CN110058212A - Target and TOF camera demarcate integrated system - Google Patents

Abstract

An integrated system for calibration of a target and a TOF camera, the integrated system for calibration of the TOF camera includes: a fully enclosed test box; a target located on one side wall of the fully enclosed test box, the target comprising a substrate; The diffuse reflection water-based material layer with the diffuse reflectivity ≥94% on the surface of the substrate; the clamping device located in the fully enclosed test box, the clamping device is used to clamp the TOF camera, and the TOF camera is in a predetermined The position obtains the depth information of the target; the mobile device, the clamping device is located on the mobile device, and the mobile device is used to drive the clamping device to the direction of the target or the direction away from the target in a straight line Move so that the TOF camera is located at a predetermined position in front of the target, and obtain the real-time distance between the TOF camera and the target. The TOF camera calibration integrated system of the present invention improves the accuracy of TOF camera calibration.

Description

Target and TOF camera calibration integrated system

technical field

The invention relates to the technical field of TOF, in particular to an integrated system for calibration of a target and a TOF camera.

Background technique

With the development of optical measurement, depth cameras based on TOF (Time of Flight) technology have gradually matured and have been applied in the fields of 3D measurement, gesture control, robot navigation, security and monitoring. The basic principle of the TOF depth camera is that the modulated light emitted by the active light source of the TOF depth camera is reflected by the space target and then received by the sensor of the TOF depth camera. By calculating the time difference between light emission and reflection, the distance between the TOF depth camera and the space target is finally obtained. . Since the speed of light is 300,000 km/s, the entire time-of-flight measurement is very short, and centimeter-level range resolution requires the system to have a time measurement accuracy of 30 picoseconds. It is difficult to require all pixels on the sensor to maintain the time measurement accuracy of tens of picoseconds during the measurement process of dozens of times per second, resulting in the distance measurement error of the camera reaching tens of centimeters. Therefore, the correction of the TOF depth camera before application appears especially important.

The existing correction usually includes depth correction, field of view plane correction, etc., but the existing correction has the problem of low correction accuracy.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is how to improve the accuracy of TOF camera calibration.

The present invention provides a target for TOF camera calibration test, comprising:

substrate;

A diffuse reflection water-based material layer with a diffuse reflectivity ≥94% on the surface of the substrate.

Optionally, the materials of the diffuse reflection water-based material layer with the diffuse reflectance ≥94% are acrylic copolymer and titanium dioxide, and the density is 1.352 g/cm ³ ; the substrate is a glass substrate.

Optionally, the diffuse reflection water-based material layer with diffuse reflectivity ≥ 94% has a reflectivity of ≥ 95% to infrared light, and the diffuse reflection water-based material layer with diffuse reflectivity ≥ 94% has a plane accuracy of less than 1 mm and a thickness of less than 1 mm. 0.5 to 0.8 mm.

The present invention also provides a TOF camera calibration integrated system, comprising:

Fully enclosed test box;

The target as described above is located on one side wall of the fully enclosed test box;

a clamping device located in the fully enclosed test box, the clamping device is used for clamping a TOF camera, and the TOF camera obtains the depth information of the target at a predetermined position;

A moving device, the clamping device is located on the moving device, and the moving device is used to drive the clamping device to move linearly toward the target or away from the target, so that the TOF camera is located in the The predetermined position in front of the target is obtained, and the real-time distance between the TOF camera and the target is obtained.

Optionally, the TOF camera includes a lens, the clamping device has a bearing surface parallel to the target, and the TOF camera is clamped on the bearing surface of the clamping device, so that the lens is Facing the target.

Optionally, it also includes a rotating device, the rotating device is located on the moving device, the clamping device is located on the rotating device, and the rotating device is used to drive the clamping device to be perpendicular to the target surface. Rotate in the direction to adjust the parallelism between the bearing surface and the target.

Optionally, the clamping device is provided with a collimator, and the collimator is used to determine whether the bearing surface and the target are parallel when the clamping device is located at a predetermined position. When the bearing surface and the target are not parallel, the rotating device drives the clamping device to rotate in a direction perpendicular to the target surface, until the collimator determines that the bearing surface and the target are not parallel. parallel between the targets.

Optionally, the moving device includes a linear motor and a displacement sensor, the displacement sensor is used to obtain the moving distance of the clamping device, and the moving device obtains the moving distance of the clamping device according to the moving distance of the clamping device obtained by the displacement sensor. The real-time distance between the TOF camera and the target.

Optionally, the method further includes: a correction unit, which corrects the TOF camera according to the difference between the depth information obtained by the TOF camera and the real-time distance.

Optionally, it further includes: the correction includes dark noise correction, sensitivity correction, field of view plane correction, depth correction or temperature correction.

Optionally, a target groove is provided on the side wall of the fully enclosed test box, the target is installed in the target groove, and the side wall of the fully enclosed test box is a side wall treated with matte black.

Optionally, an infrared fill light is provided on the side wall of the fully enclosed test box opposite to the target, and the infrared fill light is used to detect the depth information of the target when the TOF camera The target is illuminated.

Optionally, the predetermined distance is 1 meter or less, the horizontal viewing angle of the TOF camera is 120 degrees, the length of the target is 3.5 meters, and the height of the target is 1.5 meters.

Compared with the prior art, the technical solution of the present invention has the following advantages:

In the target for the TOF camera calibration test of the present invention, the diffuse reflectance of the diffusely reflective aqueous material layer 202 formed on the surface of the substrate is ≥94%. When the target of the present application is used for the TOF camera calibration test, the The target has a high reflectivity to the modulated light (infrared light) emitted by the TOF camera, which improves the accuracy of the depth information obtained by the TOF camera, and further improves the accuracy of the difference between the depth information obtained by the test and the actual distance. When the TOF camera is corrected by the above difference value, the accuracy of the correction is correspondingly improved.

Further, the material product of the diffuse reflection water-based material layer 202 with diffuse reflectivity ≥ 94% is composed of acrylic copolymer and titanium dioxide, the density is 1.352g/cm ³ , and the diffuse reflection water-based material with diffuse reflectivity ≥ 94% The reflectivity of the layer 202 to infrared light (wavelength is 850 nm or 940 nm) is greater than or equal to 95%, and the diffuse reflection water-based material layer 202 with a diffuse reflectivity greater than or equal to 94% has a plane accuracy of less than 1 mm and a thickness of 0.5 to 0.8 mm, so that The reflectivity of the target 200 to the modulated light (infrared light) emitted by the TOF camera is further improved, so that the accuracy of the depth information obtained by the TOF camera is further improved.

The TOF camera calibration integrated system of the present invention includes: a fully enclosed test box; a target as described above located on one side wall of the fully enclosed test box; a clamping device located in the fully enclosed test box , the clamping device is used to clamp the TOF camera, and the TOF camera obtains the depth information of the target at a predetermined position; the mobile device, the clamping device is located on the mobile device, and the mobile device is used to drive the The clamping device moves linearly in the direction of the target or away from the target, so that the TOF camera is located at a predetermined position in front of the target, and the real-time relationship between the TOF camera and the target is obtained. distance. When calibrating the TOF camera, a fully enclosed test box is used to reduce the influence of the external environment on the calibration process, and the aforementioned target is used, the target has a high reflectivity to the modulated light (infrared light) emitted by the TOF camera, The accuracy of the depth information obtained by the TOF camera is improved, and since the distance between the clamping device and the target is controlled by the mobile device, the precise real-time distance between the camera and the target can be obtained according to the mobile device. When calibrating the TOF camera, the accuracy of obtaining the depth information and the actual distance is improved, so that the difference between the depth information and the actual distance maintains a high accuracy, and the accuracy is improved when the TOF camera is corrected according to the difference value.

Further, the TOF camera calibration integrated system further comprises: a rotating device, the rotating device is located on the moving device, the clamping device is located on the rotating device, and the rotating device is used to drive the clamping device The device rotates in a direction perpendicular to the target surface to adjust the parallelism between the bearing surface and the target. The clamping device also has a collimator, and the collimator is used to determine whether the bearing surface is parallel to the target when the clamping device is located at a predetermined position. When the surface and the target are not parallel, the rotating device drives the clamping device to rotate in a direction perpendicular to the surface of the target, until the collimator determines that the bearing surface and the target Parallel to each other, since the TOF camera is installed on the bearing surface, the TOF camera (lens) is kept parallel to the bearing surface, so the rotating device and the collimator can make the TOF camera and the target always remain in the whole calibration process. It is kept parallel, thereby improving the accuracy of the depth information obtained by the TOF camera and further improving the accuracy of the correction.

Description of drawings

FIG. 1 is a schematic structural diagram of a target used for a TOF camera calibration test according to an embodiment of the present invention;

2-3 are schematic structural diagrams of an integrated system for calibration of a TOF camera in another embodiment of the present invention.

Detailed ways

As mentioned in the background art, the existing calibration has the problem that the calibration accuracy is not high.

The study found that when calibrating the TOF camera, the white wall is usually used as the target during calibration. The TOF camera obtains the depth information of the white wall, and the depth information obtained by the TOF camera is compared with the actual distance between the TOF camera and the white wall. Compare, obtain the difference value between the depth information and the actual distance, and correct the TOF camera according to the difference value. Because the surface of the white wall is not flat and the reflectivity is not high, the accuracy of the depth information obtained by the TOF is limited, so the depth information and the actual distance The difference between the depth information and the actual distance is limited. The precision of the difference value is also limited, which in turn makes the accuracy of the correction of the TOF camera based on the difference value limited.

To this end, the present invention provides a target for TOF camera calibration test and a TOF camera calibration integrated system, the TOF camera calibration integrated system includes: a fully enclosed test box; The target as described above on the side wall; the clamping device located in the fully enclosed test box, the clamping device is used to clamp the TOF camera, and the TOF camera obtains the depth of the target at a predetermined position Information; moving device, the clamping device is located on the moving device, and the moving device is used to drive the clamping device to move linearly toward the target direction or away from the target direction, so that the TOF camera is located at The predetermined position in front of the target is obtained, and the real-time distance between the TOF camera and the target is obtained. When calibrating the TOF camera, a fully enclosed test box is used to reduce the influence of the external environment on the calibration process, and the aforementioned target is used, the target has a high reflectivity to the modulated light (infrared light) emitted by the TOF camera, The accuracy of the depth information obtained by the TOF camera is improved, and since the distance between the clamping device and the target is controlled by the mobile device, the precise real-time distance between the camera and the target can be obtained according to the mobile device. When calibrating the TOF camera, the accuracy of obtaining the depth information and the actual distance is improved, so that the difference between the depth information and the actual distance maintains a high accuracy, and the accuracy is improved when the TOF camera is corrected according to the difference value.

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. When describing the embodiments of the present invention in detail, for the convenience of explanation, the schematic diagrams will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the protection scope of the present invention. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in the actual production.

An embodiment of the present invention provides a target for TOF camera calibration test, please refer to FIG. 1 , the target 200 includes:

substrate 201;

The diffuse reflection water-based material layer 202 located on the surface of the substrate 201 with a diffuse reflectivity ≥94%.

In one embodiment, the substrate 201 is a glass substrate, the surface of the glass substrate itself has a very high flatness, and a diffuse reflection water-based material layer is coated on the surface of the glass substrate 201, so that the formed diffuse reflection material layer It has good adhesion with the surface of the glass substrate 201, and the diffuse reflection water-based material layer formed on the glass substrate 201 has high thickness uniformity, surface flatness, and high diffuse reflectivity. In a specific embodiment, the glass substrate is tempered glass with a thickness of 15 mm, which has high stability and is not easily deformed, and can meet the calibration requirements of the TOF camera.

The diffuse reflectance of the diffuse reflection aqueous material layer 202 formed on the surface of the glass substrate 201 is greater than or equal to 94%. Specifically, the diffuse reflection aqueous material layer 202 may be formed on the surface of the glass substrate by spraying. When the target of the present application is used for the TOF camera calibration test, the reflectivity of the target 200 to the modulated light (infrared light) emitted by the TOF camera is relatively high, so that the accuracy of the depth information obtained by the TOF camera is improved, and further The accuracy of the difference value between the depth information obtained by the test and the actual distance is improved, and when the TOF camera is corrected according to the difference value, the accuracy of the correction is correspondingly improved.

In one embodiment, the material composition of the diffuse reflection water-based material layer 202 with diffuse reflectivity ≥ 94% includes acrylic (ester) copolymer and titanium dioxide, the density is 1.352g/cm ³ , and the diffuse reflectivity ≥ 94 % The reflectivity of the diffuse reflection water-based material layer 202 to infrared light (wavelength is 850 nm or 940 nm) is ≥ 95%, and the plane accuracy of the diffuse reflection water-based material layer 202 with the diffuse reflectivity ≥ 94% is less than 1 mm, and the thickness is 0.5-0.8 mm, the reflectivity of the target 200 to the modulated light (infrared light) emitted by the TOF camera is further improved, and the accuracy of the depth information obtained by the TOF camera is further improved.

Another embodiment of the present invention also provides an integrated system for calibration of TOF cameras. Please refer to FIG. 2 and FIG. 3 . FIG. 3 is a schematic cross-sectional view of a partial structure obtained in a direction parallel to the y-axis in FIG. 2 , including:

Fully enclosed test box 100;

The target 200 as described above is located on one side wall of the fully enclosed test box 100;

a clamping device 130 located in the fully enclosed test box 100, the clamping device 130 is used for clamping the TOF camera 140, and the TOF camera 140 obtains the depth information of the target 200 at a predetermined position;

The moving device 120, the clamping device 130 is located on the moving device 120, and the moving device 120 is used to drive the clamping device 130 to move linearly toward the target 200 or away from the target 200, so that The TOF camera 140 is located at a predetermined position in front of the target 200 , and obtains the real-time distance between the TOF camera 140 and the target 200 .

Specifically, the fully enclosed test box 100 refers to a cavity in which the bottom wall, the top wall and the surrounding side walls are closed. The fully enclosed test box 100 can control the temperature and humidity of the environment and the ambient light intensity. In order to reduce the influence of the external environment on the calibration process during the calibration test of the TOF camera in the fully enclosed test box 100 , the fully enclosed test box 100 has at least one side wall for arranging the aforementioned target 200 . In this embodiment, the fully enclosed test box 100 is a cube, and the cube may be a cuboid or a cube, and the fully enclosed test box 100 includes opposite bottom and top walls and four a side wall.

In one embodiment, the bottom wall, top wall and surrounding side walls of the fully enclosed test box 100 are all treated with matte black, so that no specular reflection and light source are generated in the box, which improves the accuracy of calibration. The matte black treatment can be a metal surface anode treatment process.

The aforementioned target is installed on one side wall of the fully enclosed test box 100. In this embodiment, the length of the target 200 is 3.5 meters (the dimension along the x-axis direction), and the height of the target is 1.5 meters (dimension along the z-axis direction), to satisfy the TOF camera at a specific predetermined position (when the TOF camera 140 is 1 meter away from the target 200 or less than 1 meter), the field of view plane correction with a horizontal viewing angle of 120 degrees is performed.

In one embodiment, the side wall of the fully enclosed test box 100 has a target groove, and the target 200 is installed in the target groove to facilitate the installation and fixation of targets of different sizes.

The clamping device 130 is used for clamping the TOF camera 140 so that the TOF camera 140 is located at a predetermined position in front of the target 200 . The clamping device 130 has a bearing surface 131 parallel to the target 200 , the TOF camera 140 is clamped on the bearing surface 131 of the clamping device 130 , and the TOF camera 140 includes a lens. When the TOF camera 140 is clamped on the bearing surface 131 of the clamping device 130 , the lens faces the target 200 .

In this embodiment, the bearing surface 131 is a side surface of the clamping device. When the TOF camera 140 is installed on the bearing surface 131, the modulated light emitted by the light source unit of the TOF camera 140 and the reflected light received by the light sensing unit will not be affected. It will be blocked or interfered by the clamping device 130 , and it is convenient to control the levelness and installation height of the TOF camera 140 .

In an embodiment, the TOF depth camera may include: a light source unit, a light sensing unit, a processing unit, a lens, and a control unit. The light source unit is used to generate and emit modulated light to illuminate the field of view; the lens is used to focus the reflected light on the light sensing unit, and the light sensing unit is used to receive the reflected light and generate induced charges; the The processing unit is used to obtain a depth image; the control unit is used to control the position of the lens.

The modulated light is infrared light. In one embodiment, the modulated light generated by the light source unit is pulsed infrared light of 100-150 MHz, and the wavelength of the infrared light is 850 nm or 940 nm. In one embodiment, the light source unit includes a light source and a driving circuit connected with the light source, the light source is used for generating light, and the light source includes a light emitting diode or a vertical cavity surface emitting laser (VCSEL). ). The driving circuit is used for driving the light source to work to generate modulated light. The driving circuit can drive the light source to generate and emit modulated light of constant power or different powers.

The modulation modes of the modulated light are divided into pulse light modulation and continuous wave modulation. The distance information between the TOF camera and the target is obtained by obtaining the time difference between the emitted light and the received light during pulsed light modulation. During continuous wave modulation, the distance information between the TOF camera and the target is obtained by obtaining the phase difference between the emitted light and the received light.

The light sensing unit is used for sensing reflected light to generate induced charges, and the light sensing unit usually includes a pixel matrix array. The processing unit is connected with the light source unit and the light sensing unit, and the processing unit obtains the corresponding time difference or phase difference between the emitted light and the received light according to the obtained induced charge, and calculates the depth information according to the time difference or phase difference, and then obtains the depth graph. .

The lens is used to focus the reflected light on the light sensing unit. The lens is also used to filter out light having a different frequency and wavelength than the modulated light emitted by the light source unit.

The TOF camera calibration integrated system also moves the device 120 , the clamping device 130 is located on the moving device 120 , and the moving device 120 is used to drive the clamping device 130 toward the target 200 or away from the target 200 The direction of AB (the AB direction shown in FIG. 3 ) is moved linearly, so that the TOF camera 140 is located at a predetermined position in front of the target 200 , and the real-time distance between the TOF camera 140 and the target 200 is obtained.

By driving the mobile device 120, the clamping device 130 can be located at different predetermined positions, so that the TOF camera can obtain depth information at different predetermined positions and perform corresponding parameter correction or combine the depth information obtained at different predetermined positions Corresponding parameters are corrected, and since the distance between the clamping device 130 and the target 200 is controlled by the moving device 120 , the precise real-time distance between the TOF camera 140 and the target 200 can be obtained according to the moving device 120 .

In one embodiment, the moving device 120 includes a guide rail or slide rail 121, a moving platform 122 and a driving unit (not shown in the figure), and a moving platform 122 located on the guide rail or slide rail 121, and the moving platform 122 is located on the guide rail or slide rail 121. The guide rail or slide rail 121 moves in the direction (AB direction described in FIG. 3 ), the moving platform 122 is connected with the driving unit, the clamping device 130 is located on the moving platform 122, and the driving unit is suitable for driving The moving platform 122 moves along the direction defined by the guide rail or the sliding rail 121, and the clamping device 130 on the moving platform 122 moves accordingly. In one embodiment, the driving unit is a high-precision linear motor, and the The moving device 120 further includes a displacement sensor (not shown in the figure), the displacement sensor is used to obtain the moving distance of the clamping device 130, and the moving device 120 obtains the clamping device according to the moving distance of the clamping device 130 obtained by the displacement sensor. The real-time distance between the TOF camera 140 on the device 130 and the target 200, through the aforementioned mobile device, the accuracy of the real-time distance between the TOF camera 140 and the target 200 is less than 0.01mm, so that the TOF camera calibration is integrated The system obtains an increase in the accuracy response of the implemented distance, which in turn improves the accuracy of the correction.

In an embodiment, the TOF camera calibration integrated system further includes: a rotating device 150, the rotating device 150 is located on the moving device 120, the clamping device 130 is located on the rotating device 150, the The rotating device 150 is used to drive the clamping device 130 to rotate in a direction perpendicular to the surface of the target 200 (the CD direction shown in FIG. 3 ) to adjust the parallelism between the bearing surface 131 and the target 200 Spend. The clamping device 130 also has a collimator 160, and the collimator 160 is used to determine whether the bearing surface 131 is parallel to the target 200 when the clamping device 130 is located at a predetermined position. , when the bearing surface 131 and the target 200 are not parallel, the rotating device 150 drives the clamping device 130 to rotate in a direction perpendicular to the target surface until the collimator 160 It is determined that the bearing surface 131 is parallel to the target 200. Since the TOF camera is installed on the bearing surface 131, the TOF camera (lens) is kept parallel to the bearing surface 131, so the rotation device 150 and the collimator The instrument 160 can keep the TOF camera and the target 200 parallel throughout the calibration process, thereby improving the accuracy of the depth information obtained by the TOF camera and further improving the accuracy of the calibration.

The collimator 160 can be installed on the bearing surface 131 or the bottom surface of the clamping device 130, or can also be installed at other suitable positions. In one embodiment, the criterion for the collimator 160 to judge whether the bearing surface 131 is parallel to the target 200 is: the collimator 160 on the clamping device 130 emits a laser, and the laser is reflected on the surface of the target 200, If the collimator 160 can receive the reflected laser light, it is determined that the bearing surface 131 of the clamping device 130 is parallel to the target 200; if the collimator 160 cannot receive the reflected laser light, it is determined that the clamping device The bearing surface 131 of 130 is not parallel to the target 200 .

In one embodiment, the TOF camera calibration integrated system further includes: a correction unit (not shown in the figure), the correction unit according to the difference between the depth information obtained by the TOF camera and the real-time distance, The TOF camera is calibrated.

In a specific embodiment, the calibration process includes: clamping the (to-be-calibrated) TOF camera 140 on a clamping device; the moving device drives the clamping device to move, so that the clamping device The (to-be-corrected) TOF camera is located at a predetermined position in front of the 200 target, and the mobile device also obtains the real-time distance between the (to-be-corrected) TOF camera and the target; by rotating The device 150 and the collimator 160 keep the (to be calibrated) TOF camera and the target 200 always parallel (this step may not be performed); the (to be calibrated) TOF camera acquires all the depth information of the target; the correction unit corrects the TOF camera according to the difference between the depth information obtained by the TOF camera and the real-time distance.

The corrections may include dark noise corrections, sensitivity corrections, field plane corrections, depth corrections, or temperature corrections.

In a specific embodiment, the correction unit obtains a correction factor according to the difference between the depth information obtained by the TOF camera and the real-time distance, and the correction unit corrects the TOF camera according to the correction factor. The correction factor can be obtained by calculation, experiment or experience.

The preset distance is 1 meter or less (may be 0.4 meters).

An infrared fill light 110 is provided on the side wall of the fully enclosed test box 100 opposite to the target 200 , and the infrared fill light 100 is used to provide an ambient light source.

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can use the methods and technical contents disclosed above to improve the present invention without departing from the spirit and scope of the present invention. The technical solutions are subject to possible changes and modifications. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention belong to the technical solutions of the present invention. protected range.

Claims (13)

1. a kind of target for TOF camera correction test characterized by comprising

Substrate；

Positioned at the diffusing reflection water-based material layer of diffusing reflection rate >=94% of the substrate surface.

2. a kind of target for TOF camera correction test as described in claim 1, which is characterized in that the diffusing reflection rate The material of >=94% diffusing reflection water-based material layer is acrylic copolymer and titanium dioxide, density 1.352g/cm³；Institute Stating substrate is glass substrate.

3. a kind of target for TOF camera correction test as claimed in claim 1 or 2, which is characterized in that the diffusing reflection Reflectivity >=95% of the diffusing reflection water-based material layer of rate >=94% to infrared light, the diffusing reflection water of diffusing reflection rate >=94% The plane precision of property material layer is less than 1 millimeter, with a thickness of 0.5~0.8mm.

4. a kind of TOF camera demarcates integrated system characterized by comprising

Totally-enclosed test cabinet；

The target as described in any one of claims 1-3 in the one side wall of the totally-enclosed test cabinet；

Positioned at the totally-enclosed intracorporal folder bearing apparatus of test box, the folder bearing apparatus is used for clamping TOF camera, the TOF phase Machine obtains the depth information of the target in predetermined position；

Mobile device, the folder bearing apparatus are located in mobile device, the mobile device for drive the folder bearing apparatus towards The target direction or the direction of the separate target move linearly, so that the TOF camera is located at the front of the target Predetermined position, and obtain the real-time range of the TOF camera Yu the target.

5. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the TOF camera includes camera lens, institute Stating folder bearing apparatus has the breasting face parallel with the target, and the TOF camera is clamped on the breasting face of the folder bearing apparatus, So that the camera lens is towards target.

6. TOF camera as claimed in claim 5 demarcates integrated system, which is characterized in that it further include rotating device, the rotation Device is located in the mobile device, and the folder bearing apparatus is located on the rotating device, and the rotating device is for driving institute It states folder bearing apparatus to rotate on the direction perpendicular to target surface, adjusts the depth of parallelism between the breasting face and the target.

7. TOF camera as claimed in claim 6 demarcates integrated system, which is characterized in that have collimation on the folder bearing apparatus Instrument, the collimator for determine folder bearing apparatus be located at a certain predetermined position when, between the breasting face and the target whether In parallel, when not parallel between the breasting face and the target, the rotating device drive the folder bearing apparatus perpendicular to It is rotated on the direction of target surface, until parallel between the collimator judgement breasting face and the target.

8. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the mobile device includes straight-line electric Machine and displacement sensor, institute's displacement sensors are used to obtain the moving distance of folder bearing apparatus, and the mobile device is according to displacement The moving distance for the folder bearing apparatus that sensor obtains obtains the real-time range of TOF camera and the target on folder bearing apparatus.

9. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that further include: correction unit, the school Original member carries out the TOF camera according to the difference of the TOF camera depth information obtained and the real-time range Correction.

10. TOF camera as claimed in claim 9 demarcates integrated system, which is characterized in that further include: the correction includes dark Noise compensation, sensitivity correction, visual field plane correction, depth correction or temperature correction.

11. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the totally-enclosed test wall box Upper to have target slot, the target is mounted in target slot, and the side wall of the totally-enclosed test cabinet is the side by the black processing of matt Wall.

12. the TOF camera as described in claim 4 or 11 demarcates integrated system, which is characterized in that the totally-enclosed test cabinet With with having infrared light compensating lamp on the opposite side wall of target, the infrared light compensating lamp is used to obtain in the TOF camera and mark When the depth information of target, the target is illuminated.

13. TOF camera as claimed in claim 4 demarcates integrated system, which is characterized in that the preset distance is 1 meter or small In 1 meter, the horizontal view angle of the TOF camera is 120 degree, and the length of the target is 3.5 meters, and the height of the target is 1.5 Rice.