Distance measuring device based on structured light and double image sensors and distance measuring method of distance measuring device

Abstract

The invention provides a distance measuring device based on structured light and double image sensors and a distance measuring method of the distance measuring device. The distance measuring device comprises a structured light emitting module, a first image sensor, a second image sensor and a data processing module, wherein the processing module is a DSP circuit and comprises a power supply port and at least one output port. When distance measuring is performed, a light source emitted by the structured light emitting module illuminates a target; the first image sensor receives the color imagedata of the target; and the second image sensor receives the infrared-related image data of the target; and the data processing module performs mutual correction by using the infrared-related image data and the color image data of the target so as to generate depth values with higher reliability. With the distance measuring device and the distance measuring method thereof of the present inventionadopted, the depth values of a plurality of points within a wide angle range of a 2D range can be measured at a time; and the measured depth values of the plurality of points can be transmitted to other devices, so that the devices can use the depth values.

Description

technical field [0001] The invention relates to a ranging device and a ranging method based on structured light and dual image sensors, belonging to the field of intelligent technology. Background technique [0002] Intelligent obstacle avoidance is currently a research hotspot in the field of intelligent robots and small unmanned aerial vehicles. Intelligent robots and unmanned aerial vehicles need to monitor the surrounding environment obstacles in real time during their actions, quickly and accurately determine the location of obstacles, and then avoid them in time. In order to avoid obstacles, it is necessary to measure the distance between the robot or UAV and the obstacle through the ranging device. [0003] Commonly used ranging devices mainly include laser sensors, infrared sensors, and visual sensors. [0004] Due to the fast speed of light, the laser ranging sensor makes the round-trip time of the beam extremely short when measuring small distances. It is not sui...

AI Technical Summary

Problems solved by technology

[0005] Most infrared sensor ranging is based on the principle of triangulation. The advantage of infrared sensors is that they are not affected by visible light and can be measured day and night. They have high angle sensitivity, simple structure, and low price. They can quickly sense the existence of objects, but they are time-consuming The environment is greatly affected. The color, direction, and surrounding light of the object can cause measurement errors, and the measurement is not accurate enough.

[0006] The advantages of visual sensors are wide detection range and rich information. In practical applications, multiple visual sensors are often used or used in conjunction with other sensors. However, the image processing method has a large amount of calculation, poor real-time performance, and high requirements for processors.

And in practical applications, the visual ranging sensor cannot detect the existence of transparent obstacles such as glass, and is greatly affected by the light intensity and smoke in the field of view.

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