CN207457505U - A kind of optical distance measurement apparatus - Google Patents
A kind of optical distance measurement apparatus Download PDFInfo
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- CN207457505U CN207457505U CN201721353888.2U CN201721353888U CN207457505U CN 207457505 U CN207457505 U CN 207457505U CN 201721353888 U CN201721353888 U CN 201721353888U CN 207457505 U CN207457505 U CN 207457505U
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Abstract
The utility model discloses a kind of optical distance measurement apparatus, including optical transmitting set, for emitting light into target object；Optical receiver, for receiving the reflected light after emitting light into the target object, and generate response signal, the optical receiver includes camera lens and planar array type imaging sensor, the camera lens is fixedly linked with the planar array type imaging sensor, wherein, the planar array type imaging sensor includes photosurface, the photosurface includes one or more photosensitive regions, and the photosensitive region is divided into one or more photosensitive subregions；Processor is connected with the optical receiver, for receiving the response signal of the optical receiver generation, and according to the location information of the reflection light point, goes out the target object to the distance of the optical distance measurement apparatus using trigonometric calculations.The utility model effectively reduces cost, improves sampling density, while improves the tolerance to installation error.
Description
Technical field
The utility model belongs to space orientation field, and in particular, to a kind of optical distance measurement apparatus.
Background technology
Space orientation and ranging technology with the miniaturization of component, cost it is cheaper, increasingly spread to general
In logical consumer level market, wherein most typical application scenarios are the independent navigation of the mobile terminals such as household small-size robot, unmanned plane
Field.In space ranging technology, optical ranging has precision compared with such as ultrasonic ranging of other distance measuring methods, radio circuit ranging etc.
Height, response is fast, relatively strong etc. advantages of anti-interference, therefore has been widely adopted.Most common optical position measuring system is basic
Comprising an optical launcher and an optical receiver assembly, distance measuring method has burst length difference method, phase difference method, Yi Jisan
Angle, in these types of method, phase difference method precision is high, far measuring distance, but measurement frequency is low, and response is slower, uncomfortable
Close high-speed mobile measurement；Burst length difference method, measurement frequency is high, and response is fast, but very high to hardware requirement.Triangulation is
Compared with the method for compromise, measurement distance and moderate accuracy, response is very fast, and hardware cost is relatively low, therefore, most consumption
The laser radar of grade optical distance measurement apparatus such as sweeping robot, widely used triangulation.
At present, most consumer level optical distance measurement apparatus (such as sweeping robot) for gather response speed requirement compared with
Height, therefore, the high frame per second (such as 1800 frames/more than the second) during to ensure to measure, in the prior art, the Optical devices of triangulation
Generally using a kind of linear imaging sensor of special construction, cost is 6-10 times of common array image sensor, high
Price make its popularization difficult.In addition, linear imaging sensor, compared to planar array type imaging sensor, each of which pixel may be just
It is square, it is also possible to which that rectangle is (such as：32um*4um), and apparent linear feature is presented in the distribution of the pixel quantity of its row and column,
Such as (number of pels per line amount：2048, line number：4 rows), the photosensitive pixel line number just because of linear imaging sensor is seldom,
Cause sensor photosensitive area very narrow, so optical transmitting set needs close alignment linear transducer pixel center horizontal level, with
Ensure that reflection light can be received by sensor, therefore have higher requirement to laser pitch angle installation error, be unfavorable for
Production.In addition, existing optical positioning apparatus can only measure single spot, sampling density is not high enough.
Utility model content
The utility model provides a kind of optical distance measurement apparatus, employs cheap planar array type imaging sensor, can dynamic
It divides multiple photosensitive subregions and disposably gathers multiple luminous points, solve in the prior art due to real using linear imaging sensor
Show the problem of cost that optical ranging is brought is excessively high, installation requirement is high, sampling density is low, significantly reduce cost, improve
Sampling density, while improve the tolerance to installation error.
To achieve these goals, the utility model provides a kind of optical distance measurement apparatus, which includes：
Optical transmitting set, for emitting light into target object；
Optical receiver for receiving the reflected light after emitting light into the target object, and generates response signal, the light
Receiver includes camera lens and planar array type imaging sensor, and the camera lens is fixedly linked with the planar array type imaging sensor, wherein,
The planar array type imaging sensor includes photosurface, and the photosurface includes one or more photosensitive regions, the photosensitive region
It is divided into one or more photosensitive subregions；
Processor is connected with the optical receiver, for receiving the response signal of the optical receiver generation, and according to institute
The response signal received is stated, goes out the target object to the distance of the optical distance measurement apparatus using trigonometric calculations.
In one embodiment of the utility model, the optical transmitting set includes lasing light emitter and optical splitter, and the optical splitter is
Diffraction grating or optical prism, the point-like laser for the lasing light emitter to be sent are divided into a branch of or multi beam point-like laser.
In one embodiment of the utility model, which is divided into one or more photosensitive subregions, is specially：
The photosensitive region is divided into the photosensitive subregion of one or more bandings, and the photosensitive subregion line number is M rows,
Middle M is the positive integer more than or equal to 1, and the photosensitive subregion is used to gather the luminous point of one or more reflected lights.
In one embodiment of the utility model, the photosensitive subregion of the one or more is anti-for gathering the one or more
The luminous point of light is penetrated, is specially：
When optical transmitting set transmitting multi beam is dotted smooth, the plurality of photosensitive subregion, should for gathering multiple reflection light points
Class crosswise or the distribution of matroid shape is presented in multiple reflection light points in the plurality of photosensitive subregion.
In one embodiment of the utility model, which includes multiple photosensitive subregions, face battle array
Wherein one or more in the plurality of photosensitive subregion are arranged to effective sensitization area by formula imaging sensor, effective photosensitive area
Domain generates after the reflection light point is collected and exports signal response, remaining is then arranged to invalid photosensitive region, this is invalid photosensitive
Region does not export signal response after the reflection light point is collected.
The utility model embodiment also provides a kind of optical distance measurement apparatus, which includes：
Optical transmitting set, including lasing light emitter and optical splitter, the optical splitter is fixed on lasing light emitter emission port, for swashing described
The beam of laser of light source transmitting is divided into a branch of or multiple laser；
Optical receiver, including camera lens and planar array type imaging sensor, the camera lens is consolidated with the planar array type imaging sensor
It is fixed to be connected, wherein, the planar array type imaging sensor includes photosurface, and the photosurface includes one or more photosensitive regions,
The photosensitive region is divided into one or more photosensitive subregions；
Controller is connected with the optical transmitting set and the optical receiver, for the optical transmitting set to be controlled to emit light into
Target object, and control and emit light into the reflected light after target object described in the optical receiver reception, generate response signal；
Processor is connected with the optical receiver, for receiving the response signal of the optical receiver generation, and according to institute
The response signal received is stated, goes out the target object to the distance of the optical distance measurement apparatus using trigonometric calculations；
Power supply, for powering for the optical transmitting set, optical receiver, controller and the processor.
In one embodiment of the utility model, which is diffraction grating or optical prism.
In one embodiment of the utility model, which is divided into one or more photosensitive subregions, is specially：
The photosensitive region is divided into the photosensitive subregion of one or more bandings, and the photosensitive subregion line number is M rows, and wherein M is big
In the positive integer equal to 1, the photosensitive subregion is used to gather the luminous point of one or more reflected lights.
In one embodiment of the utility model, the photosensitive subregion of the one or more is anti-for gathering the one or more
The luminous point of light is penetrated, including：When the planar array type imaging sensor receive multi beam it is dotted smooth when, the plurality of photosensitive subregion is for adopting
Collect multiple reflection light points, class crosswise or the distribution of matroid shape is presented in the plurality of reflection light point in the plurality of photosensitive subregion.
In one embodiment of the utility model, which includes multiple photosensitive subregions, face battle array
Wherein one or more in the plurality of photosensitive subregion are arranged to effective sensitization area by formula imaging sensor, effective photosensitive area
Domain generates after the reflection light point is collected and exports signal response, remaining is then arranged to invalid photosensitive region, this is invalid photosensitive
Region does not export signal response after the reflection light point is collected.
The method of the utility model embodiment has following advantages：
In the utility model embodiment, gathered as a result of cheap planar array type imaging sensor one or more anti-
Luminous point is penetrated, the effect that traditional linear imaging sensor can be only achieved not only is can reach, is also dynamically arranged and adjusts photosensitive area
Domain reduces installation requirement, realizes high speed, multizone, high density measurement, effectively reduces production difficulty and cost, improve
Product competition advantage brings commercial success.Further, since traditional planar array type imaging sensor is 2-D data image
Sensor, data processing amount is big, and measurement frame per second cannot meet the requirement of high speed ranging (at least 1800 frames/second), therefore be difficult to reality
Existing consumer level high speed optical positioning, and the utility model embodiment is creatively by choosing one or more photosensitive subregions
Mode disposably gathers one or more reflection light points, and carries out average merging to multirow pixel, not only effectively reduces processing
The data processing amount of device also improves the signal-to-noise ratio of signal, so as to improve measurement accuracy, ensure that the frame per second of measurement at a high speed,
Overcome the technology prejudice that planar array type imaging sensor is not suitable for high speed optical ranging.
Description of the drawings
Fig. 1 a are that optical distance measurement apparatus forms structure chart in the utility model embodiment 1；
Fig. 1 b are another optical distance measurement apparatus composition structure charts in the utility model embodiment 1；
Fig. 2 a are that photosensitive region divides schematic diagram in the utility model embodiment 1；
Fig. 2 b are reflection light point and the unjustified schematic diagram of photosensitive region center line in the utility model embodiment 1；
Fig. 2 c are the special case signals that reflected light points are 1 and photosensitive subregion number is 1 in the utility model embodiment 1
Figure；
Fig. 2 d are that class crosswise distribution schematic diagram is presented in reflection light point in the utility model embodiment 1；
Fig. 2 e are that matroid shape distribution schematic diagram is presented in reflection light point in the utility model embodiment 1；
Fig. 3 is that single column of pixels merges algorithm schematic diagram in the utility model embodiment 1；
Fig. 4 is another optical distance measurement apparatus structure diagram in the utility model embodiment 2.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to make the purpose of this utility model, technical solution and advantage clearer
The utility model is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain this reality
With new, it is not used to limit the utility model.It is in addition, involved in each embodiment of the utility model disclosed below
To technical characteristic can be combined with each other as long as they do not conflict with each other.
Embodiment 1
To achieve the above objectives, as shown in Figure 1a, the utility model provides a kind of anallatic device 11, the device
11 are included with lower component：
Optical transmitting set 101, for emitting light into target object；
Optionally, as shown in Figure 1 b, optical transmitting set 101 emits dotted light (such as laser) to target object, the light emitting
Device 101 includes lasing light emitter 1011 and optical splitter 1012, and lasing light emitter 1011 for generating lasing light emitter and emitting, place by optical splitter 1012
In the emission port of lasing light emitter 1011, the point-like laser for lasing light emitter 1011 to be sent passes through the light splitting of optical splitter 1012, is divided into
A branch of or multi beam point-like laser is transmitted on target object, and generates corresponding a branch of or multi beam point-shaped reflection laser.Passing through will
One laser point is divided into the mode of multiple laser points, it is ensured that optical distance measurement apparatus gathers multiple reflection light points simultaneously, improves
Gather density.
Optionally, the optical splitter 1012 is diffraction grating (Diffraction Optical Elements, DOE) or light
Prism or other light-splitting devices are learned, there is no restriction to this for the utility model embodiment.
Optical receiver 102, for receiving the reflected light after optical transmitting set 101 emits light into the target object, the light
Receiver 102 includes camera lens 1021 and planar array type imaging sensor 1022, and the camera lens is consolidated with the planar array type imaging sensor
It is fixed to be connected, wherein, the planar array type imaging sensor includes photosurface, the planar array type imaging sensor 1022 include one or
Multiple photosensitive regions, as shown in Figure 2 a, photosensitive region are divided into one or more photosensitive subregion (photosensitive subregion 1, photosensitive sons
The photosensitive subregion N in region 2 ...), one or more of photosensitive subregions are used to gather one or more reflected lights
Luminous point；After one or more of reflection light points are gathered, the optical receiver is additionally operable to generation response signal, the response
Signal includes the location information of one or more of reflection light points；
For planar array type imaging sensor compared with linear imaging sensor, the former each pixel is square, width
With height dimension all as (such as 3um*3um), often capable pixel quantity and line number can be 4:3 or 16:9 (such as：Often row pixel
Quantity：1280, line number：720 rows), and each pixel of the latter may be square, it is also possible to rectangle is (such as：32um*4um),
And apparent linear feature, such as (number of pels per line amount is presented in the pixel quantity distribution of its row and column：2048, line number：4
Row).And the optical distance measurement apparatus that the service robot (such as sweeping robot) that consumer level uses in the market at present uses, no an example
The outer expensive linear imaging sensor for being entirely, not with cheap planar array type imaging sensor.Because planar array type figure
As sensor in itself can large area imaging, design function, manufacturing process do not possess several big features of linear transducer：Window
Mouth is small, data are few, frame per second is high and high sensitive under the low time for exposure.Therefore, planar array type imaging sensor be born purpose or its
The original intention used is not configured to do linear scan, i.e. planar array type imaging sensor be not configured to as linear transducer come.
To sum up, many characteristics of planar array type imaging sensor determine what it was not configured to high-speed linear scanning and designed, if
Most of imaging area of array image sensor abandons, and only uses wherein one small item, and speedy carding process frame per second, this will be produced
Raw two problems：First, greatly waste the resource of planar array type imaging sensor；Second, speedy carding process frame per second, it is necessary to right
The bottom of array image sensor, which is set, carries out many parameter adjustments, it is ensured that it can reach (1800 frames/more than the second), extremely short at a high speed
The purpose that high sensitive exports under time for exposure (tens is delicate), at present, most planar array type imaging sensor on the market
It can not all accomplish this point.Therefore, for those of ordinary skills, the optical ranging of the high speed high sensitive of consumer level
Device is generally using linear imaging sensor, without using planar array type imaging sensor.But implement in the utility model
In example, creatively propose and linear imaging sensor is replaced using cheap planar array type imaging sensor, use planar array type figure
As one or more photosensitive one or more reflection light points of subregion acquisition in sensor, and carry out the skill of single column of pixels merging
Art means, data processing speed is fast, and greatly improves sampling precision and density, equally realizes only linear image sensing
The high speed ranging effect that device could be realized.Bring following effect：
One, greatly reduces product cost, improves the competitive advantage of product, brings commercial success.Due to line
Property imaging sensor cost be planar array type imaging sensor several times, using planar array type imaging sensor instead of linear image pass
The scheme of sensor will greatly reduce the cost of optical distance measurement apparatus, be conducive to the popularization of product in consumer level in the market, band
Commercial success is carried out.
Two, overcome technology prejudice.To sum up, high speed optical range unit uses linear graph to current consumer level in the market
As sensor, and give up planar array type imaging sensor, it is clear that since planar array type imaging sensor possesses large area acquisition, data
The characteristics for the treatment of capacity is big, those of ordinary skill in the art think using planar array type imaging sensor in high speed optical ranging field and
Speech is at all unworkable, and the scheme that the utility model embodiment provides, and creatively employs the replacement of planar array type imaging sensor
Linear transducer, and same technique effect is realized, exactly overcoming planar array type imaging sensor can not apply in high-speed light
Learn the technology prejudice in ranging field.
Optionally, as shown in Figure 2 a, the photosensitive region can be divided into the photosensitive subregion of one or more bandings, all or
Partial photosensitive subregion line number could be provided as M rows, and wherein M is the positive integer more than or equal to 1.Each photosensitive subregion rises
Begin, end line, starting row and end column can configured in advance it is good, also, the height of each photosensitive subregion and position dynamic
It is adjustable, it is only necessary to it is high that corresponding starting row position, high and row of going are changed in the register of planar array type imaging sensor.Example
Such as, when optical transmitting set emits light into target object, after planar array type imaging sensor opens exposure, planar array type imaging sensor is first
Each pixel on first whole scan photosurface, after the region where detecting reflection light point, planar array type image sensing
(photosensitive region contains the region of all reflection light points, photosensitive region to the photosensitive region that device is dynamically arranged on photosurface
Size is dynamically arranged, and area is less than or equal to the area of photosurface), and the corresponding starting row position of setting and row are high, it is high to arrange, together
When the photosensitive region is divided into multiple photosensitive subregions, hereafter, it is only necessary to progressively scan the pixel of the photosensitive region, you can real
The location information of existing quick obtaining reflection light point.So have the advantage that：If when the optical distance measurement apparatus is manufactured,
Due to installation error so that the center of gravity of reflection light point does not fall within photosensitive subregion (as shown in Figure 2 b), then can pass through dynamic
Adjust the height and position of photosensitive subregion so that reflection light point is still fallen in photosensitive subregion, so as to reduce to production
The requirement of technique.
Understand in order to facilitate those of ordinary skill in the art, each photosensitive subregion of banding can be regarded as a linear image
The photosensitive region of sensor, multiple photosensitive subregions of banding, it will be appreciated that for multiple linear imaging sensor photosensitive region faces battle array
Longitudinal direction " superposition ".And when the quantity of photosensitive subregion is 1, and acquisition reflection light point quantity is also 1, imaging effect such as Fig. 2 c
It is shown, under this situation, understand for convenience, it will be appreciated that for the situation be come " simulation " linear graph using planar array type imaging sensor
As a kind of special case of sensor.But the it will be recognized by one of ordinary skill in the art that explanation herein only side of being only intended to
Just technical staff is easier to understand the technical solution of the utility model embodiment offer, in actual product, planar array type image sensing
Device is divided into the photosensitive subregion of one or more bandings, it is necessary to by complicated configuration, verification and subsequent data processing, is not
It simply " simulates " or the photosensitive region of " superposition " linear imaging sensor.
Optionally, when the optical transmitting set 101 is dotted smooth by the transmitting multi beam of optical splitter 1012, the multiple photosensitive son
Region is for gathering multiple reflection light points, and class crosswise or class is presented in multiple reflection light points in the multiple photosensitive subregion
Rectangular distribution.It should be noted that the distribution expression of class crosswise is that the imaging of its reflection light point is equal or approximate crosswise
Distribution is imaged for reflection light point, it is possible to which there is deviation in the position of each luminous point, is allowed to show and nisi crosswise divides
Cloth, and it is similar to the imaging that crosswise is distributed it is possible that showing.Similarly, matroid shape distribution i.e. imaging is equal or approximate square
Battle array shape.Fig. 2 d are the schematic diagrames that reflection light point is distributed in photosensitive subregion in class crosswise.As shown in Figure 2 d, in the photosensitive area
In domain, which shares P rows (in such as schematic diagram, P=7), wherein middle row have Q point (in such as schematic diagram, Q=
4), remaining every 1 point of row, wherein P and Q are positive integer.Fig. 2 e are that reflection light point divides in photosensitive subregion in matroid shape
The schematic diagram of cloth.As shown in Figure 2 e, difference lies in matroid shape one shares P rows, and every a line to matroid shape with class crosswise
There is Q point.
Optionally, the location information of reflection light point includes row positional information and column position information.The planar array type image passes
Sensor 1022 is additionally operable to：After one or more of photosensitive subregions gather the luminous point of one or more of reflected lights, obtain
Take the column position information of one or more of reflection light points.Optionally, the column position letter of one or more reflection light points is obtained
Breath, specially：The planar array type imaging sensor obtains the row coordinate letter of the position of centre of gravity of one or more of reflection light points
Breath.It should be noted that position of centre of gravity is the position carried out to effective coordinate in region after luminance weighted be averaged, position of centre of gravity
Different from center, center is then the geometric center of the smallest enclosing box in region.For example, reflection light point is photosensitive at one
5 pixels are occupied in subregion, then the position of centre of gravity of the reflection light point is the luminance weighted average of 5 pixel point coordinates
Position afterwards.Why need to obtain the row coordinate information of position of centre of gravity, be because according to triangulation, in known light emitting
In the case of device 101 and 1022 relative angle of planar array type imaging sensor and spacing, can target be calculated according to row coordinate information
The distance of object distance optical distance measurement apparatus.And according to triangulation, it is only necessary to know that row coordinate information can be calculated, and nothing
Its row coordinate information need to be obtained, therefore, photosensitive subregion can mainly arrange in column direction, on line direction can only with a line or
Very narrow line number.
Optionally, planar array type imaging sensor 1022 is additionally operable to carry out single column of pixels merging algorithm (Binning algorithms),
Binning algorithms are by M rows Pixel Information boil down to a line or multirow for will being divided on sensor, it can be achieved that planar array type image passes
Sensor quickly reads data.Specially：The gray value of several pixels of each row in the photosensitive subregion is carried out equal
Value calculates, and the result calculated is M rows Pixel Information boil down to a line or the result of several row Pixel Informations.So that it is vertically regarding
In the case that field is constant, data volume is the one of several points originally, and the signal-to-noise ratio of output image will be greatly improved.Such as Fig. 3
It is shown, after the data volume of M rows is collected, merge algorithm by the single column of pixels, compressed data volume is only former data
The one of several points of amount.
Optionally, planar array type imaging sensor 1022 can include multiple photosensitive subregions, the planar array type imaging sensor
Wherein one or more in the multiple photosensitive subregion are arranged to effective sensitization area, the effective sensitization area is gathering
To after the reflection light point, planar array type imaging sensor 1022 generates and exports signal response, remaining is then arranged to invalid photosensitive
Region, for the invalid photosensitive region after the reflection light point is collected, planar array type imaging sensor 1022 does not export signal sound
Should, reduce the purpose for per frame image data treating capacity, obtaining high frame per second so as to reach.
Processor 103, for receiving the response signal that the optical receiver 102 generates, and according to the reflection light point
Location information goes out the target object to the distance of the optical distance measurement apparatus 11 using trigonometric calculations.
Optionally, processor 103 may include main control module and data processing module, and main control module is used to opening/closing light
Transmitter 101 emits light into target object, while also is responsible for unlatching/closing optical receiver and receives reflected light, in the utility model
In embodiment, photosensitive subregion can be simultaneously or sequentially opened by main control module and be exposed, so that planar array type imaging sensor
The 1022 disposable one or more reflection light points of acquisition.Data processing module is used to receive the response letter of the generation of optical receiver 102
Number, and utilize triangle measurement method.
Trigonometry is a kind of common measuring method in optical alignment field, and this method is as follows：Pass through the center of gravity of zoning
Position and known laser beam emitting device and imaging sensor relative angle and spacing, can calculate target range image sensing
The distance of device.Trigon fundamental measurement formula is z=b*f/x；Wherein b is represented between laser beam emitting device and imaging sensor
Away from f is lens focus used in imaging sensor, and x is the row coordinate of the project reflection light acquired on the image sensor
Position of centre of gravity, z are the distance measured, are found out from formula, and measurement distance is only with center of gravity the position of column direction is related and line number
It is unrelated, therefore photosurface battle array can mainly arrange in column direction, and a line or very narrow line number can be only used on line direction；In addition,
The error formula of measurement is e=1/ (b*f/ (n*z)+1), wherein, n represents the error of center of gravity extraction, it can be seen that measurement error
E and b, f are inversely proportional and n, z are directly proportional.Therefore, in the case where b f and n are certain, it is necessary to which the camera lens of opposite focal length is selected to subtract
The error of small different distance.
Ranging for the class crosswise and matroid shape of Fig. 2 d and Fig. 2 e, each of which reflection light point are equally applicable to three
Horn cupping, in addition, for each reflection light point, the method that can generally use connected area segmentation obtains the region of the point, therefore multiple
Point can also be solved in the appearance of same a line.Connected area segmentation method is one of for those skilled in the art's algorithms most in use, this practicality
New embodiment is not repeated herein.
In the utility model embodiment, the planar array type imaging sensor that this programme uses is of low cost, will by optical splitter
Laser beam one divides to be more, and is imaged in the multiple photosensitive subregions of sensor, can high speed, high density, multizone acquisition
Testee range data, and since exposing pixels line number is more, so as to improve the precision of calculating and redundancy, while profit
Merge algorithm with single column of pixels to be compressed image, improve signal-to-noise ratio, and saved computation complexity.Further, since this
The subregion of scheme is dynamically adapted position, can allow a certain range laser installation error, when laser is due to collision etc.
Problem angle changes, and only needs dynamic adjustment subregion starting altitude, need not be dismantled and adjusted peace to measurement module
Fill flow.
Embodiment 2
The utility model embodiment provides a kind of optical distance measurement apparatus 41, as shown in figure 4, the optical distance measurement apparatus includes：
Optical transmitting set 401, including lasing light emitter 4011 and optical splitter 4012, the optical splitter 4012 is fixed on lasing light emitter transmitting
Mouthful, the beam of laser for the lasing light emitter to be emitted is divided into a branch of or multiple laser；Wherein, which can be to spread out
Penetrate grating or optical prism, or other can be to device that lasing light emitter is split.
Optical receiver 402, including camera lens 4021 and planar array type imaging sensor 4022, the camera lens 4021 and face battle array
Formula imaging sensor 4022 is fixedly linked, wherein, the planar array type imaging sensor 4022 includes photosurface, the photosensitive bread
Containing one or more photosensitive regions, the photosensitive region is divided into one or more photosensitive subregions；
Optionally, the photosensitive region can be divided into the photosensitive subregion of one or more bandings, all or part of photosensitive
Subregion line number could be provided as M rows, and wherein M is the positive integer more than or equal to 1.The initial row of each photosensitive subregion terminates
Row, starting row and end column can item configure, also, the height of each photosensitive subregion and position are dynamically adjusted, only
Need to change accordingly starting row position, row height and row height in the register of planar array type imaging sensor.For example, when light is sent out
Emitter emits light into target object, and after planar array type imaging sensor opens exposure, the planar array type imaging sensor overall situation first is swept
Each pixel on photosurface is retouched, after the region where detecting reflection light point, planar array type imaging sensor can dynamic
(photosensitive region is the region for containing all reflection light points to photosensitive region on setting photosurface, and photosensitive region size is movable
State is set, and area is less than or equal to the area of photosurface), and the corresponding starting row position of setting and row are high, it is high to arrange, while this is felt
Light region division is multiple photosensitive subregions, hereafter, it is only necessary to progressively scan the pixel of the photosensitive region, you can realization quickly obtains
Take the location information of reflection light point.So have the advantage that：If when the optical distance measurement apparatus is manufactured, due to installation
Error so that the center of gravity of reflection light point does not fall within photosensitive subregion, then can be by dynamically adjusting the height of photosensitive subregion
Position so that reflection light point is still fallen in photosensitive subregion, so as to reduce the requirement to production technology.
Optionally, when the optical transmitting set 401 is dotted smooth by the transmitting multi beam of optical splitter 4012, the multiple photosensitive son
Region is for gathering multiple reflection light points, and class crosswise or class is presented in multiple reflection light points in the multiple photosensitive subregion
Rectangular distribution.It should be noted that the distribution expression of class crosswise is that the imaging of its reflection light point is equal or approximate crosswise
Distribution is imaged for reflection light point, it is possible to which there is deviation in the position of each luminous point, is allowed to show and nisi crosswise divides
Cloth, and it is similar to the imaging that crosswise is distributed it is possible that showing.Similarly, matroid shape distribution i.e. imaging is equal or approximate square
Battle array shape.
Optionally, the location information of reflection light point includes row positional information and column position information.The planar array type image passes
Sensor 4022 is additionally operable to：After one or more of photosensitive subregions gather the luminous point of one or more of reflected lights, obtain
Take the column position information of one or more of reflection light points.Optionally, the column position letter of one or more reflection light points is obtained
Breath, specially：The planar array type imaging sensor obtains the row coordinate letter of the position of centre of gravity of one or more of reflection light points
Breath.It should be noted that position of centre of gravity is the position carried out to effective coordinate in region after luminance weighted be averaged, position of centre of gravity
Different from center, center is then the geometric center of the smallest enclosing box in region.For example, reflection light point is photosensitive at one
5 pixels are occupied in subregion, then the position of centre of gravity of the reflection light point is the luminance weighted average of 5 pixel point coordinates
Position afterwards.Why need to obtain the row coordinate information of position of centre of gravity, be because according to triangulation, in known light emitting
In the case of device 401 and 4022 relative angle of planar array type imaging sensor and spacing, can target be calculated according to row coordinate information
The distance of object distance optical distance measurement apparatus.And according to triangulation, it is only necessary to know that row coordinate information can be calculated, and nothing
Its row coordinate information need to be obtained, therefore, photosensitive subregion can mainly arrange in column direction, on line direction can only with a line or
Very narrow line number.
Optionally, planar array type imaging sensor 4022 is additionally operable to carry out single column of pixels merging algorithm (Binning algorithms),
Binning algorithms are by M rows Pixel Information boil down to a line or multirow for will being divided on sensor, it can be achieved that planar array type image passes
Sensor quickly reads data.Specially：The gray value of several pixels of each row in the photosensitive subregion is carried out equal
Value calculates, and the result calculated is M rows Pixel Information boil down to a line or the result of several row Pixel Informations.So that it is vertically regarding
In the case that field is constant, data volume is the one of several points originally, and the signal-to-noise ratio of output image will be greatly improved.Such as Fig. 3
It is shown, after the data volume of M rows is collected, merge algorithm by the single column of pixels, compressed data volume is only former data
The one of several points of amount.
Optionally, planar array type imaging sensor 4022 can include multiple photosensitive subregions, the planar array type imaging sensor
Wherein one or more in the multiple photosensitive subregion are arranged to effective sensitization area, the effective sensitization area is gathering
To after the reflection light point, planar array type imaging sensor 1022 generates and exports signal response, remaining is then arranged to invalid photosensitive
Region, for the invalid photosensitive region after the reflection light point is collected, planar array type imaging sensor 1022 does not export signal sound
Should, reduce the purpose for per frame image data treating capacity, obtaining high frame per second so as to reach.
Controller 403 is connected with the optical transmitting set 401 and the optical receiver 402, for controlling the optical transmitting set
Target object is emitted light into, and controls and emits light into the reflected light after target object described in the optical receiver reception, generates sound
Induction signal；
Processor 404 is connected with the optical receiver 402, for receiving the response letter that the optical receiver 402 generates
Number, and according to the response signal received, go out the target object to the optical distance measurement apparatus using trigonometric calculations
Distance；
Power supply 405, for powering for the optical transmitting set, optical receiver and the processor.
Understand in order to facilitate those of ordinary skill in the art, each photosensitive subregion of banding can be regarded as a linear image
The photosensitive region of sensor, multiple photosensitive subregions of banding, it will be appreciated that for multiple linear imaging sensor photosensitive region faces battle array
Longitudinal direction " superposition ".And when the quantity of photosensitive subregion is 1, and acquisition reflection light point quantity is also 1, imaging effect such as Fig. 2 c
It is shown, under this situation, understand for convenience, it will be appreciated that for the situation be come " simulation " linear graph using planar array type imaging sensor
As a kind of special case of sensor.But the it will be recognized by one of ordinary skill in the art that explanation herein only side of being only intended to
Just technical staff is easier to understand the technical solution of the utility model embodiment offer, in actual product, planar array type image sensing
Device is divided into the photosensitive subregion of one or more bandings, it is necessary to by complicated configuration, verification and subsequent data processing, is not
It simply " simulates " or the photosensitive region of " superposition " linear imaging sensor.
For planar array type imaging sensor compared with linear imaging sensor, the former each pixel is square, width
With height dimension all as (such as 3um*3um), often capable pixel quantity and line number can be 4:3 or 16:9 (such as：Often row pixel
Quantity：1280, line number：720 rows), and each pixel of the latter may be square, it is also possible to rectangle is (such as：32um*4um),
And apparent linear feature, such as (number of pels per line amount is presented in the pixel quantity distribution of its row and column：2048, line number：4
Row).And the optical distance measurement apparatus that the service robot (such as sweeping robot) that consumer level uses in the market at present uses, no an example
The outer expensive linear imaging sensor for being entirely, not with cheap planar array type imaging sensor.Because planar array type figure
As sensor in itself can large area imaging, design function, manufacturing process do not possess several big features of linear transducer：Window
Mouth is small, data are few, frame per second is high and high sensitive under the low time for exposure.Therefore, planar array type imaging sensor be born purpose or its
The original intention used is not configured to do linear scan, i.e. planar array type imaging sensor be not configured to as linear transducer come.
To sum up, many characteristics of planar array type imaging sensor determine what it was not configured to high-speed linear scanning and designed, if
Most of imaging area of array image sensor abandons, and only uses wherein one small item, and speedy carding process frame per second, this will be produced
Raw two problems：First, greatly waste the resource of planar array type imaging sensor；Second, speedy carding process frame per second, it is necessary to right
The bottom of array image sensor, which is set, carries out many parameter adjustments, it is ensured that it can reach (1800 frames/more than the second), extremely short at a high speed
The purpose that high sensitive exports under time for exposure (tens is delicate), at present, most planar array type imaging sensor on the market
It can not all accomplish this point.Therefore, for those of ordinary skills, the optical ranging of the high speed high sensitive of consumer level
Device is generally using linear imaging sensor, without using planar array type imaging sensor.But implement in the utility model
In example, creatively propose and linear imaging sensor is replaced using cheap planar array type imaging sensor, use planar array type figure
As one or more photosensitive one or more reflection light points of subregion acquisition in sensor, and carry out the skill of single column of pixels merging
Art means, data processing speed is fast, and greatly improves sampling precision and density, equally realizes only linear image sensing
The high speed ranging effect that device could be realized.Bring following effect：
One, greatly reduces product cost, improves the competitive advantage of product, brings commercial success.Due to line
Property imaging sensor cost be planar array type imaging sensor several times, using planar array type imaging sensor instead of linear image pass
The scheme of sensor will greatly reduce the cost of optical distance measurement apparatus, be conducive to the popularization of product in consumer level in the market, band
Commercial success is carried out.
Two, overcome technology prejudice.To sum up, high speed optical positioner uses linear graph to current consumer level in the market
As sensor, and give up planar array type imaging sensor, it is clear that since planar array type imaging sensor possesses large area acquisition, data
The characteristics for the treatment of capacity is big, those of ordinary skill in the art think using planar array type imaging sensor in high speed optical ranging field and
Speech is at all unworkable, and the scheme that the utility model embodiment provides, and creatively employs the replacement of planar array type imaging sensor
Linear transducer, and same technique effect is realized, exactly overcoming planar array type imaging sensor can not apply in high-speed light
Learn the technology prejudice in ranging field.
In the utility model embodiment, optical distance measurement apparatus employs cheap planar array type imaging sensor, can dynamically draw
Multiple photosensitive subregions is divided disposably to gather multiple luminous points, are solved in the prior art due to being realized using linear imaging sensor
The problem of cost that optical ranging is brought is excessively high, installation requirement is high, sampling density is low, significantly reduces cost, improves and adopt
Sample density, while improve the tolerance to installation error.
It is to be understood that in the various embodiments of the application, the size of the sequence number of each process is not meant to execution sequence
Successively, the execution sequence of each process should be determined with its function and internal logic, the implementation process without tackling the embodiment of the present application
Form any restriction.
Those of ordinary skill in the art may realize that each exemplary moulds described with reference to the embodiments described herein
Block and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
Scope of the present application.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and module may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
The various pieces of this specification are described by the way of progressive, identical similar portion between each embodiment
Point just to refer each other, and what each embodiment introduced is and other embodiment difference.Especially for device and it is
For embodiment of uniting, since it is substantially similar to embodiment of the method, so description is fairly simple, related part is real referring to method
Apply the explanation of example part.
Finally, it is necessary to which explanation is：The foregoing is merely the preferred embodiments of technical scheme, are not intended to
Limit the protection domain of the application.Obviously, those skilled in the art can carry out the application various modification and variations without de-
From scope of the present application.If these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies
Within, then any modifications, equivalent replacements and improvements are made, should be included within the protection domain of the application.
Claims (10)
1. a kind of optical distance measurement apparatus, which is characterized in that the optical distance measurement apparatus includes：
Optical transmitting set, for emitting light into target object；
Optical receiver for receiving the reflected light after emitting light into the target object, and generates response signal, the light-receiving
Device includes camera lens and planar array type imaging sensor, and the camera lens is fixedly linked with the planar array type imaging sensor, wherein, it is described
Planar array type imaging sensor includes photosurface, and the photosurface includes one or more photosensitive regions, the photosensitive region division
For one or more photosensitive subregions；
Processor is connected with the optical receiver, for receiving the response signal of the optical receiver generation, and according to described anti-
The location information of luminous point is penetrated, goes out the target object to the distance of the optical distance measurement apparatus using trigonometric calculations.
2. the apparatus according to claim 1, which is characterized in that the optical transmitting set includes lasing light emitter and optical splitter, described
Optical splitter is diffraction grating or optical prism, and it is dotted sharp that the point-like laser for the lasing light emitter to be sent is divided into a branch of or multi beam
Light.
3. device according to claim 1 or 2, which is characterized in that the photosensitive region is divided into one or more photosensitive
Subregion, including：
The photosensitive region is divided into the photosensitive subregion of one or more bandings, and the photosensitive subregion line number is M rows, wherein M
To be more than or equal to 1 positive integer, the photosensitive subregion is used to gather the luminous point of one or more reflected lights.
4. device according to claim 3, which is characterized in that one or more of photosensitive subregions are described for gathering
The luminous point of one or more reflected lights, including：
When optical transmitting set transmitting multi beam is dotted smooth, the multiple photosensitive subregion is used to gather multiple reflection light points, institute
It states multiple reflection light points and class crosswise or the distribution of matroid shape is presented in the multiple photosensitive subregion.
5. the apparatus according to claim 1, which is characterized in that the planar array type imaging sensor includes the multiple photosensitive
Wherein one or more in the multiple photosensitive subregion are arranged to effectively photosensitive by subregion, the planar array type imaging sensor
Region, after the reflection light point is collected, the planar array type imaging sensor generates and exports letter the effective sensitization area
Number response, remaining is then arranged to invalid photosensitive region, and the invalid photosensitive region is after the reflection light point is collected, the face
Configuration imaging sensor does not export signal response.
6. a kind of optical distance measurement apparatus, which is characterized in that the optical distance measurement apparatus includes：
Optical transmitting set, including lasing light emitter and optical splitter, the optical splitter is fixed on lasing light emitter emission port, for by the lasing light emitter
The beam of laser of transmitting is divided into a branch of or multiple laser；
Optical receiver, including camera lens and planar array type imaging sensor, the camera lens and the planar array type imaging sensor stationary phase
Even, wherein, the planar array type imaging sensor includes photosurface, and the photosurface includes one or more photosensitive regions, described
Photosensitive region is divided into one or more photosensitive subregions；
Controller is connected with the optical transmitting set and the optical receiver, for the optical transmitting set to be controlled to emit light into target
Object, and control and emit light into the reflected light after target object described in the optical receiver reception, generate response signal；
Processor is connected with the optical receiver, for receiving the response signal of the optical receiver generation, and is connect according to described
The response signal received goes out the target object to the distance of the optical distance measurement apparatus using trigonometric calculations；
Power supply, for powering for the optical transmitting set, optical receiver, controller and processor.
7. device according to claim 6, which is characterized in that the optical splitter is diffraction grating or optical prism.
8. the device according to claim 6 or 7, which is characterized in that the photosensitive region is divided into one or more photosensitive
Subregion, including：
The photosensitive region is divided into the photosensitive subregion of one or more bandings, and the photosensitive subregion line number is M rows, wherein M
To be more than or equal to 1 positive integer, the photosensitive subregion is used to gather the luminous point of one or more reflected lights.
9. device according to claim 8, which is characterized in that one or more of photosensitive subregions are described for gathering
The luminous point of one or more reflected lights, including：
When optical transmitting set transmitting multi beam is dotted smooth, the multiple photosensitive subregion is used to gather multiple reflection light points, institute
It states multiple reflection light points and class crosswise or the distribution of matroid shape is presented in the multiple photosensitive subregion.
10. device according to claim 6, which is characterized in that the planar array type imaging sensor includes the multiple sense
Wherein one or more in the multiple photosensitive subregion are arranged to effective feeling by photon region, the planar array type imaging sensor
Light region, the effective sensitization area generate after the reflection light point is collected and export signal response, remaining is then arranged to
Invalid photosensitive region, the invalid photosensitive region do not export signal response after the reflection light point is collected.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| CN111291731A (en) * | 2020-03-27 | 2020-06-16 | 深圳阜时科技有限公司 | Optical sensing device and electronic apparatus |
| CN112338908A (en) * | 2019-08-09 | 2021-02-09 | 科沃斯机器人股份有限公司 | Autonomous mobile device |
-
2017
- 2017-10-19 CN CN201721353888.2U patent/CN207457505U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| WO2019076072A1 (en) * | 2017-10-19 | 2019-04-25 | 深圳市欢创科技有限公司 | Optical distance measurement method and apparatus |
| US11675082B2 (en) | 2017-10-19 | 2023-06-13 | Shenzhen Camsense Technologies Co., Ltd | Method and device for optical distance measurement |
| CN112338908A (en) * | 2019-08-09 | 2021-02-09 | 科沃斯机器人股份有限公司 | Autonomous mobile device |
| CN111291731A (en) * | 2020-03-27 | 2020-06-16 | 深圳阜时科技有限公司 | Optical sensing device and electronic apparatus |
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