WO2018023961A1

WO2018023961A1 - Distance information processing method and device

Info

Publication number: WO2018023961A1
Application number: PCT/CN2017/073525
Authority: WO
Inventors: 刘劲业; 黄家榆; 王红霞; 王琳; 王九飙; 周文斌; 康露; 吴钦文; 郭鸿钊; 陈莲
Original assignee: 珠海格力电器股份有限公司
Priority date: 2016-08-01
Filing date: 2017-02-14
Publication date: 2018-02-08
Also published as: CN106197366A

Abstract

A distance information processing method and device. The method comprises: using a camera to focus a measured object (S102); the camera determining an image distance of the measured object after focusing is completed (S104); and the camera determining a distance between the camera and the measured object according to the image distance (S106). The present invention solves the technical problem existing in current technology wherein accuracy of mobile phone distance measurement is low.

Description

Distance information processing method and device

Technical field

The present invention relates to the field of information processing, and in particular to a method and apparatus for processing distance information.

Background technique

The prior art mobile phone ranging method generally includes two types: one is to use the GPS to perform mobile phone ranging; the other is to set an infrared sensor near the mobile phone camera, and use the infrared sensor to perform mobile phone ranging.

For the first method, the use of GPS for mobile phone ranging is limited to the distance measurement on the horizontal plane due to its own limitations. If the distance is too small, the error is relatively large. Generally, the distance between the object and the mobile phone is not less than 100 meters. . For the second method, the infrared sensor is used for the distance measurement of the mobile phone. The principle is that the mobile phone emits infrared light, and the measured object receives the infrared light and reflects the infrared light. At this time, the sensor of the mobile phone detects the detected object. Reflecting the signal, the processor calculates the time from the signal is sent to the detection of the reflected signal, thereby inferring the distance between the object and the mobile phone. Since the light source emitted by the mobile phone is easily interfered or refracted, the sensor cannot detect the infrared signal, and The propagation time of the light is too short and it is prone to errors.

In view of the problem of low accuracy of mobile phone ranging in the prior art, an effective solution has not been proposed yet.

Summary of the invention

The embodiment of the invention provides a method and a device for processing distance information, so as to at least solve the technical problem that the accuracy of the mobile phone ranging is low in the prior art.

According to an aspect of the embodiments of the present invention, a method for processing distance information includes: using a camera to focus an object to be measured; and after focusing is completed, determining an image distance of the measured object; Determining a distance between the camera and the object to be measured.

Optionally, the method further comprises: after focusing the object to be measured, if the resolution of the image presented on the image sensor of the camera is higher than a predetermined threshold, determining that the focus is completed.

Optionally, determining an image distance of the measured object includes: acquiring motion information of a lens in the camera in a process in which the camera focuses on the measured object; determining, by using motion information of the lens The image distance.

Optionally, determining the image distance by using the motion information of the lens comprises: calculating an image distance v=A×I+v _{0 of} the measured object by using a current of the camera electromagnetic coil, where A is the first A constant, I denotes an energization current of the electromagnetic coil, v ₀ is a second constant, and motion information of the lens is represented by a current of the electromagnetic coil.

Optionally, before the camera focuses on the measured object, the method further includes: measuring a distance between the camera and the predetermined object, wherein a distance between the camera and the predetermined object is preset; a first distance measured by the camera and a second distance set in advance; if the difference between the first distance and the second distance exceeds a predetermined threshold, determining a correction parameter based on the difference; The correction parameter corrects the first constant and/or the second constant.

Optionally, determining, according to the image distance, the distance between the camera and the measured object comprises: calculating a distance between the camera and the measured object

Wherein, v represents the image distance; f represents a focal length at which the camera focuses on the object to be measured.

Optionally, the camera is a camera of a mobile device.

According to another aspect of the embodiments of the present invention, a processing device for distance information is provided, including: a focusing unit configured to focus an object to be measured by using a camera; and a first determining unit configured to determine after the focusing is completed The image distance of the measured object; the second determining unit is configured to determine a distance between the camera and the measured object according to the image distance.

Optionally, the apparatus further includes: a detecting unit configured to determine that the focusing is completed if the sharpness of the image presented on the image sensor of the camera is higher than a predetermined threshold after focusing the object to be measured.

Optionally, the first determining unit includes: an acquiring module, configured to collect motion information of a lens in the camera during a process in which the camera focuses on the measured object; and a first determining module, setting The image distance is determined for using the motion information of the lens.

Optionally, the first determining module includes: a first determining submodule configured to calculate an image distance v=A×I+v _{0 of} the measured object by using a current of the camera electromagnetic coil, where A is a first constant, I represents the current of the electromagnetic coil is energized, v ₀ is a second constant, said camera motion information represented by the current of the electromagnetic coil.

Optionally, before the camera focuses on the measured object, the device further includes: a measuring unit configured to measure a distance between the camera and a predetermined object, wherein a distance between the camera and the predetermined object Is preset; the comparing unit is configured to compare the first distance measured by the camera with a second distance set in advance; and the acquiring unit is configured to set a difference between the first distance and the second distance to exceed a predetermined threshold In the case of the determination, the correction parameter is determined based on the difference; the correction unit is arranged to correct the first constant and/or the second constant with the correction parameter.

Optionally, the second determining unit includes: a second calculating submodule configured to calculate a distance between the camera and the measured object

Optionally, the camera is a camera of a mobile device.

With the above embodiment of the present invention, the camera can be used to focus on the measured object to obtain an image projected on the image sensor after the object is in focus, and after the focus is completed, the image distance of the measured object is determined by the camera. The distance between the camera and the measured object is determined by the image distance of the measured object. According to the above embodiment of the present invention, the distance between the measured object and the camera can be determined by using the image distance of the measured object, and the distance between the measured object and the measured object can be measured by using the camera, and the distance in the space can be measured, and the camera measures the measured object. The focus process is not disturbed, the accuracy of the distance measurement is improved, and the problem of low accuracy of the distance measurement of the mobile phone in the prior art is solved.

Optionally, the foregoing embodiment achieves the purpose of detecting the distance between the object and the camera by using the mobile phone camera, thereby facilitating the user to know the distance between the object and other objects, and also solving the low accuracy of the mobile phone ranging. problem.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

1 is a flow chart of a method for processing distance information according to an embodiment of the present invention;

2 is an alternative focus view of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a processing apparatus for distance information according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the invention. It is merely an embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

It is to be understood that the terms "first", "second" and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It is to be understood that the data so used may be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

According to an embodiment of the present invention, a method embodiment of a method for processing distance information is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions. Also, although logical sequences are shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.

FIG. 1 is a flowchart of a method for processing distance information according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

Step S102, using a camera to focus on the measured object;

Step S104, after the focus is completed, determining an image distance of the measured object;

Step S106, determining the distance between the camera and the measured object according to the image distance.

The camera may be a CCD (Charge Coupled Device) camera, or It is a CMOS (Complementary Metal-Oxide Semiconductor) camera. The object to be measured may be a living body (including humans and animals), or may be a living body (such as a photo, a table, etc.).

The above focusing on the object to be measured by the camera can be achieved as follows:

In an optional embodiment, when the lens of the camera captures the original image, the image data is transmitted to the ISP (Image Signal Processing) as the original data, and the ISP is The original image data is analyzed to check the density difference between adjacent pixels of the image. The ISP adjusts the distance between the lens and the image sensor according to the density difference between adjacent pixels, and pushes the lens to form a clear projection on the image sensor. In turn, the camera focuses on the object to be measured.

In another optional embodiment, the ISP adjusts the distance between the lens and the image sensor according to the density difference between adjacent pixels, and pushes and pulls the image sensor to form a clear projection on the image sensor, thereby implementing the camera pair. Measure the focus of the object.

The above image sensors include, but are not limited to, CCD sensors, CMOS sensors, and CIS sensors.

Optionally, after the focus is completed, the camera determines an image distance of the measured object, and the image distance may be a distance between the camera image sensor and the lens. And the camera determines the distance between the camera and the measured object according to the obtained image distance. FIG. 2 is an example in which the camera performs focusing.

In FIG. 2, after the lens J1 of the camera captures the object W1, the object W1 is automatically focused, and a clear image is formed on the image sensor T1 by pushing and pulling the lens of the camera.

According to the above embodiment of the present invention, the camera can be used for ranging, and the ranging method is convenient.

According to the above embodiment of the present invention, the method further comprises: after focusing on the object to be measured, if the sharpness of the image presented on the image sensor of the camera is higher than a predetermined threshold, determining that the focus is completed.

The above threshold can be set in advance.

Optionally, after focusing on the measured object, the ISP analyzes the projection of the image sensor, determines whether the resolution of the projected image is higher than a predetermined threshold, and determines that the resolution of the projected image is higher than a predetermined threshold. , to determine the focus of the measured object is completed.

According to the above embodiment of the present invention, it is determined that the focus is completed by determining that the resolution of the image presented on the image sensor is higher than a predetermined threshold, and the purpose of accurate focusing is better achieved.

According to the above embodiment of the present invention, determining the image distance of the measured object includes: performing the object to be measured on the camera During the focusing process, the motion information of the lens in the camera is acquired; the image distance is determined by using the motion information of the lens.

Specifically, in the process of focusing the object to be measured, the camera can determine the image distance of the measured object by acquiring the motion information of the lens in the camera, thereby determining the distance between the camera and the measured object according to the image distance, and achieving The purpose of ranging can be achieved with a camera.

Specifically, the motion information is determined by using the image distance of the lens comprising: a solenoid with a current camera image distance calculating the measured object v = A × I + v _0, where, A is a first constant, I represents the energization of the solenoid current , v ₀ is the second constant, and the motion information of the lens is represented by the current of the electromagnetic coil.

For example, the focus of the camera is to push the lens through the electromagnetic coil by means of a spring, so that the object to be measured forms a clear image in the image sensor. When the camera is not working, the initial position of the spring is v ₀ , and v ₀ is the second constant. When the camera starts to work, according to the spring deformation formula: F=kx, where F is the force that deforms the spring, k is The spring deformation constant, x is the spring deformation length, and the distance between the lens and the image sensor is v=F+v ₀ =kx+v ₀ .

Also by Ampere's formula: F = B × I × L × sin θ, where F is the force that deforms the spring (ie, Ampere force), B is the magnetic flux, I is the energizing current of the electromagnetic coil, and L is the length of the electromagnetic coil wire. θ is the angle of the electromagnetic coil. Since B, L, and θ are constant values in the camera, it can be assumed that A=B×L×sin θ, where A is the first constant, and thus F=A×I.

In summary, F = kx = A × I, the distance between the lens and the image sensor (ie image distance) v = F + v ₀ = A × I + v ₀

According to the above embodiment of the present invention, the image distance of the measured object can be calculated by the current of the electromagnetic coil of the camera, which simplifies the calculation and is convenient to implement.

Optionally, before the camera focuses on the measured object, the method further includes: measuring a distance between the camera and the predetermined object, wherein a distance between the camera and the predetermined object is preset; comparing the first distance measured by the camera with the advance a second distance is set; in a case where the difference between the first distance and the second distance exceeds a predetermined threshold, the correction parameter is determined based on the difference; and the first constant and/or the second constant are corrected by the correction parameter.

Since there are certain differences in the cameras of different models, there will be some differences between the first constant and the second constant, so the mobile phone camera can be calibrated with a fixed value. For example, preset calibration options in the measurement interface. After entering the calibration interface, you can select multiple fixed distances for calibration. For example, set three calibration values of 1m, 5m, and 20m. After calibration, you can use the camera to measure distance.

With the above embodiment of the present invention, the accuracy of the first constant and the second constant can be ensured by correcting the first constant and the second constant in advance, and the corrected first constant and the second constant are used to measure the object to be measured. Distance into The calculation of the line improves the accuracy of the camera ranging to some extent.

Specifically, determining the distance between the camera and the measured object according to the image distance includes: calculating the distance of the measured object

Where v is the image distance; f is the focal length at which the camera focuses on the object being measured.

Gaussian imaging formula

Where u is the distance of the object to be measured, v is the distance between the lens and the image sensor (ie, the image distance), f is the focal length (ie, the distance from the lens to the focus), and for the camera of the fixed-focus lens, the focal length f is a fixed value. Thus the above Gaussian formula can evolve into

Therefore, the calculated distance to the measured object can be calculated according to the image distance.

Specifically, the distance of the image distance v=A×I+v ₀ into the measured object can be brought

Available:

Therefore, the relationship between the current of the electromagnetic coil and the distance of the measured object can be used to calculate the distance of the measured object (ie, the distance between the measured object and the lens), thereby achieving the purpose of using the camera for ranging. And the distance of the measured object is calculated by the energizing current of the electromagnetic coil, and the method is relatively simple.

Optionally, in FIG. 2, in order to generate sufficient magnetic force to make the lens overcome the spring force of the spring, set the push lens so that the measured object forms a clear image on the image sensor, when the lens is 167.66 mm away from the image sensor, The measured distance of the measured object is 2297 mm; when the lens is separated from the image sensor by 259.91 mm, the measured object is at a distance of 3297 mm.

It should be noted that the distance between the lens and the image sensor (ie, the image distance) is generally less than 10 mm for the image effect.

According to the above embodiment of the present invention, the multi-measured object can be freely focused, and the distance of the measured object can be obtained based on the image distance of the measured object, thereby achieving the purpose of using the camera for ranging.

Optionally, the camera is a camera for mobile devices.

The above mobile devices include, but are not limited to, mobile phones and tablets. The above camera can be a built-in camera of a mobile device or an external camera of a mobile device.

According to the above embodiment of the present invention, when there is no professional measurement distance, the distance measurement can be performed by using the camera of the mobile device, which facilitates the user of the mobile device to know the distance between itself and other objects.

According to another aspect of the present invention, the present invention further provides a processing device for distance information, and FIG. 3 is a schematic diagram of a processing device for distance information according to an embodiment of the present invention. The device may include:

The focusing unit 301 is configured to focus on the object to be measured by using the camera;

The first determining unit 303 is configured to determine an image distance of the measured object after the focusing is completed;

The second determining unit 305 is configured to determine the distance between the camera and the measured object according to the image distance.

The camera may be a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal-Oxide Semiconductor) camera. The object to be measured may be a living thing or an abiotic, and may alternatively be a regular shape or an irregular shape.

According to the above embodiment of the present invention, the apparatus further includes: a detecting unit configured to determine that the focusing is completed if the sharpness of the image presented on the image sensor of the camera is higher than a predetermined threshold after focusing the object to be measured.

According to the above embodiment of the present invention, the first determining unit includes: an collecting module configured to acquire motion information of the lens in the camera during the process of focusing the object to be measured; the first determining module is configured to utilize the motion of the lens The information determines the image distance.

Specifically, the first determining module includes: a first determining submodule configured to calculate an image distance v=A×I+v _{0 of the} measured object by using a current of the electromagnetic coil of the camera, wherein A is a first constant, and I represents electromagnetic The energization current of the coil, v ₀ is the second constant, and the motion information of the lens is represented by the current of the electromagnetic coil.

Optionally, before the camera focuses on the measured object, the device further includes: a measuring unit configured to measure a distance between the camera and the predetermined object, wherein a distance between the camera and the predetermined object is preset; a comparison unit, setting In order to compare the first distance measured by the camera with the preset second distance; the acquiring unit is configured to determine the correction parameter based on the difference if the difference between the first distance and the second distance exceeds a predetermined threshold; the correction unit, setting The first constant and/or the second constant are corrected for use with the correction parameters.

With the above embodiment of the present invention, the accuracy of the first constant and the second constant can be ensured by correcting the first constant and the second constant in advance, and the corrected first constant and the second constant are used to measure the object to be measured. The calculation of the distance improves the accuracy of the camera ranging to some extent.

Specifically, the second determining unit includes: a second calculating submodule configured to calculate a distance of the measured object

Optionally, the camera is a camera for mobile devices.

The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

In the above-mentioned embodiments of the present invention, the descriptions of the various embodiments are different, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed technical contents may be implemented in other manners. The device embodiments described above are only schematic. For example, the division of the unit may be a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the essence of the technical solution of the present invention The portion contributing to or contributing to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for causing a computer device All or part of the steps of the method of the various embodiments of the present invention may be performed (for a personal computer, server or network device, etc.). The foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

A method for processing distance information, including:

Use the camera to focus on the measured object;

After the focus is completed, determining an image distance of the measured object;

And determining a distance between the camera and the measured object according to the image distance.
The method of claim 1 wherein the method further comprises:

After focusing the object to be measured, if the sharpness of the image presented on the image sensor of the camera is above a predetermined threshold, then the focus is determined to be complete.
The method of claim 1, wherein determining an image distance of the measured object comprises:

Collecting motion information of the lens in the camera during the focusing of the object to be measured by the camera;

The image distance is determined using motion information of the lens.
The method of claim 3, wherein determining the image distance using motion information of the lens comprises:

Calculating an image distance v=A×I+v 0 of the measured object by using a current of the electromagnetic coil of the camera, wherein A is a first constant, I represents an energization current of the electromagnetic coil, and v 0 is a second constant The motion information of the lens is represented by the current of the electromagnetic coil.
The method of claim 4, wherein the method further comprises: before the camera focuses on the object to be measured;

Measuring a distance between the camera and a predetermined object, wherein a distance between the camera and the predetermined object is preset;

Comparing the first distance measured by the camera with a second distance set in advance;

In a case where the difference between the first distance and the second distance exceeds a predetermined threshold, determining a correction parameter based on the difference;

The first constant and/or the second constant are corrected using the correction parameter.
The method of claim 1, wherein the camera is determined to be measured according to the image distance The distance of the object includes:

Calculating a distance between the camera and the measured object
Wherein, v represents the image distance; f represents a focal length at which the camera focuses on the object to be measured.
The method of claim 1 wherein the camera is a camera of a mobile device.
A processing device for distance information, comprising:

The focusing unit is configured to focus on the object to be measured by using the camera;

a first determining unit, configured to determine an image distance of the measured object after the focus is completed;

And a second determining unit configured to determine a distance between the camera and the measured object according to the image distance.
The apparatus of claim 8 wherein said apparatus further comprises:

The detecting unit is configured to determine that the focusing is completed if the sharpness of the image presented on the image sensor of the camera is higher than a predetermined threshold after focusing the object to be measured.
The apparatus of claim 8, wherein the first determining unit comprises:

An acquisition module is configured to collect motion information of a lens in the camera during a process in which the camera focuses on the measured object;

The first determining module is configured to determine the image distance by using motion information of the lens.
The apparatus of claim 10, wherein the first determining module comprises:

a first determining submodule configured to calculate an image distance v=A×I+v 0 of the measured object by using a current of the electromagnetic coil of the camera, where A is a first constant, and I represents a power of the electromagnetic coil The current, v 0 is a second constant, and the motion information of the lens is represented by the current of the electromagnetic coil.
The apparatus according to claim 11, wherein before the camera focuses on the object to be measured, the apparatus further comprises:

a measuring unit configured to measure a distance between the camera and a predetermined object, wherein a distance between the camera and the predetermined object is preset;

a comparing unit configured to compare the first distance measured by the camera with a second distance set in advance;

And an acquiring unit, configured to determine a correction parameter based on the difference when the difference between the first distance and the second distance exceeds a predetermined threshold;

A correction unit configured to modify the first constant and/or the second constant with the correction parameter.
The apparatus of claim 8, wherein the second determining unit comprises:

a second calculation submodule configured to calculate a distance between the camera and the measured object
Wherein, v represents the image distance; f represents a focal length at which the camera focuses on the object to be measured.