the projection on described projection plane of the described target object image space on described sensor devices be positioned at the central point of described sensor devices in the projection of described projection plane time, control an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position.

Preferably, the described second position is initial position, and described primary importance is the position after rotating, and described camera head also includes:

Pivoting controller, is connected with described rotating mechanism, for when described photographic head is positioned at the described second position, controls described rotating mechanism and drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotate on described rotational plane；

Detector, it is connected with described pivoting controller, after controlling the described rotating mechanism rotation scheduled time at described pivoting controller, controlling an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position, the most described photographic head is positioned at described primary importance；

First shooting controller, is connected with described photographic head and described detector, for when described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image.

Preferably, described pivoting controller includes:

Direction determines module, is connected with described rotating mechanism, for obtaining the position relationship of described target object and described photographic head, and according to described position relationship, determines described photographic head rotation direction on described rotational plane；According to described rotation direction, control described rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates.

Preferably, described camera head also includes:

Angle measurement equipment, is connected with described rotating mechanism or described photographic head, and is connected with described detector, for measuring described photographic head rotational angle θ between described primary importance and the described second position.

Preferably, described camera head also includes:

Processing module, it is connected with described photographic head and described angle measurement equipment, for obtaining the first image that described photographic head shoots when described primary importance, according to described first image, obtain the described target object image space on described sensor devices distance x projecting the projection on described projection plane of the central point with described sensor devices on described projection plane, and obtain described photographic head rotational angle θ between described primary importance and the described second position, according to described x and θ, calculate the distance of described target object and described photographic head.

Preferably, described processing module includes:

First multiplier, for calculating first product of described x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of described θ；

Second multiplier, is used for the second product of the tan calculating described θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating described x；

Divider, is used for described first product divided by described difference, and the result obtained is as the distance of described target object Yu described photographic head.

Preferably, the focus of described battery of lens is arranged on the central point of described sensor devices.

Preferably, described camera head also includes:

Determine module, be connected with described photographic head, for obtaining the image of described photographic head shooting, detect in the image of described photographic head shooting whether include multiple subject, if it is, determine described target object from the plurality of subject.

Preferably, described determine that module includes:

Analytic unit, when image for shooting at described photographic head includes multiple subject, detect the feature of described subject, when the feature of currently detected subject is with the characteristic matching of the target object prestored in advance, determine that the subject that current detection detects is target object.

This utility model also provides for a kind of tumbler, coordinates with a photographic head, finds range target object, and described photographic head includes a sensor devices and a battery of lens, and described tumbler includes:

Rotating mechanism, for driving described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotates between primary importance and the second position on a rotational plane；When described photographic head is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices is positioned in the projection on described projection plane of the central point of described sensor devices, and described projection plane is parallel to described rotational plane.

Preferably, described primary importance is initial position, and the described second position is the position after rotating, and described tumbler also includes:

First shooting controller, is connected with described photographic head, for when described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image；

Pivoting controller, it is connected with described first shooting controller and described rotating mechanism, for after described first shoots controller control described photographic head described first image of shooting, controlling described rotating mechanism drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotates on described rotational plane；

Second shooting controller, is connected with described photographic head and described pivoting controller, is used for controlling described photographic head and shoots image in rotation process；

Detector, it is connected with described photographic head and described second shooting controller, for the image shot in rotation process according to described photographic head, detect whether the projection on described projection plane of the described target object image space on described sensor devices is positioned at the central point of described sensor devices in the projection of described projection plane, when detect the projection on described projection plane of the described target object image space on described sensor devices be positioned at the central point of described sensor devices in the projection of described projection plane time, control an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position.

Preferably, the described second position is initial position, and described primary importance is the position after rotating, and described camera head also includes:

Pivoting controller, is connected with described rotating mechanism, for when described photographic head is positioned at the described second position, controls described rotating mechanism and drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotate on described rotational plane；

Detector, it is connected with described pivoting controller, after controlling the described rotating mechanism rotation scheduled time at described pivoting controller, controlling an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position, the most described photographic head is positioned at described primary importance；

First shooting controller, is connected with described photographic head and described detector, for when described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image.

Preferably, described pivoting controller includes:

Direction determines module, is connected with described rotating mechanism, for obtaining the position relationship of described target object and described photographic head, and according to described position relationship, determines described photographic head rotation direction on described rotational plane；According to described rotation direction, control described rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates.

Preferably, described tumbler also includes:

Angle measurement equipment, is connected with described rotating mechanism and described detector, is used for measuring described rotating mechanism when driving described photographic head to rotate between described primary importance and the described second position, the rotational angle θ of described rotating mechanism.

Preferably, described tumbler also includes:

Processing module, it is connected with described photographic head and described angle measurement equipment, for obtaining described photographic head when the first image that described primary importance shoots, according to described first image, obtain the described target object image space on described sensor devices distance x projecting the projection on described projection plane of the central point with described sensor devices on described projection plane, and obtain described photographic head rotational angle θ between described primary importance and the described second position, according to described x and θ, calculate the distance of described target object and described photographic head.

Preferably, described processing module includes:

First multiplier, for calculating first product of described x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of described θ；

Second multiplier, is used for the second product of the tan calculating described θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating described x；

Divider, is used for described first product divided by described difference, and the result obtained is as the distance of described target object Yu described photographic head.

Preferably, described tumbler also includes:

Determine module, be connected with described photographic head, for obtaining the image of described photographic head shooting, detect in the image of described photographic head shooting whether include multiple subject, if it is, determine described target object from the plurality of subject.

Preferably, described determine that module includes:

Analytic unit, when image for shooting at described photographic head includes multiple subject, detect the feature of described subject, when the feature of currently detected subject is with the characteristic matching of the target object prestored in advance, determine that the subject that current detection detects is target object.

This utility model also provides for a kind of range unit, coordinates with above-mentioned camera head and finds range target object；Described range unit includes:

Distance acquisition module, it is connected with described photographic head, for obtaining the first image that described photographic head shoots when primary importance, according to distance x projecting the projection on described projection plane of the central point with described sensor devices on described projection plane of the target object image space on described sensor devices described in described first Image Acquisition；

Angle acquisition module, for obtaining the described photographic head central point place straight line with described sensor devices as axle, rotational angle θ when rotating between primary importance and the second position on a rotational plane, wherein, when described photographic head is positioned at the second position, the projection on described projection plane of the described target object image space on described sensor devices is positioned in the projection on described projection plane of the central point of described sensor devices；

Computing module, is connected with described distance acquisition module and described angle acquisition module, for according to described x and θ, calculates the distance of described target object and described photographic head.

Preferably, described computing module includes:

First multiplier, for calculating first product of described x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of described θ；

Second multiplier, is used for the second product of the tan calculating described θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating described x；

Divider, is used for described first product divided by described difference, and the result obtained is as the distance of described target object Yu described photographic head.

We also provide for a kind of range-measurement system, and including range unit and camera head, described camera head is above-mentioned camera head, and described range unit is above-mentioned range unit.

Having the beneficial effect that of technique scheme of the present utility model:

Only need a photographic head just can complete the range finding of object, thus reduce the cost of range-measurement system, reduce the volume of range-measurement system so that it is conveniently use and carry.

Accompanying drawing explanation

Fig. 1 is the structural representation of the camera head of this utility model embodiment one；

Fig. 2 is the structural representation of the camera head of this utility model embodiment two；

Fig. 3 is the structural representation of the camera head of this utility model embodiment three；

Fig. 4 (a) and 4 (b) are the range measurement principle schematic diagram of the camera head of this utility model embodiment；

Fig. 5 is the structural representation of the camera head of this utility model embodiment four；

Fig. 6 is the structural representation of the camera head of this utility model embodiment five；

Fig. 7 is the structural representation of the camera head of this utility model embodiment six；

Fig. 8 is the structural representation of the processing module of this utility model embodiment；

Fig. 9 is the structural representation of the range unit of this utility model embodiment.

Detailed description of the invention

For solving to use the range-measurement system of two photographic head, cost is high, bulky problem, in this utility model embodiment, use a photographic head just can complete the range finding of object, thus reduce the cost of range-measurement system, reduce the volume of range-measurement system so that it is conveniently use and carry.

The principle to the range finding how using a photographic head to complete object of illustrating below illustrates.

Refer to Fig. 4, in the embodiment shown in Fig. 4, the photographic head for range finding includes sensor devices 31 and a battery of lens 32；This photographic head can be under the drive of a rotating mechanism (not shown), with the central point place straight line of described sensor devices 31 as rotary shaft, rotate between primary importance and the second position on a rotational plane, wherein, when described photographic head is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices 31 is positioned in the projection on described projection plane of the central point of described sensor devices 31.Described projection plane is parallel to described rotational plane.

In embodiment shown in Fig. 4, described rotational plane is horizontal plane, and projection plane is parallel to horizontal plane, and the central point O of mistake sensor devices 31, and the rotary shaft of photographic head was the central point of sensor devices 31 and was perpendicular between horizontal plane.

In Fig. 4, A point is target object projection on this projection plane, and O is the central point of sensor devices 31, and the focal length of battery of lens 32 is f, and wherein, the focal length of battery of lens 32 is the distance of the central point B and the central point O of sensor devices 31 of battery of lens 32.

Refer to (a) in Fig. 4, when photographic head is positioned at primary importance, target object A image space on sensor devices 31 on a projection plane be projected as the distance that A ', x are A ' O.

Refer to (b) in Fig. 4, photographic head is with the central point place straight line of described sensor devices 31 as rotary shaft, and in the horizontal plane when primary importance rotates to the second position, rotational angle is θ.

In (b) of Fig. 4, C refers to the intersection point of an intersection and AO, this intersection is projection plane and cross the central point B of battery of lens 32 and be perpendicular to the intersection of plane of horizontal plane, AE refers to the vertical join line of the image planes of sensor devices 31 and the intersection of projection plane and A point, and this vertical join line is D with the intersection point of the extended line of BC.

Assume BC=h, A ' O=x；

Δ A ' OA and Δ ABC is similar triangles, according to similar triangle theory, can obtain:

$\frac{AO}{AC}=\frac{A^{\′}O}{BC}=\frac{x}{h};$

Δ ACD and Δ AOE is similar triangles, according to similar triangle theory, can obtain:

$\frac{AO}{AC}=\frac{AE}{AD}=\frac{L}{L-f};$

Such that it is able to obtain:

Due to h=f*tan θ；

Thus obtain:

Finally obtain:

It can be seen from the above, according to described photographic head described target object image space on described sensor devices 31 when described primary importance, and the rotational angle θ that described photographic head is between described primary importance and the described second position, the described target object distance apart from described photographic head can be calculated.

In above-described embodiment, the distance of described target object and described photographic head refers to the vertical dimension of target object projection on a projection plane and sensor devices 31, certainly, in some other embodiment of the present utility model, it is also possible to using the vertical dimension of target object projection on a projection plane and battery of lens 32 as the distance of described target object Yu described photographic head 30.

In above-described embodiment, as a example by rotational plane is as horizontal plane, distance-finding method is illustrated, certainly, be the vertical plane being perpendicular to horizontal plane at rotational plane, or during other clinoplains, the derivation of described distance-finding method is similar to, and no longer illustrates at this.

Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following example are used for illustrating this utility model, but are not limited to scope of the present utility model.

Refer to Fig. 1, embodiment one of the present utility model provides a kind of camera head, and for finding range target object, this camera head includes:

One photographic head 30, including sensor devices 31 and a battery of lens 32；

One rotating mechanism 40, drive described photographic head 30 with the central point place straight line of described sensor devices 31 as rotary shaft, rotate between primary importance and the second position on a rotational plane, wherein, when described photographic head 30 is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices 31 is positioned in the projection on described projection plane of the central point of described sensor devices 31.Described projection plane is parallel to described rotational plane.

Above-mentioned rotational plane is preferably horizontal plane, it is of course also possible to be the plane with horizontal plane, or, other planes etc. tilted.

Preferably, described projection plane was the central point of described sensor devices 31, and was parallel to the plane of described rotational plane.

Wherein, described photographic head 30 is described target object image space on described sensor devices 31 when described primary importance, and the rotational angle that described photographic head 30 is between described primary importance and the described second position, can be used for the distance calculating described target object with described photographic head 30.

In this utility model embodiment, described rotating mechanism 40 can carry described photographic head 30, i.e. photographic head 30 and be mountable in described rotational structure 40, it is preferable that between the two for removably to install such that it is able to change different photographic head 30 as required.

It is to say, in this utility model embodiment, use a photographic head just can complete the range finding of object, thus reduce the cost of range-measurement system, reduce the volume of range-measurement system so that it is conveniently use and carry.

In this utility model embodiment, sensor devices 31 can be CCD (charge coupled cell) sensor devices, it is of course also possible to be other kinds of sensor devices.The central point of so-called sensor devices 31 refers to the central point of the image planes of sensor devices 31.And, the central point place straight line of the above-mentioned described sensor devices 31 as rotary shaft, refer to be perpendicular to rotational plane and cross the straight line of sensor devices 31 central point.

In this utility model embodiment, primary importance and the second position do not have the restriction of precedence, and primary importance can be initial position, and the second position is the position after rotating, it is also possible to be that the second position is initial position, and primary importance is the position after rotating.It is to say, this rotating mechanism 40 can drive described photographic head 30 with the central point place straight line of described sensor devices 31 as rotary shaft, the primary importance on described rotational plane rotates to the second position, or, rotate to primary importance from the second position.Under normal circumstances, when using photographic head 30 that target object is shot, it is difficult to ensure that in the image of shooting for the first time, the projection on a projection plane of target object image space on described sensor devices 31 is positioned in the projection on a projection plane of the central point of described sensor devices 31, thus, generally first obtain is photographic head 30 image that is positioned at primary importance, then photographic head 30 is rotated to the second position, that is, under normal circumstances, primary importance is initial position, and the second position is the position after rotating.

Refer to Fig. 2, in embodiment two of the present utility model, described primary importance is initial position, and the described second position is the position after rotating, and described camera head includes:

One photographic head 30, including a sensor devices (not shown) and a battery of lens (not shown)；

One rotating mechanism 40, drive described photographic head 30 with the central point place straight line of described sensor devices as rotary shaft, rotate between primary importance and the second position on a rotational plane, wherein, when described photographic head 30 is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices is positioned in the projection on described projection plane of the central point of described sensor devices, and described projection plane is parallel to described rotational plane；

First shooting controller 50, is connected with described photographic head 30, for when described photographic head 30 is positioned at described primary importance, controls described photographic head 30 and shoot the first image；

Pivoting controller 60, it is connected with described first shooting controller 50 and described rotating mechanism 40, for shooting controller 50 and control after described photographic head 30 shoots described first image when described first, controlling described rotating mechanism 40 drives described photographic head 30 with the central point place straight line of described sensor devices as rotary shaft, rotates on described rotational plane；

Second shooting controller 70, is connected with described photographic head 30 and described pivoting controller 60, is used for controlling described photographic head 30 and shoots image in rotation process；

Detector 80, it is connected with described photographic head 30 and described second shooting controller 70, for the image shot in rotation process according to described photographic head 30, detect whether the projection on described projection plane of the described target object image space on described sensor devices is positioned at the central point of described sensor devices in the projection of described projection plane, when detect the projection on described projection plane of the described target object image space on described sensor devices be positioned at the central point of described sensor devices in the projection of described projection plane time, control an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position.

Preferably, when detector 80 detect the projection on described projection plane of the described target object image space on described sensor devices be positioned at the central point of described sensor devices in the projection of described projection plane time, it is also possible to notify that described pivoting controller 60 controls described rotating mechanism 40 and stops operating.

Illustrate below and how detector 80 known, and photographic head 30 turns to the method for the second position and illustrates:

In the present embodiment, it is assumed that rotational plane is horizontal plane, projection plane is to be parallel to horizontal plane and cross the plane of sensor devices central point.

In this utility model embodiment, when rotating camera 30, can be by constantly obtaining the image of photographic head 30 picked-up, and the X-coordinate of target object image space on sensor devices 31 in this image is compared with the X-coordinate of the central point of sensor devices 31, when the X-coordinate of target object image space on sensor devices 31 is identical with the X-coordinate of the central point of sensor devices 31, judge that the projection on a projection plane of target object image space on described sensor devices 31 is positioned on the central point of described sensor devices 31, i.e. photographic head 30 has been rotated to the second position, thus controlling rotary mechanism 40 stops the rotation, and obtain rotational angle this moment.

Target object image space on sensor devices 31 is usually a region, in this utility model embodiment, target object image space on sensor devices 31 can be invented a point, this point can be the central point of imaging region, or, the certain point of central area, or, it is any point on imaging region.

Refer to Fig. 3, in embodiment three of the present utility model, the described second position is initial position, and described primary importance is the position after rotating, and described camera head includes:

One photographic head 30, including a sensor devices (not shown) and a battery of lens (not shown)；

One rotating mechanism 40, drive described photographic head 30 with the central point place straight line of described sensor devices as rotary shaft, rotate between primary importance and the second position on a rotational plane, wherein, when described photographic head 30 is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices is positioned in the projection on described projection plane of the central point of described sensor devices, and described projection plane is parallel to described rotational plane；

Pivoting controller 60, it is connected with described rotating mechanism 40, for when described photographic head is positioned at the described second position, controls described rotating mechanism 40 and drive described photographic head 30 with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates；

Detector 80, it is connected with described pivoting controller 60, for controlling after described rotating mechanism 40 rotates the scheduled time at described pivoting controller 60, controlling an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position, the most described photographic head 30 is positioned at described primary importance；

First shooting controller 50, is connected with described photographic head 30 and described detector 80, for when described photographic head 30 is positioned at described primary importance, controls described photographic head 30 and shoot the first image.

Preferably, described detector 80 is additionally operable to control after described rotating mechanism 40 rotates the scheduled time, to notify that described pivoting controller 60 controls described rotating mechanism 40 and stops operating at described pivoting controller 60.

When initial positions is the second position, can be by rotational structure be rotated the scheduled time, turn to other positions as primary importance, this scheduled time can be the time of a regulation, it can also be a random time, as long as ensureing that, when photographic head 30 is positioned at primary importance, target object is still located in the camera watch region of photographic head 30.

When described photographic head 30 rotates on rotational plane with place, the center straight line of described sensor devices, can rotate along both direction, described pivoting controller 60 is in the case of the position relationship of unclear described target object and described sensor devices, it is difficult to determine correct rotation direction.It is thus preferred that described pivoting controller 60 includes:

Direction determines module, is connected with described rotating mechanism 40, for obtaining the position relationship of described target object and described photographic head 30, and according to described position relationship, determines the described photographic head 30 rotation direction on described rotational plane；According to described rotation direction, control described rotating mechanism 40 and drive described photographic head 30 with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates.

Certainly, in some other embodiment of the present utility model, described pivoting controller 60 can not also include that above-mentioned direction determines module, but first select any one direction to rotate, then calculate whether the projection on a projection plane of target object image space on sensor devices is the central point moving closer to sensor devices projection on described projection plane, if, then explanation rotation direction is correct, if it is not, then explanation rotation direction error, thus change the rotation direction of photographic head 30.

Illustrate to how according to photographic head 30 described target object image space on described sensor devices 31 when described primary importance below, and the rotational angle that described photographic head 30 is between described primary importance and the described second position, the method calculating described target object and the distance of described photographic head 30 illustrates.

Refer to Fig. 4, in the embodiment shown in Fig. 4, rotational plane is horizontal plane, and projection plane is parallel to horizontal plane, and the central point O of mistake sensor devices 31, and the rotary shaft of photographic head was the central point of sensor devices 31 and was perpendicular between horizontal plane.

In figure, A point is target object projection on this projection plane, and O is the central point of sensor devices 31, and the focal length of battery of lens 32 is f, and wherein, the focal length of battery of lens 32 is the distance of the central point B and the central point O of sensor devices 31 of battery of lens 32.

Refer to (a) in Fig. 4, when photographic head 30 is positioned at primary importance, target object A image space on sensor devices 31 on a projection plane be projected as the distance that A ', x are A ' O.

Refer to (b) in Fig. 4, photographic head 30 is with the central point place straight line of described sensor devices 31 as rotary shaft, and in the horizontal plane when primary importance rotates to the second position, rotational angle is θ.

In (b) of Fig. 4, C refers to the intersection point of an intersection and AO, this intersection is projection plane and cross the central point B of battery of lens 32 and be perpendicular to the intersection of plane of horizontal plane, AE refers to the vertical join line of the image planes of sensor devices 31 and the intersection of projection plane and A point, and this vertical join line is D with the intersection point of the extended line of BC.

Assume BC=h, A ' O=x；

Δ A ' OA and Δ ABC is similar triangles, according to similar triangle theory, can obtain:

$\frac{AO}{AC}=\frac{A^{\′}O}{BC}=\frac{x}{h};$

Δ ACD and Δ AOE is similar triangles, according to similar triangle theory, can obtain:

$\frac{AO}{AC}=\frac{AE}{AD}=\frac{L}{L-f};$

Such that it is able to obtain:

Due to h=f*tan θ；

Thus obtain:

Finally obtain:

It can be seen from the above, according to described photographic head 30 described target object image space on described sensor devices 31 when described primary importance, and the rotational angle θ that described photographic head 30 is between described primary importance and the described second position, the described target object distance apart from described photographic head 30 can be calculated.

In above-described embodiment, the distance of described target object and described photographic head 30 refers to the vertical dimension of target object projection on a projection plane and sensor devices 31, certainly, in some other embodiment of the present utility model, it is also possible to using the vertical dimension of target object projection on a projection plane and battery of lens 32 as the distance of described target object Yu described photographic head 30.

In above-described embodiment, as a example by rotational plane is as horizontal plane, computational methods are illustrated, certainly, be the vertical plane being perpendicular to horizontal plane at rotational plane, or during other clinoplains, the derivation of described computational methods is similar to, and no longer illustrates at this.

Refer to Fig. 5, in embodiment four of the present utility model, described camera head is in addition to including photographic head 30 and rotational structure 40, can also include: angle measurement equipment 100, it is connected with described rotating mechanism 40, for measuring the rotational angle of rotational structure 40, thus obtain the described photographic head 30 rotational angle θ between described primary importance and the described second position.

Refer to Fig. 6, in some other embodiment of the present utility model, angle measurement equipment 100 can also be connected with described photographic head 30, directly measures the photographic head 30 rotational angle θ between described primary importance and the described second position.

Refer to Fig. 7, in embodiment six of the present utility model, on the basis of embodiment four, the camera head of this utility model embodiment can also include: processing module 110, it is connected with described photographic head 30 and described angle measurement equipment 100, for obtaining the first image that described photographic head 30 shoots when described primary importance, according to described first image, obtain the described target object image space on described sensor devices 31 distance x projecting the projection on described projection plane of the central point with described sensor devices 31 on described projection plane, and obtain the described photographic head 30 rotational angle θ between described primary importance and the described second position, according to described x and θ, calculate the distance of described target object and described photographic head.

Concrete, refer to Fig. 8, described processing module 110 may include that

First multiplier, for calculating first product of described x and the focal distance f of described battery of lens 32；

Tan computer, for calculating the tan of described θ；

Second multiplier, is used for the second product of the tan calculating described θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating described x；

Divider, is used for described first product divided by described difference, and the result obtained is as the distance of described target object Yu described photographic head.

In some other embodiment of the present utility model, above-mentioned processing module 110 can also be arranged on an external processing apparatus, such as, on a computer, be executed by the calculating of distance.

Further preferably, the all right display module (not shown) of the camera head of this utility model embodiment, it is connected with described processing module 110, for showing the distance of described target object that processing module 110 calculates and described photographic head, make result of calculation the most visible, it is not necessary to by other display equipment.

In the various embodiments described above, the focus of described battery of lens 32 is arranged on the central point of described sensor devices 31.

In some cases, the image of photographic head shooting can include multiple subject, so that target object in selecting from multiple subjects, target object be found range, it is thus preferred that described camera head also includes:

Determine module, be connected with described photographic head 30, for obtaining the image of described photographic head 30 shooting, detect in the image of described photographic head 30 shooting whether include multiple subject, if it is, determine described target object from the plurality of subject.

In one embodiment, described determine that module includes:

Analytic unit, when image for shooting at described photographic head includes multiple subject, detect the feature of described subject, when the feature of currently detected subject is with the characteristic matching of the target object prestored in advance, determine that the subject that current detection detects is target object.

In another specific embodiment, described photographic head can include a display, for showing the image of shooting, the described image determining that module is further used for obtaining the shooting of described photographic head 30, detect in the image of described photographic head 30 shooting and whether include multiple subject, if it is, be identified in the image that described display shows by described subject, and receiving the selection of user's subject to being identified, subject user selected is as target object.

Preferably, described display is touch control display, thus user can be selected by the subject that touch marks.

This utility model embodiment also provides for a tumbler, coordinates with a photographic head, finds range target object, and described photographic head includes a sensor devices and a battery of lens, and described tumbler includes:

Rotating mechanism, for driving described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotates between primary importance and the second position on a rotational plane；Wherein, when described photographic head is positioned at the second position, the projection on a projection plane of the described target object image space on described sensor devices is positioned in the projection on a projection plane of the central point of described sensor devices, and described projection plane is parallel to described rotational plane.

Preferably, described rotational plane is horizontal plane.

Preferably, described projection plane was the central point of sensor devices, and was parallel to the plane of described rotational plane.

Wherein, described photographic head is described target object image space on described sensor devices when described primary importance, and the rotational angle that described photographic head is between described primary importance and the described second position, can be used for the distance calculating described target object with described photographic head.

Preferably, described primary importance is initial position, and the described second position is the position after rotating, and described tumbler also includes:

First shooting controller, is connected with described photographic head, for when described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image；

Pivoting controller, it is connected with described first shooting controller and described rotating mechanism, for after described first shoots controller control described photographic head described first image of shooting, controlling described rotating mechanism drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotates on described rotational plane；

Second shooting controller, is connected with described photographic head and described pivoting controller, is used for controlling described photographic head and shoots image in rotation process；

Detector, it is connected with described photographic head and described second shooting controller, for the image shot in rotation process according to described photographic head, detect whether the projection on described projection plane of the described target object image space on described sensor devices is positioned at the central point of described sensor devices in the projection of described projection plane, when detect the projection on described projection plane of the described target object image space on described sensor devices be positioned at the central point of described sensor devices in the projection of described projection plane time, control an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position.

Preferably, detector be additionally operable to when detect the projection on described projection plane of the described target object image space on described sensor devices be positioned at the central point of described sensor devices in the projection of described projection plane time, notify described pivoting controller control described rotating mechanism stop operating.

Preferably, the described second position is initial position, and described primary importance is the position after rotating, and described camera head also includes:

Pivoting controller, is connected with described rotating mechanism, for when described photographic head is positioned at the described second position, controls described rotating mechanism and drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotate on described rotational plane；

Detector, it is connected with described pivoting controller, after controlling the described rotating mechanism rotation scheduled time at described pivoting controller, controlling an angle measurement equipment and measure described photographic head rotational angle between described primary importance and the described second position, the most described photographic head is positioned at described primary importance；

First shooting controller, is connected with described photographic head and described detector, for when described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image.

Preferably, described detector is additionally operable to after described pivoting controller controls the described rotating mechanism rotation scheduled time, notifies that described pivoting controller controls described rotating mechanism and stops operating.

Preferably, described pivoting controller includes:

Direction determines module, is connected with described rotating mechanism, for obtaining the position relationship of described target object and described photographic head, and according to described position relationship, determines described photographic head rotation direction on described rotational plane；According to described rotation direction, control described rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates.

Preferably, described tumbler also includes:

Angle measurement equipment, is connected with described rotating mechanism and described detector, is used for measuring described rotating mechanism when driving described photographic head to rotate between described primary importance and the described second position, the rotational angle θ of described rotating mechanism.

Preferably, described tumbler also includes: processing module, it is connected with described photographic head and described angle measurement equipment, for obtaining the first image that described photographic head shoots when described primary importance, according to described first image in distance x of projection on described projection plane of the central point of the projection on described projection plane of the described target object image space on described sensor devices and described sensor devices, and obtain described photographic head rotational angle θ between described primary importance and the described second position, according to described x and θ, calculate the distance of described target object and described photographic head.

Preferably, described processing module includes:

First multiplier, for calculating first product of described x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of described θ；

Second multiplier, is used for the second product of the tan calculating described θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating described x；

Divider, is used for described first product divided by described difference, and the result obtained is as the distance of described target object Yu described photographic head.

Preferably, described tumbler also includes:

Determine module, be connected with described photographic head, for obtaining the image of described photographic head shooting, detect in the image of described photographic head shooting whether include multiple subject, if it is, determine described target object from the plurality of subject.

In one embodiment, described determine that module includes:

Analytic unit, when image for shooting at described photographic head includes multiple subject, detect the feature of described subject, when the feature of currently detected subject is with the characteristic matching of the target object prestored in advance, determine that the subject that current detection detects is target object.

Refer to Fig. 9, this utility model embodiment also provides for a kind of range unit, coordinates with the camera head in an above-described embodiment and finds range target object；Described range unit includes:

Distance acquisition module, for obtaining the first image that described photographic head shoots when primary importance, and according to described first image, obtain the described target object image space on described sensor devices distance x projecting the projection on described projection plane of the central point with described sensor devices on described projection plane；

Angle acquisition module, for obtaining the described photographic head central point place straight line with described sensor devices as axle, rotational angle θ when rotating between primary importance and the second position on a rotational plane, wherein, when described photographic head is positioned at the second position, the projection on a projection plane of described target object image space on described sensor devices is positioned on the central point of described sensor devices；

Computing module, is connected with described distance acquisition module and angle acquisition module, for according to described x and θ, calculates the distance of described target object and described photographic head.

Coordinated by above-mentioned range unit and a photographic head, just can complete the range finding of object, thus reduce the cost of range-measurement system, reduce the volume of range-measurement system so that it is conveniently use and carry.

Preferably, described computing module includes:

First multiplier, for calculating first product of described x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of described θ；

Second multiplier, is used for the second product of the tan calculating described θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating described x；

Divider, is used for described first product divided by described difference, and the result obtained is as the distance of described target object Yu described photographic head.

This utility model embodiment also provides for a kind of range-measurement system, and including range unit and camera head, described camera head is the camera head as described in some embodiments of above-described embodiment, and described range unit is the range unit as described in above-described embodiment.

This utility model also provides for a kind of distance-finding method, including:

Step S81: obtain the first image that a photographic head shoots when primary importance, according to described first image, obtain the described target object image space on the sensor devices of described photographic head distance x projecting the projection on a projection plane of the central point with described sensor devices on a projection plane；Described projection plane is parallel to described rotational plane.

Step S82: obtain the described photographic head central point place straight line with described sensor devices as axle, rotational angle θ when rotating between primary importance and the second position on described rotational plane, wherein, when described photographic head is positioned at the second position, the projection on a projection plane of described target object image space on described sensor devices is positioned in the projection on a projection plane of the central point of described sensor devices；

Step S83: according to described x and θ, calculate the distance of described target object and described photographic head.

Preferably, described primary importance is initial position, and the described second position is the position after rotating, and described method also includes:

When described photographic head is positioned at described primary importance, controls described photographic head and shoot the first image；

Controlling a rotating mechanism drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, rotates on described rotational plane；

Control described photographic head in rotation process, shoot image；

The image shot in rotation process according to described photographic head, detects whether the projection on described projection plane of the described target object image space on described sensor devices is positioned at the central point of described sensor devices in the projection of described projection plane；

Detect the projection on described projection plane of the described target object image space on described sensor devices whether be positioned at the central point of described sensor devices in the projection of described projection plane time, control one angle measurement equipment detect described shooting head-turned angle θ.

Preferably, the described second position is initial position, and described primary importance is the position after rotating, and described method also includes:

When described photographic head is positioned at the described second position, controls a rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates；

After controlling the described rotating mechanism rotation scheduled time, controlling an angle measurement equipment and detect described shooting head-turned angle θ, the most described photographic head is positioned at described primary importance；

Control described photographic head and shoot the first image.

Preferably, described control one rotating mechanism drives described photographic head with the central point place straight line of described sensor devices as rotary shaft, and the step rotated on described rotational plane specifically includes:

Obtain the position relationship of described target object and described photographic head；

According to described position relationship, determine described photographic head rotation direction on described rotational plane；

According to described rotation direction, control described rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, described rotational plane rotates.

Preferably, the employing equation below described target object of calculating and distance L of described photographic head:

$L=\frac{xf}{x-ftan\mathrm{\θ}}$

Wherein, described L is the vertical dimension of the projection on described projection plane of the described target object and an intersection, and described intersection is image planes and the intersection of described projection plane of described sensor devices, and f is the focal length of described battery of lens.

Preferably, the focus of described battery of lens is arranged on the central point of described sensor devices.

Preferably, described method also includes:

Obtain the image of described photographic head shooting, detect in the image of described photographic head shooting whether include multiple subject, if it is, determine described target object from the plurality of subject.

Preferably, described from the plurality of subject, determine that the method for described target object includes:

Detect the feature of described subject, when the feature of currently detected subject is with the characteristic matching of the target object prestored in advance, determine that the subject that current detection detects is target object.

The above is preferred implementation of the present utility model; it should be pointed out that, for those skilled in the art, on the premise of without departing from principle described in the utility model; can also make some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.

Claims (22)

1. a camera head, for target object is found range, it is characterised in that including:

One photographic head, including a sensor devices and a battery of lens；

One rotating mechanism, drive described photographic head with the central point place straight line of described sensor devices as rotary shaft, Rotating between primary importance and the second position on a rotational plane, wherein, described photographic head is positioned at second During position, the described target object image space on described sensor devices projection position on a projection plane In the central point of described sensor devices in the projection of described projection plane, described projection plane is parallel to described Rotational plane.

Camera head the most according to claim 1, it is characterised in that described primary importance is initial Position, the described second position is the position after rotating, and described camera head also includes:

First shooting controller, is connected with described photographic head, for being positioned at described first when described photographic head When putting, control described photographic head and shoot the first image；

Pivoting controller, is connected with described first shooting controller and described rotating mechanism, is used for when described the After one shooting controller controls described photographic head described first image of shooting, control described rotating mechanism and drive Described photographic head, with the central point place straight line of described sensor devices as rotary shaft, turns on described rotational plane Dynamic；

Second shooting controller, is connected with described photographic head and described pivoting controller, be used for controlling described in take the photograph As head shoots image in rotation process；

Detector, is connected, for according to described photographic head with described photographic head and described second shooting controller In rotation process, the image of shooting, detects described target object image space on described sensor devices and exists Whether the projection on described projection plane is positioned at the central point throwing at described projection plane of described sensor devices On shadow, when detecting that described target object image space on described sensor devices is on described projection plane Projection be positioned at the central point of described sensor devices in the projection of described projection plane time, control one angle survey Described photographic head rotational angle between described primary importance and the described second position measured by measuring device.

Camera head the most according to claim 1, it is characterised in that the described second position is initial Position, described primary importance is the position after rotating, and described camera head also includes:

Pivoting controller, is connected with described rotating mechanism, for being positioned at the described second position when described photographic head Time, control described rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices for rotation Rotating shaft, rotates on described rotational plane；

Detector, is connected with described pivoting controller, for controlling described rotating machine at described pivoting controller Structure rotated after the scheduled time, controls an angle measurement equipment and measures described photographic head in described primary importance and described Rotational angle between the second position, the most described photographic head is positioned at described primary importance；

First shooting controller, is connected with described photographic head and described detector, for when described photographic head position When described primary importance, control described photographic head and shoot the first image.

4. according to the camera head described in Claims 2 or 3, it is characterised in that described pivoting controller Including:

Direction determines module, is connected with described rotating mechanism, is used for obtaining described target object and described shooting The position relationship of head, and according to described position relationship, determine described photographic head turning on described rotational plane Dynamic direction；According to described rotation direction, control described rotating mechanism and drive described photographic head with described photoreceptors The central point place straight line of part is rotary shaft, rotates on described rotational plane.

5. according to the camera head described in Claims 2 or 3, it is characterised in that also include:

Angle measurement equipment, is connected with described rotating mechanism or described photographic head, and is connected with described detector, For measuring described photographic head rotational angle θ between described primary importance and the described second position.

Camera head the most according to claim 5, it is characterised in that also include:

Processing module, is connected with described photographic head and described angle measurement equipment, is used for obtaining described photographic head and exists During described primary importance, the first image of shooting, according to described first image, obtains described target object in institute State the central point of the projection on described projection plane of the image space on sensor devices and described sensor devices Distance x of the projection on described projection plane, and obtain described photographic head in described primary importance and institute State the rotational angle θ between the second position, according to x and θ, calculate described target object and described photographic head Distance.

Camera head the most according to claim 6, it is characterised in that described processing module includes:

First multiplier, for calculating first product of x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of θ；

Second multiplier, is used for the second product of the tan calculating θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating x；

Divider, is used for described first product divided by described difference, and the result obtained is as described object Body and the distance of described photographic head.

Camera head the most according to claim 7, it is characterised in that the focus of described battery of lens sets Put on the central point of described sensor devices.

Camera head the most according to claim 6, it is characterised in that also include:

Determine module, be connected with described photographic head, for obtaining the image of described photographic head shooting, detect institute State in the image of photographic head shooting and whether include multiple subject, if it is, from the plurality of subject In determine described target object.

Camera head the most according to claim 9, it is characterised in that described determine that module includes:

Analytic unit, for when the image that described photographic head shoots includes multiple subject, detects institute State the feature of subject, at feature and the target object prestored in advance of currently detected subject During characteristic matching, determine that the subject that current detection detects is target object.

11. 1 kinds of tumblers, for coordinating with a photographic head, find range to target object, described in take the photograph As head includes a sensor devices and a battery of lens, it is characterised in that described tumbler includes:

Rotating mechanism, for driving described photographic head with the central point place straight line of described sensor devices for rotating Axle, rotates between primary importance and the second position on a rotational plane；Described photographic head is positioned at second When putting, the projection on a projection plane of the described target object image space on described sensor devices is positioned at In the projection on described projection plane of the central point of described sensor devices, described projection plane is parallel to described Rotational plane.

12. tumblers according to claim 11, it is characterised in that described primary importance is just Beginning position, the described second position is the position after rotating, and described tumbler also includes:

First shooting controller, is connected with described photographic head, for being positioned at described first when described photographic head When putting, control described photographic head and shoot the first image；

Pivoting controller, is connected with described first shooting controller and described rotating mechanism, is used for when described the After one shooting controller controls described photographic head described first image of shooting, control described rotating mechanism and drive Described photographic head, with the central point place straight line of described sensor devices as rotary shaft, turns on described rotational plane Dynamic；

Second shooting controller, is connected with described photographic head and described pivoting controller, be used for controlling described in take the photograph As head shoots image in rotation process；

Detector, is connected, for according to described photographic head with described photographic head and described second shooting controller In rotation process, the image of shooting, detects described target object image space on described sensor devices and exists Whether the projection on described projection plane is positioned at the central point throwing at described projection plane of described sensor devices On shadow, when detecting that described target object image space on described sensor devices is on described projection plane Projection be positioned at the central point of described sensor devices in the projection of described projection plane time, control one angle survey Described photographic head rotational angle between described primary importance and the described second position measured by measuring device.

13. tumblers according to claim 11, it is characterised in that the described second position is just Beginning position, described primary importance is the position after rotating, and described camera head also includes:

Pivoting controller, is connected with described rotating mechanism, for being positioned at the described second position when described photographic head Time, control described rotating mechanism and drive described photographic head with the central point place straight line of described sensor devices for rotation Rotating shaft, rotates on described rotational plane；

Detector, is connected with described pivoting controller, for controlling described rotating machine at described pivoting controller Structure rotated after the scheduled time, controls an angle measurement equipment and measures described photographic head in described primary importance and described Rotational angle between the second position, the most described photographic head is positioned at described primary importance；

First shooting controller, is connected with described photographic head and described detector, for when described photographic head position When described primary importance, control described photographic head and shoot the first image.

14. according to the tumbler described in claim 12 or 13, it is characterised in that described rotation controls Device includes:

Direction determines module, is connected with described rotating mechanism, is used for obtaining described target object and described shooting The position relationship of head, and according to described position relationship, determine described photographic head turning on described rotational plane Dynamic direction；According to described rotation direction, control described rotating mechanism and drive described photographic head with described photoreceptors The central point place straight line of part is rotary shaft, rotates on described rotational plane.

15. according to the tumbler described in claim 12 or 13, it is characterised in that also include:

Angle measurement equipment, is connected with described rotating mechanism and described detector, is used for measuring described rotating mechanism When driving described photographic head to rotate between described primary importance and the described second position, described rotating mechanism Rotational angle θ.

16. tumblers according to claim 15, it is characterised in that also include:

Processing module, is connected with described photographic head and described angle measurement equipment, is used for obtaining described photographic head and exists During the first image that described primary importance shoots, according to described first image, obtain described target object in institute State the central point of the projection on described projection plane of the image space on sensor devices and described sensor devices Distance x of the projection on described projection plane, and obtain described photographic head in described primary importance and institute State the rotational angle θ between the second position, according to x and θ, calculate described target object and described photographic head Distance.

17. tumblers according to claim 16, it is characterised in that described processing module includes:

First multiplier, for calculating first product of x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of θ；

Second multiplier, is used for the second of the tan the calculating described θ focal distance f with described battery of lens and takes advantage of Long-pending；

Subtractor, deducts the difference of described second product for calculating x；

Divider, is used for described first product divided by described difference, and the result obtained is as described object Body and the distance of described photographic head.

18. tumblers according to claim 16, it is characterised in that also include:

Determine module, be connected with described photographic head, for obtaining the image of described photographic head shooting, detect institute State in the image of photographic head shooting and whether include multiple subject, if it is, from the plurality of subject In determine described target object.

19. tumblers according to claim 18, it is characterised in that described determine that module includes:

Analytic unit, for when the image that described photographic head shoots includes multiple subject, detects institute State the feature of subject, at feature and the target object prestored in advance of currently detected subject During characteristic matching, determine that the subject that current detection detects is target object.

20. 1 kinds of range units, it is characterised in that with the camera head described in any one of claim 1-5 Coordinate and target object is found range；Described range unit includes:

Distance acquisition module, is connected with described photographic head, is used for obtaining described photographic head and claps when primary importance The first image taken the photograph, according to target object imaging on described sensor devices described in described first Image Acquisition Position projection on described projection plane with the central point of described sensor devices on described projection plane Distance x of projection；

Angle acquisition module, for obtaining described photographic head with the central point place straight line of described sensor devices be Axle, rotational angle θ when rotating between primary importance and the second position on a rotational plane, wherein, When described photographic head is positioned at the second position, described target object image space on described sensor devices is in institute State the projection on projection plane to be positioned in the projection on described projection plane of the central point of described sensor devices；

Computing module, is connected with described distance acquisition module and described angle acquisition module, for according to x And θ, calculate the distance of described target object and described photographic head.

21. range units according to claim 20, it is characterised in that described computing module includes:

First multiplier, for calculating first product of x and the focal distance f of described battery of lens；

Tan computer, for calculating the tan of θ；

Second multiplier, is used for the second product of the tan calculating θ and the focal distance f of described battery of lens；

Subtractor, deducts the difference of described second product for calculating x；

Divider, is used for described first product divided by described difference, and the result obtained is as described object Body and the distance of described photographic head.

22. 1 kinds of range-measurement systems, it is characterised in that include range unit and camera head, described shooting fills Be set to the camera head described in any one of claim 1-5, described range unit be such as claim 20 or Range unit described in 21.