CN204679637U - The high precision CCD multipoint ranging apparatus that double excitation is demarcated - Google Patents

Abstract

The utility model provides the high precision CCD multipoint ranging apparatus that a kind of double excitation is demarcated, and this laser ranging system comprises laser instrument A, laser instrument B, laser shaping module, imaging lens group, ccd image sensor and DSP processing unit; Above-mentioned two laser instruments are shaped as wire harness laser through laser shaping module respectively; The transmit direction of described two laser instruments becomes different angles respectively with ccd image sensor place plane; The wire harness laser that laser instrument A, laser instrument B launch in turn is irradiated to front certain distance target object surface, there is diffuse reflection, object in the broken line of reflection or curve and current field angle images on ccd image sensor jointly through imaging lens group, DSP processing unit processes above-mentioned image data, according to angular relationship, ask for the testing distance of this angle direction; The utility model structure is simple, and user cost is low, can the distance of multiple point in one-shot measurement different distance, and distance measuring method is quick, sensitive, and distance accuracy is high.

Description

The high precision CCD multipoint ranging apparatus that double excitation is demarcated

Technical field

The utility model belongs to range finding field, provides the high precision CCD multipoint ranging apparatus that a kind of double excitation is demarcated.

Background technology

Laser has the features such as high brightness, high directivity, high monochromaticity and high coherence, greatly can improve measuring accuracy, be widely used on distance measuring equipment.Laser distance measurement method has the advantages that principle is simple, measuring speed is fast, ranging is far away, and at present, many indoor machine robot systems, use laser ranging system as main sensors, are used for drawing, locating and keep away barrier.

Traditional laser distance measurement method comprises impulse method, phase method and triangulation, and impulse method measuring accuracy is lower, and phase method is longer for stabilization time needed of at every turn finding range, and it is low that triangle telemetry has good effect production cost, is the focus of at present research.

Single laser instrument is proposed in invention above and single CCD combines the patent of carrying out finding range, the wire harness laser that laser instrument sends is a wordline pattern in a wide range, suppose that wire harness Laser emission is on the target object in the wide range of front, the light of reflection can be mapped as different broken line line segments or curved segments, because the hot spot formed on target object at the laser rays sent is more fixing, so on CCD during imaging, the broken line line segment of different Range Imagings or the position at curved segments barycenter place also different.The position of wire harness laser in shooting image is detected different by image algorithm, obtain line segment centroid position, can object distance be obtained according to the formula of deriving, but in formula to calculating, find that distance accuracy and range finding are apart from inversely proportional, the two is conflicting; Closely find range if want to obtain, as 10 ㎝ places, so at middle distance, the distance accuracy as more than 3m is poor; At a distance, the distance accuracy as 6m place becomes very poor, and error can reach 40 more than ㎝.If wish there is good distance accuracy at 5 ~ 6m place, namely error is no more than 15 ㎝, and range finding so is recently for meeting distance accuracy requirement within 80cm.

Utility model content

The defect that the utility model exists for above-mentioned technology, provide the high precision CCD multipoint ranging apparatus that a kind of double excitation is demarcated, this distance measuring equipment comprises two laser instruments, two laser instruments Emission Lasers in turn during range finding, can the distance of multiple point within the scope of one-shot measurement different distance, and distance accuracy is higher; The utility model distance measuring equipment structure is simple, and user cost is low; Distance measuring method is quick, sensitive, and finding range is large, has very high using value in range finding fields such as communication, aviation, Smart Homes.

The utility model is achieved by the following technical solution, the high precision CCD multipoint ranging apparatus that a kind of double excitation is demarcated, and this distance measuring equipment comprises laser instrument A, laser instrument B, laser shaping module, imaging lens group, ccd image sensor and DSP processing unit; Described laser instrument A, laser instrument B are shaped as wire harness laser through two cover laser shaping modules respectively, the transmit direction of laser instrument A, laser instrument B becomes different angles respectively from ccd image sensor place plane, and laser instrument A, laser instrument B are different to the distance at ccd image sensor center; DSP processing unit controls laser instrument A, laser instrument B Emission Lasers in turn, and because laser instrument A, laser instrument B are to the distance at ccd image sensor center and angle difference, therefore the finding range of these two laser instruments is also different; Ranging process is: laser instrument A or laser instrument B is irradiated to the target object surface within the scope of the certain distance of front through the wire harness laser that laser shaping module sends, there is diffuse reflection, the light of reflection can be mapped as different broken line line segments or curved segments, and other objects in the broken line line segment of above-mentioned reflection or curved segments and current field angle image on ccd image sensor jointly through imaging lens group; DSP processing unit collects broken line line segment or the curved segments of above-mentioned imaging, then according to angular relationship, can ask for the testing distance of this angle direction; Another one laser instrument repeats above-mentioned ranging process and completes range finding.

Described laser shaping module is arranged on described laser instrument A and laser instrument B rear end respectively, for by some bundle a laser shaping be wire harness laser; Laser shaping module includes but not limited to molded lens group, vibrating reed or rotating prism.

Described imaging lens group comprises an optical filter further; Optical filter is arranged on described imaging lens group front end, in order to filter specific wavelength light and through the light of another section of specific wavelength.

Described distance measuring equipment comprises a pedestal further, and described laser instrument A, laser instrument B, imaging lens group, ccd image sensor and DSP processing unit are fixing on the base.

Described laser instrument A is 3cm ~ 9cm to the distance range at described ccd image sensor center;

Described laser instrument B is 1cm ~ 5cm to the distance range at described ccd image sensor center;

The finding range of described laser instrument A is 1m ~ 10m;

The finding range of described laser instrument B is 10 ㎝ ~ 100 ㎝.

Described DSP processing unit comprises fifo module, connects wire, DSP circuit.

The utility model has following beneficial effect:

1) the utility model adopts two laser instruments to launch wire harness laser in turn through the shaping of laser shaping module respectively, the testing distance that data processing obtains within the scope of different distance is carried out through DSP processing unit, ensure that measuring accuracy, and can the distance of multiple point within the scope of one-shot measurement different distance.

2) the utility model distance measuring equipment structure is simple, and distance-finding method is quick, sensitive; User cost is low, and at communication, aviation, Smart Home, especially there is very high using value in robot range finding field.

Accompanying drawing explanation

Fig. 1 is distance measuring equipment structural representation described in the utility model

Fig. 2 is distance measuring equipment side view described in the utility model

Fig. 3 is described in the utility model at Y direction distance-finding method schematic diagram

Fig. 4 is described in the utility model at X-direction distance-finding method schematic diagram

Fig. 5 is the broken line line segment schematic diagram of distance measuring equipment described in the utility model imaging on different distance metope

Fig. 6 is the broken line line segment schematic diagram that distance measuring equipment described in the utility model faces metope imaging

Fig. 7 is that distance measuring equipment described in the utility model is tiltedly facing to the broken line line segment schematic diagram that metope obtains

In figure, symbol represents: 1: laser instrument A; 2:DSP circuit; 3:FIFO module; 4: imaging len; 5: general CCD image sensor; 6: connect wire; 7: pedestal; 8:DSP processing unit; 9: optical filter; 10: laser shaping module; 11: laser instrument B

Embodiment

Below in conjunction with accompanying drawing, the utility model is described further.

As shown in Figure 1, the high precision CCD multipoint ranging apparatus that a kind of double excitation is demarcated, this device comprises laser instrument A1, laser instrument B 11, laser shaping module 10, imaging lens group 4, ccd image sensor 5 and DSP processing unit 8, DSP processing unit 8 controls laser instrument A1, laser instrument B11 Emission Lasers in turn, the laser that laser instrument A 1 or laser instrument B 11 launches is shaped as wire harness laser through laser shaping module 10 respectively, wire harness laser is irradiated to target object surface to be measured within the scope of the certain distance of front, there is diffuse reflection, the light of reflection can be mapped as different broken line line segments or curved segments, object in above-mentioned broken line line segment or curved segments and current field angle images on ccd image sensor 5 through imaging lens group 4 jointly, ccd image sensor 5 image data transmission to DSP processing unit 8, realize light signal and be converted to electric signal, broken line line segment or the curved segments of above-mentioned imaging is gathered through DSP processing unit 8, and calculate its barycenter, according to angular relationship and then calculate testing distance.

Described laser instrument A1 and the rear end of laser instrument B11 install a laser shaping module 10 respectively, laser shaping module 10 for by some bundle a laser shaping be wire harness laser;

In the present embodiment, laser shaping module 10 is molded lens group, and in other embodiments of the present utility model, laser shaping module 10 also can be vibrating reed, can also be rotating prism.

DSP processing unit 8 comprises fifo module 3, connects wire 6, DSP circuit 2; Imaging lens group 4 comprises an optical filter 9 further, and optical filter 9 is arranged on described lens combination 4 front end, in order to filter specific wavelength light and through the light of another section of specific wavelength.

As shown in Figure 2, this distance measuring equipment comprises a pedestal 7 further, described laser instrument A1, laser instrument B11, imaging lens group 4, ccd image sensor 5 and DSP processing unit 8 is fixing on the base, and pedestal 8 is angled with general CCD image sensor place plane; Laser instrument A1 is 3cm ~ 9cm to the distance range at ccd image sensor center, selects 5cm in the present embodiment; Laser instrument B11 is 1cm ~ 5cm to the distance range at described ccd image sensor center, selects 3cm in the present embodiment;

The finding range of laser instrument A is 1m ~ 10m; The finding range of laser instrument B is 10cm ~ 100cm.

The utility model additionally provides the distance-finding method of above-mentioned distance measuring equipment, is specially:

1) view data is obtained: DSP processing unit controls laser instrument A, laser instrument B Emission Lasers in turn, the laser launched is shaped as wire harness laser respectively through laser shaping module, wire harness laser through shaping is irradiated to front certain distance scope internal object body surface, there is diffuse reflection, object in the broken line of reflection or curve and current field angle images on ccd image sensor jointly through imaging lens group, the broken line of reflection or curve are imaged as broken line line segment or the curved segments of many high brightness, other backgrounds are imaged as the data comparing low-light level, one frame of digital view data of ccd image sensor record correspondence direction, and this frame image data is transferred to DSP processing unit, this two field picture have recorded the view data of digitizing in the current time angle of view,

2) image data processing: DSP processing unit is to step 1) described in the view data of digitizing process, first with the distortion of digital algorithm removal of images, then to carry out data smoothing and eliminate noise, finally set thresholding and carry out binaryzation;

3) again according to step 1) described in broken line line segment or curved segments left-right relation to image smoothing so that eliminate noise, after elimination noise, each bar broken line line segment or curved segments are for arrange from left to right, make same X-coordinate to be only no more than a highlighted line segment and exist;

4) ask for the barycenter of the highlighted line segment in each X-coordinate: being added up by the point coordinate of the highlighted line segment of same X-coordinate is averaged, the barycenter that can obtain corresponding X-coordinate is Y; Calculate through this step, in any one X-coordinate from left to right, only may have the highlighted center of mass point of the Y being no more than 1; For certain X, if there is 1 Y center of mass point, represent distance on this direction in finding range, if there is no Y center of mass point, represent distance on this direction not in finding range;

5) according to all (X, Y) computation and measurement angles from left to right and measuring distance, launch in turn according to the laser instrument of DSP control and can determine that this range finding is found range according to laser instrument A or laser instrument B, as shown in Figure 3;

A) distance of known laser device A to CCD lens group is p₁, the distance of laser instrument B to CCD lens group is p₂, CCD camera lens is 2 α in Y-axis field angle, and laser instrument A and CCD camera lens axis angle are 1, and laser instrument B and CCD camera lens axis angle are 2;

Laser instrument A is launched and asks vertical range, for some (X, Y), ask the vertical range d of laser instrument A according to Y-axis coordinate₁, bring the vertical range d that formulae discovery goes out into₁,wherein, n is the coordinate of laser spots in Y-axis, and y is always the counting of CCD imaging in Y direction;

For nearest measurement point G₁, work as G₁theoretical value n=y time,

If 1 > α, just have point distance measurement d farthest_t1,otherwise during 1≤α, theoretical value is infinite distance; Simultaneously because laser power can decay, cause relatively at a distance also cannot be measured.

Laser instrument B is launched and asks vertical range, ask the vertical range d of laser instrument B according to Y-axis coordinate₂,$d_2=\frac{p_2\·y}{{\mathrm{cos\θ}}_2\·\[2\·n\·tg\mathrm{\α}-y\·\left(tg\mathrm{\α}-{\mathrm{tg\θ}}_2\right)\]}$

For nearest measurement point G₂, work as G₂theoretical value n=y time,

Can try to achieve and measure range d recently_g2,$d_{G2}=\frac{p_2}{{\cos \mathrm{\θ}}_2\·(\mathrm{tg\α}+{\mathrm{tg\θ}}_2)};$

If 2 > α, can try to achieve and measure range d farthest_t2,

B) known CCD camera lens field angle in X-axis is 2 β, and view data is O at the central point of X-axis, and each X represents a direction, and formed by X-direction and Y-direction, deflection is γ, launches: for the coordinate points of x=m, y=n for laser instrument A,bring formula into and obtain testing distance d_x1,obtain range measurement (γ, d_x1) be distance d in γ direction_x1;

Laser instrument B is launched, equally, for the coordinate points of x=m, y=n,the angle of laser instrument B and horizontal direction is 12,12=2-1, if the corresponding distance in the horizontal direction of laser instrument B is d_x2, d_x2=d₂* cos θ₁₂, bring formula into, obtain testing distance d_x2,obtain range measurement (γ, d_x2) be distance d in γ direction_x2;

C) repeat step a) and step b), calculated the range finding angle of the multiple points in whole 2 β wide range from left to right and range finding distance respectively and the range measurement of the multiple points within the scope of whole 2 β exported.

Target object to be measured on CCD during imaging, the broken line line segment of different distance imaging or the thickness of curved segments also different, as shown in Figure 5, in figure, the left side is that laser is irradiated on the metope of different distance, is from left to right followed successively by by as far as closely; The right of figure is the broken line line segment schematic diagram of the different thicknesses of imaging, and line segment is from left to right followed successively by from fine to coarse;

As shown in Figure 3, for laser instrument A, G₁point is distance of finding range recently in theory, but due to the laser rays that wire harness laser is not a pixel, but be imaged as high brightness broken line line segment or curved segments, so nearest point distance measurement is at I point, same, distance within H point all can not be taken pictures than more complete broken line line segment or curved segments, the utility model asks for barycenter to the image objects within H point distance at the imperfect broken line line segment within the scope of CCD or curved segments, simultaneously, the actual distance corresponding according to this imperfect barycenter of actual observation record, thus calibrated in-plant accuracy of measurement, and obtain the finding range exceeding theoretical value.

Accompanying drawing 6 is the broken line line segment schematic diagram that distance measuring equipment described in the utility model faces metope imaging, and laser instrument faces metope, and it is straight line line segment that laser is irradiated to broken line or the curve imaging on CCD that metope reflects.

Accompanying drawing 7 is the broken line line segment schematic diagram that distance measuring equipment described in the utility model tiltedly faces toward metope imaging, and laser instrument is tiltedly facing to metope, and it is a diagonal segment lines that laser is irradiated to broken line or the curve imaging on CCD that metope reflects.

Previous embodiment and advantage are only exemplary, should not be understood to limit the disclosure.The utility model easily can be applied to the equipment of other type.In addition, the description of exemplary embodiment of the present disclosure is indicative, does not limit the scope of the claims, and many replacements, modifications and variations are obvious to those skilled in the art.

Claims (6)

1. a high precision CCD multipoint ranging apparatus for double excitation demarcation, this distance measuring equipment comprises laser instrument A, laser instrument B, laser shaping module, imaging lens group, ccd image sensor and DSP processing unit; Described laser instrument A, laser instrument B are shaped as wire harness laser through laser shaping module respectively, the transmit direction of laser instrument A, laser instrument B becomes different angles respectively from ccd image sensor place plane, and laser instrument A, laser instrument B are different to the distance at ccd image sensor center; DSP processing unit controls laser instrument A, laser instrument B Emission Lasers in turn, and because described two laser instruments are to the distance at ccd image sensor center and angle difference, therefore the finding range of these two laser instruments is also different.

2. distance measuring equipment according to claim 1, is characterized in that: described laser shaping module is arranged on described laser instrument A, laser instrument B rear end respectively, for by some bundle a laser shaping be wire harness laser;

Described laser shaping module is molded lens group, vibrating reed or rotating prism.

3. distance measuring equipment according to claim 1, is characterized in that: described imaging lens group comprises an optical filter further;

Described optical filter is arranged on described imaging lens group front end, in order to filter specific wavelength light and through the light of another section of specific wavelength.

4. distance measuring equipment according to claim 1, is characterized in that: described distance measuring equipment comprises a pedestal further, and described laser instrument A, laser instrument B, imaging lens group, single ccd image sensor and DSP processing unit are fixing on the base.

5. distance measuring equipment according to claim 1, is characterized in that: described laser instrument A is 3cm ~ 9cm to the distance range at described ccd image sensor center;

Described laser instrument B is 1cm ~ 5cm to the distance range at described ccd image sensor center;

The finding range of described laser instrument A is 1m ~ 10m;

The finding range of described laser instrument B is 10 ㎝ ~ 100 ㎝.

6. distance measuring equipment according to claim 1, is characterized in that: described DSP processing unit comprises fifo module, connects wire, DSP circuit.