CN107153247A - The vision sensing equipment of unmanned machine and the unmanned machine with it - Google Patents
The vision sensing equipment of unmanned machine and the unmanned machine with it Download PDFInfo
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- CN107153247A CN107153247A CN201710538808.9A CN201710538808A CN107153247A CN 107153247 A CN107153247 A CN 107153247A CN 201710538808 A CN201710538808 A CN 201710538808A CN 107153247 A CN107153247 A CN 107153247A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
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Abstract
This application discloses a kind of vision sensing equipment of unmanned machine and the unmanned machine with it, the vision sensing equipment of the unmanned machine includes：Supporting part；It is arranged at four image acquiring devices on supporting part, four image acquiring devices are respectively arranged at the both sides of supporting part, wherein, first image acquiring device and the second image acquiring device are arranged at the first side of the supporting part, and the 3rd image acquiring device and the 4th image acquiring device are arranged at the second side of the supporting part；Control unit, described control unit is connected with four image acquiring devices respectively, described control unit is used to receive the image that four image acquiring devices are obtained, and the distance between target location and vision sensing equipment are determined with the image obtained according to four image acquiring devices.Thereby, it is possible to which to carrying out wide-angle deep vision measurement, apparatus structure is simple, and cost is low.
Description
Technical field
The application is related to unmanned technology field, and more particularly to a kind of vision sensing equipment of unmanned machine and one kind have it
Unmanned machine.
Background technology
With the rise in robot and unmanned field, allow robot and automobile perceive around the world into
For academic research and the much-talked-about topic of enterprise innovation.Wherein, the purpose of perception is to allow the equipment such as robot and unmanned vehicle to know
The location of oneself, understands the environment of surrounding, and the foundation of decision-making is provided for ensuing take action of equipment.In correlation technique, machine
The main sensing solutions in device people and unmanned field are laser radar and the major class of vision two.Laser radar is using laser as light
Source, remote sensing survey is completed by exploring laser light with the detected lightwave signal without interaction, can be used to map making, be determined
Position and avoidance；Vision is camera, is widely used in the scenes such as object identification and object tracking.
But, the problem of correlation technique is present：One is, laser radar yields is low, and manufacturing cost is high, and big in order to measure
Angular range, the mechanical part of rotation need to be set in laser radar causes service life to be limited；Two are, use monocular or binocular
Camera can not realize that panoramic picture is obtained, and multi-cam is circular layout and places and can not unify because of different terminals, causes camera
Between calibration amount and difficulty it is huge.
Therefore, the vision measurement technology of unmanned machine needs to improve.
The content of the invention
The application is intended at least solve one of technical problem in correlation technique to a certain extent.Therefore, the application
One purpose is to propose a kind of vision sensing equipment of unmanned machine and the unmanned machine with it, being capable of vision on a large scale
Measurement, simple in construction, cost is low.
Further object is to propose a kind of unmanned machine.
To reach above-mentioned purpose, the application one side embodiment proposes a kind of vision sensing equipment of unmanned machine, bag
Include：Supporting part；Four image acquiring devices on supporting part are arranged at, four image acquiring devices are respectively arranged at support
The both sides in portion, wherein, the first image acquiring device and the second image acquiring device are arranged at the first side of the supporting part, the 3rd
Image acquiring device and the 4th image acquiring device are arranged at the second side of the supporting part；Control unit, described control unit
It is connected respectively with four image acquiring devices, described control unit is used to receive the figure that four image acquiring devices are obtained
Picture, the distance between target location and vision sensing equipment are determined with the image obtained according to four image acquiring devices.
According to the vision sensing equipment of the unmanned machine of the proposition of the embodiment of the present application, by by four image acquiring devices
The both sides of supporting part are separately positioned on, and the image that four image acquiring devices are obtained is received by control unit, with according to four
The image that individual image acquiring device is obtained determines the distance between target location and vision sensing equipment.Thus, the application is implemented
Example can be to carrying out wide-angle deep vision measurement, and apparatus structure is simple, and cost is low.
According to one embodiment of the application, the first side of the supporting part can be the front side of supporting part, the of supporting part
Two sides can be the rear side of supporting part.
According to one embodiment of the application, described first image acquisition device and second image acquiring device difference
It is arranged at first end and the second end of the first side of the supporting part；And the 3rd image acquiring device and the 4th figure
As acquisition device is respectively arranged at first end and the second end of the second side of the supporting part.
According to one embodiment of the application, the visible angle of the horizontal direction of the camera lens of four image acquiring devices
More than 180 degree.
According to one embodiment of the application, four image acquiring devices can be fish eye lens.
According to one embodiment of the application, the supporting part can be cuboid or cylinder.
According to one embodiment of the application, the image obtained according to four image acquiring devices determines target
The mode of the distance of position can be triangulation calculation.
To reach above-mentioned purpose, the application another aspect embodiment proposes a kind of unmanned machine, including affiliated nobody
The vision sensing equipment of equipment.
The unmanned machine proposed according to the embodiment of the present application, can be to carrying out by the vision sensing equipment of unmanned machine
Wide-angle deep vision is measured, and apparatus structure is simple, and cost is low.
According to one embodiment of the application, the vision sensing equipment of the unmanned machine is disposed vertically or horizontal positioned.
According to one embodiment of the application, the unmanned machine is robot or automatic driving vehicle.
Brief description of the drawings
Fig. 1 is the block diagram of the vision sensing equipment of the unmanned machine according to the embodiment of the present application；
Fig. 2 is the front view of the vision sensing equipment of the unmanned machine according to the application one embodiment；
Fig. 3 is the top view of the vision sensing equipment of the unmanned machine according to the application one embodiment；
Fig. 4 is the side view of the vision sensing equipment of the unmanned machine according to the application one embodiment；
Fig. 5 is the front view of the vision sensing equipment of the unmanned machine according to the application another embodiment；
Fig. 6 is the top view of the vision sensing equipment of the unmanned machine according to the application another embodiment；
Fig. 7 is the block diagram of the unmanned machine according to the embodiment of the present application.
Embodiment
Embodiments herein is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and it is not intended that limitation to the application.
The vision sensing equipment and unmanned machine of the unmanned machine of the embodiment of the present application are described with reference to the accompanying drawings.
Fig. 1 is the block diagram of the vision sensing equipment of the unmanned machine according to the embodiment of the present application.
As shown in figure 1, the vision sensing equipment of the unmanned machine of the embodiment of the present application includes：Supporting part 10, four images
Acquisition device (i.e. the first image acquiring device 21, the second image acquiring device 22, the 3rd image acquiring device 23 and the 4th image
Acquisition device 24) and control unit 30.
Wherein, four image acquiring devices are arranged on supporting part 10, and four image acquiring devices are respectively arranged at support
The both sides in portion 10, the first image acquiring device 21 and the second image acquiring device 22 are arranged at the first side of supporting part 10, the 3rd
The image acquiring device 24 of image acquiring device 23 and the 4th is arranged at the second side of supporting part 10, control unit 30 respectively with four
Image acquiring device is connected, and control unit 30 is used to receive the image that four image acquiring devices are obtained, with according to four images
The image that acquisition device is obtained determines the distance between target location and vision sensing equipment.
It should be noted that setting the first image acquiring device 21 and the second image to obtain dress in the first side of supporting part 10
22 are put, i.e., vision survey is carried out to the first side of supporting part 10 by the first image acquiring device 21 and the second image acquiring device 22
Amount, sets the 3rd image acquiring device 23 and the 4th image acquiring device 24 in the second side of supporting part 10, that is, passes through the 3rd figure
As the image acquiring device 24 of acquisition device 23 and the 4th carries out vision measurement to the second side of supporting part 10.That is, support
First side and the second side in portion 10 can carry out vision measurement by two vision sensing equipments respectively.
Specifically, first image acquiring device 21 and the second image acquiring device are set in the first side of supporting part 10
22, the second side of supporting part 10 sets the 3rd image acquiring device 23 and the 4th image acquiring device 24, and control unit 30 is received
The image that four image acquiring devices are obtained, with the image obtained according to four image acquiring devices determine target location away from
From.
Thus, the vision sensing equipment of unmanned machine can carry out wide-angle deep vision measurement, dress to supporting part both sides
Put simple in construction, cost is low.Solving single camera can not realize that the measurement of Object Depth and dual camera can only obtain list
The problem of image in one direction, while saving optional mechanical part built in laser radar, effectively save cost.
According to one embodiment of the application, as shown in figs. 4 and 6, the first side of supporting part 10 is the front side of supporting part 10,
Second side of supporting part 10 is the rear side of supporting part 10.
It should be noted that before the front side of supporting part 10 and the rear side of supporting part 10 are respectively unmanned machine direct of travel
Side and rear side, to ensure the vision measurement of the main traveling process of unmanned machine (moving forward and backward).That is, unmanned machine
The setting direction of vision sensing equipment can be consistent with the direct of travel of unmanned machine, for example, when unmanned machine is robot, machine
The direction of device people front institute direction can be the front side of supporting part 10, and the direction of back side institute of robot direction can be for after supporting part 10
Side, similarly, when unmanned machine is automatic driving vehicle, the direction of headstock institute direction can be the front side of supporting part 10, the tailstock
The direction of institute's direction is the rear side of supporting part 10.So as to by respectively setting two images to obtain in the front side of supporting part 10 and rear side
Take device to carry out visual sensing, it is ensured that the scope of visual sensing, improve the precision of visual sensing.
According to one embodiment of the application, the first image acquiring device 21 and the second image acquiring device 22 are set respectively
First end and the second end in the first side of supporting part 10；And the 3rd image acquiring device 23 and the 4th image acquiring device 24
It is respectively arranged at first end and the second end of the second side of supporting part.
It should be noted that the first end of supporting part 10 and the distance between the second end of supporting part 10 can be according to applied fields
Scape is adjusted, so that the visual range for being arranged at the image acquiring device at two ends ensures measured zone and overlapped as far as possible.
According to one embodiment of the application, the visible angle of the horizontal direction of the camera lens of four image acquiring devices is more than
180 degree.
Specifically, according to one embodiment of the application, four image acquiring devices are fish eye lens.
Specifically, when vision sensing equipment is disposed vertically (i.e. shown in Fig. 2), as shown in figure 3, the second image obtains dress
Visual zone C, visual zone A and visual zone D visual pattern can be obtained by putting 22, and the 4th image acquiring device 24, which can be obtained, to be regarded
Feel region C, visual zone B and visual zone D visual pattern, i.e. the second image acquiring device 22 and the 4th image acquiring device
24 can obtain visual zone C and visual zone D visual pattern.
When vision sensing equipment horizontal positioned (shown in Fig. 5), as shown in fig. 6, the first image acquiring device 21 and
Two image acquiring devices 22 can obtain visual zone C, visual zone A and visual zone D visual pattern, and the 3rd image obtains dress
Put 23 and the 4th image acquiring device 24 can obtain visual zone C, visual zone B and visual zone D visual pattern, i.e., first
The image acquiring device 23 of image acquiring device 21 and the 3rd can obtain visual zone C visual pattern, the second image acquiring device
22 and the 4th image acquiring device 24 can obtain visual zone D visual pattern.
That is, 180 degree is more than by the visible angle of the horizontal direction of the camera lens of four image acquiring devices of setting,
The vision measurement scope of vision sensing equipment can be made to be expanded to 360 degree of scopes.Wherein, visual zone E and visual zone F is four
The blind spot of image acquiring device, because the region belongs to vision sensing equipment side and closer to the distance, therefore visual zone E and is regarded
Feel that region F does not influence vision sensing equipment to carry out vision measurement.Wherein, visual zone E and visual zone F is obtained according to image and filled
The visible angle of the horizontal direction for the camera lens put is determined.
According to one embodiment of the application, supporting part 10 is cuboid or cylinder, so that four image acquiring devices
In two adjacent images acquisition device there is identical visual zone, and then vision measurement is carried out to visual zone.
According to one embodiment of the application, the image obtained according to four image acquiring devices determine target location away from
From mode be triangulation calculation.
It should be noted that as shown in figs. 4 and 6, tested point X can carry out image acquisition by the first image acquiring device 21,
And can be obtained by the second image acquiring device 22, i.e. the first image acquiring device 21 and the second image acquiring device 22 can be obtained simultaneously
Tested point X image is taken, the distance of tested point X and vision sensing equipment is calculated by triangulation calculation (triangulation).Together
Reason, tested point X, which may be disposed at two adjacent images acquisition device, can obtain the region of image jointly, that is to say, that four figures
As acquisition device can be measured to any point in visual zone A, visual zone B, visual zone C and visual zone D, with basis
The image that four image acquiring devices are obtained determines the distance between tested point X and vision sensing equipment.Wherein, tested point X can
For the target location of vision measurement.
It should be appreciated that tested point X can be multiple, i.e., the image that control unit 20 is obtained according to image acquiring device is true
The distance between fixed multiple tested point X and vision sensing equipment.Control unit 20 can be additionally used according to multiple tested point X and vision
The distance between sensing device realizes VO (Visual odometry, visual odometry is calculated) algorithms and SLAM (Simultaneous
Localization and Mapping, synchronously build figure and positioning) algorithm carries out deep learning to recognize that vision sensing equipment is regarded
Feel the object in region.
In summary, according to the vision sensing equipment of the unmanned machine of the proposition of the embodiment of the present application, by the way that four are schemed
As acquisition device is separately positioned on the both sides of supporting part, and the figure obtained by control unit four image acquiring devices of receiving
Picture, the distance between target location and vision sensing equipment are determined with the image obtained according to four image acquiring devices.Thus,
The embodiment of the present application can be to carrying out wide-angle deep vision measurement, and apparatus structure is simple, and cost is low.
The embodiment of the present application also proposed a kind of unmanned machine.
Fig. 7 is the block diagram of the unmanned machine according to the embodiment of the present application.
As shown in fig. 7, unmanned machine 200 includes the vision sensing equipment 100. of above-mentioned unmanned machine
According to one embodiment of the application, the vision sensing equipment 100 of unmanned machine is disposed vertically or horizontal positioned, i.e.,
The vision sensing equipment 100 of unmanned machine can be disposed vertically in unmanned machine, can be also placed horizontally in unmanned machine, but not
It is only limitted to this.
According to one embodiment of the application, unmanned machine 200 can be robot or automatic driving vehicle.
The unmanned machine proposed according to the embodiment of the present application, can be to carrying out by the vision sensing equipment of unmanned machine
Wide-angle deep vision is measured, and apparatus structure is simple, and cost is low.
In the description of the present application, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of description the application and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the application.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the present application, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clear and definite restriction.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In this application, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the application or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to the limitation to the application is interpreted as, one of ordinary skill in the art within the scope of application can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of vision sensing equipment of unmanned machine, it is characterised in that including：
Supporting part；
Four image acquiring devices on supporting part are arranged at, four image acquiring devices are respectively arranged at the two of supporting part
Side, wherein, the first image acquiring device and the second image acquiring device are arranged at the first side of the supporting part, and the 3rd image is obtained
Device and the 4th image acquiring device is taken to be arranged at the second side of the supporting part；
Control unit, described control unit is connected with four image acquiring devices respectively, and described control unit is used to receive
The image that four image acquiring devices are obtained, with the image obtained according to four image acquiring devices determine target location and
The distance between vision sensing equipment.
2. the vision sensing equipment of unmanned machine according to claim 1, it is characterised in that the first side of the supporting part is
The front side of supporting part, the second side of the supporting part is the rear side of supporting part.
3. the vision sensing equipment of unmanned machine according to claim 1, it is characterised in that described first image acquisition device
First end and the second end of the first side of the supporting part are respectively arranged at second image acquiring device；And
3rd image acquiring device and the 4th image acquiring device are respectively arranged at the second side of the supporting part
First end and the second end.
4. the vision sensing equipment of unmanned machine according to claim 1 or 3, it is characterised in that four images are obtained
The visible angle of the horizontal direction of the camera lens of device is more than 180 degree.
5. the vision sensing equipment of unmanned machine according to claim 4, it is characterised in that four image acquiring devices
For fish eye lens.
6. the vision sensing equipment of unmanned machine according to claim 1, it is characterised in that the supporting part be cuboid or
Cylinder.
7. vision sensing equipment according to claim 1, it is characterised in that described according to four image acquiring devices
The image of acquisition determines that the mode of the distance of target location is triangulation calculation.
8. a kind of unmanned machine, includes the vision sensing equipment of the unmanned machine according to claim any one of 1-7.
9. unmanned machine according to claim 8, it is characterised in that the vision sensing equipment of the unmanned machine is disposed vertically
Or horizontal positioned.
10. unmanned machine according to claim 9, it is characterised in that the unmanned machine is robot or automatic driving car
.
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