DE4238891A1 - Video camera system with integral object-distance-measuring device - combines digitised video image with signal from position-sensitive detector of spot produced by subsidiary beam - Google Patents

Video camera system with integral object-distance-measuring device - combines digitised video image with signal from position-sensitive detector of spot produced by subsidiary beam

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Publication number
DE4238891A1
DE4238891A1 DE4238891A DE4238891A DE4238891A1 DE 4238891 A1 DE4238891 A1 DE 4238891A1 DE 4238891 A DE4238891 A DE 4238891A DE 4238891 A DE4238891 A DE 4238891A DE 4238891 A1 DE4238891 A1 DE 4238891A1
Authority
DE
Germany
Prior art keywords
camera system
measuring device
distance
combines
optical axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE4238891A
Other languages
German (de)
Inventor
Eberhard Dipl Phys Credo
Reiner Martin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OPTIMESS GES fur OPTOELEKTRON
Original Assignee
OPTIMESS GES fur OPTOELEKTRON
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by OPTIMESS GES fur OPTOELEKTRON filed Critical OPTIMESS GES fur OPTOELEKTRON
Priority to DE4238891A priority Critical patent/DE4238891A1/en
Publication of DE4238891A1 publication Critical patent/DE4238891A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G01C3/08—Use of electric radiation detectors
    • G01C3/085—Use of electric radiation detectors with electronic parallax measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver

Abstract

An image of the object (1) is formed by the camera lens (2) on a CCD matrix (3). The interface (4) of a beam splitting plate (8) in front of the lens imposes negligible shading. A thin measuring beam from a source (5) is shaped (6) and deflected along the optical axis (9) to form a spot on the object surface. The surface is imaged by a sensing lens (13) and position-sensitive photodiode (14), whose output is processed (15) and combined by a computer (16) with the processed image (17). USE/ADVANTAGE - Esp. in industrial quality assurance, distance of imaged surface along optical axis can be measured exactly for precise determn. of object size from recorded images.

Description

Die vorliegende Erfindung betrifft ein Kamerasystem, in das eine Entfernungsmeßeinrichtung so integriert ist, daß der Abstand zwischen der Kamera und einem aufzunehmenden Objekt entlang der optischen Achse der Kamera bestimmt werden kann.The present invention relates to a camera system in which a distance measuring device is integrated that the distance between the camera and an object to be shot along the optical axis of the camera can be determined.

Vor allem im Bereich der industriellen Qualitätssicherung kommen zur exakten Vermessung von geometrischen Größen Zeilen- bzw. Matrixkameras in Verbindung mit leistungsstarken Bildverarbeitungseinrichtungen in immer stärkeren Maße zum Einsatz. Diese Kameras befinden sich entweder in einem definierten, unveränderlichen Abstand zum aufzunehmenden Objekt oder es wird zusätzlich ein zweites Objekt mit bekannten Abmaßen als Referenzmaßstab aufgenommen. Nur so ist es möglich, absolute Größen verschiedener Objektdetails aus den aufgenommenen Bildern zu bestimmen. In allen Fällen, wo durch äußere Gegebenheiten, wie z. B. bei der Aufnahme von unzugängliche Objekten mittels ferngesteuerten, selbstfahrenden Kamerawagen, diese beide Verfahren nicht anwendbar sind, ist es unmöglich Aussagen über absolute Objektgrößen aus aufgenommenen Bildern zu erhalten.Especially in the area of industrial quality assurance, the exact measurement of geometric sizes line or matrix cameras in connection with powerful Image processing devices are being used to an ever increasing extent. These cameras are located either at a defined, invariable distance from the object to be photographed or it also becomes a second object with known dimensions as a reference scale added. This is the only way to get absolute sizes of different object details from the determine captured images. In all cases, where due to external circumstances, such as e.g. B. when shooting inaccessible objects using remote-controlled, self-propelled Camera dolly, these two methods are not applicable, it is impossible to make statements about Obtain absolute object sizes from captured images.

Durch das einfache Anbringen einer aktiven Triangulations-Entfernungsmeßeinrichtung in unmittelbarer Nähe der Kamera könnten die geschilderten Probleme für bestimmte Objekte teilweise gelöst werden. Da in diesem Fall die Bildlage des Meßstrahlauftreffpunktes auf dem Objekt nicht unabhängig von der Entfernung des Objektes ist, ist die für eine spätere Weiterverarbeitung der Bilder notwendige eindeutige Zuordnung zwischen dem Meßstrahlauftreffpunkt und einem bestimmten Bildpunkt nicht gegeben.By simply attaching an active triangulation distance measuring device In the immediate vicinity of the camera there could be problems for certain objects partially solved. Since in this case the image position of the measuring beam impact point on the Object is not independent of the distance of the object, it is for a later one Further processing of the images necessary clear association between the Measuring beam impact point and a certain pixel are not given.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine Vorrichtung zu schaffen, mit der neben der Bildaufnahme eine exakte Bestimmung des Abstandes zur aufgenommenen Objektfläche entlang der optischen Achse der Kamerasystems möglich ist, so daß über den zu berechnenden Abbildungsmaßstab exakte Aussagen zu absoluten Objektgrößen aus den aufgenommenen Bildern gemacht werden können; bei Einsatz von Kamerasystemen mit kleinen Objektiven ist die Abschattung des Kameraobjektives möglichst gering zu halten.The present invention has for its object to provide a device with which in addition to the image acquisition, an exact determination of the distance to the image taken Object area along the optical axis of the camera system is possible, so that over calculating magnification exact statements on absolute object sizes from the captured images can be taken; when using camera systems with small The shading of the camera lens should be kept as low as possible.

Erfindungsgemäß wird die Aufgabe dadurch gelöst, daß eine optische Entfernungsmeßeinrichtung so in ein Kamerasystem integriert wird, daß der über eine spezielle optische Baugruppe vor dem Objektiv der Kamera eingekoppelte Meßstrahl entlang der optischen Achse des Kamerasystems verläuft. Dadurch wird gewährleistet, daß der Auftreffpunkt des Meßstrahls auf dem Objekt unabhängig von der Objektentfernung ständig genau in der Mitte des Bildes abgebildet wird. Damit ist für die weitere Verarbeitung des Bildes eine eindeutige Zuordnung gegeben.According to the invention the object is achieved in that an optical Distance measuring device is integrated into a camera system so that it has a special optical assembly coupled in front of the camera lens along the measurement beam optical axis of the camera system. This ensures that the Point of impact of the measuring beam on the object regardless of the object distance  is shown exactly in the middle of the picture. This is for further processing of the image given a clear assignment.

Die Erfindung wird nachfolgend anhand eines Ausführungsbeispieles näher beschrieben. Die dazu gehörigen Zeichnungen zeigen:The invention is described in more detail below using an exemplary embodiment. The associated drawings show:

Fig. 1 den Aufbau des Gesamtsystems, Fig. 1 shows the structure of the overall system,

Fig. 2 die speziell geformte, dünne Strahlteilerplatte. Fig. 2 shows the specially shaped, thin beam splitter plate.

Das Objekt 1 wird über das Kameraobjektiv 2 auf eine CCD-Matrix 3 abgebildet. Dabei ist die Abschattung durch die Teilerfläche 4 der Strahlteilerplatte 8 so gering, daß sie keinen wesentlichen Einfluß auf die Qualität des Bildes hat.Object 1 is imaged on a CCD matrix 3 via camera lens 2 . The shadowing by the divider surface 4 of the beam splitter plate 8 is so small that it has no significant influence on the quality of the image.

Gleichzeitig wird der durch die Strahlungsquelle 5 erzeugte und das Objektiv 6 geformte, dünne Meßstrahl 7 über eine spezielle optische Baugruppe, natürlich der dünnen Strahlteilerplatte 8, mit der optischen Achse 9 des Kamerasystems in Übereinstimmung gebracht. Dabei ist die Abschattung des Kameraobjektives 2 durch die speziell geformte, dünne Strahlteilerplatte 8 vernachlässigbar gering.At the same time, the thin measuring beam 7 generated by the radiation source 5 and shaped by the objective 6 is brought into agreement with the optical axis 9 of the camera system via a special optical assembly, of course the thin beam splitter plate 8 . The shading of the camera lens 2 by the specially shaped, thin beam splitter plate 8 is negligible.

Die Strahlteilerplatte 8 besteht aus dem unteren und dem oberen strahlungsdurchlässigen Körper 10, 11, die an der Teilerfläche 4 miteinander verbunden sind. Der Meßstrahl 7 trifft auf die vollständig hintergrundverspiegelte und um 45° zur Strahlnormalen geneigte Fläche 12 und wird um 90° in Richtung Teilerfläche 4 abgelenkt. Die Teilerfläche 4 ist so beschaffen, daß der überwiegende Teil des Meßstrahls 7 reflektiert wird und somit entlang der optischen Achse 9 des Kamerasystems verläuft.The beam splitter plate 8 consists of the lower and the upper radiation-permeable body 10 , 11 , which are connected to one another at the splitter surface 4 . The measuring beam 7 strikes the completely background-mirrored surface 12 which is inclined at 45 ° to the beam normal and is deflected by 90 ° in the direction of the divider surface 4 . The divider surface 4 is designed in such a way that the major part of the measuring beam 7 is reflected and thus runs along the optical axis 9 of the camera system.

Der durch den Meßstrahl 7 erzeugte Lichtfleck auf dem Objekt 1 wird über das Sensorobjektiv 13 auf eine positionsempfindliche Diode 14 abgebildet. Dabei ist die Schwerpunktslage des Lichtfleckbildes auf der positionsempfindlichen Diode 14 ein Maß für den Abstand zwischen der Kamera und dem Objekt 1. Die Ausgangssignale der positionsempfindlichen Diode 14 werden einer Signalverarbeitungseinheit 15 zugeführt und für die weitere Verarbeitung im Rechner 16 aufbereitet. Das Videosignal der CCD-Kamera wird in der Bildverarbeitungseinheit 17 digitalisiert und zusammen mit den vorverarbeiteten Signalen der positionsempfindlichen Diode im Rechner in geeigneter Art und Weise verknüpft, so daß exakte Detailgrößen aus den aufgenommenen Bildern bestimmt werden können.The light spot on the object 1 generated by the measuring beam 7 is imaged onto a position-sensitive diode 14 via the sensor objective 13 . The center of gravity of the light spot image on the position-sensitive diode 14 is a measure of the distance between the camera and the object 1 . The output signals of the position-sensitive diode 14 are fed to a signal processing unit 15 and processed for further processing in the computer 16 . The video signal of the CCD camera is digitized in the image processing unit 17 and combined with the preprocessed signals of the position-sensitive diode in a suitable manner in the computer, so that exact detail sizes can be determined from the recorded images.

Aufstellung der verwendeten BezugszeichenList of the reference symbols used

 1 Objekt
 2 Kameraobjektiv
 3 CCD-Matrix
 4 Teilerfläche
 5 Strahlungsquelle
 6 Objektiv
 7 Meßstrahl
 8 spezielle Strahlteilerplatte
 9 optische Achse des Kamerasystems
10 unterer strahlungsdurchlässiger Körper
11 oberer strahlungsdurchlässiger Körper
12 hintergrundverspiegelte Fläche
13 Sensorobjektiv
14 positionsempfindliche Diode
15 Signalverarbeitungseinheit
16 Rechner
17 Bildverarbeitungseinheit 1 object
2 camera lens
3 CCD matrix
4 dividing surface
5 radiation source
6 lens
7 measuring beam
8 special beam splitter plates
9 optical axis of the camera system
10 lower radiation-permeable body
11 upper radiation-permeable body
12 background mirrored surface
13 sensor lens
14 position sensitive diode
15 signal processing unit
16 computers
17 image processing unit

Claims (4)

1. Kamerasystem mit integrierter Entfernungsmeßeinrichtung, dadurch gekennzeichnet, daß zur Einkopplung des Meßstrahles (7) auf die optische Achse (9) als speziell geformte optische Baugruppe, eine dünne Strahlteilerplatte (8) angeordnet ist.1. Camera system with integrated distance measuring device, characterized in that a thin beam splitter plate ( 8 ) is arranged for coupling the measuring beam ( 7 ) onto the optical axis ( 9 ) as a specially shaped optical assembly. 2. Kamerasystem mit integrierter Entfernungsmeßeinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die dünne Strahlteilerplatte (8) aus einem unteren und einem oberen strahlungsdurchlässigen Körper (10, 11) besteht und diese an der Teilerfläche (4) mit einander verbunden sind.2. Camera system with integrated distance measuring device according to claim 1, characterized in that the thin beam splitter plate ( 8 ) consists of a lower and an upper radiation-permeable body ( 10 , 11 ) and these are connected to one another at the splitter surface ( 4 ). 3. Kamerasystem mit integrierter Entfernungsmeßeinrichtung nach Anspruch 1 und 2, dadurch gekennzeichnet, daß zur Erreichung eines intensiven Meßstrahles (7) bei gleichzeitiger geringer Abschattung des Kameraobjektives (2), die Teilerfläche (4) mit einem hohen Reflexionsgrad versehen ist.3. Camera system with integrated distance measuring device according to claim 1 and 2, characterized in that the divider surface ( 4 ) is provided with a high degree of reflection in order to achieve an intense measuring beam ( 7 ) with simultaneous slight shading of the camera lens ( 2 ). 4. Kamerasystem mit integrierter Entfernungsmeßeinrichtung nach Anspruch 1, 2 und 3, dadurch gekennzeichnet, daß zur Umlenkung des Meßstrahles (7) in Richtung Teilerfläche (4) der untere Körper (10) mit einer vollständig hintergrundverspiegelten und um 45° zur Strahlnormalen geneigten Fläche (12) versehen ist.4. Camera system with integrated distance measuring device according to claim 1, 2 and 3, characterized in that for deflecting the measuring beam ( 7 ) in the direction of the divider surface ( 4 ) the lower body ( 10 ) with a completely background mirrored surface and inclined at 45 ° to the beam normal ( 12 ) is provided.
DE4238891A 1992-11-19 1992-11-19 Video camera system with integral object-distance-measuring device - combines digitised video image with signal from position-sensitive detector of spot produced by subsidiary beam Withdrawn DE4238891A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE4238891A DE4238891A1 (en) 1992-11-19 1992-11-19 Video camera system with integral object-distance-measuring device - combines digitised video image with signal from position-sensitive detector of spot produced by subsidiary beam

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Application Number Priority Date Filing Date Title
DE4238891A DE4238891A1 (en) 1992-11-19 1992-11-19 Video camera system with integral object-distance-measuring device - combines digitised video image with signal from position-sensitive detector of spot produced by subsidiary beam

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DE4238891A1 true DE4238891A1 (en) 1994-05-26

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19960873A1 (en) * 1999-12-17 2001-06-28 Hema Elektronik Fertigungs Und Geometric self-calibration method involves calculating and removing calibration factor for any measurement plane which is parallel to calibration plane automatically from known spacing
EP1156298A2 (en) * 2000-05-15 2001-11-21 Weimatic GmbH Method and apparatus for the detection of three-dimensional objects
DE10233372A1 (en) * 2002-07-18 2004-02-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. 3D object measurement method and metrology system, whereby at least 3D and 2D object measurement devices are used and the first measurement set is used to create correction values for the second measurement process
EP2479534A1 (en) * 2011-01-22 2012-07-25 Sick AG Optoelectronic sensor
DE102017120801A1 (en) * 2017-09-08 2019-03-14 IBAK Helmut Hunger GmbH & Co. KG. Camera unit for topographical measurement of cavity systems

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DE4130119A1 (en) * 1991-09-11 1993-03-25 Leuze Electronic Gmbh & Co Optical triangulation distance measurement device - light source, transmission lens, wide angle receiver lens and position sensitive light receiver

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19960873A1 (en) * 1999-12-17 2001-06-28 Hema Elektronik Fertigungs Und Geometric self-calibration method involves calculating and removing calibration factor for any measurement plane which is parallel to calibration plane automatically from known spacing
DE19960873C2 (en) * 1999-12-17 2002-06-20 Hema Elektronik Fertigungs Und Process for the geometric self-calibration of an image processing system
EP1156298A2 (en) * 2000-05-15 2001-11-21 Weimatic GmbH Method and apparatus for the detection of three-dimensional objects
EP1156298A3 (en) * 2000-05-15 2002-06-19 Weimatic GmbH Method and apparatus for the detection of three-dimensional objects
DE10233372A1 (en) * 2002-07-18 2004-02-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. 3D object measurement method and metrology system, whereby at least 3D and 2D object measurement devices are used and the first measurement set is used to create correction values for the second measurement process
DE10233372B4 (en) * 2002-07-18 2004-07-22 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Measuring system and method for recording geometric quantities
EP2479534A1 (en) * 2011-01-22 2012-07-25 Sick AG Optoelectronic sensor
DE102017120801A1 (en) * 2017-09-08 2019-03-14 IBAK Helmut Hunger GmbH & Co. KG. Camera unit for topographical measurement of cavity systems

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