WO2018082184A1

WO2018082184A1 - Distance measurement method and device, camera, and mobile terminal

Info

Publication number: WO2018082184A1
Application number: PCT/CN2016/113287
Authority: WO
Inventors: 刘荣
Original assignee: 广州视源电子科技股份有限公司
Priority date: 2016-11-01
Filing date: 2016-12-29
Publication date: 2018-05-11
Also published as: CN106546216A

Abstract

A distance measurement method and device, a camera, and a mobile terminal. The camera comprises: a lens (10), a first laser source (11, S₁), and a second laser source (12, S₂). The second laser source (12, S₂) and the first laser source (11, S₁) are spaced at a first distance (d₁). The first laser source (11, S₁) and/or the second laser source (12, S₂) are connected to an angular deflection device to deflect a laser beam of the first laser source (11, S₁) and/or the second laser source (12, S₂) according to a preset angle (θ). The first laser source (11, S₁) and the second laser source (12, S₂) are located on the same straight line perpendicular to an optical axis of the lens (10). The distance (D) between a measured object and the camera can be measured by means of the lens (10) and at least two laser sources (11, 12, S₁, S₂). Compared with the prior art, the distance measurement method is simple and easy to operate, and can improve the calculation efficiency, reduce costs, and achieve high precision measurement.

Description

Distance measuring method, device, camera and mobile terminal

Technical field

Embodiments of the present invention relate to the field of measurement technologies, and in particular, to a distance measurement method, apparatus, camera, and mobile terminal.

Background technique

Laser has been widely used in various fields due to its good monochromaticity, directionality, coherence, high brightness and strong anti-interference. In the field of measurement technology, the use of laser to measure distance has also become a rapid measurement method in recent years.

In the existing laser ranging method, the distance measurement is generally performed by the phase difference or the transmission time difference of the laser beam, but the distance measurement by the above method is high, and is susceptible to factors such as the material and frequency of use of the illuminating device. For example, a light-emitting device of a semiconductor material, if used frequently, may cause an increase in the temperature of the light-emitting device, resulting in difficulty in controlling the noise, thereby affecting the result of the distance measurement, making the distance measurement result inaccurate. If the distance between the measuring device and the object to be tested is relatively close, an unknown error may occur due to interference between the beams, which affects the accuracy of the distance measurement. Moreover, the phase difference or the transmission time difference is used for distance measurement, and the calculation process is cumbersome and inefficient.

Summary of the invention

The invention provides a distance measuring method, device, camera and mobile terminal for realizing low-cost, high-efficiency and accurate distance measurement.

In a first aspect, an embodiment of the present invention provides a camera, where the camera includes: a lens, a first a laser source and a second laser source;

The second laser source is spaced apart from the first laser source by a first distance;

The first laser source and/or the second laser source are coupled to the angle deflecting device to deflect the laser beam of the first laser source and/or the second laser source according to a preset angle;

Wherein the first laser source and the second laser source are located on a same line perpendicular to an optical axis of the lens.

In a second aspect, an embodiment of the present invention further provides a camera, the camera includes: a lens, a third laser source, a fourth laser source, and a fifth laser source;

The fourth laser source is spaced apart from the third laser source by a second distance;

The fifth laser source is spaced apart from the third laser source or the fourth laser source by a third distance and is mutually preset with an angle;

Wherein the laser beam of the third laser source and the fourth laser source is parallel to an optical axis of the lens; the third laser source, the fourth laser source and the fifth laser source are perpendicular to The optical axes of the lenses are on the same straight line.

In a third aspect, an embodiment of the present invention further provides a camera, the camera includes: a lens, a sixth laser source, a seventh laser source, an eighth laser source, and a ninth laser source;

The seventh laser source is spaced apart from the sixth laser source by a first distance;

The eighth laser source is spaced apart from the sixth laser source or the seventh laser source by a second distance and is mutually preset with an angle;

The ninth laser source is symmetric with a line of the eighth laser source with respect to a midpoint of a line connecting the sixth laser source and the seventh laser source and parallel to an optical axis of the lens;

Wherein the laser beam of the sixth laser source and the seventh laser source is parallel to the optical axis of the lens; The sixth laser source, the seventh laser source, the eighth laser source, and the ninth laser source are located on a same line perpendicular to an optical axis of the lens.

In a fourth aspect, the embodiment of the present invention further provides a mobile terminal, including the camera according to any embodiment of the present invention.

In a fifth aspect, an embodiment of the present invention further provides a distance measurement method, where the method includes:

Controlling a laser source in the camera to emit laser light to the object to be measured, forming a set of reference spots and a set of distance measuring spots on the object to be measured; wherein the reference spot is formed by two parallel laser beams, the distance measuring spot Formed by two non-parallel lasers;

Acquiring an image of the measured object including the reference spot and the ranging spot;

Calculating a distance of the measured object to the laser source according to an image distance of the reference spot, an image distance of the ranging spot, a distance of the laser source, and an angle of a laser light emitted by the laser source.

In a sixth aspect, the present invention also provides a distance measuring device, the device comprising:

a spot forming module, configured to control a laser source in the camera to emit laser light to the object to be measured, forming a set of reference spots and a set of ranging spots on the object to be measured; wherein the reference spot is formed by two parallel laser beams The distance measuring spot is formed by two non-parallel laser beams;

An image acquisition module, configured to collect an image of the measured object including the reference spot and the ranging spot;

a distance calculation module, configured to calculate the measured object to the laser source according to an image distance of the reference spot, an image distance of the ranging spot, a distance of the laser source, and an angle of a laser light emitted by the laser source the distance.

According to the technical solution of the present invention, the distance between the measured object and the camera can be measured by the lens and the at least two laser sources, and the operation is simple and convenient compared with the prior art, and the calculation efficiency and the cost can be improved. At the same time achieve high precision measurement.

DRAWINGS

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description of the drawings used in the embodiments will be briefly described below. It is apparent that the drawings are only drawings of a part of the embodiments to be described in the present invention, and not all of the drawings, and those skilled in the art can obtain the drawings according to the drawings without any creative work. Other drawings.

FIG. 1 is a schematic structural diagram of a camera according to Embodiment 1 of the present invention; FIG.

2 is a schematic structural diagram of a camera according to Embodiment 2 of the present invention;

3 is a schematic structural diagram of a camera according to Embodiment 3 of the present invention;

4 is a flowchart of a distance measurement method according to Embodiment 4 of the present invention;

FIG. 5 is a flowchart of a distance measurement method according to Embodiment 5 of the present invention; FIG.

FIG. 6 is a schematic diagram of a method for implementing a distance measurement according to the embodiment of the camera according to the first embodiment of the present invention;

FIG. 7 is a schematic diagram of a method for implementing a distance measurement according to the embodiment of the camera according to the second embodiment of the present invention;

FIG. 8 is a schematic diagram of a method for implementing a distance measurement according to the embodiment of the camera according to Embodiment 3 of the present invention;

FIG. 9 is a structural diagram of a distance measuring device according to Embodiment 6 of the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, it should be noted that, for the convenience of description, only some but not all of the related parts of the present invention are shown in the drawings. Structure.

Embodiment 1

1 is a schematic structural diagram of a camera according to a first embodiment of the present invention. As shown in FIG. 1, the camera provided in this embodiment includes: a lens 10, a first laser source 11 and a second laser source 12; The laser source 12 is spaced apart from the first laser source 11 by a first distance; the first laser source 11 and/or the second laser source 12 are coupled to the angle deflection device to deflect the first laser source 11 and/or the second laser according to a predetermined angle The laser beam of the source 12; that is, the angle deflecting device may be disposed only on one of the first laser source 11 and the second laser source 12, or the first laser source 11 and the second laser source 12 may be angularly deflected. Device. The first laser source 11 and the second laser source 12 are located on the same straight line perpendicular to the optical axis of the lens 20.

Illustratively, the angle deflecting device may be a fixed angle deflecting device. Specifically, the fixed angle deflecting device may be controlled by an electromagnet such that the fixed angle deflecting device has two states of parallel and deflected preset angles; or a dynamic angle deflecting device, The angle of deflection can be set according to actual needs. Specifically, the angle of deflection can be controlled by an electromagnet or a stepping motor. The advantage of this setting is that the angle can be deflected according to the actual situation, and it is suitable for measurement of various distance ranges, that is, achieving a wider range of distance measurement.

Alternatively, the first laser source or the second laser source is deflected by the rotation of the angle deflecting device itself, and the deflection can also be achieved by controlling reflection, refraction, or the like.

In the technical solution of the embodiment, the first laser source and the second laser source are controlled to be measured by the first laser source and the second laser source, and the angle deflecting device connected to the first laser source and/or the second laser source. The object emits a laser, and the spot formed on the object to be measured can determine the object to be measured and the camera according to the image of the object to be measured including the spot obtained by the first laser source, the second laser source, and the lens. Compared with the prior art, the distance is simple, the operation is convenient, and the cost is low. The distance measurement based on the camera can not only improve the efficiency of the distance measurement, but also achieve high-accuracy measurement.

Embodiment 2

2 is a schematic structural diagram of a camera provided by Embodiment 2 of the present invention. As shown in FIG. 2, the camera provided in this embodiment includes: a lens 20, a third laser source 21, a fourth laser source 22, and a fifth The laser source 23; the fourth laser source 22 is spaced apart from the third laser source 21 by a second distance; and the fifth laser source 23 is spaced apart from the third laser source 21 or the fourth laser source 22 by a third distance and is mutually preset. An angle; wherein the laser beams of the third laser source 21 and the fourth laser source 22 are parallel to the optical axis of the lens 20; the third laser source 21, the fourth laser source 22, and the second laser source 23 are located at a direction perpendicular to the lens 20. The same line of the axes.

In the technical solution of the embodiment, the third laser source, the fourth laser source, and the fifth laser source are controlled to emit laser light by setting the lens, the third laser source, the fourth laser source, and the fifth laser source, and forming on the object to be measured. The spot, the image including the spot is obtained based on the lens, and the distance between the measured object and the camera can be measured by combining the distance and the angle between the third laser source, the fourth laser source and the fifth laser source, and the structure is Simple, measuring distance is more convenient.

Embodiment 3

3 is a schematic structural diagram of a camera provided by Embodiment 3 of the present invention. As shown in FIG. 3, the camera provided in this embodiment includes: a lens 30, a sixth laser source 31, a seventh laser source 32, and an eighth a laser source 33 and a ninth laser source 34; a seventh laser source 32 spaced apart from the sixth laser source 31 by a first distance; and an eighth laser source 33 spaced apart from the sixth laser source 31 or the seventh laser source 32 by a second distance, And forming a preset angle with each other; the ninth laser source 34 is parallel to the midpoint of the line connecting the sixth laser source 31 and the seventh laser source 32 with the eighth laser source 33 and parallel to the optical axis of the lens 30. Linear symmetry; wherein the laser beams of the sixth laser source 31 and the seventh laser source 32 are parallel to the optical axis of the lens 30; the sixth laser source 31 and the seventh laser source 32. The eighth laser source 33 and the ninth laser source 34 are located on the same line perpendicular to the optical axis of the lens 30.

The technical solution of this embodiment controls the sixth laser source, the seventh laser source, the eighth laser source, and the ninth laser source to emit by providing the sixth laser source, the seventh laser source, the eighth laser source, and the ninth laser source. The laser forms a spot on the object to be measured, and determines the distance between the object to be measured and the camera according to the image of the spot obtained by the lens and the distance and the angle between the laser sources, and has a simple structure and convenient operation, and It is more suitable for measuring large objects in a short distance.

The embodiment of the present invention further provides a mobile terminal, including the camera according to any embodiment of the present invention, which has the corresponding structure and beneficial effects of the above camera. Illustratively, the mobile terminal may be a device having a photographing function, such as a mobile phone, a tablet computer, a smart watch, and a smart camera.

Embodiment 4

4 is a flowchart of a method for measuring a distance according to Embodiment 4 of the present invention. The method may be implemented by a distance measuring device. The device may be implemented by software and/or hardware. The device may be independently configured in the terminal. The distance measuring method in the embodiment of the present invention is executed.

Specifically, as shown in FIG. 4, the method in this embodiment includes:

S410: controlling a laser source in the camera to emit laser light to the object to be measured, forming a set of reference spots and a set of ranging spots on the object to be measured; wherein the reference spot is formed by two parallel lasers, and the ranging spot is composed of two beams. Parallel laser formation.

In this embodiment, optionally, the laser source is at least two, specifically two, three, four or more. Correspondingly, controlling the laser source to emit laser light to the measured object may include: controlling two laser sources to emit laser light to the measured object; controlling three laser sources to emit laser light to the measured object; or controlling four laser sources to emit the detected object laser.

If the laser source is two, the laser source in the control camera emits laser light to the measured object, and is measured. A set of reference spots and a set of ranging spots are formed on the object. Specifically, first, two laser sources in the camera are controlled to emit a set of reference spots formed by two parallel laser beams to the object to be measured, and then one of the reference spots is adjusted. The incident angle of the beam laser is such that the two laser beams are not parallel after adjustment, thereby forming a set of distance measuring spots. Of course, it is also possible to first control two laser sources in the camera to emit a set of ranging spots formed by two non-parallel lasers to the object to be measured, and then adjust the incident angle of one of the laser beams so that the two laser beams are parallel after adjustment. Thereby forming a set of reference spots.

If the laser source is three, four or more, the laser source in the control camera emits laser light to the object to be measured, and forms a set of reference spots and a set of distance measuring spots on the object to be measured, specifically, control The three laser sources in the camera emit laser light to the object to be measured, and the spot formed by the two parallel lasers is used as a set of reference spots, and then the spot formed by any two non-parallel lasers is used as a set of distance measuring spots.

S420. Acquire an image of the measured object including the reference spot and the ranging spot.

Optionally, if the reference spot and the ranging spot are simultaneously formed on the object to be measured, the image of the measured object including the reference spot and the ranging spot is directly collected; if the reference spot and the ranging spot are not simultaneously formed at the measured On the object, an image of the measured object including the reference spot and an image of the measured object including the ranging spot in the same scene may be separately acquired.

S430. Calculate a distance of the measured object to the laser source according to an image distance of the reference spot, an image distance of the ranging spot, a distance of the laser source, and an angle of the laser light emitted by the laser source.

Wherein, the distance of the laser source may include the distance between two and two laser sources. For example, the distance of the laser source can include the distance between the two laser sources that form the reference spot, as well as the distance between any other two or more laser sources. The angle of the laser light emitted by the laser source may be an angle between the respective laser sources with respect to each other, or may be an angle with respect to the same reference line, for example, an angle between the laser light emitted by each laser source and the optical axis of the lens.

Illustratively, the image distance of the reference spot may be calculated according to pixel point information of the image, wherein the pixel point information includes the number of pixel points and the spacing between the pixel points. For example, the number of pixels between the center points of the reference spot and the size of each pixel can be obtained, and the image distance of the reference spot is calculated from the number of pixels * the spacing between the pixels. Similarly, the image distance of the ranging spot can be calculated.

Considering that the images currently taken are mostly color images, in order to facilitate the identification of the spot on the image so that it is not confused with the image color, various recognition methods can be employed. For example, an original image may be taken before the laser source is turned on, and after the laser source is turned on, the image including the reference spot and the ranging spot is taken, and the original image is compared with the image including the reference spot and the ranging spot. Identify the spot position. Or, adjust the color of the laser source to distinguish it from the color of the object being measured in the image.

Calculating the distance of the measured object to the laser source according to the image distance of the reference spot, the image distance of the ranging spot, the distance of the laser source, and the angle of the laser light emitted by the laser source, specifically, according to the image distance of the reference spot, The distance between the image distance of the ranging spot and the laser source forming the reference spot confirms the true distance of the ranging spot; and calculates the distance of the measured object to the laser source according to the true distance of the ranging spot and the angle between the two non-parallel lasers .

In the technical solution of the embodiment, the distance of the measured object to the laser source can be calculated by collecting the image of the measured object including a set of reference spots and a set of ranging spots, and the measuring method is simple and convenient, and the calculation method is Less parameters are required, the calculation method is simple, the measurement efficiency is high, and the precision is good.

Embodiment 5

FIG. 5 is a flowchart of a distance measurement method according to Embodiment 5, as shown in FIG. 5, the technical solution of this embodiment is further based on the foregoing Embodiment 4, and further “based on the image of the reference spot a distance, an image distance of the ranging spot, a distance of the laser source, and an angle of the laser light emitted by the laser source, and calculating a distance of the measured object to the laser source" is optimized to: the reference spot Calculating a ratio of an image distance to a distance of the laser source forming the reference spot as a scale, calculating a true distance of the ranging spot according to an image distance of the ranging spot; calculating the two according to an angle of the laser light emitted by the laser source The angle between the laser beams that are not parallel; the distance of the measured object to the laser source is calculated according to the true distance of the distance measuring spot and the angle between the two non-parallel laser beams.

Specifically, the method of the present implementation includes:

S510. The laser source in the control camera emits laser light to the object to be measured, and forms a set of reference spots and a set of distance measuring spots on the object to be measured; wherein the reference spot is formed by two parallel laser beams, and the ranging spot is composed of two beams. Parallel laser formation.

S520. Acquire an image of the measured object including the reference spot and the ranging spot.

S530. The ratio of the image distance of the reference spot to the distance of the laser source forming the reference spot is used as a scale, and the true distance of the ranging spot is calculated according to the image distance of the ranging spot.

In this operation, since the light beams of the laser light source forming the reference spot are parallel, it is known from the light-emitting characteristics of the laser that the actual distance of the reference spot is equal to the distance of the laser source forming the reference spot, and therefore, the image distance and the actual distance of the reference spot are both It can be seen that at this time, the ratio of the image distance of the reference spot to the actual distance can be used as a scale, and the true distance of the ranging spot can be calculated from the image distance of the ranging spot. Of course, the true distance of the ranging spot can also be confirmed directly according to the ratio of the image distance of the reference spot to the image distance of the ranging spot being equal to the ratio of the actual distance of the reference spot to the actual distance of the ranging spot.

S540: Calculate an angle between the two non-parallel lasers according to an angle of the laser light emitted by the laser source.

Illustratively, a straight line perpendicular to the axial direction of the lens can be used as a reference line, and then the angles of the laser beams emitted by the two non-parallel laser sources with respect to the reference line can be obtained, thereby calculating the angle between the two non-parallel laser beams. For the convenience of calculation, one of the two laser beams forming the ranging spot and the camera can be made The axial direction is parallel; or, the two laser beams forming the ranging spot are the same as the axial angle of the camera and larger than the preset angle. Wherein, the preset angle may take any acute angle greater than 0 degrees and less than 90 degrees. It can be understood that the angle of the laser light emitted by the laser source can be set according to actual conditions.

S550: Calculate a distance of the measured object to the laser source according to the true distance of the ranging spot and the angle between the two non-parallel lasers.

Illustratively, the distance from the measured object to the laser source can be calculated according to a trigonometric function of the angle between the two non-parallel lasers, such as a cotangent function, and the true distance of the distance measuring spot; or, according to the distance measuring spot including The true distance and the similar triangle of the distance of the measured object to the laser source, calculate the distance of the measured object to the laser source.

When one of the two laser beams forming the ranging spot is parallel to the axial direction of the camera; calculating the object to be measured according to the true distance of the ranging spot and the angle between the two non-parallel lasers The distance of the laser source may specifically be: D=D ₁ ×ctg(θ)−D ₂ ×ctg(θ), where D represents the distance of the measured object to the laser source, and D ₁ represents The true distance from the spot is measured, D ₂ represents the true distance of the laser source that emits the reference spot, and θ represents the angle between the two non-parallel lasers.

Specifically, one of the two laser beams forming the ranging spot may be parallel to the axial direction of the camera, and the two laser beams forming the reference spot may be parallel to the axial direction of the camera, and one of the laser beams is used, and Another laser beam with an angle θ of the beam forms a ranging spot on the object to be measured.

If the angle between the two laser beams forming the ranging spot and the axial direction of the camera is the same and larger than the preset angle; calculating the quilt according to the true distance of the distance measuring spot and the angle between the two non-parallel laser beams The distance of the object to the laser source may be: D=D ₃ × ctg(θ/2)−D ₄ × ctg(θ/2), where D represents the measured object to the laser source The distance D ₃ represents the true distance of the ranging spot, D ₄ represents the true distance of the laser source emitting the reference spot, and θ represents the angle between the two non-parallel lasers.

In the technical solution of the embodiment, the true distance of the ranging spot is confirmed by the positional relationship of each laser source, the image distance of the reference spot, and the image distance of the ranging spot, and then according to the angle between the two non-parallel lasers and the measurement Calculate the distance from the measured object to the laser source by calculating the true distance from the spot, that is, calculate the distance of the measured object to the laser source by means of the image of the measured object including the ranging spot and the reference spot. The calculation process is simple and the measurement efficiency is higher. And make the measurement results more accurate.

FIG. 6 is a schematic diagram of a method for implementing the camera according to the first embodiment according to the embodiment of the present invention. 6, the camera includes a first laser light source and the second laser light _{source. 1} S ₂ S, and the angle of the first laser light source disposed in the deflection _{apparatus. 1} S, wherein the first laser source and the second laser light _{source. 1} S S The laser beam of ₂ is parallel to the optical axis of the lens, and the distance d ₁ between the first laser source S ₁ and the second laser source S ₂ and the deflection angle θ of the first laser source S ₁ are known. In the measurement process, first, the first laser source S ₁ and the second laser source S _{2 are controlled to} emit laser light such that the laser beams of the first laser source S ₁ and the second laser source S ₂ are parallel to the optical axis of the lens to form a set of reference spot, the reference spots including acquiring an image of the object based on the camera, and then, by the control means such that the deflection angle of the first laser source deflecting predetermined angle [theta] _{S. 1,} i.e., a first laser light source and the second laser light _{source. 1} S S The laser beam of _{2 is} at a certain angle θ. At this time, the laser beams of the first laser source S ₁ and the second laser source S ₂ are irradiated onto the object to be measured to form a ranging spot, and the measured position including the ranging spot is obtained based on the camera. An image of the object. Based on these parameters and the image of the measured object including the reference spot and the ranging spot acquired by the camera, the distance D between the camera and the measured object can be calculated.

Illustratively, when performing the measurement, the specific calculation process of the distance D between the camera and the measured object is as follows: First, the image distance of the reference spot is calculated from the image as L ₁₂ (in pixels), and the ranging spot is The image distance is L _12' (in pixels). Since the laser beams of the first laser source S ₁ and the second laser source S ₂ are parallel when the reference spot is formed, the image distance L of the calculated reference spot is calculated regardless of the distance between the object to be measured and the camera. ₁₂ represents the distance d ₁ between the first laser source S ₁ and the second laser source S ₂ , and then, according to the image distance of the ranging spot L _{12 '} , d ₂ can be calculated, where d ₂ =d ₁ × L _12' / L ₁₂ . Since the laser beams of the first laser source S ₁ and the second laser source S _{2 form} a certain angle θ, that is, the angle between the reverse extension lines of the laser beams of the first laser source S ₁ and the second laser source S ₂ is θ According to d ₂ and θ, d ₃ , d ₃ = d ₂ × ctg (θ) can be calculated. Among them, ctg is a cotangent trigonometric function. The _{d. 1} and θ, the calculated value of d _{_{_4, d 4 = d 1 × ctg}} (θ). Further, the distance D between the camera and the object to be measured can be calculated from d ₃ and d ₄ as D=d ₃ -d ₄ .

FIG. 7 is a schematic diagram of a method for implementing a distance measurement according to the embodiment of the camera according to the second embodiment of the present invention. 7, the camera includes a third laser light source S _3, S ₄ of the fourth and fifth laser light source a laser light source _{S. 5,} wherein the third laser and the fourth laser source _{S. 3} S of the laser beam source and lens ₄ the distance between the optical axes are parallel, the distance d ₅ between the laser light source _4, third and fourth laser sources S ₃ S, fourth and fifth laser light source S ₄ S ₅ d ₆ the laser light source and a fifth laser source S ₅ The angle θ with the fourth laser source S ₄ is known. In the measurement process, first, the third laser source S ₃ , the fourth laser source S _{4 ,} and the fifth laser source S _{5 are controlled to} emit laser light, wherein the laser beams of the third laser source S ₃ and the fourth laser source S ₄ are The optical axes of the lenses are parallel to form a set of reference spots, and the laser beams of the fourth laser source S ₄ and the fifth laser source S ₅ are irradiated onto the object to be measured to form a ranging spot; and the camera includes the reference spot and the ranging spot based on the camera. The image of the object being measured. Based on these parameters and the image of the measured object including the reference spot and the ranging spot acquired by the camera, the distance D between the camera and the measured object can be calculated.

Illustratively, when performing the measurement, the specific calculation process of the distance D between the camera and the measured object is as follows: First, the image distance of the reference spot from the image is calculated as L ₃₄ (in pixels), and the ranging spot is The image distance is L ₄₅ (in pixels). Since the laser beams of the third laser source S ₃ and the fourth laser source S ₄ are parallel when the reference spot is formed, the image distance L of the calculated reference spot is calculated regardless of the distance between the object to be measured and the camera. ₃₄ represents the distance d ₅ between the third laser source S ₃ and the fourth laser source S ₄ , and then, according to the image distance of the ranging spot L ₄₅ , d ₇ can be calculated, where d ₇ =d ₅ ×L ₄₅ /L ₃₄ . Since the laser beams of the fourth laser source S ₄ and the fifth laser source S _{5 form} a certain angle θ, that is, the angle between the reverse extension lines of the laser beams of the fourth laser source S ₄ and the fifth laser source S ₅ is θ According to d ₇ and θ, d ₈ , d ₈ = d ₇ × ctg (θ) can be calculated. Among them, ctg is a cotangent trigonometric function. The d ₆ and θ, the calculated value of d _{_{_9, d 9 = d 6 × ctg}} (θ). Further, the distance D between the camera and the object to be measured can be calculated from d ₈ and d ₉ as D=d8-d9.

FIG. 8 is a schematic diagram of a method for implementing the distance measurement according to the embodiment of the present invention according to the embodiment of the present invention. As shown in FIG. 8, the camera includes a sixth laser source S ₆ and a seventh laser source S. _{7. An} eighth laser source S ₈ and a ninth laser source S ₉ , wherein the laser beams of the sixth laser source S ₆ and the seventh laser source S ₇ are parallel to the optical axis of the lens, and the sixth laser source S ₆ and the seventh the distance S between the laser light source ₇ d _10, and the eighth laser light _{source. 8} S S ninth distance between the laser light source ₉ d and the angle θ between _11, and the eighth laser light source S and the lens optical _{axis. 8} The angle θ between the nine laser source S ₉ and the optical axis of the lens is known, and the distance between the eighth laser source S ₈ and the sixth laser source S ₆ is equal to the ninth laser source S ₉ and the seventh laser source S _{7 .} the distance between. In the measurement process, first, the sixth laser source S ₆ , the seventh laser source S ₇ , the eighth laser source S _{8 ,} and the ninth laser source S _{9 are controlled to} emit laser light, wherein the sixth laser source S ₆ and the seventh laser The laser beam of the source S ₇ is parallel to the optical axis of the lens to form a set of reference spots, and the laser beams of the eighth laser source S ₈ and the ninth laser source S ₉ are irradiated onto the object to be measured to form a ranging spot, which is included based on the camera acquisition. An image of the measured object of the reference spot and the ranging spot. Based on these parameters and the image of the measured object including the reference spot and the ranging spot acquired by the camera, the distance D between the camera and the measured object can be calculated.

Illustratively, when performing the measurement, the specific calculation process of the distance D between the camera and the measured object is as follows: First, the image distance of the reference spot is calculated from the image to be L ₆₇ (in pixels), and the ranging spot is The image distance is L ₈₉ (in pixels). Since the laser beams of the sixth laser source S ₆ and the seventh laser source S ₇ are parallel when the reference spot is formed, the image distance L of the calculated reference spot is calculated regardless of the distance between the object to be measured and the camera. ₆₇ represents the distance d ₁₀ between the sixth laser source S ₆ and the seventh laser source S ₇ , and then, according to the image distance of the ranging spot L ₈₉ , d ₁₂ can be calculated, where d ₁₂ =d ₁₀ ×L ₈₉ /L ₆₇ . Since the laser beams of the fourth laser source S ₄ and the fifth laser source S _{5 form} a certain angle θ, that is, the angle between the reverse extension lines of the laser beams of the fourth laser source S ₄ and the fifth laser source S ₅ is θ According to d ₇ and θ, d ₁₃ , d ₁₃ = (d ₁₁ /2) × ctg (θ) can be calculated. Among them, ctg is a cotangent trigonometric function. The _{d. 11} and θ, the calculated value of d _{_{_14, d 14 = d 12 × ctg}} (θ). Further, the distance D between the camera and the object to be measured can be calculated from d ₁₃ and d ₁₄ as D = d _{13 -} d ₁₄ .

It can be understood that the above examples based on the respective cameras are only used to explain the distance measurement method of the present invention, and are not limited. In the actual measurement process, distance measurement can be realized by calculation by setting different known parameters, as long as The camera, the distance measuring method, the device or the terminal of the concept of the technical solution of the present invention are all within the protection scope of the present invention.

Embodiment 6

FIG. 9 is a structural diagram of a distance measuring apparatus according to an embodiment of the present invention. The apparatus may be implemented by hardware and/or software, and may be independently configured in a user terminal to implement the method in this embodiment. As shown in FIG. 9 , the distance measuring device specifically includes a spot forming module 910 , an image collecting module 920 , and a distance calculating module 930 .

The spot forming module 910 is configured to control a laser source in the camera to emit laser light to the object to be measured, and form a set of reference spots and a set of ranging spots on the object to be measured; wherein the reference spot is composed of two beams Parallel laser formation, the ranging spot is formed by two non-parallel lasers; an image acquisition module 920 is configured to collect an image of the measured object including the reference spot and the ranging spot; and a distance calculation module 930 for Image distance of the reference spot, image distance of the ranging spot, the stimuli The distance of the light source and the angle of the laser light emitted by the laser source are calculated, and the distance of the measured object to the laser source is calculated.

Based on the foregoing embodiment, the distance calculation module is specifically configured to:

a distance measuring spot real distance calculating unit, configured to use a ratio of an image distance of the reference spot and a distance of the laser source as a scale, and calculate a true distance of the ranging spot according to an image distance of the ranging spot;

An angle calculating unit, configured to calculate an angle between the two non-parallel lasers according to an angle of the laser light emitted by the laser source;

a distance calculating unit, configured to calculate a distance of the measured object to the laser source according to an actual distance between the distance measuring spot and an angle between the two non-parallel laser beams.

On the basis of the above various technical solutions, one of the two laser beams forming the ranging spot is parallel to the axial direction of the camera; correspondingly, the distance calculating unit can be specifically used for:

Calculating a distance of the measured object to the laser source according to a formula D=D ₁ ×ctg(θ)−D ₂ ×ctg(θ),

Where D represents the distance of the measured object to the laser source, D ₁ represents the true distance of the ranging spot, D ₂ represents the true distance of the laser source emitting the reference spot, and θ represents the two non-parallel lasers. The angle of the.

On the basis of the above technical solutions, the angle between the two laser beams forming the ranging spot and the axial direction of the camera is the same and larger than the preset angle; correspondingly, the distance measuring unit can be specifically used for:

Calculating the distance of the measured object to the laser source according to the formula D=D ₃ × ctg(θ/2)−D ₄ × ctg(θ/2),

Wherein D represents the distance of the object to be measured by the laser source, D ₃ represents the true distance of the distance measuring spot, D ₄ represents the true distance of the laser source emitting the reference spot, and θ represents two non-parallel laser beams. The angle of the.

The embodiment of the present invention further provides a terminal, including the distance measuring device according to any embodiment of the present invention.

The distance measuring device and the mobile terminal provided by the embodiments of the present invention can perform the distance measuring methods provided by the fourth embodiment and the fifth embodiment of the present invention, and have the functional modules and the beneficial effects corresponding to the foregoing distance measuring method. For the technical details that are not described in detail in this embodiment, reference may be made to the distance measurement method provided by Embodiment 4 and Embodiment 5 of the present invention.

Note that the above are only the preferred embodiments of the present invention and the technical principles applied thereto. Those skilled in the art will appreciate that the invention is not limited to the specific embodiments described herein, and that various modifications, changes and substitutions may be made without departing from the scope of the invention. Therefore, the present invention has been described in detail by the above embodiments, but the present invention is not limited to the above embodiments, and other equivalent embodiments may be included without departing from the inventive concept. The scope is determined by the scope of the appended claims.

Claims

A camera, comprising: a lens, a first laser source and a second laser source;

The second laser source is spaced apart from the first laser source by a first distance;

The first laser source and/or the second laser source are coupled to the angle deflecting device to deflect the laser beam of the first laser source and/or the second laser source according to a preset angle;

Wherein the first laser source and the second laser source are located on a same line perpendicular to an optical axis of the lens.
A camera, comprising: a lens, a third laser source, a fourth laser source, and a fifth laser source;

The fourth laser source is spaced apart from the third laser source by a second distance;

The fifth laser source is spaced apart from the third laser source or the fourth laser source by a third distance and is mutually preset with an angle;

Wherein the laser beam of the third laser source and the fourth laser source is parallel to an optical axis of the lens; the third laser source, the fourth laser source and the fifth laser source are perpendicular to The optical axes of the lenses are on the same straight line.
A camera, comprising: a lens, a sixth laser source, a seventh laser source, an eighth laser source, and a ninth laser source;

The seventh laser source is spaced apart from the sixth laser source by a first distance;

The eighth laser source is spaced apart from the sixth laser source or the seventh laser source by a second distance and is mutually preset with an angle;

The ninth laser source is symmetric with a line of the eighth laser source with respect to a midpoint of a line connecting the sixth laser source and the seventh laser source and parallel to an optical axis of the lens;

Wherein the laser beam of the sixth laser source and the seventh laser source is parallel to the optical axis of the lens; The sixth laser source, the seventh laser source, the eighth laser source, and the ninth laser source are located on a same line perpendicular to an optical axis of the lens.
A mobile terminal comprising the camera of any of claims 1-3.
A distance measuring method, comprising:

Controlling a laser source in the camera to emit laser light to the object to be measured, forming a set of reference spots and a set of distance measuring spots on the object to be measured; wherein the reference spot is formed by two parallel laser beams, the distance measuring spot Formed by two non-parallel lasers;

Acquiring an image of the measured object including the reference spot and the ranging spot;

Calculating a distance of the measured object to the laser source according to an image distance of the reference spot, an image distance of the ranging spot, a distance of the laser source, and an angle of a laser light emitted by the laser source.
The distance measuring method according to claim 5, wherein said image distance according to said reference spot, image distance of said ranging spot, distance of said laser source, and angle of laser light emitted by said laser source, Calculating a distance of the measured object to the laser source, including:

Calculating a ratio of an image distance of the reference spot and a distance of the laser source forming the reference spot as a scale, and calculating a true distance of the ranging spot according to an image distance of the ranging spot;

Calculating an angle between the two non-parallel laser beams according to an angle of a laser light emitted by the laser source;

Calculating a distance of the measured object to the laser source according to an actual distance between the distance measuring spot and an angle between the two non-parallel laser beams.
The distance measuring method according to claim 6, wherein one of the two laser beams forming the ranging spot is parallel to an axial direction of the camera;

Calculating a distance of the measured object to the laser source according to an actual distance between the distance measuring spot and an angle between the two non-parallel lasers, specifically:

D=D 1 ×ctg(θ)-D 2 ×ctg(θ),

Where D represents the distance of the measured object to the laser source, D 1 represents the true distance of the ranging spot, D 2 represents the true distance of the laser source emitting the reference spot, and θ represents the two non-parallel lasers. The angle of the.
The distance measuring method according to claim 6, wherein the two laser beams forming the ranging spot are the same as the axial angle of the camera and larger than a preset angle;

Calculating a distance of the measured object to the laser source according to an actual distance between the distance measuring spot and an angle between the two non-parallel lasers, specifically:

D=D 3 ×ctg(θ/2)-D 4 ×ctg(θ/2),

Where D represents the distance of the measured object to the laser source, D 3 represents the true distance of the ranging spot, D 4 represents the true distance of the laser source emitting the reference spot, and θ represents two non-parallel lasers. The angle of the.
A distance measuring device, comprising:

a spot forming module, configured to control a laser source in the camera to emit laser light to the object to be measured, forming a set of reference spots and a set of ranging spots on the object to be measured; wherein the reference spot is formed by two parallel laser beams The distance measuring spot is formed by two non-parallel laser beams;

An image acquisition module, configured to collect an image of the measured object including the reference spot and the ranging spot;

a distance calculation module, configured to calculate the measured object to the laser source according to an image distance of the reference spot, an image distance of the ranging spot, a distance of the laser source, and an angle of a laser light emitted by the laser source the distance.
The device according to claim 9, wherein the distance calculation module is specifically configured to:

a distance measuring spot real distance calculating unit, configured to use a ratio of an image distance of the reference spot and a distance of the laser source as a scale, and calculate a true distance of the ranging spot according to an image distance of the ranging spot;

An angle calculating unit, configured to calculate an angle between the two non-parallel lasers according to an angle of the laser light emitted by the laser source;

a distance calculating unit, configured to calculate a distance of the measured object to the laser source according to an actual distance between the distance measuring spot and an angle between the two non-parallel laser beams.