Distance measuring device of measuring type narrow depth-of-field camera

Abstract

The utility model relates to the field of optical measurement, in particular to a distance measuring device of a measuring type narrow depth-of-field camera. The device comprises at least three monochromatic cameras, and each camera is configured to obtain a target object image in a preset depth-of-field range; comprising a red optical filter, a green optical filter and a blue optical filter and is installed in front of a lens of the monochromatic camera; and the driving motor is used for driving different optical filters in the rotary optical filtering assembly to be switched. The monochromatic photoreceptor and the rotary optical filter are combined, a smaller depth-of-field range can be obtained, a full-color image can be obtained finally, data are rapidly processed through image extraction and fusion, and the method is suitable for automatic driving and remote monitoring. The low-cost monochromatic camera is adopted to replace a color camera, the monochromatic photoreceptor and the rotationally-controlled optical filter are combined, the problem of precision waste can be solved, precision distribution can be flexibly adjusted, an efficient distance measurement scheme is provided, and the method is suitable for the field needing rapid distance information feedback.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of optical measurement, especially relates to a distance measuring device of quantity general narrow depth of field camera. BACKGROUND

[0002] The existing distance measurement technology usually relies on complex calculation methods or multi-camera devices, which have limitations in processing speed and cost. Especially in application scenarios that require fast distance information, such as autonomous driving and remote monitoring, existing technologies often fail to meet real-time requirements due to their high complexity and strict hardware requirements. In addition, traditional methods are often limited in low-light environments or for scenes with complex textures.

[0003] The technical problem is the limitation of existing distance measurement technology in imaging speed. The existing distance measurement method usually relies on complex algorithms or expensive multi-camera devices, which often have limitations in processing speed under different environmental light conditions. SUMMARY

[0004] The present application provides a distance measuring device of quantity general narrow depth of field camera, which can measure the depth of field distance of objects in multiple specific distance ranges and obtain real-time feedback. In the application scenarios of autonomous driving or remote monitoring, each camera can be imaged according to its special focal length, and by using multiple monochrome cameras, each equipped with appropriate filters, the device can achieve optimized response under various lighting conditions, thereby achieving technical effects through efficient image processing technology, improving the overall response speed and imaging quality of the device.

[0005] The present application provides a distance measuring device of quantity general narrow depth of field camera, which can measure the depth of field distance of objects in multiple specific distance ranges and obtain real-time feedback. In the application scenarios of autonomous driving or remote monitoring, each camera can be imaged according to its special focal length, and by using multiple monochrome cameras, each equipped with appropriate filters, the device can achieve optimized response under various lighting conditions, thereby achieving technical effects through efficient image processing technology, improving the overall response speed and imaging quality of the device.

[0006] At least three monochrome cameras, each configured to obtain target object images within a preset depth of field range;

[0007] A rotating filter assembly including red, green, and blue filters is installed in front of the lens of the monochrome camera.

[0008] A drive motor is used to drive the different filters in the rotating filter assembly to switch.

[0009] In some embodiments, the device includes at least three image extractors and at least three image fusioners; each monochrome camera is configured with a separate image extractor, which extracts the target object images obtained by the monochrome camera and transmits them to the image fusioner for image fusion.

[0010] In some embodiments, the monochrome camera employs a narrow depth of field camera; the narrow depth of field camera is a camera with a depth of field thickness of foreground depth minus background depth less than 0.5 meters.

[0011] In some embodiments, the monochrome camera can employ a monochrome CMOS sensor.

[0012] In some embodiments, the monochrome camera can have a smaller diffraction spot radius and a narrower imaging depth of field than a full-color camera with the same density of light-sensitive elements.

[0013] In some embodiments, the rotating filter assembly is 360 degrees rotatable by a driving motor.

[0014] In some embodiments, each monochrome camera is configured with a corresponding depth of field range for a preset object distance.

[0015] In some embodiments, the rotating filter assembly further comprises an infrared filter.

[0016] In some embodiments, for a preset object distance, the focal length of each monochrome camera is fixed, the distance from the light-sensitive device to the lens of the monochrome camera is fixed, and the image distance of the monochrome camera is fixed.

[0017] In some embodiments, the device is installed on a vehicle or a monitoring rack.

[0018] Compared with the prior art, the device has the following beneficial effects:

[0019] The device can quickly capture images of target objects under various lighting conditions by using monochrome light sensors and rotating control filters. By using monochrome cameras instead of traditional color camera devices, and by simplifying the operation, the device has a wider application prospect and is expected to promote the popularization of advanced imaging technology. By improving the reliability of the device, the safety of the automatic device is also significantly improved. The device solves the problem of precision waste in some application scenarios, reasonably compresses data at the lens end, and can flexibly adjust the precision distribution. These improvements reflect the technical innovation of the device, which aims to solve the limitations of the prior art in distance measurement efficiency and provide an efficient solution, especially suitable for technical fields that require fast distance information feedback. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural composition schematic diagram of a monochrome camera distance measurement device according to an embodiment of the present application;

[0021] Figure 2 FIG. 2 is a structural schematic diagram of a rotating filter assembly according to an embodiment of the present application;

[0022] Figure 3 Figure 2 is a schematic diagram of a camera with a red filter under the lens according to the embodiment 2 of the present application;

[0023] Figure 2 is a schematic diagram of a camera with a red filter under the lens according to the embodiment 2 of the present application;

[0024] Figure 4 Figure 3 is an equivalent variation diagram of the rotating filter assembly according to the embodiment 2 of the present application;

[0025] Figure 3 is an equivalent variation diagram of the rotating filter assembly according to the embodiment 2 of the present application;

[0026] Figure 5 Figure 4 is a schematic diagram of the imaging principle of the vehicle head under the set focal length according to the embodiment 3 of the present application;

[0027] Figure 6 Figure 4 is a schematic diagram of the imaging principle of the vehicle head under the set focal length according to the embodiment 3 of the present application;

[0028] Figure 7 Figure 4 is a schematic diagram of the imaging principle of the vehicle head under the set focal length according to the embodiment 3 of the present application;

[0029] Figure 8 Figure 4 is a schematic diagram of the imaging principle of the vehicle head under the set focal length according to the embodiment 3 of the present application. DETAILED DESCRIPTION

[0030] The present application will be further described in detail below in combination with test examples and specific embodiments. However, it should not be understood that the scope of the above-mentioned subject matter of the present application is limited to the following embodiments only, and any technology realized based on the content of the present application falls within the scope of the present application.

[0031] In the description of the specific embodiments of the present application, the orientation or position relationship terms such as "up", "down", "left", "right", "center", "inner", "outer", "side" and the like appear without special instructions, which are based on the orientation or position relationship expressed in the drawings, or the orientation or position relationship used when the product / device / apparatus is placed. These orientation or position relationship terms are only used to facilitate the description of the present application or simplify the description in the specific embodiments, so as to facilitate the quick understanding of the scheme by the technicians, and therefore cannot be understood as indicating or implying that the specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present application.

[0032] In the description of the embodiments of the present application, the technical terms "first", "second" and the like only distinguish one entity or operation from another entity or operation, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is two and more than two, unless otherwise explicitly and specifically limited.

[0033] Reference herein to "embodiments" means that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] Embodiment 1

[0035] The applicant found in the course of research that when using a traditional dual-camera distance measurement device, if the technical goal of fast response is to be achieved, complex image synchronization and a large amount of data processing and other cumbersome steps are required, and only limited response speed can be achieved. In solving practical engineering problems, in order to achieve the technical goal of instant distance measurement, the prior art cannot meet the needs of automatic driving or high dynamic environment.

[0036] Therefore, after studying the problem, the applicant proposes a distance measurement device for a quantity of narrow depth-of-field cameras, which, in the case of fast distance measurement technology, achieves the technical effect of improving the speed of distance measurement processing by a technical solution comprising a plurality of monochrome cameras and a dynamic rotating filter assembly, which allows each camera to independently capture images within its corresponding depth-of-field range and quickly process them, thereby achieving the technical effect of improving the speed of distance measurement processing. Such a configuration allows the device to quickly adapt to changes under various lighting conditions, significantly improving operational efficiency and reliability, and particularly showing significant advantages in applications such as autonomous driving and remote monitoring.

[0037] The embodiments of the present application provide a distance measurement device for a quantity of narrow depth-of-field cameras, comprising: at least three monochrome cameras, each camera configured to obtain images of objects within a predetermined depth-of-field range; a rotating filter assembly comprising red, green and blue filters; and an infrared filter can also be included; a drive motor for controlling the switching of different filters in the rotating filter assembly. It also includes at least three image extractors and at least three image fusion devices; each of the monochrome cameras is configured with a separate image extractor, which extracts the target object images obtained by the monochrome camera and transmits them to the image fusion device for image fusion.

[0038] The distance measurement device of the quantity general narrow depth of field camera provided by the embodiment of the application can be applied to more technical fields, such as automatic driving, remote monitoring, virtual reality, and machine vision, and the like, including intelligent traffic devices and safety monitoring, and the like. In the above implementation manner, when the distances of multiple objects are controlled, the images in respective special depth of field ranges can be captured by the quantity general arranged monochrome camera, the filter best suitable for the current light condition can be selected by the dynamically adjusted rotary filter assembly, and the accurate distance information processing can be realized by the efficient image extraction and fusion technology, so that the real-time distance measurement effect is achieved. This method reduces the complex post-processing steps, and not only improves the processing speed, but also enhances the applicability and reliability of the device in various environments.

[0039] Embodiment 2

[0040] As a further optimization of the foregoing embodiment, the embodiment provides a distance measurement device of a quantity general narrow depth of field camera. The device combines the quantity general arranged monochrome camera and the rotary filter assembly, and provides an effective technical solution for depth of field distance measurement and processing.

[0041] In order to realize a narrower depth of field acquisition, the photosensitive device needs to have a finer diffraction spot perception capability. The embodiment adopts a photosensitive device with high pixel density. In order to control the cost, the application adopts an equivalent method of improving the pixel density, that is, the color function is separated from the lens, and the filter is used to complete the color function, so that the space occupied by a single pixel point is reduced, and the pixel density of the photosensitive device is effectively increased. In the case that the photosensitive element density is the same, the monochrome camera can distinguish a smaller diffraction spot radius and has a narrower imaging depth of field than the full-color camera.

[0042] In the embodiment of the application, the monochrome camera is a narrow depth of field camera; the narrow depth of field camera is a camera with a depth of field thickness of less than 0.5 meters obtained by subtracting the front depth of field from the rear depth of field. The distance measurement device using the narrow depth of field camera can quickly acquire the images in the preset depth of field range and the distance data from the camera.

[0043] The front end of the device is equipped with red, green, and blue filters. These filters are used to process the images into familiar color images without affecting the realization of the distance estimation function.

[0044] Please refer to Figure 1 , Figure 1 The structure composition schematic diagram of the distance measurement device of the quantity general narrow depth of field camera in the embodiment of the application is shown. The main structure of the device includes:

[0045] Rotary filter assembly: please refer to Figure 2 , Figure 2Figure 1 is a schematic diagram of a rotating filter assembly for a multi-camera system. The rotating filter assembly is equipped with at least three filters, red, green, and blue. In some embodiments, the rotating filter assembly can also include an infrared filter. The rotating filter assembly is controlled by a drive motor to rapidly rotate the filters. The rotating filter assembly can be configured as a filter carousel. In this configuration, each camera is covered by a red, green, or blue filter after a 360 degree rotation of the filter carousel. This configuration allows each camera to receive the most appropriate spectrum of light for the current ambient light conditions at any given time, thereby improving the quality and accuracy of the images.

[0046] Drive motor: The drive motor is used to control the rapid rotation of the rotating filter assembly and to switch between different color filters.

[0047] Linearly arranged monochrome cameras: Please refer to Figure 3 , Figure 3 Figure 2 is a schematic diagram of a camera under a red filter in a linearly arranged configuration. Please refer to Figure 3 Figure 2(a) is a schematic diagram of a camera under a red filter in a linearly arranged configuration. Please refer to Figure 3 Figure 2(b) is a schematic diagram of a camera under a blue filter in a linearly arranged configuration. Please refer to Figure 3 Figure 2(c) is a schematic diagram of a camera under a green filter in a linearly arranged configuration. By using linearly arranged monochrome cameras with different focal lengths and image distances, each camera is specifically designed to capture light from its corresponding filter. This configuration allows the device to obtain high-quality image data under various lighting conditions. The cameras can use monochrome CMOS sensors.

[0048] Please refer to Figure 4 , Figure 4 Figure 3 is an equivalent variant diagram of the rotating filter assembly of the embodiments of the present application. Please refer to Figure 4 Figure 3(a) is a schematic diagram of a fan-shaped arrangement structure with three color filters equally divided into 120 degrees. Please refer to Figure 4 Figure 3(b) is a schematic diagram of an arrangement structure with three color filters and an infrared filter. Please refer to Figure 4 Figure 3(c) is a schematic diagram of a filter assembly without any filters.

[0049] Image extractor: The image extractor is located behind each camera. This device can analyze the image gray gradient in the target area, thereby identifying and extracting the part of the image with the clearest texture, optimizing subsequent image processing and distance information extraction.

[0050] Image fusion device: The image extraction results are sent to the image fusion device, which fuses the complete image with the part of the image with the clearest texture. This fusion process uses the depth of field data of each camera to reconstruct the three-dimensional structure of the scene through advanced algorithms.

[0051] The embodiments of the present application can capture high-quality images under various lighting conditions by combining the use of monochrome sensors and precisely controlled filters, thereby improving the accuracy of distance measurement, which is particularly important for applications such as autonomous driving and precision manufacturing. At the same time, the optimized image extraction and fusion process enables the device to quickly process image data, supporting scenarios that require quick decision-making such as autonomous driving and remote monitoring.

[0052] In addition, by using a monochrome camera instead of a traditional color camera device, combined with the ease of operation, the technology has a wider application prospect, and is expected to promote the popularization of advanced imaging technology.

[0053] By improving the reliability of the device, the safety of the automatic device is also significantly improved. These improvements reflect the technical innovation of the present application, aiming to solve the limitations of cost, efficiency and adaptability of existing technology, and provide an economic and efficient solution, especially suitable for technical fields that require fast and accurate distance information feedback.

[0054] These technical implementation schemes work together not only to provide a cost-effective, fast-responding narrow-depth-of-field camera distance measurement device, but also to allow distance information to be obtained in various operating environments. In this way, the present application effectively solves the limitations of distance measurement efficiency in the prior art, and particularly shows its unique advantages in applications that require fast and accurate distance feedback.

[0055] Embodiment 3

[0056] In the embodiments of the present application, a distance measurement device of a variable narrow-depth-of-field camera is provided, which realizes distance measurement through a variable arrangement of cameras. The system configures each camera for a specific object distance, with a specific depth-of-field range, to ensure that only objects within the depth-of-field range are clearly imaged in the camera. In the embodiments of the present application, the focal length of each monochrome camera is fixed for a predetermined object distance, the distance from the photosensitive device of the monochrome camera to the lens of the monochrome camera is fixed, and the image distance of the monochrome camera is fixed.

[0057] Camera configuration details:

[0058] A camera: The focal length is set to cover objects at an object distance of 1 meter, with a depth-of-field range of ±0.1 meters, and is specifically used to capture details within this distance range.

[0059] B camera: The focal length is set to cover objects at an object distance of 1.2 meters, with a depth-of-field of ±0.11 meters.

[0060] C camera: The focal length is configured to specifically capture objects at an object distance of 1.4 meters, with a depth-of-field of ±0.12 meters.

[0061] D camera: focus on the object at 1.6 meters, depth of field is ±0.14 meters. ...

[0063] Z camera: cover the object at 5 meters, depth of field is ±0.5 meters.

[0064] Distance measurement function: the device correspond the focus and depth of field of each camera with the scale, innovatively form a virtual scale system for measuring the distance of the object. This configuration allows the user to read the exact distance of the object by observing which camera can clearly capture the object. For example, if the A camera clearly captures the car head, it indicates that the exact position of the car head is about 1 meter away; if the D camera captures the windshield, it indicates that the windshield is located about 1.6 meters in front of the camera.

[0065] Please refer to Figure 5 , Figure 5 for the imaging principle of the vehicle head at the set focal length. In Figure 5 , only the car head can be clearly imaged at the focal length set by the camera.

[0066] Please refer to Figure 6 , Figure 6 for the imaging principle of the vehicle windshield section at the set focal length. In Figure 6 , only the windshield section can be clearly imaged at the focal length set by the camera.

[0067] Please refer to Figure 7 , Figure 7 for the imaging principle of the vehicle rear row at the set focal length. In Figure 7 , only the vehicle rear row can be clearly imaged at the focal length set by the camera.

[0068] Please refer to Figure 8 , Figure 8 for the imaging principle of the vehicle tail at the set focal length. In Figure 8 , only the vehicle rear row can be clearly imaged at the focal length set by the camera.

[0069] In this embodiment, by segmenting the camera and the depth of field distance, the images of different depth of field ranges are extracted by the extractor and assigned with the distance value of the corresponding camera, then spliced in the fusion device to form a 3D image of the entire working area, which constitutes a device for measuring the depth of field distance.

[0070] Through failure mode and effects analysis (FMEA), the device can still effectively complete the measurement task when part of the components are damaged. Specifically, when a single camera is damaged, even if the measured object is located within the clear imaging range of the camera, the device can obtain the distance information of the measured object within the depth range of the damaged camera calibration through the blurred image data obtained by other cameras. When multiple cameras are damaged, if the clear imaging range of the damaged cameras is discontinuous, the impact on the measurement result is smaller; even if the focal length range of multiple cameras is continuously damaged, the impact on the measurement accuracy is within a controllable range. The design ensures the robustness and measurement reliability of the device in the case of partial failure.

[0071] The device is particularly suitable for occasions that require fast and accurate distance information, such as quickly identifying the distance of the object in front of the car in the autonomous driving car, or evaluating the position of the object in the environment in the security monitoring system. The technical configuration of the present application provides a simple method to measure the distance of different objects, not only improves the accuracy of distance measurement, but also simplifies the process of obtaining distance information through its intuitive operation mode, and is suitable for various technical fields that require fast feedback of distance information.

[0072] Those skilled in the art should understand that the above description is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A distance measurement device for a general-purpose narrow depth-of-field camera, characterized in that, include: At least three monochrome cameras, each configured to acquire images of the target object within a preset depth of field; A rotating filter assembly, including red, green, and blue filters, is mounted in front of the lens of the monochrome camera; A drive motor is used to drive the switching of different filters in the rotary filter assembly.

2. The distance measurement device for a generalized narrow depth-of-field camera according to claim 1, characterized in that, It includes at least three image extractors and at least three image fusion units; each of the monochrome cameras is equipped with a separate image extractor, which extracts the target object image acquired by the monochrome camera and transmits it to the image fusion unit for image fusion.

3. The distance measuring device for a generalized narrow depth-of-field camera according to claim 2, characterized in that, The monochrome camera is a narrow depth-of-field camera; the narrow depth-of-field camera is a camera whose depth-of-field thickness, which is the difference between the foreground depth of field and the background depth of field, is less than 0.5 meters.

4. The distance measuring device for a generalized narrow depth-of-field camera according to claim 3, characterized in that, The monochrome camera uses a monochrome CMOS sensor.

5. The distance measuring device for a generalized narrow depth-of-field camera according to claim 4, characterized in that, Compared to a full-color camera, a monochrome camera, with the same sensor density, can resolve a smaller diffuse spot radius and has a narrower depth of field.

6. The distance measuring device for a generalized narrow depth-of-field camera according to claim 5, characterized in that, The rotary filter assembly achieves 360-degree rotation via a drive motor.

7. The distance measuring device for a generalized narrow depth-of-field camera according to claim 6, characterized in that, Each monochrome camera is configured with a corresponding depth of field range for a preset object distance.

8. The distance measuring device for a generalized narrow depth-of-field camera according to claim 1, characterized in that, The rotating filter assembly also includes an infrared filter.

9. The distance measuring device for a generalized narrow depth-of-field camera according to claim 7, characterized in that, For a preset object distance, the focal length of each monochrome camera is fixed, the distance from the photosensitive element of the monochrome camera to the lens of the monochrome camera is fixed, and the image distance of the monochrome camera is fixed.

10. A distance measuring device for a generalized narrow depth-of-field camera according to claim 9, characterized in that, The device is installed on a vehicle or monitoring rack.

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