摘要
利用基于FPGA的线阵传感器进行三角测距,存在系统复杂、结构尺寸大、价格贵、广角小等问题。针对上述问题,文章以MCU为系统主控,驱动面阵传感器以及线激光,完成CMOS图像数据采集。根据激光三角测距,对系统参数优化、系统标定等关键技术模块进行设计,完成测距的功能验证,可做到30~170 mm的毫米级精度距离测量,并用UART输出点云深度信息,帧率可达25帧/秒。实验结果表明,所设计的三角激光测距系统具有毫米级精度、结构尺寸小、大广角等优点,可运用于家用扫地机的前方障碍物检测。
Using linear array sensor based on FPGA for the range of triangle,there are problems such as complex systems,large structure sizes,high prices,small wide angles,and so on.In view of the above problems,this paper takes MCU as the main control of the system and drives the area array sensor and the line laser to complete the CMOS image data acquisition.According to the laser range of triangle,system parameter optimization,system calibration and other key technical modules are designed,and the functional verification of ranging is completed.The millimeter-level precision distance measurement of 30~170 mm can be achieved,and the point cloud depth information is output by UART,and the frame rate can reach 25 frames per second.The experimental results show that the designed triangular laser ranging system has millimeter-level precision,small structure size,large wide angle,and other advantages,which can be applied to the front obstacle detection of household sweepers.
作者
徐石雄
员振寰
曹秋挺
王超
XU Shixiong;YUN Zhenhuan;CAO Qiuting;WANG Chao(Hangzhou Hikvision Digital Technology Co.,Ltd.,Hangzhou 310051,China;Zhejiang College of Construction,Hangzhou 311231,China)
出处
《现代信息科技》
2024年第21期1-5,10,共6页
Modern Information Technology
