A 3D light source positioning device and method

Abstract

The present invention discloses a 3D light source positioning device and method. The device includes: a darkroom component, a photosensitive component, and a control component; a plurality of light transmission channels are provided on one side sidewall of the darkroom component; the photosensitive component is arranged on the inner wall of the opposite side of the darkroom component to the light transmission channels; the control component is electrically connected to the photosensitive component, obtains the position information of the light spot where the light rays of the light source irradiate the photosensitive component after passing through the plurality of light transmission channels, and calculates the position information of the light source according to the channel position information of the plurality of light transmission channels on the sidewall of the darkroom component. By calculating the position information of the light source through the plurality of light channels on the sidewall of the darkroom with determined positions and the position information of the light spots on the photosensitive component obtained by detection, it has the advantages of high positioning accuracy, fast response speed, and low equipment cost.

Description

Technical Field

[0001] The present invention relates to the technical field of optical positioning, and particularly relates to a 3D light source positioning device and method. Background Art

[0002] For the two-dimensional positioning of a moving light source, it can be achieved through a lens and a photosensitive array. However, to determine the third dimension, i.e., the distance, a zoom lens and a focusing algorithm must be used. The zoom system has a high equipment cost, and the distance judgment using the focusing scheme has a slow convergence speed. By using a zoom lens, the focal length of the zoom lens is continuously adjusted, and according to the statistical characteristics of the light source image, it is judged whether there is an improvement in focusing, and the light source is locked through continuous iterative convergence.

[0003] In addition, in the prior art, there is also a scheme for measuring the distance of an actual object through laser ranging; however, the above scheme requires hitting a laser point on a light source reflector, and the reflector needs to have a large reflection coefficient, which limits the application range of the scheme. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a 3D light source positioning device and method, which calculate the position information of the light source through multiple light channels on the side wall of a darkroom with a determined position and the position information of the light spot on the photosensitive component obtained by detection, and have the advantages of high positioning accuracy, fast response speed, and low equipment cost.

[0005] To solve the above technical problems, a first aspect of the embodiments of the present invention provides a 3D light source positioning device, including: a darkroom component, a photosensitive component, and a control component;

[0006] A plurality of light transmission channels are provided on one side wall of the darkroom component;

[0007] The photosensitive component is arranged on the inner wall of the darkroom component on the side opposite to the light transmission channels;

[0008] The control component is electrically connected to the photosensitive component, obtains the position information of the light spot irradiated on the photosensitive component after the light source light passes through the plurality of light transmission channels, and calculates the position information of the light source according to the channel position information of the plurality of light transmission channels on the side wall of the darkroom component.

[0009] Further, the photosensitive component detects the light intensity of the light spot in real time, and when the light intensity exceeds a preset intensity value, the light spot position information is sent to the control component.

[0010] Further, the darkroom component is provided with a partition;

[0011] The photosensitive component includes a plurality of photosensitive units;

[0012] The partition divides the darkroom assembly into a plurality of darkroom units, and the side wall of each darkroom unit includes: one of the light transmission channels and the corresponding photosensitive unit.

[0013] Further, a preset distance is provided between every two of the plurality of darkroom units.

[0014] Further, the calculation formula for the position information of the light source is:

[0015]

[0016] wherein, the coordinates of the light source are (x, y, z), the coordinates of the i-th light transmission channel are (x ri , y ri , 0), and the coordinates of the i-th illumination point are (x i , y i , -D), where D is the vertical distance from the center of the light channel to the photosensitive surface of the photosensitive component.

[0017] Further, the light source includes a plurality of point light sources;

[0018] The photosensitive component acquires the illumination point position information of the plurality of point light sources on the photosensitive component and groups all the illumination point position information;

[0019] The control component receives each group of the grouped illumination point position information and calculates the position information of the plurality of point light sources respectively.

[0020] Further, the photosensitive component is a DVS dynamic image sensor.

[0021] Further, the light transmission channel includes: a light transmission hole, a small-aperture lens or a fixed-focus convex lens.

[0022] Correspondingly, a second aspect of the embodiments of the present invention provides a 3D light source positioning method, which positions a light source by using the 3D light source positioning device according to any one of claims 1-8, and includes the following steps:

[0023] Acquire the illumination point position information of a plurality of illumination points in the photosensitive component;

[0024] Calculate the position information of the light source according to the channel position information of the plurality of light transmission channels on the side wall of the darkroom assembly.

[0025] Further, the calculation formula for the position information of the light source is:

[0026]

[0027] wherein, the coordinates of the light source are (x, y, z), the coordinates of the i-th light transmission channel are (xri , y ri , 0), the coordinates of the i-th said illumination point are (x i , y i , -D), where D is the vertical distance from the center of the light channel to the photosensitive surface of the photosensitive component.

[0028] Further, before obtaining the illumination point position information of multiple illumination points in the photosensitive component, it further includes:

[0029] Obtaining the illumination intensity information of the illumination point;

[0030] Judging whether the illumination intensity information is greater than or equal to a preset intensity value;

[0031] If so, sending the illumination point position information of the illumination point to the control component;

[0032] If not, discarding the illumination point position information of the illumination point.

[0033] Correspondingly, the third aspect of the embodiments of the present invention provides a 3D light source positioning method, which positions multiple point light sources through the above 3D light source positioning device, including the following steps:

[0034] Grouping all the illumination point position information of the multiple point light sources on the photosensitive component;

[0035] According to each group of the grouped illumination point position information, combining the channel position information of multiple light transmission channels, respectively calculating the position information of the multiple point light sources.

[0036] The above technical solutions of the embodiments of the present invention have the following beneficial technical effects:

[0037] Calculating the position information of the light source through multiple light channels on the side wall of the darkroom with determined positions and the detected illumination point position information on the photosensitive component has the advantages of high positioning accuracy, fast response speed, and low equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of the first embodiment of the 3D light source positioning device provided by the embodiments of the present invention;

[0039] Figure 2 is a schematic diagram of the second embodiment of the 3D light source positioning device provided by the embodiments of the present invention;

[0040] Figure 3 is a schematic diagram of the third embodiment of the 3D light source positioning device provided by the embodiments of the present invention;

[0041] Figure 4 is a schematic diagram of the fourth embodiment of the 3D light source positioning device provided by the embodiments of the present invention.

[0042] Reference numerals:

[0043] 1. Light source, 2. Darkroom assembly, 21. Darkroom unit, 3. Photosensitive assembly, 31. Photosensitive unit, 4. Light transmission channel, 5. Light spot, 6. Partition board. Detailed implementation manners

[0044] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the specific implementation manners and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following descriptions, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0045] Please refer to Figure 1 , a first aspect of an embodiment of the present invention provides a 3D light source positioning device, including: a darkroom assembly 2, a photosensitive assembly 3, and a control assembly; a plurality of light transmission channels 4 are provided on one side sidewall of the darkroom assembly 2; the photosensitive assembly 3 is disposed on the inner wall of the side of the darkroom assembly 2 opposite to the light transmission channels 4; the control assembly is electrically connected to the photosensitive assembly 3, obtains the position information of the light spot 5 where the light of the light source 1 passes through the plurality of light transmission channels 4 and irradiates the photosensitive assembly 3, and calculates the position information of the light source 1 according to the channel position information of the plurality of light transmission channels 4 on the sidewall of the darkroom assembly 2.

[0046] The above device calculates the position information of the light source 1 through the plurality of light channels on the sidewall of the darkroom with determined positions and the position information of the light spot on the photosensitive assembly 3 obtained by detection, and has the advantages of high positioning accuracy, fast response speed, and low equipment cost.

[0047] The above light source 1 can be an active light source or a reflected light source, and mainly can emit light.

[0048] Specifically, the photosensitive assembly 3 is a DVS dynamic image sensor. The DVS dynamic image sensor is composed of a photosensitive dot matrix and can detect weak relative light intensity change events. When the light intensity change exceeds a certain measurement value, a change is reported.

[0049] Furthermore, the photosensitive assembly 3 detects the light intensity of the light spot 5 in real time, and sends the light spot position information to the control assembly when the light intensity exceeds a preset intensity value.

[0050] Furthermore, the calculation formula for the position information of the light source 1 is:

[0051]

[0052] wherein, the coordinates of the light source 1 are (x, y, z), and the coordinates of the i-th light transmission channel 4 are (x ri, y ri , 0), the coordinates of the i-th illumination point 5 are (x i , y i , -D), where D is the perpendicular distance from the center of the optical channel to the photosensitive surface of the photosensitive component.

[0053] In a specific embodiment, as Figure 1 shown, two optical transmission channels 4 are provided on the side wall of the darkroom component 2. The light source 1 with coordinates (x, y, z) is located on one side of the darkroom component 2, and its light irradiates two illumination points 5 on the photosensitive component 3 through the two optical transmission channels 4. After detection, the illumination point position information (x a , y a , -D) and (x b , y b , -D) of the two illumination points 5 are obtained. Based on the fixed position information of the two optical transmission channels 4, the specific values of the coordinates (x, y, z) of the light source 1 can be calculated, that is:

[0054]

[0055] In another specific embodiment, as Figure 2 shown, three optical transmission channels 4 are provided on the side wall of the darkroom component 2. The light source 1 with coordinates (x, y, z) is located on one side of the darkroom component 2, and its light irradiates three illumination points 5 on the photosensitive component 3 through two optical transmission channels 4. Based on the position information of the three illumination points on the photosensitive component 3 and the channel position information of the optical transmission channels 4, the specific values of the coordinates (x, y, z) of the light source 1 can be calculated according to the above formula.

[0056] In the above two embodiments, a high-sensitivity photosensitive component 3, multiple holes / lenses and a darkroom are assembled. Without strict focusing, real-time positioning of the 3D moving light source 1 can be achieved, with good real-time performance and a simple algorithm.

[0057] In addition to the number of optical transmission channels 4 being 2 or 3 in the above embodiments, the number of optical transmission channels 4 can be more, so that more position information is included in the above calculation formula to improve the calculation accuracy and reduce the position detection error.

[0058] Further, the darkroom component 2 is provided with a partition 6; the photosensitive component 3 includes multiple photosensitive units 31; the partition 6 divides the darkroom component 2 into multiple darkroom units 21, and the side wall of each darkroom unit 21 includes: an optical transmission channel 4 and a corresponding photosensitive unit 31.

[0059] In another specific implementation manner of the embodiment of the present invention, please refer to Figure 3, a partition 6 can also be provided in the darkroom assembly 2 to divide the darkroom assembly 2 into two darkroom units 21 corresponding one by one to the optical transmission channels 4. The two darkroom units are not connected to each other, and the photosensitive assembly 3 is divided into multiple photosensitive units 31 corresponding one by one to the darkroom units 21. The optical fiber of the light source 1 irradiates through the optical transmission channel 4 into the corresponding darkroom, and the illumination points 5 are obtained on the corresponding photosensitive units 31. Through the mutually partitioned darkroom units 21, the mutual interference caused by the illumination points 5 of the light source 1 approaching or overlapping each other after passing through different optical transmission channels 4 is prevented.

[0060] Furthermore, a preset distance is provided between every two of the multiple darkroom units 21.

[0061] In another specific implementation manner of the embodiment of the present invention, please refer to Figure 4 , the darkroom assembly 2 is divided into three darkroom units 21 by the partition 6, and the photosensitive assembly 3 is also correspondingly divided into three photosensitive units 31. Each darkroom side wall is provided with an optical transmission channel 4. The adjacent darkroom units 21 are kept at a preset distance from each other. By expanding the distance between each darkroom unit 21, the depth measurement range of the light source 1 is increased, and the accuracy of the position information measurement is also improved.

[0062] In addition, the light source 1 includes multiple point light sources 1; the photosensitive assembly 3 obtains the illumination point position information of the multiple point light sources 1 on the photosensitive assembly 3 and groups all the illumination point position information; the control assembly receives each group of illumination point position information after grouping and calculates the position information of the multiple point light sources 1 respectively.

[0063] When the light source 1 is multiple independent point light sources 1, the light rays emitted by each point light source 1 pass through multiple optical transmission channels 4 and reach the photosensitive assembly 3. It is necessary to group all the illumination points 5 to determine the number of point light sources 1, and then calculate the position information of each point light source 1 according to the above calculation formula.

[0064] The method of grouping belongs to the category of algorithms and has diversity. It is not a claim of this patent. Only an implementation example is given here: for a specific application, the laser points encoded by the PN sequence irradiate the target area to form reflections on the possible objects, forming point light sources with known discrimination rules at the transmitting end. At the receiving end, the set of winning point light sources is identified according to the intensity, and grouped according to the PN sequence. The coordinates of the same group at the same moment (time period) can be constructed as the input of the equations shown in the text.

[0065] Specifically, the optical transmission channel 4 includes: a light-transmitting hole, a small-aperture lens or a fixed-focal-length convex lens. For the detection of the position of an ordinary light source 1, a light-transmitting hole or a small-aperture lens can be used. When it is necessary to increase the light intensity, a fixed-focal-length convex lens can be used to increase the aperture and project higher-intensity light rays.

[0066] Correspondingly, a second aspect of the embodiments of the present invention provides a 3D light source positioning method, which positions the light source 1 through the 3D light source positioning device according to any one of claims 1-8, and includes the following steps:

[0067] Step 200, obtaining the light point position information of multiple light points 5 in the photosensitive component 3.

[0068] Step 300, calculating the position information of the light source 1 based on the channel position information of multiple light transmission channels 4 on the side wall of the darkroom component 2.

[0069] Specifically, the calculation formula for the position information of the light source 1 is:

[0070]

[0071] Among them, the coordinates of the light source 1 are (x, y, z), the coordinates of the i-th light transmission channel 4 are (x ri , y ri , 0), and the coordinates of the i-th light point 5 are (x i , y i , -D), where D is the vertical distance from the center of the light channel to the photosensitive surface of the photosensitive component.

[0072] Further, before obtaining the light point position information of multiple light points 5 in the photosensitive component 3 in step 200, it further includes:

[0073] Step 110, obtaining the light intensity information of the light point 5.

[0074] Step 120, determining whether the light intensity information is greater than or equal to a preset intensity value.

[0075] Step 130, if so, sending the light point position information of the light point 5 to the control component.

[0076] Step 140, if not, discarding the light point position information of the light point 5.

[0077] Correspondingly, a third aspect of the embodiments of the present invention provides a 3D light source positioning method, which positions multiple point light sources through the above 3D light source positioning device, and includes the following steps:

[0078] Step 400, grouping all the light point position information of multiple point light sources on the photosensitive component 3.

[0079] Step 500, respectively calculating the position information of multiple point light sources 1 based on the grouped light point position information of each group and combining the channel position information of multiple light transmission channels 4.

[0080] In the above solution, when the light source 1 includes multiple point light sources 1, the photosensitive component 3 obtains the position information of the light spots of the multiple point light sources 1 on the photosensitive component 3 and groups all the position information of the light spots; the control component receives the grouped position information of each group of light spots and calculates the position information of the multiple point light sources 1 respectively. By adopting multiple darkroom units 21, each darkroom unit 21 is configured with a high-sensitivity DVS dynamic image sensor and a small hole or a lens for 3D light source 1 positioning, which can reduce mutual interference.

[0081] An embodiment of the present invention aims to protect a 3D light source positioning device and method. The device includes: a darkroom component, a photosensitive component, and a control component; a plurality of light transmission channels are provided on one side sidewall of the darkroom component; the photosensitive component is arranged on the inner wall of the side opposite to the darkroom component and the light transmission channels; the control component is electrically connected to the photosensitive component, obtains the position information of the light spots where the light rays of the light source pass through the plurality of light transmission channels and irradiate on the photosensitive component, and calculates the position information of the light source according to the channel position information of the plurality of light transmission channels on the sidewall of the darkroom component. The above technical solution has the following effects:

[0082] By calculating the position information of the light source through the multiple light channels on the sidewall of the darkroom with determined positions and the position information of the light spots on the photosensitive component obtained by detection, it has the advantages of high positioning accuracy, fast response speed, and low equipment cost.

[0083] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A 3D light source positioning device, characterized in that, Comprising: A darkroom component (2), a photosensitive component (3) and a control component; A plurality of light transmission channels (4) are provided on one side wall of the darkroom component (2); The photosensitive component (3) is arranged on the inner wall of the side of the darkroom component (2) opposite to the light transmission channels (4); The control component is electrically connected to the photosensitive component (3), obtains the position information of the illumination points where the light of the light source (1) passes through the plurality of light transmission channels (4) and irradiates the photosensitive component (3), and calculates the position information of the light source (1) according to the channel position information of the plurality of light transmission channels (4) on the side wall of the darkroom component (2); The darkroom component (2) is provided with a partition (6); The photosensitive component (3) includes a plurality of photosensitive units (31); The partition (6) divides the darkroom component (2) into a plurality of darkroom units (21), and the side wall of each darkroom unit (21) includes: one of the light transmission channels (4) and the corresponding photosensitive unit (31).

2. The 3D light source positioning device according to claim 1, wherein The photosensitive component (3) detects the illumination intensity of the illumination points (5) in real time, and sends the position information of the illumination points to the control component when the illumination intensity exceeds a preset intensity value.

3. The 3D light source positioning device according to claim 1, wherein A preset distance is provided between every two of the plurality of darkroom units (21).

4. The 3D light source positioning device according to any one of claims 1-3, wherein The calculation formula for the position information of the light source is: Among them, the coordinates of the light source (1) are (x, y, z), and the coordinates of the i-th light transmission channel (4) are (x ri , y ri , 0), and the coordinates of the i-th light illumination point (5) are (x i , y i , -D), where D is the vertical distance from the center of the light transmission channel to the photosensitive surface of the photosensitive component, a and b represent the numbers of different light transmission channels, and ra and rb respectively represent the coordinates of the light illumination points on the photosensitive components corresponding to the light transmission channels.

5. The 3D light source positioning device according to any one of claims 1-3, wherein The light source (1) includes a plurality of point light sources; The photosensitive component (3) obtains the position information of the illumination points of the plurality of point light sources on the photosensitive component (3), and groups all the position information of the illumination points; The control component receives the grouped position information of each group of illumination points, and calculates the position information of the plurality of point light sources respectively.

6. The 3D light source positioning device according to any one of claims 1-3, wherein The photosensitive component (3) is a DVS dynamic image sensor.

7. The 3D light source positioning device according to any one of claims 1-3, wherein The light transmission channels (4) include: light-transmitting holes, small-aperture lenses or fixed-focus convex lenses.

8. A 3D light source positioning method, characterized in that Positioning the light source by the 3D light source positioning device according to any one of claims 1-7 includes the following steps: Obtaining the position information of the illumination points (5) of a plurality of illumination points in the photosensitive component (3); Calculating the position information of the light source (1) according to the channel position information of the plurality of light transmission channels (4) on the side wall of the darkroom component (2).

9. The 3D light source positioning method according to claim 8, wherein The calculation formula for the position information of the light source (1) is: Among them, the coordinates of the light source (1) are (x, y, z), and the coordinates of the i-th light transmission channel (4) are (x ri , y ri , 0), and the coordinates of the i-th light illumination point (5) are (x i , y i , -D), where D is the vertical distance from the center of the light transmission channel to the photosensitive surface of the photosensitive component, a and b represent the numbers of different light transmission channels, and ra and rb respectively represent the coordinates of the light illumination points on the photosensitive components corresponding to the light transmission channels.

10. The 3D light source positioning method according to claim 8, characterized in that, Before obtaining the position information of the illumination points (5) of a plurality of illumination points in the photosensitive component (3), it further includes: Obtaining the illumination intensity information of the illumination points (5); Judging whether the illumination intensity information is greater than or equal to a preset intensity value; If so, send the illumination point position information of the illumination point (5) to the control component; If not, discard the illumination point position information of the illumination point (5).

11. A 3D light source positioning method, characterized in that, Positioning a plurality of point light sources by the 3D light source positioning device according to claim 5, comprising the following steps: Group the illumination point position information of all the illumination points of the plurality of point light sources on the photosensitive component (3); According to the grouped illumination point position information of each group, and in combination with the channel position information of a plurality of light transmission channels (4), calculate the position information of the plurality of point light sources respectively.

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