CN106153011A - Distance measuring system and distance measuring method - Google Patents

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

Distance measuring system and method for measuring distance

technical field

The present invention relates to a distance measuring system and a distance measuring method, and in particular to a distance measuring system and a distance measuring method capable of measuring the distance of the object to be measured according to the captured image of the object to be measured.

Background technique

At present, there are many methods for measuring distance, generally through the application of sound wave (Sound Wave), infrared (Infrared), laser (Laser), through the known speed of sound and speed of light as known conditions, to measure the impact of sound waves or light waves The round-trip time of the object under test can be converted into the distance traveled by sound waves or light waves. In addition, multiple image sensors placed in different positions can also capture images of the same object under different angles, and compare the correlation of these images to determine the relative position of each point on the image to superimpose these images. Then, on the premise of knowing the distance between these image sensors and the focal length, the position of the object under test can be further judged.

However, in the above-mentioned several existing methods, measuring the distance of the object under test through sound waves or infrared rays is likely to be interfered by the beam divergence of the emitted sound waves or infrared rays, so the application range is relatively limited. In addition, the method of measuring the distance of the object under test through multiple image sensors placed in different positions is prone to errors due to the complex positional relationship between these image sensors, which will affect the image accuracy and reduce the cost of measurement. higher.

Contents of the invention

The present invention relates to a distance measuring system and a distance measuring method, and in particular to a distance measuring system and a distance measuring method capable of measuring the distance of an object to be measured according to the deformation amount of the deformed area of the captured image relative to the undeformed area .

One embodiment of the present invention provides a ranging system, the ranging system includes a light emitting component, an optical element, an image sensor and a computing unit. The light emitting component provides light beams to the object under test. The optical element is located on the transmission path of the light beam reflected by the object to be measured, wherein the light beam reflected by the object to be measured is suitable for passing through the optical element. The image sensor is located on the transmission path of the part of the light beam passing through the optical element, the image sensor has an image sensing area to receive the part of the light beam passing through the optical element and receive the part of the light beam not passing through the optical element, wherein the optical element partially overlaps the image In the sensing area, the image sensor is used to capture the image of the object under test from the object under test. The image of the object under test includes the deformation area generated by the part of the light beam received by the image sensing area and passed through the optical element and the unreceived image received by the image sensing area. The undistorted region created by the portion of the beam passing through the optical element. The computing unit compares the difference between the deformed area and the undeformed area of the image of the object to be measured to obtain the distance variation of the object to be measured.

The first embodiment of the present invention provides a method for measuring distance. When the object under test is located at the first position, a first image of the object under test is captured. The first image of the object under test includes a first deformed area and a first undeformed area. . Calculating deformation data of the first deformed area and the first undeformed area to obtain a first distance between the first position and the ranging system.

In addition, another embodiment of the present invention provides another method for measuring distance. Compared with the first embodiment, when the object under test is displaced from the first position to the second position, the calculation unit can calculate the position of the object under test at the second position. The relative deformation between the deformed area and the undeformed area included in the difference image of the two positions is used to obtain the second distance between the second position and the ranging system. The computing unit subtracts the second distance from the first distance to obtain the distance between the first position and the second position.

The present invention relates to a distance measuring system and a method for measuring distance, and in particular can measure the distance change of the object to be measured according to the relative deformation of images captured at different times.

One embodiment of the present invention provides a ranging system, the ranging system includes a light emitting component, an optical element, an image sensor and a computing unit. The light emitting component provides light beams to the object under test. The optical element is located on the transmission path of the light beam reflected by the object to be measured, wherein the light beam reflected by the object to be measured is suitable for passing through the optical element. The image sensor is located on the transmission path of the partial light beam passing through the optical element, and the image sensor has an image sensing area to receive the partial light beam passing through the optical element and receive the partial light beam not passing through the optical element, wherein the optical element partially overlaps the image sensor Area. The image sensor is used to capture an image of the object to be tested from the image of the object to be tested. The image of the object to be tested includes the deformed area generated by the part of the light beam received by the image sensing area and passed through the optical element The undistorted area created by a component's partial beam of light. The computing unit compares the difference between the deformed area and the non-deformed area of the image of the object to be tested to obtain the distance variation of the object to be tested.

Another embodiment of the present invention provides a ranging system. The ranging system includes a light-emitting component, an optical element, an image sensor, and a computing unit. The light emitting component provides light beams to the object under test. The optical element is located on the transmission path of the light beam reflected by the object to be measured, wherein the light beam reflected by the object to be measured is suitable for passing through the optical element. The image sensor is located on the transmission path of the light beam passing through the optical element, and the image sensor has an image sensing area to receive the light beam passing through the optical element. The calculation unit compares the deformation difference between the first image of the object under test and the image of the second object under test generated by the light beam received by the image sensing area and passes through the optical element at different times, so as to obtain the distance variation of the object under test.

The second embodiment of the present invention provides a method for measuring distance. When an object under test is located at a first position, a first image of the object under test is captured. The first image of the object under test includes a first deformed area and a first undeformed area. area. Calculating deformation data of the first deformed area and the first undeformed area to obtain a first distance between the first position and the ranging system.

The second embodiment of the present invention provides a method for measuring distance. When an object under test is located at a first position, a first image of the object under test is captured. When the object to be tested is located at the second position, a second image of the object to be tested is captured. The deformation difference data of the first object image and the second object image are calculated to obtain the distance between the first position and the second position.

To sum up, the first embodiment of the present invention provides a ranging system, which includes a light-emitting component, an optical element, an image sensor, and a computing unit. The optical element partially overlaps the image sensing area of the image sensor, and the image sensing area can receive the light beam reflected from the object to be measured and pass through the optical element and the light beam not passing through the optical element. Therefore, the bright image and dark image of the object under test captured by the image sensor and the difference image processed by the image sensor according to the bright image and the dark image all include the deformed area of the image sensing area partially overlapped by the corresponding optical element and the corresponding optical element. The undeformed area of the image sensing area where elements do not overlap.

The first embodiment of the present invention provides a method for measuring distance. Since the optical element only partially overlaps the image sensing area, the bright image and the dark image of the object to be measured captured by the image sensor include the partially overlapped image sensing area of the corresponding optical element. The deformed area of the sensing area and the non-deformed area of the image sensing area corresponding to the non-overlapped optical elements. The computing unit can calculate the deformation amount of the first deformed area of the first difference image relative to the first undeformed area, so as to obtain the first distance between the object under test and the ranging system.

In addition, another embodiment of the present invention provides another method for measuring distance. Compared with the first embodiment, when the object to be tested is displaced from the first position to the second position, the calculation unit can calculate the position of the object to be measured. The relative deformation between the deformed area and the undeformed area included in the difference image of the second position is used to obtain a second distance between the second position and the ranging system. The computing unit subtracts the second distance from the first distance to obtain the distance between the first position and the second position.

In addition, the second embodiment of the present invention provides a ranging system, the optical element completely overlaps the image sensing area of the image sensor, and the image sensing area can receive the light beam reflected from the object under test and passing through the optical element. Therefore, the images of the object under test captured by the image sensor at different times or at different positions are all deformed corresponding to the fully overlapping image sensing area of the optical element.

The second embodiment of the present invention provides a method for measuring distance. Through the computing unit, the first image of the object to be measured and the second image of the object to be measured, which are generated by the light beams received by the image sensing area and passed through the optical element, are compared at different times or at different positions. The deformation difference of the image of the object under test is used to obtain the moving distance of the object under test.

Accordingly, the present invention will not be subject to application restrictions like existing measurement methods such as sound waves or infrared rays, nor will the image accuracy be affected by the existing methods due to the complex placement relationship between multiple image sensors . Compared with the prior art, the ranging system only needs to use an image sensor to obtain the distance between the image sensor and the object to be measured. Not only the cost of measurement is lower, but also the application range is not limited.

In order to further understand the features and technical contents of the present invention, please refer to the following detailed description and accompanying drawings of the present invention. However, the accompanying drawings are provided for reference and illustration only, and are not intended to limit the present invention.

Description of drawings

FIG. 1A is a schematic diagram of the architecture of the ranging system according to the first embodiment of the present invention.

FIG. 1B is a functional block diagram of the ranging system according to the first embodiment of the present invention.

Fig. 1C is a schematic flow chart of the method for measuring distance provided by the first embodiment of the present invention.

FIG. 1D is a schematic diagram of an image of the object under test captured by the image sensor provided by the first embodiment of the present invention.

FIG. 2A is a schematic structural diagram of a ranging system according to another embodiment of the present invention.

Fig. 2B is a schematic flowchart of a method for measuring distance provided by another embodiment of the present invention.

FIG. 2C is a schematic diagram of an image of an object under test captured by an image sensor provided by another embodiment of the present invention.

FIG. 3A is a schematic structural diagram of a distance measuring system according to a second embodiment of the present invention.

Fig. 3B is a schematic flowchart of a method for measuring distance provided by the second embodiment of the present invention.

FIG. 3C is a schematic diagram of an image of the object under test captured by the image sensor provided by the second embodiment of the present invention.

【Symbol Description】

100, 200 distance measuring system

110 Lighting components

120, 220 optics

130, 230 image sensor

132 photosensitive element

134 control unit

136 image processing unit

140, 240 computing units

150A First deformation zone

150B First undeformed region

150A’ second deformation zone

150B’ second undeformed region

B1, B1’ background objects

E1 first position

E2 second position

H1 first distance

H2 second distance

H3 spacing

L1, L1a, L1b beams

M1 image sensing area

S1, S1' DUT

P1a first bright image

P1’a second brightest image

P1b first dark image

P1’b second dark image

P1c first difference image

P1'c second difference image

P2a first bright image

P2’a first bright image

P2b first dark image

P2’b second dark image

P2c first difference image

P2'c second difference image

S101～S106 steps

Steps from S201 to S213

Steps S301～S311

detailed description

Some exemplary embodiments are shown in the accompanying drawings, and various exemplary embodiments will be described more fully hereinafter with reference to the accompanying drawings. It should be noted that the inventive concept may be embodied in many different forms and should not be construed as limited to the illustrative embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the inventive concept to those skilled in the art. In each of the drawings, the relative size ratios may be exaggerated for clarity of depicted layers and regions, and like numerals indicate like elements throughout.

FIG. 1A is a schematic structural diagram of a ranging system according to the first embodiment of the present invention, and FIG. 1B is a functional block diagram of the ranging system according to the first embodiment of the present invention. Referring to FIG. 1A and FIG. 1B , the ranging system 100 includes a light emitting component 110 , an optical element 120 , an image sensor 130 and a computing unit 140 . The light emitting component 110 provides the light beam L1 to the object under test S1. The optical element 120 is disposed on the image sensor 130 and partially overlaps the image sensor 130, so that the image of the object under test captured by the image sensor 130 will have the deformed area corresponding to the overlapping of the optical element 120 and the non-overlapping area of the corresponding optical element 120. the undeformed region. The calculation unit 140 obtains the deformation amount of the deformed area and the undeformed area by analyzing the gray value of the image of the object under test captured by the image sensor 130 , so as to obtain the distance variation of the object under test S1 .

The light emitting component 110 is capable of providing a light beam L1 to the object under test S1, wherein the object under test S1 is suitable for reflecting part of the light beams L1a, L1b. In addition, the light-emitting component 110 is suitable for illuminating the object S1 by alternately providing the light beam L1 and not providing the light beam L1, so that the image sensor 130 can capture bright images (with light) and dark images (without light) respectively. , it is convenient to obtain the appearance characteristics of the object under test S1 in the subsequent calculation and analysis. In practice, the light emitting component 110 may be a light emitting diode (Light Emitting Diode, LED), a xenon flash lamp (High intensity Discharge Lamp) or a halogen bulb (Halogen Lamp) and the like. It should be noted that FIG. 1A shows that the light-emitting component 110 is integrated in the image sensor 130. In other embodiments, the light-emitting component 110 can be independent of the image sensor 130. FIG. 1A is only for illustration, but not limited to this.

The optical element 120 is located on the transmission path of the light beams L1a, L1b reflected by the object S1 to be tested, and the light beam L1b reflected by the object S1 is adapted to pass through the optical element 120 . The object to be measured S1 can be imaged through the optical element 120, and the imaging will have a shape change depending on the characteristics of the optical element 120 and the distance between the object to be measured S1 and the distance measuring system 100 (the first distance H1), such as zooming and tilting , distortion, rotation or misalignment, etc. In practice, the type of the optical element 120 may be a lens, a prism, a plane mirror, etc., and the material of the optical element 120 may be glass, plastic, or other materials that allow the light beam L1b to pass through.

The image sensor 130 has an image sensing region M1 and the image sensor 130 includes a photosensitive element 132 , a control unit 134 and an image processing unit 136 . The photosensitive element 132 is located in the image sensing area M1 and is used to sense the light beams L1a, L1b to capture an image of the object under test S1. The captured image can display the object under test S1 and the background objects within the imaging range. The control unit 134 is used to control whether the light emitting assembly 110 provides the light beam L1 or not, that is, the control unit 134 controls the light emitting assembly 110 to provide the light beam L1 to illuminate the object S1 under test or not to provide the light beam L1 to illuminate the object S1 under test. The image processing unit 136 is used to perform image processing on the captured bright image and dark image of the object S1 to obtain the appearance characteristics of the object S1 . In this embodiment, the control unit 134 and the image processing unit 136 can form a single chip with the photosensitive element by integrating the algorithm into the circuit, or they can be controlled and calculated by other independent hardware components, which is The scope that the present invention intends to cover.

Specifically, the image sensor 130 is located on the transmission path of the light beam L1a not passing through the optical element 120 and the light beam L1b passing through the optical element 120, the optical element 120 partially overlaps the image sensing area M1, and the image sensing area M1 can receive the The light beam L1b reflected by the object S1 and transmitted through the optical element 120 and the light beam L1a that does not pass through the optical element 120, therefore, the image captured by the image sensor 130 will include two areas, one area is defined as the light beam L1b passing through the optical element 120 and imaged on the image sensor 130 as an image deformed area, another area is defined as an image undistorted area generated by the light beam L1a not passing through the optical element 120 but being imaged on the image sensor 130 .

In this embodiment, the above-mentioned computing unit 140 may be a digital signal processor (Digital Signal Processor, DSP) or a central processing unit (Central Processing Unit, CPU). The image of the object is processed, for example, the distance change of the object under test S1 is calculated according to the above-mentioned deformation change of the deformed area of the image and the undistorted area of the image.

In practice, the image sensor 130 can be an image sensing device with a camera lens, which can be installed on an electronic device such as a camera, a smart phone, or a computer, and the photosensitive element 132 can be a CMOS Sensing element (Complementary Metal-Oxide-Semiconductor Sensor, CMOS sensor) or charge-coupled device (Charge-Coupled Device, CCD). The optical element 120 can be installed on the camera lens and partially shield the camera lens, so that the optical element 120 can partially overlap the image sensing area M1.

Fig. 1C is a schematic flow chart of the method for measuring distance provided by the first embodiment of the present invention. FIG. 1D is a schematic diagram of an image of the object under test captured by the image sensor provided by the first embodiment of the present invention. Through the distance measuring method provided by the first embodiment of the present invention, the first distance H1 between the object under test S1 and the distance measuring system 100 can be measured, that is, the distance between the first position E1 and the distance measuring system 100 . Please refer to FIG. 1C and FIG. 1D , and refer to FIG. 1A and FIG. 1B together.

Step S101 is executed, when the object S1 is located at the first position E1, the distance between the object S1 and the ranging system 100 is the first distance H1, and the control unit 134 controls the light-emitting component 110 to provide a light beam L1 to the object S1 , and the object S1 reflects part of the light beams L1a, L1b.

Next, step S102 is executed, when the control unit 134 controls the light emitting component 110 to provide the light beam L1 to the object under test S1, the image sensor 130 captures the first bright image P1a. As shown in Figure 1D(a), the first bright image P1a shows the image of the object under test S1 and the background object B1 within the imaging range. The first bright image P1a includes a deformed area and an undeformed area, wherein the deformed area corresponds to The image sensing area M1 partially overlapped by the optical element 120 and the non-deformed area correspond to the image sensing area M1 not overlapped by the optical element 120 . The first bright image P1a may be a gray-scale image, which is suitable for analysis and identification. Taking the 8-bit 256-color gray value as an example, the change of the gray value from pure black to gray and finally to pure white is quantized into 256 colors, and the gray value ranges from 0 to 255.

It is worth noting that the image of the object under test S1 and the image of the background object B1 displayed in the undeformed area are normally displayed images that are not imaged through the optical element 120, and the image of the object under test S1 displayed The size of the shape is proportional to the first distance H1 between the ranging systems 100 . The image displayed in the deformed area is a deformed image formed through the optical element 120 , and the characteristics of the deformation depend on the type and material of the optical element 120 . For example, in this embodiment, the image in the deformed area is in an enlarged deformed form relative to the image displayed in the undeformed area.

Next, step S103 is executed, when the control unit 134 controls the light emitting component 110 to not provide the light beam L1 to the object under test S1, the image sensor 120 captures the first dark image P1b. As shown in FIG. 1D(b), when the light beam L1 is not provided to illuminate the object under test S1, the first dark image P1b does not show the image of the object under test S1. If the background object B1 is an active light-emitting object, the first dark image P1b A dark image P1b can show the background object B1. Wherein, the first dark image P1b also includes a deformed area and an undeformed area, and similarly, the first dark image P1b may also be a gray-scale image.

Next, step S104 is executed to analyze the grayscale values of the first bright image P1a and the first dark image P1b. In detail, the calculation unit 140 respectively analyzes the gray value distributions of the first bright image P1a and the first dark image P1b, and it can be known that the pixels with different gray values in the first bright image P1a and the first dark image P1b The location, shape and extent of the distribution.

Next, step S105 is executed to perform image subtraction (Image Subtraction) on the first bright image P1a and the first dark image P1b. Specifically, by subtracting the gray values of the pixels corresponding to the first bright image P1a and the first dark image P1b, the first difference image P1c of the two images will be obtained, and the first difference image The difference grayscale value for P1c will be between -255 and 255. As shown in FIG. 1D(c), through the step of image subtraction, the image of the background object B1 of the first bright image P1a and the first dark image P1b can be filtered out, so that the obtained first difference image P1c An image of the object under test S1 can be displayed. Likewise, the first deformed area 150A and the first undeformed area 150B included in the first difference image P1c are both deformed areas and undeformed areas corresponding to the first bright image P1a and the first dark image P1b. Accordingly, the first deformed region 150A corresponds to the image sensing region M1 partially overlapped by the optical element 120 , and the first undeformed region 150B corresponds to the image sensing region M1 not overlapped by the optical element 120 .

Step S106 is executed to calculate the deformation amount of the first deformed area 150A relative to the first undeformed area 150B, so as to obtain the distance change amount of the object under test S1. In detail, the deformation form of the image of the object under test S1 in the first deformed region 150A can be in various forms such as scaling, tilting, twisting, rotating or dislocation relative to the first undeformed region 150B, and these deformation forms are visually The shape changes caused by the characteristics of the optical element 120 and factors such as the first distance H1 , wherein this embodiment takes zooming as an implementation, as shown in FIG. 1D(c), but is not limited thereto. The ranging system 100 may further include a built-in data database, which stores a variety of different deformation forms (for example, scaling, tilting, twisting, rotation, or misalignment, etc.) and the corresponding The value of the first distance H1. By comparing the built-in data database, the computing unit 140 can correspondingly obtain the first distance H1 between the object under test S1 and the ranging system 100 according to the shape changes produced by different deformation forms.

Based on the above, through the distance measuring method according to an embodiment of the present invention, since the optical element 120 only partially overlaps the image sensing area M1, the bright image and the dark image of the object under test S1 captured by the image sensor 130 include the corresponding optical element 120 The partially overlapped deformed area of the image sensing area M1 corresponds to the non-deformed area of the image sensing area M1 not overlapped by the optical element 120 . The computing unit 140 can calculate the deformation amount of the first deformed region 150A relative to the first undeformed region 150B of the first difference image P1c, so as to obtain the first distance H1 between the object under test S1 and the ranging system 100 . Accordingly, the present invention will not be subject to application restrictions like existing measurement methods such as sound waves or infrared rays, nor will the image accuracy be affected by the existing methods due to the complex placement relationship between multiple image sensors . Compared with the prior art, the ranging system 100 can obtain the distance between the image sensor 130 and the object under test S1 only through one image sensor 130 , not only the measurement cost is lower but also the application range is not limited.

FIG. 2A is a schematic diagram of the architecture of a ranging system according to another embodiment of the present invention, and FIG. 2B is a schematic flowchart of a method for measuring distance provided by another embodiment of the present invention. FIG. 2C is a schematic diagram of an image of an object under test captured by an image sensor provided by another embodiment of the present invention. Through the distance measuring method provided by another embodiment of the present invention, the distance H3 between the first position E1 and the second position E2 of the object under test S1 can be measured. In the second embodiment, after the first distance H1 is measured when the object under test S1 is at the first position E1 in the first embodiment, the measurement can be further performed after the object under test S1 is displaced to the second position E2 distance steps. The steps of measuring the first distance H1 are the same as those described in the first embodiment above, and will not be repeated here. Please refer to FIGS. 2A-2B , and in conjunction with FIG. 1B .

First, when the object S1 is located at the first position E1 , step S201 to step S206 are executed to obtain a first distance H1 between the object S1 at the first position E1 and the ranging system 100 . Wherein, the implementation details of step S201 to step S206 are the same as those of step S101 to step S106, so details are not repeated here. In addition, in this embodiment, the image in the deformed area is deformed in a rotationally twisted form relative to the image displayed in the undeformed area. However, the present invention does not limit the deformation form of the deformation region.

Next, step S207 is executed, when the object S1' is displaced from the first position E1 to the second position E2, the distance between the object S1' and the ranging system 100 is the second distance H2, and the control unit 134 controls The light emitting component 110 provides the light beam L1 to the object under test S1 ′, and the object under test S1 ′ reflects a part of the light beam L1a.

Next, step S208 is executed, when the control unit 134 controls the light emitting component 110 to provide the light beam L1 to the object under test S1', the image sensor 130 captures the second bright image P1'a. As shown in FIG. 2C(d), the second bright image P1'a shows the image of the object under test S1' and the background object B1' within the imaging range. By partially overlapping the image sensing area M1 with the optical element 120, the captured second bright image P1'a includes the deformed area corresponding to the partially overlapped image sensing area M1 of the optical element 120 and the area not corresponding to the corresponding optical element 120. The undeformed area of the overlapping image sensing region M1. The second bright image P1'a is a grayscale image.

It is worth noting that the image of the object under test S1' and the image of the background object B1' displayed in the undeformed region are not imaged through the optical element 120, which shows the shape of the image of the object under test S1' The magnitude is proportional to the second distance H2 between ranging systems 100 . The image of the object under test S1' and the image of the background object B1' displayed in the deformed region are imaged through the optical element 120, and the characteristics of the deformation depend on the type and material of the optical element 120 and the like. Likewise, the image in the deformed area still presents a deformed form of rotational distortion relative to the image displayed in the undeformed area.

Next, step S209 is executed, when the control unit 134 controls the light emitting component 110 to not provide the light beam L1 to the object under test S1', the image sensor 120 captures the second dark image P1'b. As shown in Figure 2C(e), if the background object B1 is an actively luminous object, the second dark image P1'b can display the background object B1', and the second dark image P1'b also includes deformed areas and undeformed areas . It should be noted that the second dark image P1'b can also be a gray scale image.

Next, step S210 is executed to analyze the grayscale values of the second bright image P1'a and the second dark image P1'b. In detail, the calculation unit 140 respectively analyzes the gray value distribution of the second bright image P1'a and the second dark image P1'b, and it can be known that there is a difference between the second bright image P1'a and the second dark image P1'b. The positions, shapes and ranges of pixels with different gray values in the distribution.

Next, step S211 is executed to perform image subtraction on the second bright image P1'a and the second dark image P1'b, so as to obtain The gray values are subtracted to obtain the second difference image P1'c of the two images. As shown in FIG. 2C(f), similarly, the second deformed area 150A' and the second undeformed area 150B' included in the second difference image P1'c are both corresponding to the second bright image P1'a and the second bright image P1'a. Deformed and undeformed regions of two dark images P1'b. Wherein, the second deformed area 150A' corresponds to the image sensing area M1 partially overlapped by the optical element 120 and the second undeformed area 150B' corresponds to the image sensing area M1 not overlapped by the optical element 120.

Next, step S212 is executed to calculate the deformation amount of the second deformed area 150A' relative to the second undeformed area 150B', so as to obtain the distance change amount between the object S1' and the ranging system 100 when the object S1' is in the second position E2. In this embodiment, the twisted deformation form is used as the implementation mode. By comparing the built-in data database, the computing unit 140 can correspondingly obtain the second distance H2 between the object under test S1' and the distance measuring system 100 according to the shape change generated by the deformation form of rotation and twisting.

However, in other embodiments, depending on the characteristics of the optical element 120 and factors such as the second distance H2, the image of the second deformed region 150A' is scaled, tilted, twisted, and rotated relative to the image of the second undeformed region 150B' Or dislocation and other forms.

Step S213 is executed, the calculation unit 140 calculates according to the first distance H1 between the first position E1 and the distance measuring system 100 and the second distance H2 between the second position E2 and the distance measuring system 100 to obtain the first position E1 and the distance H3 between the second position E2.

Based on the above, through the distance measuring method according to another embodiment of the present invention, when the object S1 is located at the first position E1, the light image and the dark image of the object S1 captured by the optical element 120 include deformed regions and The undeformed area is used to measure the first distance H1 between the object S1 at the first position E1 and the ranging system 100 . Similarly, when the object S1 is displaced from the first position E1 to the second position E2, the light image and the dark image of the object S1 captured by the optical element 120 include deformed areas and undeformed areas for re-measurement A second distance H2 between the object S1 ′ at the second position E2 and the ranging system 100 . The computing unit 140 subtracts the second distance H2 from the first distance H1 to obtain the distance H3 between the first position E1 and the second position E2 .

Using the above steps, the present invention can provide an embodiment of the method for measuring distance. It should be emphasized that, under the core spirit of the present invention, the order of each step can be adjusted according to different measurement conditions. For example, the method for measuring distance provided by the present invention can also capture dark images first and then capture bright images. Alternatively, the first bright image P1a, the first dark image P1b, the second bright image P1'a, and the second dark image P1'b may all be color images according to the type of the image sensor 130. Referring to FIG. The present invention does not limit the sequence of steps that can be adjusted depending on different measurement conditions.

FIG. 3A is a schematic structural diagram of a distance measuring system according to a second embodiment of the present invention. The difference between the ranging system 200 in another embodiment of the present invention and the aforementioned ranging system 100 is that the optical element 220 of the ranging system 200 covers the entire image sensing area M1. That is to say, the optical element 220 completely covers the image sensing area M1 , therefore, the images of the object under test captured by the image sensor 130 are all corresponding to the deformed area of the image sensing area M1 overlapped by the optical element 220 . In addition, the operation of the image sensor 230 and the operation unit 240 will be described in detail below, and the rest of the elements are the same as those described in the first embodiment above, and will not be repeated here.

The image sensor 230 is located on the transmission path of the light beam L1b passing through the optical element 220. The optical element 220 fully overlaps the image sensing region M1, and the image sensing region M1 can receive light reflected from the object S1 and passing through the optical element 220. Beam L1b. Therefore, the images of the object under test S1 captured by the image sensor 230 at different times or at different positions are all deformed corresponding to the fully overlapping image sensing area M1 of the optical element 220 .

The calculation unit 240 obtains the shape of the deformed area corresponding to the fully overlapping image sensing area M1 of the optical element 220 by analyzing the gray value of the image of the object under test captured by the image sensor 230 at different times or at different positions. variable (deformation difference), so as to obtain the distance variation of the object under test S1.

Fig. 3B is a schematic flowchart of a method for measuring distance provided by the second embodiment of the present invention. FIG. 3C is a schematic diagram of an image of the object under test captured by the image sensor provided by the second embodiment of the present invention. The difference between the distance measuring method in the second embodiment of the present invention and the distance measuring method in the first embodiment of the present invention is that the distance measuring method in the second embodiment of the present invention is to compare the light beams received by the image sensing region M1 through the optical element 220 The deformation difference between the first object image and the second object image generated at different times or at different positions is used to obtain the distance variation of the object S1. The images of the object under test captured by the image sensor 230 at different positions are deformed to different degrees by completely covering the optical element 220 of the image sensing area M1 .

Step S301 is executed, when the object S1 is located at the first position E1, the distance between the object S1 and the distance measuring system 200 is the first distance H1, and the control unit 134 controls the light emitting component 110 to provide a light beam L1 to the object S1 , and the object S1 reflects part of the light beam L1b.

Next, step S302 is executed, when the light emitting component 110 provides the light beam L1 to the object under test S1, the image sensor 130 captures the first bright image P2a. As shown in FIG. 3C(a), the first bright image P2a shows the image of the object under test S1 and the background object B1 within the imaging range, and the first bright image P2a corresponds to the fully overlapping image sensor of the optical element 220 The region M1 is deformed, and the characteristics of the deformation depend on the type and material of the optical element 220 . Wherein, the present embodiment takes the twisted deformation form as the implementation, as shown in FIG. 3C(a), but is not limited thereto.

Next, step S303 is executed, when the light emitting component 110 does not provide the light beam L1 to the object under test S1, the image sensor 120 captures the first dark image P2b. As shown in FIG. 3C( b ), the first dark image P2b shows the background object B1 within the imaging range, and the first dark image P1b is also deformed corresponding to the fully overlapping image sensing area M1 of the optical element 220 .

Next, step S304 is executed, the computing unit 240 respectively analyzes the distribution of gray values of the first bright image P2a and the first dark image P2b, and it can be known that the first bright image P2a and the first dark image P2b have different gray values The location, shape and range of the distribution of pixels.

Next, step S305 is executed to perform image subtraction on the first bright image P2a and the first dark image P2b to obtain a first difference image P2c of the two images. As shown in FIG. 3C( c ), the obtained first difference image P2c can display the image of the object S1 to be tested. Likewise, the first difference image P2c is deformed corresponding to the image sensing region M1 fully overlapped by the optical element 220 .

Step S306 is executed, when the object S1' is displaced from the first position E1 to the second position E2, the distance between the object S1' and the ranging system 200 is the second distance H2, and the light emitting component 110 provides the light beam L1 to The object under test S1', and the object under test S1' reflects a part of the light beam L1b.

Next, step S307 is executed, when the light emitting component 110 provides the light beam L1 to the object under test S1', the image sensor 230 captures the first bright image P2'a. As shown in FIG. 3C(d), the second bright image P2'a shows the image of the object under test S1' and the background object B1' within the imaging range, and the second bright image P2'a corresponds to the entire area of the optical element 220. The overlapping image sensing region M1 causes deformation. It is worth noting that when the object S1' is displaced from the first position E1 to the second position E2, the images of the object captured by the image sensor 230 will have different deformations (deformation differences) with different positions. ). That is, the deformation amount of the second bright image P2'a is different from that of the first bright image P2a. The deformation characteristic depends on the type and material of the optical element 220 .

Next, step S308 is executed, when the light emitting component 110 does not provide the light beam L1 to the object under test S1', the image sensor 120 captures the second dark image P2'b. As shown in FIG. 3C(e), if the background object B1 is an active light-emitting object, the second dark image P2'b can display the background object B1', and the second dark image P2'b corresponds to the full overlap of the optical element 220. The image sensing region M1 is deformed. Likewise, the deformation amount of the second dark image P2'b is different from that of the first dark image P2b. It should be noted that the second dark image P2'b can also be a grayscale image.

Next, step S309 is executed, the computing unit 240 analyzes the gray value distributions of the second bright image P2'a and the second dark image P2'b respectively, and it can be known that the second bright image P2'a and the second dark image P2' The distribution position, shape and range of pixels with different gray values in b.

Next, step S310 is executed to perform image subtraction on the second bright image P1'a and the second dark image P1'b to obtain a second difference image P2'c of the two images. As shown in FIG. 3C(f), similarly, the second difference image P2'c is deformed corresponding to the image sensing area M1 fully overlapped by the optical element 220, wherein the shape of the second difference image P2'c The variable is different from the deformation amount of the first difference image P2c.

Next, step S311 is executed to calculate the deformation amount of the second difference image P2'c relative to the first difference image P2c, so as to obtain the distance H3 between the second position E2 and the first position E1. In detail, this embodiment uses the deformation form of rotation twist as the implementation. When the object S1' is displaced from the first position E1 to the second position E2, the object S1 in the second difference image P2'c 'The rotational distortion deformation of the image produces a different deformation amount relative to the first difference image P2c. By comparing the built-in data database, the computing unit 240 can correspond to the obtained distance H3 according to the shape change generated by the deformation form of the rotation and twist.

Based on the above, through the distance measuring method according to the second embodiment of the present invention, the images of the object under test S1 captured by the image sensor 130 at different times or at different positions correspond to the fully overlapping image sensing area M1 of the optical element 220 resulting in deformation. The computing unit 240 can calculate the deformation amount of the second difference image P2'c relative to the first difference image P2c, so as to obtain the moving distance of the object S1. Accordingly, the present invention will not be subject to application restrictions like existing measurement methods such as sound waves or infrared rays, nor will the image accuracy be affected by the existing methods due to the complex placement relationship between multiple image sensors . Compared with the prior art, the distance measuring system 200 only needs to use one image sensor 230 to obtain the distance between the image sensor and the object to be measured. Not only the measurement cost is lower, but also the application range is not limited.

To sum up, the first embodiment of the present invention provides a ranging system, which includes a light-emitting component, an optical element, an image sensor, and a computing unit. The optical element partially overlaps the image sensing area of the image sensor, and the image sensing area can receive the light beam reflected from the object to be measured and pass through the optical element and the light beam not passing through the optical element. Therefore, the bright image and dark image of the object under test captured by the image sensor and the difference image processed by the image sensor according to the bright image and the dark image all include the deformed area of the image sensing area partially overlapped by the corresponding optical element and the corresponding optical element. The undeformed area of the image sensing area where elements do not overlap.

The first embodiment of the present invention provides a method for measuring distance. Since the optical element only partially overlaps the image sensing area, the bright image and the dark image of the object to be measured captured by the image sensor include the partially overlapped image sensing area of the corresponding optical element. The deformed area of the sensing area and the non-deformed area of the image sensing area corresponding to the non-overlapped optical elements. The computing unit can calculate the deformation amount of the first deformed area of the first difference image relative to the first undeformed area, so as to obtain the first distance between the object under test and the ranging system.

In addition, another embodiment of the present invention provides another method for measuring distance. Compared with the first embodiment, when the object to be tested is displaced from the first position to the second position, the calculation unit can calculate the position of the object to be measured. The relative deformation between the deformed area and the undeformed area included in the difference image of the second position is used to obtain a second distance between the second position and the ranging system. The computing unit subtracts the second distance from the first distance to obtain the distance between the first position and the second position.

In addition, the second embodiment of the present invention provides a ranging system, the optical element completely overlaps the image sensing area of the image sensor, and the image sensing area can receive the light beam reflected from the object under test and passing through the optical element. Therefore, the images of the object under test captured by the image sensor at different times or at different positions are all deformed corresponding to the fully overlapping image sensing area of the optical element.

The second embodiment of the present invention provides a method for measuring distance. Through the computing unit, the first image of the object to be measured and the second image of the object to be measured, which are generated by the light beams received by the image sensing area and passed through the optical element, are compared at different times or at different positions. The deformation difference of the image of the object under test is used to obtain the moving distance of the object under test.

Accordingly, the present invention will not be subject to application restrictions like existing measurement methods such as sound waves or infrared rays, nor will the image accuracy be affected by the existing methods due to the complex placement relationship between multiple image sensors . Compared with the prior art, the ranging system only needs to use an image sensor to obtain the distance between the image sensor and the object to be measured. Not only the cost of measurement is lower, but also the application range is not limited.

The above descriptions are only preferred feasible embodiments of the present invention, and therefore do not limit the patent scope of the present invention. Therefore, all equivalent technical changes made by using the description of the present invention and the contents of the accompanying drawings are included in the protection scope of the present invention. .

Claims (18)

1. a range-measurement system, it is characterised in that including:

One luminescence component a, it is provided that light beam is to a determinand；

One optical element, is positioned on the bang path of this light beam reflected by this determinand, is wherein treated by this This light beam of part that survey thing is reflected is suitable to by this optical element；

One imageing sensor, is positioned at by the bang path of this part light beam of this optical element, this image Sensor has an image sensing district not to be passed through to receive this part light beam by this optical element and reception This part light beam of this optical element, wherein this optical element portion this image sensing district overlapping, this image passes Sensor is for capturing a determinand image from this determinand, and this determinand image includes by this institute of image sensing district Receive and connect with this image sensing district by a deformation region produced by this segment beam of this optical element Receive not by a undeformed region produced by this segment beam of this optical element；And

One arithmetic element, compares this deformation region of this determinand image and the difference in this undeformed region, with Obtain the distance variable quantity of this determinand.

2. range-measurement system as claimed in claim 1, wherein this imageing sensor includes a control unit, should Control unit control luminescence component provide this light beam to this determinand, and control luminescence component this light is not provided Bundle is to this determinand.

3. range-measurement system as claimed in claim 2, wherein when this determinand is positioned at this primary importance, should Imageing sensor captures one first bright image when this light beam is incident to this determinand, and this imageing sensor is at this Light beam is not incident to during this determinand capture one first dark image, and this imageing sensor is according to this first bright image And this first dark image is to calculate one first error image, this first error image include to should optics unit Part this image sensing district partly overlapping this first deformation region and to should optical element institute underlapped This first undeformed region in this image sensing district.

4. range-measurement system as claimed in claim 3, wherein when this determinand is positioned at this second position, should Imageing sensor is capturing one second bright image and one second dark image, this imageing sensor according to this second Bright image and this second dark image and calculate one second error image, this second error image includes should Optical element this image sensing district partly overlapping this second deformation region and to should optical element institute This second undeformed region in this underlapped image sensing district.

5. range-measurement system as claimed in claim 4, wherein this arithmetic element calculates this first deformation region phase For the deformation quantity in the first undeformed region and calculate this second deformation region relative to the second undeformed district The deformation quantity in territory, obtains the distance variable quantity of this primary importance and this second position according to this, treats obtaining this Survey the distance variable quantity of thing.

6. a range-measurement system, it is characterised in that including:

One luminescence component a, it is provided that light beam is to a determinand；

One optical element, is positioned on the bang path of this light beam reflected by this determinand, is wherein treated by this This light beam that survey thing is reflected is suitable to by this optical element；

One imageing sensor, is positioned at by the bang path of this light beam of this optical element, this image sensing Utensil has an image sensing district to receive this light beam by this optical element；And

One arithmetic element, compares this image sensing district under different time and is received this light by this optical element The produced one first determinand image of bundle and the deformation difference degree of one second determinand image, treat obtaining this Survey the distance variable quantity of thing.

7. range-measurement system as claimed in claim 6, wherein this determinand is positioned at one respectively at the different time Primary importance and a second position, the distance variable quantity of this determinand is this primary importance and this second position Spacing.

8. range-measurement system as claimed in claim 7, wherein when this determinand is positioned at a primary importance, should Imageing sensor captures one first bright image and one first dark image, when this determinand is positioned at a second position Time, this imageing sensor is capturing one second bright image and one second dark image, this imageing sensor according to This first bright image and this first dark image and calculate one first error image and according to this second bright image And this second dark image and calculate one second error image.

9. range-measurement system as claimed in claim 8, wherein this arithmetic element compare this first error image with The deformation difference degree of one second error image.

10. the method measuring distance, it is characterised in that including:

When a determinand is positioned at a primary importance, capture one first determinand image, this first determinand figure As including one first deformation region and one first undeformed region；And

The deformation quantity calculating this first deformation region and this first undeformed region obtains this first according to this Put one first distance between this range-measurement system.

11. methods measuring distance as claimed in claim 10, also include:

When this determinand is positioned at a second position, capture one second determinand image, this second determinand figure As including one second deformation region and one second undeformed region；

The deformation quantity calculating this second deformation region and this second undeformed region obtains this second according to this Put the second distance between this range-measurement system；And

Calculate the difference between this first distance and this second distance, to obtain this primary importance and this second This spacing put.

12. methods measuring distance as claimed in claim 10, it is applicable to a range-measurement system, wherein should Range-measurement system includes an imageing sensor, an optical element, a luminescence component and an arithmetic element, this light Learning an image sensing district of element partly occlusion image sensor, wherein this first deformation region is to should light Learning element this image sensing district partly overlapping, this first undeformed region correspondence optical element institute is underlapped Image sensing district.

13. methods measuring distance as claimed in claim 10, also include:

When this determinand is positioned at this primary importance, it is provided that a light beam is incident to this determinand；

Capture one first bright image；

Capture one first dark image；

Analyze this first bright image and the gray value of this first dark image；And

This first bright image and this first dark image are performed image subtraction, to produce one first differential chart Picture, this first error image includes this first deformation region and this first undeformed region.

14. methods measuring distance as claimed in claim 11, also include:

When this determinand is positioned at this second position, it is provided that a light beam is incident to this determinand；

Capture one second bright image；

Capture one second dark image；

Analyze this second bright image and the gray value of this second dark image；

This second bright image and this second dark image are performed image subtraction, to produce one second differential chart Picture, this second error image includes this second deformation region and this second undeformed region.

15. 1 kinds of methods measuring distance, it is characterised in that including:

When a determinand is positioned at a primary importance, capture one first determinand image；

When this determinand is positioned at this second position, capture one second determinand image；

The deformation difference degree calculating this first determinand image and this second determinand image obtains this according to this A spacing between primary importance and this second position.

16. methods measuring distance as claimed in claim 15, it is applicable to a range-measurement system, wherein should Range-measurement system includes an imageing sensor, an optical element, a luminescence component and an arithmetic element, this light Learn element and cover an image sensing district of this imageing sensor all sidedly.

17. methods measuring distance as claimed in claim 15, wherein capture this first determinand image Step also includes:

A light beam is provided to be incident to this determinand；

Capture one first bright image；

This light beam is not provided to be incident to this determinand；

Capture one first dark image；

Analyze this first bright image and the gray value of this first dark image；And

This first bright image and this first dark image are performed image subtraction, to produce one first differential chart Picture.

18. methods measuring distance as claimed in claim 15, wherein capture this second determinand image Step also includes:

A light beam is provided to be incident to this determinand；

Capture one second bright image；

This light beam is not provided to be incident to this determinand；

Capture one second dark image；

Analyze this second bright image and the gray value of this second dark image；

This second bright image and this second dark image are performed image subtraction, to produce one second differential chart Picture；And

The deformation difference degree calculating this first error image and this second error image obtains this spacing according to this.