CN105518490A - Object detection method and device, remote control moving equipment, and aircraft - Google Patents
Object detection method and device, remote control moving equipment, and aircraft Download PDFInfo
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- CN105518490A CN105518490A CN201480005443.8A CN201480005443A CN105518490A CN 105518490 A CN105518490 A CN 105518490A CN 201480005443 A CN201480005443 A CN 201480005443A CN 105518490 A CN105518490 A CN 105518490A
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/21—Polarisation-affecting properties
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Abstract
The invention discloses an object detection method and device, remote control moving equipment, and an aircraft. The method comprises the steps: detecting the intensity of incident light of each lens in an image collection assembly, wherein the image collection assembly comprises at least two optical lens equipped with polarizing films; determining that there is a mirror surface object in a view field of the image collection assembly if there is polarized light in incident light based on the detected intensities. The method and device can be used in the remote control moving equipment and the aircraft, and can detect the mirror surface objects simply, conveniently and quickly at low cost, such as glass.
Description
Technical field
The present invention relates to technical field of optical detection, particularly relate to a kind of object detecting method, device and remote-controlled movement equipment, aircraft.
Background technology
Various optical camera, except merely for taking pictures, enrolling except video, further according to photo and the video of shooting, can also carry out object analysis, reaches target identification, even carry out the detection of rough realize target distance.
At present, the vision system based on multi-cam can be applied in all kinds of remote-controlled movement equipment such as aircraft, remote-control car, more adequately can carry out object analysis detection to environment, and object distance detects, and realizes the functions such as automatic obstacle-avoiding.
But for the mirror article such as glass, the water surface, be used alone camera and can not complete object analysis and distance detection, there is the barriers such as glass in the field range also needing could to determine camera lens by means of the distance measuring sensor such as ultrasound wave, radar, add the cost keeping away barrier.
Summary of the invention
Embodiments provide a kind of object detecting method, device and remote-controlled movement equipment, aircraft, can easy, fast, at low cost detect the mirror articles such as glass.
On the one hand, embodiments provide a kind of object detecting method, comprising:
The light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid;
If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, in described image collection assembly, the polaroid that each camera lens configures is in different polarizing angles;
If described each light intensity based on detecting determines to import in light to there is polarized light, then, before there is mirror article in the field range determining described image collection assembly, comprising:
What judge each camera lens in described image collection assembly according to the change information between each light intensity described imports in light whether there is polarized light into.
Wherein alternatively, what the change information described in described basis between each light intensity judged each camera lens in described image collection assembly imports in light whether there is polarized light into, comprising:
Determine in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences;
If there are differences, then import in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, what the change information described in described basis between each light intensity judged each camera lens in described image collection assembly imports in light whether there is polarized light into, comprising:
Calculate the difference of the light intensity importing light between each camera lens into;
If the minimum value in the difference calculated is greater than default threshold value, then imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, in described detected image acquisition component each camera lens import the light intensity of light into before, also comprise:
Call light source module luminescence, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
Wherein alternatively, the light intensity importing light into of each camera lens in described detected image acquisition component, comprising:
Obtain the gray-scale value of the image that each camera lens collects in image collection assembly;
The light intensity importing light into of corresponding camera lens is calculated according to the gray-scale value obtained.
Wherein alternatively, the light intensity importing light into of each camera lens in described detected image acquisition component, comprising:
Obtain the tristimulus values of the image that each camera lens collects in image collection assembly;
The light intensity importing light into of corresponding camera lens is calculated according to the tristimulus values obtained.
On the other hand, the embodiment of the present invention additionally provides a kind of article detection device, comprising:
Detection module, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid;
Determination module, for determine based on each light intensity detected import in light there is polarized light time, there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, the polaroid that each camera lens in described image collection assembly configures is in different polarizing angles; Described device also comprises:
Judge module, imports in light whether there is polarized light into for what judge each camera lens in described image collection assembly according to the change information between each light intensity described.
Wherein alternatively, described judge module comprises:
Judging unit, for determining in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences;
First determining unit, for when the judged result of described judging unit is for there are differences, imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, described judge module comprises:
Difference computational unit, for calculating the difference of the light intensity importing light between each camera lens into;
Second determining unit, for being that minimum value in the difference calculated is greater than default threshold value in the result of calculation of described difference computational unit, import in light described in then determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, described device also comprises:
Light source module, for calling light source luminescent, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
Wherein alternatively, described detection module comprises:
First acquiring unit, for obtaining the gray-scale value of the image that each camera lens collects in image collection assembly;
First computing unit, for calculating the light intensity importing light into of corresponding camera lens according to the gray-scale value obtained.
Wherein alternatively, described detection module comprises:
Second acquisition unit, for obtaining the tristimulus values of the image that each camera lens collects in image collection assembly;
Second computing unit, for calculating the light intensity importing light into of corresponding camera lens according to the tristimulus values obtained.
Again on the one hand, the embodiment of the present invention additionally provides a kind of remote-controlled movement equipment, comprising: comprise the image collection assembly that at least two are configured with the optical lens of polaroid, controller, wherein:
Described controller, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid; If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, in described image collection assembly, the polaroid that each camera lens configures is in different polarizing angles;
Described controller, also imports in light whether there is polarized light into for what judge each camera lens in described image collection assembly according to the change information between each light intensity described.
Wherein alternatively, described controller, specifically for determining in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences; If there are differences, then import in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, described controller, specifically for calculating the difference of the light intensity importing light between each camera lens into; If the minimum value in the difference calculated is greater than default threshold value, then imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Wherein alternatively, described remote-controlled movement equipment also comprises:
Light-emitting device, for calling light source luminescent, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
Wherein alternatively, described controller, specifically for obtaining the gray-scale value of the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the gray-scale value obtained.
Wherein alternatively, described controller, specifically for obtaining the tristimulus values of the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the tristimulus values obtained.
Another aspect, the embodiment of the present invention additionally provides a kind of aircraft, comprising: comprise the image collection assembly that at least two are configured with the optical lens of polaroid, controller, wherein:
Described controller, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid; If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of a kind of object detecting method of the embodiment of the present invention;
Fig. 2 is the schematic diagram configuring polaroid in camera lens;
Fig. 3 is the schematic flow sheet of the another kind of object detecting method of the embodiment of the present invention;
Fig. 4 is the structural representation of a kind of article detection device of the embodiment of the present invention;
Fig. 5 is the structural representation of the another kind of article detection device of the embodiment of the present invention;
Fig. 6 is the structural representation of judge module in Fig. 5;
Fig. 7 is the structural representation of detection module in Fig. 5;
Fig. 8 is the structural representation of a kind of remote-controlled movement equipment of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention by configuring polaroid respectively in the camera lens of multiple camera, the intensity of the light then imported into according to camera lens has determined whether that polarized light imports into, if had, then can determine that current lens exists within sweep of the eye as the mirror article such as glass, water surface object.
Concrete, refer to Fig. 1, it is the schematic flow sheet of a kind of object detecting method of the embodiment of the present invention, the method can by an image processor specific implementation, the difference of light intensity of this image processor by importing into the optical lens of polaroid at least two, completes the detection that whether there is mirror article and judges.Concrete, described method comprises:
S101: the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid.
In embodiments of the present invention, in described image collection assembly, the camera lens of each camera can be the same configuration with imageing sensor.And on the surface of each camera lens, covering one deck polaroid, the orientation polarizing angle of each polaroid is not identical, has different light intensities after polarized light can be made like this to enter camera lens.
Specifically shown in Figure 2, shown image collection assembly comprises 4 cameras, the polarizing angle difference 45 degree between the polaroid that each camera lens covers.So that determine light intensity difference to the polarized light collected preferably.
, then there is mirror article in the field range determining described image collection assembly in S102: if determine to import in light to there is polarized light based on each light intensity detected.
If the object only comprising the non-specular surface such as metope, carpet within sweep of the eye of described image collection assembly, so the scattered light of the object reflects light generation of these non-specular surfaces is after the camera lens that polaroid enters described image collection assembly, and corresponding to each camera lens, the light intensity of light can't change.The light intensity identical (or substantially identical) of what each camera lens was corresponding import into light, then can determine to import in light to there is not polarized light, there is not the mirror article such as glass, the water surface within sweep of the eye.
And if the light intensity of the light imported into detected and different, such as, through for above-mentioned each other in miter angle polaroid after, the light intensity calculated is not identical, then can determine to there is the mirror article such as glass, the water surface within sweep of the eye.Concrete, for the polarized light of the same space, based on the above-mentioned camera lens be coated with each other in miter angle polaroid mentioned, calculate the light intensity importing light into of each camera lens with may correspond to: I
0=I*cos (θ) * cos (θ), I
1=I*cos (θ-π/4) * cos (θ-π/4), I
2=I*cos (θ+π/4) * cos (θ+π/4), I
3=I*cos (θ-pi/2) * cos (θ-pi/2), therefore I
0≠ I
1≠ I
2≠ I
3, thus there is mirror article in the field range determining described image collection assembly.
Wherein, in the calculating of the light intensity image that specifically can collect based on corresponding camera lens, the gray-scale value of each pixel or RGB (RedGreenBlue, red, green, blue) value calculate.Light intensity is proportional to gray-scale value, and RGB tristimulus values are added and then can be used as light intensity value.
After determining mirror article, particularly after glass metope, aircraft such as UAV (UnmannedAerialVehicle, unmanned vehicle), remote-control car etc. can be assisted preferably to avoid glass metope, complete and keep away barrier operation.Certainly, after mirror article being detected, other operations can also be performed, such as UAV water source detection, automatically taking water, cleaning glass metope etc.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
Refer to Fig. 3 again, it is the schematic flow sheet of the another kind of object detecting method of the embodiment of the present invention, the method can by an image processor specific implementation, the difference of light intensity of this image processor by importing into the optical lens of polaroid at least two, completes the detection that whether there is mirror article and judges.Concrete, described method comprises:
S201: call light source module luminescence.
Perform described S201 so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.In the environment of dark, the detection that the light source that carries assists to carry out polarized light can be called, so that in the environment of dark, also can photograph image and the light intensity of carrying out each camera lens detects.In this light source module, the spectrum of light source needs to coincide with the receiving spectrum of camera in image collection assembly, and perform follow-up light intensity so that correct and detect, if that is: light source is visible light wave range, camera also must respond to visible ray.If light source is infrared band, camera also must respond to infrared light.
S202: the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid.
Wherein, when each image collector in described image collection assembly is set to monochromatic gray scale camera, described S202 specifically can comprise: the gray-scale value obtaining the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the gray-scale value obtained.
And when each image collector in described image collection assembly is set to the RGB camera of three looks, described S202 specifically can comprise: the tristimulus values obtaining the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the tristimulus values obtained.
S203: what judge each camera lens in described image collection assembly according to the change information between each light intensity described imports in light whether there is polarized light into.
Wherein, when there is the mirror article of larger area in the environment, can only based on light intensity, whether difference determine whether there is polarized light, described S203 specifically can comprise:
Determine in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences; If there are differences, then import in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
In order to reduce the impact of error, the difference of the polarizing angle of the polaroid that can cover based on camera lens each in image collection assembly carrys out a default threshold value to judge the polarized light in environment better, and described S203 specifically can also comprise:
Calculate the difference of the light intensity importing light between each camera lens into;
If the minimum value in the difference calculated is greater than default threshold value, then imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
, then there is mirror article in the field range determining described image collection assembly in S204: if determine to import in light to there is polarized light based on each light intensity detected.
After determining mirror article, particularly after glass metope, aircraft such as UAV, remote-control car etc. can be assisted preferably to avoid glass metope, complete and keep away barrier operation.Certainly, after mirror article being detected, other operations can also be performed, such as UAV water source detection, automatically taking water, cleaning glass metope etc.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
Again the article detection device of the embodiment of the present invention, remote-controlled movement equipment and flight are described in detail below.
Referring to Fig. 4 again, is the structural representation of a kind of article detection device of the embodiment of the present invention, and the described device of the embodiment of the present invention is configurable in the equipment such as aircraft, remote-control car, concrete, and the described device of the embodiment of the present invention comprises:
Detection module 1, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid;
Determination module 2, for determine based on each light intensity detected import in light there is polarized light time, there is mirror article in the field range determining described image collection assembly.
In embodiments of the present invention, in described image collection assembly, the camera lens of each camera can be the same configuration with imageing sensor.And on the surface of each camera lens, covering one deck polaroid, the polarizing angle of each polaroid is not identical, has different light intensities after polarized light can be made like this to enter camera lens.
Equally, in described image collection assembly, the polaroid coverage condition of each camera lens can with reference to shown in figure 2.
If the object only comprising the non-specular surface such as metope, carpet within sweep of the eye of described image collection assembly, so the scattered light of the object reflects light generation of these non-specular surfaces is after the camera lens that polaroid enters described image collection assembly, and described detection module 1 can detect that the light intensity of light corresponding to each camera lens is identical or substantially identical.The light intensity identical (or substantially identical) of what if each camera lens was corresponding import into light, described detection module 1 can determine to import in light to there is not polarized light, and described determination module 2 can determine there is not the mirror article such as glass, the water surface within sweep of the eye.
And if described detection module 1 detects the light intensity of the light imported into and different, such as, through for above-mentioned each other in miter angle polaroid after, the light intensity calculated is not identical, then described determination module 2 can determine to there is the mirror article such as glass, the water surface within sweep of the eye.
In the image that the calculating of light intensity specifically can collect based on corresponding camera lens, the gray-scale value of each pixel or rgb value calculate.Light intensity is proportional to gray-scale value, and RGB tristimulus values are added and then can be used as light intensity value.
After determining mirror article, particularly after glass metope, aircraft such as UAV, remote-control car etc. can be assisted preferably to avoid glass metope, complete and keep away barrier operation.Certainly, after mirror article being detected, other operations can also be performed, such as UAV automatically taking water, cleaning glass metope etc.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
Refer to Fig. 5 more further, it is the structural representation of the another kind of article detection device of the embodiment of the present invention, the described device of the embodiment of the present invention is configurable in the equipment such as aircraft, remote-control car, concrete, the described device of the embodiment of the present invention comprises above-mentioned detection module 1 and determination module 2, further, the polaroid that each camera lens in embodiments of the present invention in described image collection assembly configures is in different polarizing angles; Described device also comprises:
Judge module 3, imports in light whether there is polarized light into for what judge each camera lens in described image collection assembly according to the change information between each light intensity described.
Specifically alternatively, refer to Fig. 6, the described judge module 3 of the embodiment of the present invention can comprise:
Judging unit 31, for determining in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences;
First determining unit 32, for when the judged result of described judging unit 31 is for there are differences, imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Specifically alternatively, refer to Fig. 6, the described judge module 3 of the embodiment of the present invention can also comprise:
Difference computational unit 33, for calculating the difference of the light intensity importing light between each camera lens into;
Second determining unit 34, for being that minimum value in the difference calculated is greater than default threshold value in the result of calculation of described difference computational unit 33, import in light described in then determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Be understandable that, described judge module 3 only can comprise the combination of described judging unit 31 and the first determining unit 32, also only can comprise the combination of described difference computational unit 33 and the second determining unit 34.
Further alternatively, the described device of the embodiment of the present invention can also comprise:
Light source module 4, for calling light source luminescent, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
Specifically alternatively, refer to Fig. 7, described detection module 1 can comprise:
First acquiring unit 11, for obtaining the gray-scale value of the image that each camera lens collects in image collection assembly;
First computing unit 12, for calculating the light intensity importing light into of corresponding camera lens according to the gray-scale value obtained.
Specifically alternatively, refer to Fig. 7, described detection module 1 can also comprise:
Second acquisition unit 13, for obtaining the tristimulus values of the image that each camera lens collects in image collection assembly;
Second computing unit 14, for calculating the light intensity importing light into of corresponding camera lens according to the tristimulus values obtained.
Be understandable that, described detection module 1 only can comprise the combination of described first acquiring unit 11 and the first computing unit 12, also only can comprise the combination of described second acquisition unit 13 and the second computing unit 14.
It should be noted that, the modules mentioned in the embodiment of the present invention and the specific implementation of unit can referring to figs. 1 to the descriptions of correlation step in the embodiment of the method for Fig. 3.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
Refer to Fig. 8 again, it is the structural representation of a kind of remote-controlled movement equipment of the embodiment of the present invention, the described remote-controlled movement equipment of the embodiment of the present invention is specifically as follows the equipment such as UAV, automobile that can carry out remote pilot, concrete, described remote-controlled movement equipment comprises: comprise the image collection assembly 100 that at least two are configured with the optical lens of polaroid, controller 200, a storer 300 can also be comprised further, store object detection application program in this storer, described controller 200 performs following function by calling this object detection application program.
Described controller 200, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid; If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
Further alternatively, in described image collection assembly 100, the polaroid that each camera lens configures is in different polarizing angles;
Described controller 200, also imports in light whether there is polarized light into for what judge each camera lens in described image collection assembly according to the change information between each light intensity described.
Further alternatively, described controller 200, specifically for determining in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences; If there are differences, then import in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Further alternatively, described controller 200, specifically for calculating the difference of the light intensity importing light between each camera lens into; If the minimum value in the difference calculated is greater than default threshold value, then imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
Further alternatively, the described device of the embodiment of the present invention can also comprise:
Light-emitting device 400, for calling light source luminescent, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
Further alternatively, described controller 200, specifically for obtaining the gray-scale value of the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the gray-scale value obtained.
Further alternatively, described controller 200, specifically for obtaining the tristimulus values of the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the tristimulus values obtained.
It should be noted that, the specific implementation of the controller 200 mentioned by the embodiment of the present invention, light-emitting device 400 etc. can referring to figs. 1 to the description of correlation step in the embodiment of the method for Fig. 3.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
The embodiment of the present invention additionally provides a kind of aircraft, and this aircraft specifically can comprise: comprise the image collection assembly that at least two are configured with the optical lens of polaroid, controller, wherein:
Described controller, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid; If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
It should be noted that, the specific implementation of the controller mentioned by the embodiment of the present invention can referring to figs. 1 to the description of correlation step in the embodiment of the method for Fig. 3.
The embodiment of the present invention can be applicable on the mobile object such as aircraft, remote-control car, can comparatively easy, detect mobile object direction of motion exists mirror article quickly, the detection of the objects such as the glass-mirror of mobile object motion that what particularly area was larger may affect, the camera lens being coated with polaroid used is more, the area of the mirror article in the camera lens visual field is larger, then precision is higher.And cost is lower needed for the embodiment of the present invention.
In several embodiment provided by the present invention, should be understood that, disclosed relevant apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described module or unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprises all or part of step of some instructions in order to make computer processor (processor) perform method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (22)
1. an object detecting method, is characterized in that, comprising:
The light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid;
If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
2. the method for claim 1, is characterized in that, in described image collection assembly, the polaroid that each camera lens configures is in different polarizing angles;
If described each light intensity based on detecting determines to import in light to there is polarized light, then, before there is mirror article in the field range determining described image collection assembly, comprising:
What judge each camera lens in described image collection assembly according to the change information between each light intensity described imports in light whether there is polarized light into.
3. method as claimed in claim 2, is characterized in that, what the change information described in described basis between each light intensity judged each camera lens in described image collection assembly imports in light whether there is polarized light into, comprising:
Determine in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences;
If there are differences, then import in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
4. method as claimed in claim 2, is characterized in that, what the change information described in described basis between each light intensity judged each camera lens in described image collection assembly imports in light whether there is polarized light into, comprising:
Calculate the difference of the light intensity importing light between each camera lens into;
If the minimum value in the difference calculated is greater than default threshold value, then imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
5. the method for claim 1, is characterized in that, in described detected image acquisition component each camera lens import the light intensity of light into before, also comprise:
Call light source module luminescence, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
6. the method for claim 1, is characterized in that, the light intensity importing light into of each camera lens in described detected image acquisition component, comprising:
Obtain the gray-scale value of the image that each camera lens collects in image collection assembly;
The light intensity importing light into of corresponding camera lens is calculated according to the gray-scale value obtained.
7. the method for claim 1, is characterized in that, the light intensity importing light into of each camera lens in described detected image acquisition component, comprising:
Obtain the tristimulus values of the image that each camera lens collects in image collection assembly;
The light intensity importing light into of corresponding camera lens is calculated according to the tristimulus values obtained.
8. an article detection device, is characterized in that, comprising:
Detection module, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid;
Determination module, for determine based on each light intensity detected import in light there is polarized light time, there is mirror article in the field range determining described image collection assembly.
9. device as claimed in claim 8, it is characterized in that, the polaroid that each camera lens in described image collection assembly configures is in different polarizing angles; Described device also comprises:
Judge module, imports in light whether there is polarized light into for what judge each camera lens in described image collection assembly according to the change information between each light intensity described.
10. device as claimed in claim 9, it is characterized in that, described judge module comprises:
Judging unit, for determining in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences;
First determining unit, for when the judged result of described judging unit is for there are differences, imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
11. devices as claimed in claim 9, it is characterized in that, described judge module comprises:
Difference computational unit, for calculating the difference of the light intensity importing light between each camera lens into;
Second determining unit, for being that minimum value in the difference calculated is greater than default threshold value in the result of calculation of described difference computational unit, import in light described in then determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
12. devices as claimed in claim 8, is characterized in that, also comprise:
Light source module, for calling light source luminescent, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
13. devices as claimed in claim 8, it is characterized in that, described detection module comprises:
First acquiring unit, for obtaining the gray-scale value of the image that each camera lens collects in image collection assembly;
First computing unit, for calculating the light intensity importing light into of corresponding camera lens according to the gray-scale value obtained.
14. devices as claimed in claim 8, it is characterized in that, described detection module comprises:
Second acquisition unit, for obtaining the tristimulus values of the image that each camera lens collects in image collection assembly;
Second computing unit, for calculating the light intensity importing light into of corresponding camera lens according to the tristimulus values obtained.
15. 1 kinds of remote-controlled movement equipment, is characterized in that, comprising: comprise the image collection assembly that at least two are configured with the optical lens of polaroid, controller, wherein:
Described controller, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid; If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
16. remote-controlled movement equipment as claimed in claim 15, is characterized in that,
In described image collection assembly, the polaroid that each camera lens configures is in different polarizing angles;
Described controller, also imports in light whether there is polarized light into for what judge each camera lens in described image collection assembly according to the change information between each light intensity described.
17. remote-controlled movement equipment as claimed in claim 16, is characterized in that,
Described controller, specifically for determining in described image collection assembly, whether the light intensity importing light into of each camera lens there are differences; If there are differences, then import in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
18. remote-controlled movement equipment as claimed in claim 16, is characterized in that,
Described controller, specifically for calculating the difference of the light intensity importing light between each camera lens into; If the minimum value in the difference calculated is greater than default threshold value, then imports in light described in determining and there is polarized light, and there is mirror article in the field range determining described image collection assembly.
19. remote-controlled movement equipment as claimed in claim 15, is characterized in that, also comprise:
Light-emitting device, for calling light source luminescent, so that perform the light intensity importing light into of each camera lens in described detected image acquisition component.
20. remote-controlled movement equipment as claimed in claim 15, is characterized in that,
Described controller, specifically for obtaining the gray-scale value of the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the gray-scale value obtained.
21. remote-controlled movement equipment as claimed in claim 15, is characterized in that,
Described controller, specifically for obtaining the tristimulus values of the image that each camera lens collects in image collection assembly; The light intensity importing light into of corresponding camera lens is calculated according to the tristimulus values obtained.
22. 1 kinds of aircraft, is characterized in that, comprising: comprise the image collection assembly that at least two are configured with the optical lens of polaroid, controller, wherein:
Described controller, for the light intensity importing light into of each camera lens in detected image acquisition component, described image collection assembly comprises the optical lens that at least two are configured with polaroid; If determine to import in light to there is polarized light based on each light intensity detected, then there is mirror article in the field range determining described image collection assembly.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2014/092994 WO2016086380A1 (en) | 2014-12-04 | 2014-12-04 | Object detection method and device, remote control mobile device and flight vehicle |
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| CN105518490A true CN105518490A (en) | 2016-04-20 |
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| CN201480005443.8A Pending CN105518490A (en) | 2014-12-04 | 2014-12-04 | Object detection method and device, remote control moving equipment, and aircraft |
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