CN106153011B - Distance measuring system and method for measuring distance - Google Patents
Distance measuring system and method for measuring distance Download PDFInfo
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- CN106153011B CN106153011B CN201510190600.3A CN201510190600A CN106153011B CN 106153011 B CN106153011 B CN 106153011B CN 201510190600 A CN201510190600 A CN 201510190600A CN 106153011 B CN106153011 B CN 106153011B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
A distance measuring system and a distance measuring method are provided. The light-emitting component provides light beams to the object to be measured. Wherein the portion of the light beam reflected by the test object is adapted to pass through the optical element, and the image sensor has an image sensing area for receiving the light beam. The operation unit compares the deformation difference degree of the first object image and the second object image generated by the light beams which pass through the optical element and are received by the image sensing area at different time so as to obtain the distance variation of the object to be measured.
Description
Technical field
The present invention is about a kind of range-measurement system and the method for measuring distance, and being especially can be according to captured determinand figure
As and measure determinand distance range-measurement system and measure distance method.
Background technique
At present measurement apart from there are many ways to, can generally penetrate sound wave (Sound Wave), infrared ray
(Infrared), the application of laser (Laser) measures sound wave or light wave touches by the known velocity of sound, the light velocity as known conditions
Two-way time to determinand can convert the distance that sound wave or light wave walked.Alternatively, it is also possible to be placed in by multiple
The imaging sensor of different location captures the image of same determinand different angle respectively, compares the correlation of these images to determine
The relative position of each point is on image to overlap these images out, the then spacing and focal length between these known imaging sensors
Under the premise of length, it is able to the position that further interpretation goes out determinand.
But, in above-mentioned several existing methods, the distance for measuring determinand through modes such as sound wave or infrared rays is held
It is easily interfered because of the wave beam diverging of the sound wave or infrared ray that are emitted, application range relatively has limitation.In addition, through
Multiple imaging sensors for being placed in different location the method that measures determinand distance, be easy because these imaging sensors it
Between placement position relationship it is complicated and generate error, cause the precision of images to be affected and the cost measured be also higher.
Summary of the invention
The present invention is about a kind of range-measurement system and the method for measuring distance, and being especially can be according to the shape of captured image
Become the method that region measures the range-measurement system of determinand distance relative to the deformation quantity in undeformed region and measures distance.
A kind of present invention wherein range-measurement system provided by an embodiment, range-measurement system include luminescence component, optical element,
Imaging sensor and arithmetic element.Luminescence component provides light beam to determinand.Optical element, which is located at, to be reflected by determinand
On the transmission path of light beam, the light beam that wherein determinand is reflected is suitable for passing through the optical element.Imaging sensor is located at logical
It crosses on the transmission path of part light beam of the optical element, imaging sensor has image sensing area to receive through optics member
The part light beam of part and reception do not pass through the part light beam of optical element, and wherein optical element portion is overlapped image sensing unit, figure
As sensor is for from determinand acquisition object image to be measured, object image to be measured to include being received by image sensing area through optics member
Deformation region caused by the segment beam of part is received with image sensing area and is not produced by the segment beam of the optical element
Raw undeformed region.The deformation region of arithmetic element object image more to be measured and the difference in undeformed region, it is to be measured to obtain
The distance change amount of object.
First embodiment of the invention provides a kind of method for measuring distance, when determinand is located at first position, acquisition the
One object image to be measured, the first object image to be measured include the first deformation region and the first undeformed region.Calculate the first deformation area
The deformation quantity in domain and the first undeformed region obtains the first distance between first position and range-measurement system accordingly.
In addition, another embodiment of the present invention provides the methods of another measurement distance, for first embodiment, when
When determinand is moved to the second position by first position, arithmetic element can calculate the error image that determinand is located at the second position
Relative deformation amount between included deformation region and undeformed region, to obtain between the second position and range-measurement system
Second distance.Between arithmetic element subtracts each other second distance and first distance to obtain between first position and the second position
Away from.
The present invention can be picked about a kind of range-measurement system and the method for measuring distance, and especially according to different time is lower
It takes the relative deformation amount of image and measures the distance change of determinand.
A kind of present invention wherein range-measurement system provided by an embodiment, range-measurement system include luminescence component, optical element,
Imaging sensor and arithmetic element.Luminescence component provides light beam to determinand.Optical element, which is located at, to be reflected by determinand
On the transmission path of light beam, the light beam that wherein determinand is reflected is suitable for passing through the optical element.Imaging sensor, which is located at, to be passed through
On the transmission path of the part light beam of optical element, imaging sensor has image sensing area to receive the portion by optical element
Part light beam and reception do not pass through the part light beam of optical element, and wherein optical element portion is overlapped image sensing unit.Image sensing
Device is used for from the object image to be measured of determinand capturing images one, and object image to be measured includes being received by image sensing area through optics member
Deformation region caused by the segment beam of part and image sensing area receive not by produced by the segment beam of optical element
Undeformed region.Arithmetic element compares the deformation region of the object image to be measured and the difference in undeformed region, to obtain
The distance change amount of determinand.
A kind of range-measurement system provided by another embodiment of the present invention, range-measurement system include luminescence component, optical element, figure
As sensor and arithmetic element.Luminescence component provides light beam to determinand.Optical element is located at the light reflected by determinand
On the transmission path of beam, the light beam that wherein determinand is reflected is suitable for passing through optical element.Imaging sensor, which is located at, passes through optics
On the transmission path of the light beam of element, imaging sensor has image sensing area to receive the light beam by optical element.Operation
Unit compares image sensing unit under different time and receives the first object image to be measured caused by light beam by the optical element
With the deformation difference degree of the second object image to be measured, to obtain the distance change amount of determinand.
Second embodiment of the invention provides a kind of method for measuring distance, when a determinand is located at first position, captures
First object image to be measured, the first object image to be measured include the first deformation region and the first undeformed region.Calculate the first deformation
The deformation quantity in region and the first undeformed region obtains the first distance between first position and range-measurement system accordingly.
Second embodiment of the invention provides a kind of method for measuring distance, when a determinand is located at first position, captures
First object image to be measured.When determinand is located at the second position, the second object image to be measured is captured.Calculate the first object image to be measured with
And second the deformation difference degree of object image to be measured obtain the spacing between first position and the second position accordingly.
In conclusion first embodiment of the invention provides a kind of range-measurement system comprising luminescence component, optical element, figure
As sensor and arithmetic element.Optical element portion is overlapped the image sensing area of imaging sensor, and image sensing area is able to
Reception is reflected and is penetrated from determinand the light beam of optical element and do not penetrate the light beam of optical element.Therefore, image passes
The bright image and dark image and imaging sensor difference according to handled by bright image and dark image of determinand captured by sensor
Value image all include corresponding optical element the deformation region in partly overlapping image sensing area and corresponding optical element do not weigh
The undeformed region in folded image sensing area.
First embodiment of the invention provides a kind of method for measuring distance, passes since optical element is only partially overlapped image
Sensillary area, the bright image and dark image of determinand captured by imaging sensor include the partly overlapping figure of corresponding optical element institute
As the undeformed region in the underlapped image sensing area of the deformation region and correspondence optical element of sensing unit.Arithmetic element can be with
Deformation quantity of the first deformation region of the first error image relative to the first undeformed region is calculated, to be able to obtain determinand
First distance between range-measurement system.
In addition, another embodiment of the present invention more provides the method for another measurement distance, for first embodiment,
When determinand is moved to the second position by first position, arithmetic element can calculate the differential chart that determinand is located at the second position
As the relative deformation amount between included deformation region and undeformed region, to obtain between the second position and range-measurement system
Second distance.Between arithmetic element subtracts each other second distance and first distance to obtain between first position and the second position
Away from.
In addition, second embodiment of the invention provides a kind of range-measurement system, optical element is comprehensively overlapped imaging sensor
Image sensing area, and image sensing area is able to receive the light beam that optical element is reflected and penetrated from determinand.Therefore, image
The image of sensor determinand captured by different time or different location all corresponds to what optical element was comprehensively overlapped
Image sensing area and generate deformation.
Second embodiment of the invention provides a kind of method for measuring distance, compare through arithmetic element in different time or
Image sensing unit receives the first object image to be measured caused by the light beam by optical element and second to be measured under different location
The deformation difference degree of object image, to obtain the mobile distance of determinand.
Accordingly, the present invention will not be easy to be limited by application as compared with mensurations such as sound wave or infrared rays,
The precision of images will not be caused to be affected because the placement position relationship between multiple images sensor is complicated because of existing method.
Compared with the prior art for, range-measurement system is only needed can be to obtain imaging sensor and determinand through imaging sensor
Spacing, not only measures that cost is relatively low and application range is less affected by limitation.
Be further understood that feature and technology contents of the invention to be enabled, please refer to below in connection with it is of the invention specifically
Bright and attached drawing, however appended attached drawing is only for reference and description, the person of being not intended to limit the present invention.
Detailed description of the invention
Figure 1A is the configuration diagram of the range-measurement system of first embodiment of the invention.
Figure 1B is the functional block diagram of the range-measurement system of first embodiment of the invention.
Fig. 1 C is the flow diagram for the measurement distance method that first embodiment of the invention provides.
Fig. 1 D is the object image schematic diagram to be measured that the imaging sensor that first embodiment of the invention provides is captured.
Fig. 2A is the configuration diagram of the range-measurement system of another embodiment of the present invention.
Fig. 2 B be another embodiment of the present invention provides measurement distance method flow diagram.
Fig. 2 C be another embodiment of the present invention provides the object image schematic diagram to be measured that is captured of imaging sensor.
Fig. 3 A is the configuration diagram of the range-measurement system of second embodiment of the invention.
Fig. 3 B is the flow diagram for the measurement distance method that second embodiment of the invention provides.
Fig. 3 C is the object image schematic diagram to be measured that the imaging sensor that second embodiment of the invention provides is captured.
[symbol description]
100,200 range-measurement system
110 luminescence components
120,220 optical element
130,230 imaging sensor
132 photosensitive elements
134 control units
136 image processing units
140,240 arithmetic element
The first deformation region of 150A
The first undeformed of 150B region
The second deformation region of 150A '
The second undeformed of 150B ' region
B1, B1 ' background objects
The first position E1
The second position E2
H1 first distance
H2 second distance
H3 spacing
L1, L1a, L1b light beam
M1 image sensing area
S1, S1 ' determinand
The bright image of P1a first
The bright image of P1 ' a second
The dark image of P1b first
The dark image of P1 ' b second
The first error image of P1c
The second error image of P1 ' c
The bright image of P2a first
The bright image of P2 ' a first
The dark image of P2b first
The dark image of P2 ' b second
The first error image of P2c
The second error image of P2 ' c
S101~S106 step
S201~S213 step
S301~S311 step
Specific embodiment
Some exemplary embodiments are shown in annexed drawings, and below will be refering to annexed drawings to be more fully described
Various exemplary embodiments.It is worth noting that concept of the present invention may embody in many different forms, and should not be construed as
It is limited to exemplary embodiments set forth herein.Specifically, providing these exemplary embodiments makes the present invention that will be detailed
It is to the greatest extent and complete, and the scope for concept of the present invention sufficiently being conveyed to those who familiarize themselves with the technology.In each attached drawing, in order to enable institute
Each layer and each region being painted can be explicit, and can lavish praise on oneself the ratio of its relative size, and similar number indicates always
Similar component.
Figure 1A is the configuration diagram of the range-measurement system of first embodiment of the invention, and Figure 1B is first embodiment of the invention
The functional block diagram of range-measurement system.Please refer to Figure 1A and Figure 1B, range-measurement system 100 include luminescence component 110, optical element 120,
Imaging sensor 130 and arithmetic element 140.Luminescence component 110 provides light beam L1 to determinand S1.Optical element 120 configures
In on imaging sensor 130 and the imaging sensor 130 that partly overlaps, in this way, determinand captured by imaging sensor 130
The underlapped undeformed of the deformation region and corresponding optical element 120 that image will have corresponding optical element 120 to be overlapped
Region.Arithmetic element 140 through object image to be measured captured by analysis imaging sensor 130 gray value to obtain deformation region
And the deformation quantity in undeformed region, whereby to obtain the distance change amount of determinand S1.
Luminescence component 110 is capable of providing light beam L1 to determinand S1, wherein determinand S1 be suitable for reflective portion light beam L1a,
L1b.Determinand S1 is shone in addition, luminescence component 110 is suitable for penetrating alternately providing light beam L1 and not providing light beam L1
It is bright, so that imaging sensor 130 can capture bright image (having polishing) and dark image (non-polishing) respectively, convenient in subsequent arithmetic
The external appearance characteristic of determinand S1 is obtained in analysis.In in practice, luminescence component 110 can be light-emitting diode (Light
Emitting Diode, LED), xenon flash lamp (High intensity Discharge Lamp) either halogen bulb
(Halogen Lamp) etc..It should be noted that Figure 1A is to be painted luminescence component 110 to be integrated among imaging sensor 130, in
In other embodiments, except luminescence component 110 can be independently of imaging sensor 130, Figure 1A but is not limited to illustrate
This.
Optical element 120 is located on the transmission path of light beam L1a, L1b for being reflected by determinand S1, and by determinand
The light beam L1b that S1 is reflected is suitable for passing through optical element 120.Determinand S1 can be imaged through optical element 120, be imaged
Can optometry element 120 characteristic and determinand S1 with range-measurement system 100 at a distance from (first distance H1) and generate shape become
Change, e.g. scaling, inclination, distortion, rotation or dislocation etc..In in practice, the type of optical element 120 can be lens, rib
Mirror, plane mirror etc., and the material of optical element 120 can be the material that glass, plastic cement etc. can be such that light beam L1b passes through.
Imaging sensor 130 has image sensing area M1 and imaging sensor 130 includes photosensitive element 132, control unit
134 and image processing unit 136.Photosensitive element 132 is located in image sensing area M1 and to incude light beam L1a, L1b to capture
Determinand S1 image, the image captured can show determinand S1 and the background objects in areas imaging etc..Control is single
Whether member 134 provides light beam L1 for controlling luminescence component 110, that is to say, that control unit 134 controls luminescence component 110 and mentions
Determinand S1 is illuminated for light beam L1 and light beam L1 illumination determinand S1 is not provided.Image processing unit 136 is then for that will divide
The bright image for the determinand S1 not captured and dark image carry out image procossing, to obtain the external appearance characteristic of determinand S1.At this
In embodiment, control unit 134 and image processing unit 136 can be through by Algorithms Integration among circuit, and with it is photosensitive
Element formed a monolithic, and or in addition independent hardware element controlled and calculated, this for the present invention model to be covered
It encloses.
Specifically, imaging sensor 130 is located at not by the light beam L1a of optical element 120 and passes through optical element 120
Light beam L1b transmission path on, optical element 120 partly overlaps image sensing area M1, and image sensing area M1 is received
The light beam L1b of optical element 120 is reflected and penetrated from determinand S1 and does not penetrate the light beam L1a of optical element 120, because
This, image captured by imaging sensor 130 will include two regions, and a region is defined as light beam L1b and passes through optics member
Part 120 and image in generated image deformation region on imaging sensor 130, another region definition then for light beam L1a not
Generated image undeformed region on imaging sensor 130 is imaged in by optical element 120.
In the present embodiment, above-mentioned arithmetic element 140 can be digital signal processor (Digital Signal
Processor, DSP) or central processing unit (Central Processing Unit, CPU), wherein arithmetic element 140 can
It is handled with the object image to be measured according to captured by imaging sensor 130, e.g. according to above-mentioned mentioned image deformation
The deformation variable quantity in region and image undeformed region, to calculate the distance change amount of determinand S1.
In in practice, imaging sensor 130 can be a kind of image sensing device with pick-up lens, can be installed in
On the electronic devices such as camera, smartphone or computer, and photosensitive element 132 can be complementary metal oxide semiconductor
Sensing element (Complementary Metal-Oxide-Semiconductor Sensor, CMOS sensor) or charge coupling
It closes element (Charge-Coupled Device, CCD).Optical element 120 can be installed on pick-up lens and part shelter
Pick-up lens is stated, so that optical element 120 is able to the image sensing area M1 that partly overlaps.
Fig. 1 C is the flow diagram for the measurement distance method that first embodiment of the invention provides.Fig. 1 D is the present invention first
The object image schematic diagram to be measured that the imaging sensor that embodiment provides is captured.The measurement provided through first embodiment of the invention
Distance method can measure the first distance H1 between determinand S1 and range-measurement system 100, that is, first position E1 and ranging system
Spacing between system 100.Fig. 1 C and Fig. 1 D is please referred to, and cooperates A and Figure 1B refering to fig. 1.
Execute step S101, when determinand S1 is located at first position E1, between determinand S1 and range-measurement system 100 between
Away from for first distance H1, control unit 134 controls luminescence component 110 and provides light beam L1 to determinand S1, and determinand S1 reflects
Segment beam L1a, L1b.
Then, step S102 is executed, when control unit 134, which controls luminescence component 110, provides light beam L1 to determinand S1,
Imaging sensor 130 captures the first bright image P1a.As depicted in Fig. 1 D (a), the first bright image P1a shows determinand S1's
Image and background objects B1, the first bright image P1a in areas imaging include deformation region and undeformed region, wherein shape
Change region corresponds to the partly overlapping image sensing area M1 of 120 institute of optical element and undeformed region corresponds to 120 institute of optical element not
The image sensing area M1 of overlapping.First bright image P1a can be gray scale image (gray-scale image), is suitable for analysis and knows
Not.By taking 8 bit, 256 color shade value as an example, gray value is finally quantified as 256 colors to pure white variation by black to ash,
And the range of gray value is 0 to 255.
It is worth noting that the image of determinand S1 and the image of background objects B1 shown in undeformed region is
The image normally shown for not penetrating optical element 120 and being imaged, the shown image shape size of determinand S1 out and survey
It is proportional away from the first distance H1 between system 100.Shown image is to form through optical element 120 in deformation region
The deformation pattern of picture, and the characteristic of deformation depends on type and material of optical element 120 etc..For example, in this implementation
In example, the image of deformation region is the deformation form that amplification is presented relative to image shown in undeformed region.
Then, step S103 is executed, does not provide light beam L1 to determinand S1 when control unit 134 controls luminescence component 110
When, imaging sensor 120 captures the first dark image P1b.As depicted in Fig. 1 D (b), determinand is illuminated not providing light beam L1
When S1, the first dark image P1b does not show the image of determinand S1, if background objects B1 is active lighting component, the first dark figure
As P1b then can show that background objects B1.Wherein, the first dark image P1b also includes deformation region and undeformed region, equally
Ground, the first dark image P1b can also be gray scale image (gray-scale image).
Then, step S104 is executed, the gray value of the first bright dark image P1b of image P1a and first is analyzed.In detail and
Speech, arithmetic element 140 analyzes the grey value profile of the first bright dark image P1b of image P1a and first respectively, can learn the
Position, shape and the model that pixel among the one bright dark image P1b of image P1a and first with different gray values is distributed
It encloses.
Then, step S105 is executed, image subtraction (Image is executed to the first bright dark image P1b of image P1a and first
Subtraction).Specifically, by the gray scale of the pixel of the first bright dark image P1b opposite position of image P1a and first
Value is subtracted each other, it will the first error image P1c of this obtained two images, and the difference gray value of the first error image P1c will
Between -255 to 255.As depicted in Fig. 1 D (c), the step of through image subtraction, can by the first bright image P1a and
The image of the background objects B1 of first dark image P1b filters out, so that the first error image P1c obtained is able to show determinand
The image of S1.Similarly, the first deformation region 150A included by the first error image P1c and the first undeformed region 150B be
It is deformation region and the undeformed region of the corresponding first bright dark image P1b of image P1a and first.According to this, the first deformation region
150A corresponds to the 120 partly overlapping image sensing area M1 of institute of optical element, and the first undeformed region 150B then corresponds to optics member
The underlapped image sensing area M1 of part 120.
Step S106 is executed, deformation quantity of the first deformation region 150A relative to the first undeformed region 150B is calculated, with
Obtain the distance change amount of determinand S1.Specifically, the determinand S1 image deformation form of the first deformation region 150A can
To be the diversified forms such as scale, tilt, distort, rotate or misplace relative to the first undeformed region 150B, and these deformation
Form be change in shape caused by the factors such as characteristic and the first distance H1 of optometry element 120, wherein the present embodiment
To scale as embodiment, as depicted in Fig. 1 D (c), but not limited to this.Range-measurement system 100 can further include a bist data
Data bank, the storage of bist data data bank there are many different deformation form (e.g., scale, tilt, distortion, rotation or wrong
Position etc.) and these different deformation forms corresponding to first distance H1 numerical value.Tranmittance is to built-in data bank, fortune
Calculate unit 140 can the change in shape according to caused by different deformation forms and correspond to and obtain determinand S1 and range-measurement system
First distance H1 between 100.
Based on above-mentioned, through the measurement distance method of one embodiment of the invention, since optical element 120 is only partially overlapped
The bright image and dark image of image sensing area M1, determinand S1 captured by imaging sensor 130 include corresponding optical element
120 the deformation region of partly overlapping image sensing area M1 and the underlapped image sensing area M1 of corresponding optical element 120
Undeformed region.Arithmetic element 140 can calculate the first deformation region 150A of the first error image P1c relative to first not
The deformation quantity of deformation region 150B, to be able to obtain the first distance H1 between determinand S1 and range-measurement system 100.Accordingly,
The present invention will not be easy to be limited by application as compared with mensurations such as sound wave or infrared rays, will not be because of existing side
Method causes the precision of images to be affected because the placement position relationship between multiple images sensor is complicated.Compared with the prior art and
Speech, range-measurement system 100 is only needed can be to obtain between imaging sensor 130 and determinand S1 through an imaging sensor 130
Away from not only measuring that cost is relatively low and application range is less affected by limitation.
Fig. 2A is the configuration diagram of the range-measurement system of another embodiment of the present invention, and Fig. 2 B is that another embodiment of the present invention mentions
The flow diagram of the measurement distance method of confession.Fig. 2 C be another embodiment of the present invention provides imaging sensor captured to
Survey object image schematic diagram.Through another embodiment of the present invention provides measurement distance method, determinand S1 can be measured
The spacing H3 of one position E1 and position between the E2 of the second position.It, can be in aforementioned first embodiment determinand in second embodiment
After S1 are measured first distance H1 in first position E1, after determinand S1 is moved to second position E2, further hold
Row measurement apart from the step of.The measuring process of first distance H1 is repeated no more as described in aforementioned first embodiment in this.It please join
Fig. 2A to Fig. 2 B is read, and cooperates B refering to fig. 1.
Firstly, executing step S201 to step S206 when determinand S1 is located at first position E1, it is located at first to obtain
First distance H1 between the determinand S1 and range-measurement system 100 of position E1.Wherein, the implementation of step S201 to step S206 are thin
Section is all identical to step S106 as step S101, therefore repeats no more in this.In addition, in the present embodiment, the figure of deformation region
As being the deformation form that rotation twist is presented relative to image shown in undeformed region.But, the present invention is not to shape
Become the deformation form that region is presented to be limited.
Next, executing step S207, when determinand S1 ' is moved to second position E2 by first position E1, determinand
Spacing between S1 ' and range-measurement system 100 is second distance H2, and control unit 134 controls luminescence component 110 and provides light beam L1 extremely
Determinand S1 ', and the reflective portion determinand S1 ' light beam L1a.
Then, step S208 is executed, provides light beam L1 to determinand S1 ' when control unit 134 controls luminescence component 110
When, imaging sensor 130 captures the second bright image P1 ' a.As depicted in Fig. 2 C (d), the second bright image P1 ' a shows determinand
The image of S1 ' and the background objects B1 ' in areas imaging.Image sensing unit is partly overlapped through by optical element 120
M1, the bright image P1 ' a of second captured include corresponding optical element 120 partly overlapping image sensing area M1 deformation area
Domain and the undeformed region for corresponding to the underlapped image sensing area M1 of optical element 120.Second bright image P1 ' a is gray-scale figure
Picture.
It is worth noting that the image of determinand S1 ' shown in undeformed region and the image of background objects B1 '
Be imaged not penetrate optical element 120, it is shown go out determinand S1 ' image shape size and range-measurement system 100 it
Between second distance H2 it is proportional.The image of shown determinand S1 ' and the image of background objects B1 ' are saturating in deformation region
It crosses optical element 120 and is imaged, and the characteristic of deformation depends on type and material of optical element 120 etc..Similarly, deformation
The image in region is still the deformation form that rotation twist is presented relative to image shown in undeformed region.
Then, step S209 is executed, does not provide light beam L1 to determinand S1 ' when control unit 134 controls luminescence component 110
When, imaging sensor 120 captures the second dark image P1 ' b.As depicted in Fig. 2 C (e), if background objects B1 is active lighting component
When, the second dark image P1 ' b can show that background objects B1 ', and the second dark image P1 ' b also includes deformation region and undeformed area
Domain.It is worth noting that the second dark image P1 ' b can also be gray scale image.
Then, step S210 is executed, the gray value of the second bright dark image P1 ' b of image P1 ' a and second is analyzed.In detail and
Speech, arithmetic element 140 are analyzed the grey value profile of the second bright dark image P1 ' b of image P1 ' a and second respectively, can be learnt
Position that pixel among the second bright dark image P1 ' b of image P1 ' a and second with different gray values is distributed is presented
Shape and its range.
Then, step S211 is executed, image subtraction is executed to the second bright dark image P1 ' b of image P1 ' a and second, it will
The gray value of the pixel of first bright dark image P1 ' the b opposite position of image P1 ' a and second subtracts each other, this two width obtained accordingly
Second error image P1 ' c of image.As depicted in Fig. 2 C (f), similarly, the second shape included by the second error image P1 ' c
Becoming region 150A ' and the second undeformed region 150B ' all is the shape of the corresponding second bright dark image P1 ' b of image P1 ' a and second
Become region and undeformed region.Wherein, the corresponding 120 partly overlapping image sensing of institute of optical element of the second deformation region 150A '
The underlapped image sensing area M1 of the corresponding optical element 120 of area M1 and the second undeformed region 150B '.
Then, step S212 is executed, shape of the second deformation region 150A ' relative to the second undeformed region 150B ' is calculated
Variable, with obtain determinand S1 ' in second position E2 with the distance change amount of range-measurement system 100.The present embodiment is turned round with rotating
Bent deformation form is as embodiment.For tranmittance to built-in data bank, arithmetic element 140 can be according to rotation twist
Change in shape caused by deformation form and correspond to the second distance H2 obtained between determinand S1 ' and range-measurement system 100.
But, in other embodiments, the factors such as the characteristic of optometry element 120 and second distance H2, the second deformation
The image of region 150A ' relative to the second undeformed region 150B ' image and scaling, inclination, distortion, rotation or dislocation is presented
Etc. diversified forms.
Execute step S213, arithmetic element 140 according to the first distance H1 between first position E1 and range-measurement system 100 with
And the second distance H2 between second position E2 and range-measurement system 100 is calculated, and obtains first position E1 and second accordingly
Spacing H3 between the E2 of position.
Based on above-mentioned, through the measurement distance method of another embodiment of the present invention, when determinand S1 is located at first position E1
When, the bright image of captured determinand S1 is made by optical element 120 and dark image includes deformation region and undeformed
Region, to measure first distance H1 of the position between the determinand S1 and range-measurement system 100 of first position E1.Similarly, when
When determinand S1 is moved to second position E2 by first position E1, make captured determinand S1's by optical element 120
Bright image and dark image include deformation region and undeformed region, to measure position once again in the determinand S1 ' of second position E2
Second distance H2 between range-measurement system 100.Second distance H2 is subtracted each other and can be obtained with first distance H1 by arithmetic element 140
Spacing H3 between first position E1 and second position E2.
Using above-mentioned steps process, the present invention can provide the embodiments of measurement distance method.It is emphasized that in the present invention
Core spirit under, the sequence of each step visually different measuring conditions and adjust.For example, measurement distance side provided by the present invention
Method can also first capture dark image and capture bright image again.Alternatively, the first bright image P1a, the first dark image P1b, the second bright image
The dark image P1 ' b of P1 ' a and second all can be color image according to the type of imaging sensor 130.The present invention is not right
Visual difference measuring conditions and sequence is limited the step of can adjust.
Fig. 3 A is the configuration diagram of the range-measurement system of second embodiment of the invention.Further embodiment of this invention and ranging
System 200 and the difference of above-mentioned range-measurement system 100 are that the optical element 220 of range-measurement system 200 covers whole image sensing
Area M1.That is, the whole occlusion image sensing unit M1 of optical element 220, therefore, imaging sensor 130 is captured to be measured
Object image is all the deformation region of the corresponding image sensing area M1 being overlapped by optical element 220.In addition, imaging sensor 230
And the running of arithmetic element 240 is described in detail below, remaining element is no longer superfluous in this as described in aforementioned first embodiment
It states.
Imaging sensor 230 is located on the transmission path by the light beam L1b of optical element 220, and optical element 220 is comprehensive
Ground is overlapped image sensing unit M1, and image sensing area M1 is able to receive and reflects from determinand S1 and penetrate optical element 220
Light beam L1b.Therefore, the image of the determinand S1 captured by different time or different location of imaging sensor 230 is all right
The image sensing area M1 that answers optical element 220 to be comprehensively overlapped and generate deformation.
Arithmetic element 240 is to be measured captured by the imaging sensor 230 of different time or different location through analysis
The gray value of object image, to obtain the shape of the deformation region for the image sensing area M1 that corresponding optical element 220 is comprehensively overlapped
Variable (deformation difference degree), whereby to obtain the distance change amount of determinand S1.
Fig. 3 B is the flow diagram for the measurement distance method that second embodiment of the invention provides.Fig. 3 C is the present invention second
The object image schematic diagram to be measured that the imaging sensor that embodiment provides is captured.The measurement distance method of second embodiment of the invention
It is with the difference of the measurement distance method of first embodiment of the invention, the measurement distance method of second embodiment of the invention is ratio
It is received through the light beam of optical element 220 generated first under different time or different location compared with image sensing area M1
The deformation difference degree of object image to be measured and the second object image to be measured, to obtain the distance change amount of determinand S1.Through comprehensively
The optical element 220 of occlusion image sensing unit M1 produces the object image to be measured under the captured different location of imaging sensor 230
Raw different degrees of deformation.
Execute step S301, when determinand S1 is located at first position E1, between determinand S1 and range-measurement system 200 between
Away from for first distance H1, control unit 134 controls luminescence component 110 and provides light beam L1 to determinand S1, and determinand S1 reflects
Segment beam L1b.
Then, step S302 is executed, when luminescence component 110 provides light beam L1 to determinand S1, imaging sensor 130 is captured
First bright image P2a.As depicted in Fig. 3 C (a), the first bright image P2a shows the image of determinand S1 and is located at imaging model
Background objects B1 in enclosing, the first bright image P2a correspond to the image sensing area M1 that optical element 220 is comprehensively overlapped and generate shape
Become, and the characteristic of deformation depends on type and material of optical element 220 etc..Wherein, the present embodiment is with the shape of rotation twist
Deformation type is as embodiment, as depicted in Fig. 3 C (a), but not limited to this.
Then, step S303, when luminescence component 110 does not provide light beam L1 to determinand S1, imaging sensor 120 are executed
Capture the first dark image P2b.As depicted in Fig. 3 C (b), the first dark image P2b is illustrated on the background objects in areas imaging
B1, the first dark image P1b also correspond to the image sensing area M1 that optical element 220 is comprehensively overlapped and generate deformation.
Then, step S304 is executed, arithmetic element 240 analyzes the first bright dark image P2b's of image P2a and first respectively
Grey value profile can learn the pixel institute among the first bright dark image P2b of image P2a and first with different gray values
Position, shape and the range of distribution.
Then, step S305 is executed, image subtraction is executed to the first bright dark image P2b of image P2a and first, to obtain
First error image P2c of this two images.As depicted in Fig. 3 C (c), the first error image P2c obtained is shown
The image of determinand S1.Similarly, the first error image P2c corresponds to the image sensing area that optical element 220 is comprehensively overlapped
M1 and generate deformation.
Step S306 is executed, when determinand S1 ' is moved to second position E2 by first position E1, determinand S1 ' and survey
It is second distance H2 away from the spacing between system 200, luminescence component 110 provides light beam L1 to determinand S1 ', and determinand S1 '
Reflective portion light beam L1b.
Then, step S307 is executed, when luminescence component 110 provides light beam L1 to determinand S1 ', imaging sensor 230
Capture the first bright image P2 ' a.As depicted in Fig. 3 C (d), the second bright image P2 ' a shows image and the position of determinand S1 '
The image sensing area that optical element 220 is comprehensively overlapped is corresponded in the background objects B1 ', the second bright image P2 ' a in areas imaging
M1 and generate deformation.It is worth noting that when determinand S1 ' is moved to second position E2, imaging sensor by first position E1
230 object images to be measured captured can generate different deformation quantities (deformation difference degree) with different positions.Also that is, second
The deformation quantity of bright image P2 ' a is different from the deformation quantity of the first bright image P2a.Deformation behavior depends on the type of optical element 220
And material etc..
Then, step S308, when luminescence component 110 does not provide light beam L1 to determinand S1 ', imaging sensor are executed
120 capture the second dark image P2 ' b.As depicted in Fig. 3 C (e), if background objects B1 is active lighting component, the second dark image
P2 ' b can show that background objects B1 ', the second dark image P2 ' b correspond to the image sensing area that optical element 220 is comprehensively overlapped
M1 and generate deformation.Similarly, the deformation quantity of the second dark image P2 ' b is different from the deformation quantity of the first dark image P2b.It is worth saying
Bright, the second dark image P2 ' b can also be gray scale image.
Then, step S309 is executed, arithmetic element 240 analyzes the second bright dark image P2 ' b of image P2 ' a and second respectively
Grey value profile, can learn among the second bright dark image P2 ' b of image P2 ' a and second with different gray values picture
The plain position being distributed, the shape and its range that are presented.
Then, step S310 is executed, image subtraction is executed to the second bright dark image P1 ' b of image P1 ' a and second, to obtain
Obtain the second error image P2 ' c of this two images.As depicted in Fig. 3 C (f), similarly, the second error image P2 ' c corresponds to light
It learns the image sensing area M1 that element 220 is comprehensively overlapped and generates deformation, wherein the deformation quantity of the second error image P2 ' c is not
It is same as the deformation quantity of the first error image P2c.
Then, step S311 is executed, deformation quantity of the second error image P2 ' c relative to the first error image P2c is calculated,
When obtaining second position E2 with the spacing H3 of first position E1.Specifically, the present embodiment is in the form of the deformation of rotation twist
As embodiment, when determinand S1 ' is moved to second position E2 by first position E1, the second error image P2 ' c to
The rotation twist deformation for surveying object S1 ' image generates different deformation quantities relative to the first error image P2c.Tranmittance is to built-in number
According to data bank, arithmetic element 240 can the change in shape according to caused by the deformation form of rotation twist and between corresponding to acquisition
Away from H3.
Based on above-mentioned, through the measurement distance method of second embodiment of the invention, not captured by imaging sensor 130
Correspond to image sensing area M1 that optical element 220 is comprehensively overlapped with the determinand S1 image under time or different location and
Generate deformation.Arithmetic element 240 can calculate deformation quantity of the second error image P2 ' c relative to the first error image P2c, from
And it is able to obtain the mobile distance of determinand S1.Accordingly, the present invention will not hold as compared with mensurations such as sound wave or infrared rays
It, will not be because of existing method due to the placement position relationship between multiple images sensor is complicated vulnerable to upper limitation is applied
The precision of images is caused to be affected.Compared with the prior art for, range-measurement system 200 is only needed through an imaging sensor 230 i.e.
It can not only measure that cost is relatively low and application range is less affected by limitation to obtain the spacing of imaging sensor and determinand.
In conclusion first embodiment of the invention provides a kind of range-measurement system comprising luminescence component, optical element, figure
As sensor and arithmetic element.Optical element portion is overlapped the image sensing area of imaging sensor, and image sensing area is able to
Reception is reflected and is penetrated from determinand the light beam of optical element and do not penetrate the light beam of optical element.Therefore, image passes
The bright image and dark image and imaging sensor difference according to handled by bright image and dark image of determinand captured by sensor
Value image all include corresponding optical element the deformation region in partly overlapping image sensing area and corresponding optical element do not weigh
The undeformed region in folded image sensing area.
First embodiment of the invention provides a kind of method for measuring distance, passes since optical element is only partially overlapped image
Sensillary area, the bright image and dark image of determinand captured by imaging sensor include the partly overlapping figure of corresponding optical element institute
As the undeformed region in the underlapped image sensing area of the deformation region and correspondence optical element of sensing unit.Arithmetic element can be with
Deformation quantity of the first deformation region of the first error image relative to the first undeformed region is calculated, to be able to obtain determinand
First distance between range-measurement system.
In addition, another embodiment of the present invention more provides the method for another measurement distance, for first embodiment,
When determinand is moved to the second position by first position, arithmetic element can calculate the differential chart that determinand is located at the second position
As the relative deformation amount between included deformation region and undeformed region, to obtain between the second position and range-measurement system
Second distance.Between arithmetic element subtracts each other second distance and first distance to obtain between first position and the second position
Away from.
In addition, second embodiment of the invention provides a kind of range-measurement system, optical element is comprehensively overlapped imaging sensor
Image sensing area, and image sensing area is able to receive the light beam that optical element is reflected and penetrated from determinand.Therefore, image
The image of sensor determinand captured by different time or different location all corresponds to what optical element was comprehensively overlapped
Image sensing area and generate deformation.
Second embodiment of the invention provides a kind of method for measuring distance, compare through arithmetic element in different time or
Image sensing unit receives the first object image to be measured caused by the light beam by optical element and second to be measured under different location
The deformation difference degree of object image, to obtain the mobile distance of determinand.
Accordingly, the present invention will not be easy to be limited by application as compared with mensurations such as sound wave or infrared rays,
The precision of images will not be caused to be affected because the placement position relationship between multiple images sensor is complicated because of existing method.
Compared with the prior art for, range-measurement system is only needed can be to obtain imaging sensor and determinand through imaging sensor
Spacing, not only measures that cost is relatively low and application range is less affected by limitation.
The foregoing is merely preferable possible embodiments of the invention, non-therefore limitation the scope of the patents of the invention, therefore such as
The equivalence techniques variation done with description of the invention and accompanying drawing content, is both contained in protection scope of the present invention.
Claims (18)
1. a kind of range-measurement system characterized by comprising
One luminescence component provides a light beam to a determinand；
One optical element, on the transmission path of the light beam reflected by the determinand, wherein being reflected by the determinand
The part light beam be suitable for pass through the optical element；
One imaging sensor, on the transmission path by the part of the optical element light beam, which has
One image sensing area is to receive through the part of the optical element light beam and receive not through the part of the optical element light
Beam, wherein the optical element portion is overlapped the image sensing area, which is used to capture a determinand from the determinand
Image, the object image to be measured include one caused by the segment beam that is received as the image sensing area through the optical element
Deformation region and the image sensing area receive not through a undeformed region caused by the segment beam of the optical element；
One bist data data bank, there are many corresponding to different deformation form and a variety of different deformation forms for storage
The numerical value of distance；And
One arithmetic element compares the deformation area of the object image to be measured according to the data stored by the bist data data bank
The difference in domain and the undeformed region, to obtain the distance change amount of the determinand.
2. range-measurement system as described in claim 1, which is characterized in that the imaging sensor includes a control unit, the control
Unit control luminescence component provides the light beam to the determinand, and control luminescence component and does not provide the light beam to the determinand.
3. range-measurement system as claimed in claim 2, which is characterized in that when the determinand is located at a first position, the image
Sensor captures one first bright image when the light beam is incident to the determinand, which is not incident to this in the light beam
One first dark image is captured when determinand, the imaging sensor is according to the first bright image and the first dark image to calculate one
First error image, first error image include the corresponding optical element the partly overlapping image sensing area the first shape
Become region and corresponds to the first undeformed region in the underlapped image sensing area of the optical element.
4. range-measurement system as claimed in claim 3, which is characterized in that when the determinand is located at a second position, the image
Sensor is capturing one second bright image and one second dark image, the imaging sensor according to the second bright image and this
Two dark images and calculate one second error image, which includes the partly overlapping figure of corresponding optical element institute
As the second undeformed region in the underlapped image sensing area of the second deformation region and the correspondence optical element of sensing unit.
5. range-measurement system as claimed in claim 4, which is characterized in that the arithmetic element calculate first deformation region relative to
The deformation quantity in the first undeformed region and deformation quantity of second deformation region relative to the second undeformed region is calculated, accordingly
The first position and the distance change amount of the second position are obtained, to obtain the distance change amount of the determinand.
6. a kind of range-measurement system characterized by comprising
One luminescence component provides a light beam to a determinand；
One optical element, on the transmission path of the light beam reflected by the determinand, wherein being reflected by the determinand
The light beam be suitable for pass through the optical element；
One imaging sensor, on the transmission path by the light beam of the optical element, which has a figure
The light beam by the optical element is received as sensing unit；
One bist data data bank, there are many corresponding to different deformation form and a variety of different deformation forms for storage
The numerical value of distance；And
One arithmetic element compares the image sensing area under different time according to the data stored by the bist data data bank
Receive the deformation of one first object image to be measured and one second object image to be measured caused by the light beam by the optical element
Diversity factor, to obtain the distance change amount of the determinand.
7. range-measurement system as claimed in claim 6, which is characterized in that the determinand is located at one first respectively at the different time
Position and a second position, the distance change amount of the determinand are the first position and the spacing of the second position.
8. range-measurement system as claimed in claim 7, which is characterized in that when the determinand is located at the first position, the image
Sensor captures one first bright image and one first dark image, when the determinand is located at the second position, the image sensing
Device is capturing one second bright image and one second dark image, and the imaging sensor is according to the first bright image and this is first dark
Image and calculate one first error image and one second differential chart calculated according to the second bright image and the second dark image
Picture.
9. range-measurement system as claimed in claim 8, which is characterized in that the arithmetic element compare first error image and this
The deformation difference degree of two error images.
10. a kind of method for measuring distance characterized by comprising
When a determinand is located at a first position, one first object image to be measured is captured, which includes one the
One deformation region and one first undeformed region；And
According to the numerical value of distance corresponding to a variety of different deformation forms and a variety of different deformation forms, calculate this
The deformation quantity in one deformation region and the first undeformed region obtains one between the first position and a range-measurement system accordingly
First distance.
11. the method for measurement distance as claimed in claim 10, further includes:
When the determinand is located at a second position, one second object image to be measured is captured, which includes one the
Two deformation regions and one second undeformed region；
The deformation quantity for calculating second deformation region and the second undeformed region obtains the second position and the ranging accordingly
A second distance between system；And
The difference between the first distance and the second distance is calculated, to obtain the spacing of the first position and the second position.
12. the method for measurement distance as claimed in claim 10, which is characterized in that the method for the measurement distance is suitable for the survey
Away from system, wherein the range-measurement system includes an imaging sensor, an optical element, a luminescence component, a bist data data bank
And an arithmetic element, the optical element portion occlusion image sensor an image sensing area, wherein the first deformation area
Domain corresponds to partly overlapping image sensing area, optical element institute, and it is underlapped which corresponds to optical element institute
Image sensing area.
13. the method for measurement distance as claimed in claim 10, which is characterized in that further include:
When the determinand is located at the first position, it is incident to the determinand through a light beam is alternately provided and the light is not provided
Beam is incident to the determinand；
Capture one first bright image；
Capture one first dark image；
Analyze the first bright image and the gray value of the first dark image；And
Image subtraction is executed to the first bright image and the first dark image, to generate one first error image, this is first poor
Value image includes first deformation region and the first undeformed region.
14. the method for measurement distance as claimed in claim 11, which is characterized in that further include:
When the determinand is located at the second position, it is incident to the determinand through a light beam is alternately provided and the light is not provided
Beam is incident to the determinand；
Capture one second bright image；
Capture one second dark image；
Analyze the second bright image and the gray value of the second dark image；
Image subtraction is executed to the second bright image and the second dark image, to generate one second error image, this is second poor
Value image includes second deformation region and the second undeformed region.
15. a kind of method for measuring distance characterized by comprising
When a determinand is located at a first position, one first object image to be measured is captured；
When the determinand is located at a second position, one second object image to be measured is captured；
According to the numerical value of distance corresponding to a variety of different deformation forms and a variety of different deformation forms, calculate this
The deformation difference degree of one object image to be measured and second object image to be measured obtain accordingly the first position and the second position it
Between a spacing.
16. the method for measurement distance as claimed in claim 15, which is characterized in that the method for the measurement distance is suitable for one and surveys
Away from system, wherein the range-measurement system includes an imaging sensor, an optical element, a luminescence component, a bist data data bank
And an arithmetic element, the optical element comprehensively cover an image sensing area of the imaging sensor.
17. the method for measurement distance as claimed in claim 15, which is characterized in that the step of capturing first object image to be measured
Further include:
One light beam is provided and is incident to the determinand；
Capture one first bright image；
The light beam is not provided and is incident to the determinand；
Capture one first dark image；
Analyze the first bright image and the gray value of the first dark image；And
Image subtraction is executed to the first bright image and the first dark image, to generate one first error image.
18. the method for measurement distance as claimed in claim 17, which is characterized in that the step of capturing second object image to be measured
Further include:
The light beam is provided and is incident to the determinand；
Capture one second bright image；
The light beam is not provided and is incident to the determinand；
Capture one second dark image；
Analyze the second bright image and the gray value of the second dark image；
Image subtraction is executed to the second bright image and the second dark image, to generate one second error image；And
The deformation difference degree for calculating first error image and second error image obtains the spacing accordingly.
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