TWI428856B - Device and method for detecting moving of object - Google Patents

Description

Device and method for detecting object motion

The invention relates to a device for detecting motion of an object, in particular to a device and a method for detecting motion of an object by detecting a three-dimensional trajectory of the object.

With the development of 3D games, using a traditional remote control, keyboard or mouse to manipulate the game is a bit outdated, and more and more hope to be able to participate in the game in an immersive way.

In order to obtain a stereoscopic image of an object, one of the prior techniques is to use a single lens plus a peripheral mirror to create multiple views of the virtual camera, and then to create a 3D contour of the object by image processing. However, this method requires a mirror to be placed around the user or the object, which makes the structure more complicated and costly.

The second technique uses infrared reflection technology to detect the motion of an object, which includes an emitter that emits infrared light and a receiver that receives infrared light, and the object is attached with a reflecting device that reflects infrared light. The infrared light emitted by the light-emitting diode is reflected by the reflecting device on the object and received by the receiver, and the moving direction and the moving form of the object can be detected according to the time difference of the received infrared light. However, the use of this method requires the emission of infrared rays, and the object requires a reflection device, which makes the method more complicated.

In view of this, it is necessary to provide a device and method for detecting motion of an object with a simple structure and low cost.

A device for detecting motion of an object, comprising: a laser scanning device that emits laser light onto an object and can be arbitrarily rotated; and two image sensing modules located on both sides of the laser scanning device for receiving The laser reflected by the object is imaged, and the optical axis of the image sensing module is parallel; the data processing unit is configured to receive the image data input by the image sensing module and extract the object from the image data. Three-dimensional information.

A method for detecting motion of an object, comprising: providing a laser scanning device, wherein the emitted laser light is projected onto the object to be measured; and the two image sensing modules are used to obtain the laser to be reflected by a point on the object to be measured The image is processed by the data processing unit to extract the three-dimensional information of the measured object from the image data of the image sensing module; and the image that is reflected by the plurality of points is obtained, thereby detecting the motion track of the object.

Compared with the prior art, the apparatus for detecting object motion in the embodiment of the present invention scans an object by using a laser scanning device, and the image sensing module receives the light reflected by the object and images the data processing unit, and the data processing unit proposes the three-dimensional information of the object from the image data. There is no need to provide a reflecting device on the object, and therefore, the device has a simple structure and a low cost.

The invention will now be described in further detail with reference to the accompanying drawings.

Referring to FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 , the apparatus 10 for detecting object motion is used to detect the three-dimensional motion state of the object 20 . The device 10 for detecting object motion includes a first image sensing module 110, a second image sensing module 120, a laser scanning device 130, and a data processing unit 140.

The first image sensing module 110 includes a first image sensing unit 111 and a first lens module 112 in front of the first image sensing unit 111. The optical axis of the first lens module 112 is counted as L ₁ . The geometric center is counted as O ₁ .

The second image sensing module 120 has the same focal length as the first image sensing module 110 and the focus is on the same plane. The second image sensing module 120 includes a second image sensing unit 121 and a second lens module 122 in front of the second image sensing unit 121. The optical axis of the second lens module 122 is calculated as L ₂ , geometry. The center is counted as O ₂ , where the optical axis L _{2 is} parallel to the optical axis L ₁ .

The first image sensing unit 111 and the second image sensing unit 121 are CCD sensors or CMOS sensors.

The laser scanning device 130 is between the first image sensing module 110 and the second image sensing module 120, and the distance from the optical axis L ₂ to the optical axis L ₁ is equal. The laser scanning device 130 includes a laser source 131 that can be arbitrarily rotated, a reflecting device 132 that surrounds the laser source 131, and a light adjusting device 133.

The laser emitted from the laser scanning device 130 can be scanned in the x-y direction with respect to the object 20, and the laser projected onto the object 20 is reflected and received by the first image sensing module 110 and the second image sensing module 120. The laser source 131 may be a laser diode or a light emitting diode, which provides light with high brightness, low intensity, and good spatial characteristics, and the rotating laser source 131 can greatly increase the scanning space.

The reflecting device 132 may be a mirror, a reflecting plate or the like, and the light adjusting device 133 may be a focusing lens or a collimating lens. The laser portion emitted from the laser source 131 is directly projected onto the object 20 via the light adjusting device 133, partially reflected by the reflecting device 132, and then projected onto the object 20 through the light adjusting device 133.

Due to the focusing or collimation of the laser by the light adjustment device 133, the laser scanning device 130 can provide a high pointing laser for scanning the object 20.

The laser generated by the laser scanning device 130 is projected onto the object 20, and the first image sensing module 110 and the second image sensing module 120 respectively obtain the images P and P _{1 of the} laser spot on the object 20 in different coordinate systems. the image processing unit 140 P and P ₁ are fused, the two-dimensional coordinates of the laser spot is about to get in different coordinate system into a three-dimensional coordinate the same, so that the laser can be determined coordinate point.

The process of determining the coordinates of a laser spot D on the object 20 is described in detail below.

Origin of the three-dimensional coordinates of the center O of O _{2. 1} O, O ₁ O ₂ x-axis, L ₃ is a z-axis and passing through the center O ₁ O ₂ and the L _2, L ₁ parallel, _{y-axis. 1} through O O hub ₂ and with _{O. 1} O ₂ and L ₃ are vertical, a denotes D to L level ₃ a distance, b represents D to L the vertical distance _3, c denotes D through _{O. 1} O vertical distance _2, (u ₁ , v ₁ ) and (u ₂ , v ₂ ) are coordinates of a point on the first image sensing unit 111 and the second image sensing unit 121 of a laser spot D (a, b, c) on the object 20 f is the geometric center O ₁ or O ₂ to the distance between the first image sensing unit 111 and the second image sensing unit 121, and the distance between the optical axis L ₂ and the optical axis L ₁ is 2d, due to the optical axis L ₂ and the light The axis L _{1 is} parallel, and v ₁ = v _{2 is} known from the outer limit constraint.

The following formula is obtained by using the principle of triangle similarity in the xz and yz coordinate systems:

,

,

From the above formula, the expressions of points a, b, and c can be obtained:

, ,

The triangle similarity principle can be used to obtain a, b, c and f, d, u ₁ , u ₂ , v ₁ , v in the coordinate system of the first image sensing module 110 and the second image sensing module 120 respectively. The relationship between ₂ , the amount of spatial movement of the object 20 can be obtained by a plurality of sets of images, the amount of movement recording the trajectory of the object 20.

In addition, those skilled in the art can make other changes in the spirit of the present invention. Of course, the changes made in accordance with the spirit of the present invention should be included in the scope of the present invention.

In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.

10‧‧‧Devices for detecting the movement of objects
20‧‧‧ objects
110‧‧‧First Image Sensing Module
120‧‧‧Second image sensing module
130‧‧‧Laser scanning device
140‧‧‧Data Processing Unit
111‧‧‧First image sensing unit
112‧‧‧First lens module
121‧‧‧Second image sensing unit
122‧‧‧Second lens module
131‧‧‧Laser source
132‧‧‧Reflecting device
133‧‧‧Light adjustment device

1 is a schematic diagram of an apparatus for detecting motion of an object according to an embodiment of the present invention.

2 to 4 are schematic diagrams showing the measurement of the three-dimensional coordinates of an object according to an embodiment of the present invention.

10‧‧‧Devices for motion of objects

20‧‧‧ objects

110‧‧‧First Image Sensing Module

120‧‧‧Second image sensing module

130‧‧‧Laser scanning device

140‧‧‧Data Processing Unit

111‧‧‧First image sensing unit

112‧‧‧First lens module

121‧‧‧Second image sensing unit

122‧‧‧Second lens module

131‧‧‧Laser source

132‧‧‧Reflecting device

133‧‧‧Light adjustment device

Claims (9)

A device for detecting motion of an object, comprising:
a laser scanning device that emits laser light onto the object to be measured and can be rotated;
Two image sensing modules are disposed on both sides of the laser scanning device for receiving and reflecting laser light reflected by the object to be measured, and optical axes of the two image sensing modules are parallel;
a data processing unit, configured to receive image data input by the image sensing module and extract three-dimensional information of the measured object from the image data. The apparatus for detecting motion of an object according to claim 1, wherein the image sensing module comprises an image sensing unit and a lens module, and the laser reflected by the object is imaged by the lens module. On the image sensing unit. The apparatus for detecting motion of an object according to claim 1, wherein: the laser scanning device comprises a reflecting unit, a laser source and a light adjusting unit, wherein the laser emitted by the laser source is reflected by the reflecting unit The light adjustment unit is irradiated onto the object. The device for detecting motion of an object according to claim 3, wherein the laser source is a light emitting diode or a laser diode. The apparatus for detecting motion of an object according to claim 3, wherein the reflecting unit is a mirror or a transmitting board. The apparatus for detecting motion of an object according to claim 3, wherein: the light adjusting unit is a focusing lens to obtain a collimating lens. The device for detecting motion of an object according to any one of claims 1 to 6, wherein the image sensing unit is a CCD sensor or a CMOS sensor. The apparatus for detecting motion of an object according to claim 7, wherein: the three-dimensional information is obtained by calculating an image point coordinate on the image sensing module, and the image point is sent by the laser scanning device. The laser is reflected by a point on the object to be measured and passes through an image of the lens module in the image sensing unit. A method of detecting motion of an object, comprising:
Providing a laser scanning device that emits a laser beam that is projected onto the object to be measured;
Obtaining, by the two image sensing modules, the image that the laser is reflected by a point on the object to be measured;
Extracting, by using a data processing unit, three-dimensional information of the measured object from image data of the image sensing module;
An image obtained by the laser being reflected by a plurality of points is obtained, thereby detecting a motion trajectory of the object.