CN105959536A - Real scenery obtaining method and obtaining device - Google Patents
Real scenery obtaining method and obtaining device Download PDFInfo
- Publication number
- CN105959536A CN105959536A CN201610284902.1A CN201610284902A CN105959536A CN 105959536 A CN105959536 A CN 105959536A CN 201610284902 A CN201610284902 A CN 201610284902A CN 105959536 A CN105959536 A CN 105959536A
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- China
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- vehicular platform
- image
- video camera
- positional information
- microcontroller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention is suitable for the image acquisition technical field, and provides a real scenery obtaining method and obtaining device. The obtaining device comprises a camera, a vehicle platform, a control module, a vehicle speed sensor, and a microcontroller. The vehicle speed sensor is fixed on the vehicle platform, is in connection with the microcontroller, and is used for detecting a vehicle platform walking speed and feeding back the speed to the microcontroller in real time; the microcontroller is in connection with the control module, and is used for feeding back the collected walking speed to the control module; the control module is in connection with the camera, and is used for calculating the driving distance of the vehicle platform according to a received walking speed and preset time, and sending a shooting instruction to the camera when the driving distance is equal to a preset distance; the camera is fixed on the vehicle platform, and is used for shooting images of the vehicle platform in a 360 DEG scope on a current walking line when receiving the shooting instruction. The real scenery obtaining device can not only obtain clear images in a 360 DEG scope, but also acquire images with high efficiency.
Description
Technical field
The present invention relates to acquisition technology field, particularly relate to acquisition methods and the acquisition device of a kind of outdoor scene.
Background technology
Virtual reality (Virtual Reality, VR) technology is a kind of computer simulation technique, by user
There is provided vision, audition, sense of touch etc. various directly perceived and natural real-time perception interactive means, user-friendly,
Increase user's cognitive competence to reality.Virtual reality technology is integrated with computer graphics techniques, computer is imitated
The latest development of true technology, artificial intelligence, sensing technology, Display Technique, network parallel treatment technology etc. becomes
Really, be widely used in military affairs, Aero-Space, automatically control, the field such as medical rehabilitation, Edutainment.
Automobile driving simulator (Vehicle Driving Simulator, VDS) is a kind of for driver training
Teaching equipment, virtual reality technology is applied in automobile driving system by automobile driving simulator, by calculating
Machine technology produces virtual views, acoustics and the motion simulation in vehicle traveling process, makes driver immerse
In virtual driving environment, produce real vehicle and drive sensation, thus experience, recognize and learn in real world
Car steering, can safely, effectively improve driver's technical merit, can reduce again various expense.Automobile
Driving simulator is as the important component part of traffic safety system, it is possible to increase the safety consciousness of driver,
Reduce accident rate, be just increasingly subject to the extensive concern of domestic and international field of traffic safety.
At present, need, to examination hall and the modeling of various real road, to need to shoot 360 due to driving simulator
Degree outdoor scene.Shooting outdoor scene uses finds a view that efficiency is low, dangerous and working strength is big manually.Use
The streetscape car of Baidu pans, and price is higher and technical scheme is complicated, is unfavorable for driving simulator pair
The use of outdoor scene.Accordingly, it would be desirable to a set of economical and simple outdoor scene collection that can match with driving simulator
Equipment.
Summary of the invention
The technical problem to be solved aims to provide a kind of economy and the acquisition side of outdoor scene easy to use
Method and acquisition device.
The present invention is achieved in that the acquisition device of a kind of outdoor scene, and this acquisition device includes video camera, car
Carrying platform, control module, vehicle speed sensor and microcontroller；
Described vehicular platform is for walking along the route needing shooting；
Described vehicle speed sensor is fixedly arranged on described vehicular platform, is connected with described microcontroller, for real
Time detect the speed of travel of described vehicular platform, and the described speed of travel is fed back to described microcontroller；
Described microcontroller is fixedly arranged on described vehicular platform, is connected with described control module, for adopting
Collect to the speed of travel feed back to described control module；
Described control module is placed on described vehicular platform, and is connected with described video camera, for according to connecing
The described speed of travel that receives also combines preset time and calculates the operating range of described vehicular platform, when described
When operating range is equal to preset distance, send shooting instruction to described video camera；
Described video camera is fixedly arranged on described vehicular platform, and when receiving described shooting instruction, shooting is described
The image of the vehicular platform 360 degree of scopes in the track route residing for current time, and the figure that will photograph
As being uploaded to described control module.
Further, described acquisition device also includes position sensor；
Described position sensor is fixedly arranged on described vehicular platform, is connected with described microcontroller, for real
Time gather the direction positional information of described vehicular platform, and described direction positional information is sent to described micro-control
Device processed；
Described control module is additionally operable to be associated the described direction positional information gathered and described image.
Further, also to include that processing module, described processing module are placed in described vehicle-mounted flat for described acquisition device
It is connected on platform and with described video camera, the image photographed for video camera described in real-time reception, and by institute
The described direction positional information stating the image current time corresponding with described image merges.
Further, described vehicle speed sensor is photoelectric sensor, and described photoelectric sensor is placed in described vehicle-mounted
Outside the trailing wheel of platform.
Further, described position sensor is 9 shaft position sensors.
Further, the camera lens of described video camera is full shot, and the video camera of described configuration full shot is
Four, it is fixedly arranged on the left front of described vehicular platform, right front, left back and right back respectively.
The present invention also provides for the acquisition methods of a kind of outdoor scene, and this acquisition methods comprises the following steps:
Obtain vehicular platform in real time along the speed of travel in the route walking process needing shooting；
According to the described speed of travel and combine preset time and calculate the travel distance of vehicular platform；
When described travel distance is equal to preset distance, starts vehicular platform described in video camera captured in real-time and working as
The image of 360 degree of scopes in the track route residing for the front moment.
Further, described acquisition methods also includes:
The direction positional information of vehicular platform described in Real-time Collection；
The image of described direction positional information with described direction positional information current time is associated.
Further, described acquisition methods also includes:
According to associating of described direction positional information and described image, the image that described real-time reception is arrived and institute
The direction positional information stating current time corresponding to image merges.
The present invention compared with prior art, has the beneficial effects that: the acquisition device of described outdoor scene uses speed
Sensor detects the speed of travel of vehicular platform in real time, calculates travel distance according to the speed of travel, and is expert at
Walk to start when distance meets preset distance photographic head automatic shooting vehicular platform on the walking road residing for current time
The image of 360 degree of scopes in line, thus realize the outdoor scene harvester of simple in construction and economy.This outdoor scene
Acquisition device can not only get the picture rich in detail of 360 degree, and image acquisition efficiency is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the acquisition device of the outdoor scene that the embodiment of the present invention provides；
Fig. 2 is the structural representation of the acquisition device of the outdoor scene that another embodiment of the present invention provides；
Fig. 3 is the schematic flow sheet of the acquisition methods of outdoor scene of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
Refer to the structural representation of the acquisition device of the outdoor scene that Fig. 1, Fig. 1 provide for the embodiment of the present invention.For
It is easy to explanation, illustrate only the part relevant to the embodiment of the present invention.The acquisition device of this outdoor scene includes taking the photograph
Camera 102, vehicular platform (marking out the most in the drawings), control module 104, vehicle speed sensor 103 and micro-
Controller 101.
Vehicular platform is for walking along the route needing shooting, and its Main Function is to carry video camera 102
Quickly walk along the route needing shooting, to realize efficiently shooting treating excess syndrome scape.Vehicular platform can use SUV
The vehicle of (Sport Utility Vehicle, motor type multipurpose automobile) type.
Vehicle speed sensor 103 is fixedly arranged on vehicular platform, is connected with microcontroller 101, for inspection in real time
The speed of travel of measuring car carrying platform, and the speed of travel is fed back to microcontroller 101.
Microcontroller 101 is fixedly arranged on vehicular platform, is connected with control module 104, for collecting
The speed of travel feed back to control module 104.
Control module 104 is placed on vehicular platform, and is connected with video camera 102, for according to walking speed
Spend and combine preset time and calculate the operating range of vehicular platform, send out when operating range is equal to preset distance
Send shooting instruction to video camera 102.Preset time goes to arrange according to the actual needs, such as, and can be by preset
Set of time is 5 seconds, 10 seconds, 15 seconds, 30 seconds etc..
Predeterminable range is that the shooting distance according to vehicular platform and video camera 102 determines, this predeterminable range
Can be adjusted as required.Such as, predeterminable range could be arranged to 50 meters, 100 meters, 200 meters,
300 meters etc..Microcontroller 101 can control video camera 102 and enter under the fixed interval distance of less error
Row is taken pictures.
The function of control module 104 can use concrete device to realize, it would however also be possible to employ software realizes,
Or, it would however also be possible to employ software is implemented in combination in hardware.When the mode using software realizes, can
So that software is installed on mobile terminals, and mobile terminal is placed on vehicular platform.This mobile terminal includes
Mobile phone, IPAD, notebook computer etc..It is of course also possible to it is real to use the mode of PC computer carrying software
Existing, when using PC computer, need to be equipped with the portable power source for PC computer.
Video camera 102 is fixedly arranged on vehicular platform, when receiving shooting instruction, and captured in real-time vehicular platform
The image of 360 degree of scopes in the track route residing for current time, and the image photographed is uploaded to
Control module 104, is stored image in corresponding memory module by control module 104.Work as control module
104 when being loaded on notebook computer, and image can be stored the hard disk of notebook computer by control module 104
In.
Refer to the structural representation of the acquisition device of the outdoor scene that Fig. 2, Fig. 2 provide for another embodiment of the present invention.
The acquisition device of this outdoor scene includes: microcontroller 101, video camera 102, vehicle speed sensor 103, control mould
Block 104, processing module 105, position sensor 201, power module 202, mobile terminal 203 and data
Transport module 204.Device same as the previously described embodiments or module refer to above-described embodiment, the most superfluous at this
State.
Position sensor 201 is fixedly arranged on vehicular platform, is connected with microcontroller 101, for adopting in real time
The direction positional information of collection vehicular platform, and direction positional information is sent to microcontroller 101.
Control module 104 is additionally operable to be associated, with later image direction positional information and the image of collection
Integration process and provide convenient.The direction positional information that the image that the most each moment photographs is corresponding with this moment
Store correspondingly.
Processing module 105 is placed on vehicular platform and is connected with video camera 102, images for real-time reception
The image that machine 102 photographs, and the direction positional information of current time corresponding with image for image is melted
Close.
The function of processing module 105 can use concrete device to realize, it would however also be possible to employ software realizes,
Or, it would however also be possible to employ the mode that software combines with hardware realizes.When the mode using software realizes
Time, software can be arranged on mobile terminal 203, and mobile terminal 203 is placed on vehicular platform.
Mobile terminal includes but not limited to mobile phone, IPAD, notebook computer.Certainly, processing module 105 coordinates shifting
It is real that the function that dynamic terminal 203 realizes can also use the mode of the software of PC computer carrying corresponding function
Existing, when using PC computer, need to be equipped with the portable power source for PC computer.
The data of microcontroller 101 are transferred to mobile terminal 203 by data transmission module 204.
Power module 202 is for providing to position sensor 201, vehicle speed sensor 103 and microcontroller 101
Electric energy.This power module 202 is rechargable power supplies.
When video camera 102 is taken pictures, position sensor 201 passes through microcontroller 101 by position, direction
Information sends mobile terminal 203, the image that current time is photographed by mobile terminal 203 and current position to
Information association is got up, for the fusion treatment of later image, it is provided that great convenience.
Combining with each embodiment above-mentioned, vehicle speed sensor 102 is photoelectric sensor, and photoelectric sensor is put
Outside the trailing wheel of vehicular platform.Photoelectric sensor is noncontacting proximity sensor, and mounting structure is simple, does not changes
Become the structure of vehicular platform, quick for installation.Vehicle speed sensor 102 according to the vehicle wheel spoke number of vehicular platform,
Wheel often revolves and turns around, and vehicle speed sensor 102 sends corresponding pulse number, micro-control to microcontroller 101
Device 101 processed reports speed information to mobile terminal 203 in real time by USB interface.
Position sensor 201 is 9 shaft position sensors.9 shaft position sensors pass through I2C bus and microcontroller
Device 101 communicates to connect, and sample rate is 100Hz, and microcontroller 101 obtains in real time and is fixed on vehicular platform
The information of 9 shaft position sensors, it is thus achieved that the absolute value of the position, direction of vehicular platform, mobile terminal 203 passes through
USB data line communicates with microcontroller 101, can obtain the direction positional information of vehicular platform in real time.
Combining with each embodiment above-mentioned, the camera lens of video camera 102 is full shot, described configuration panorama
The video camera of camera lens is four, is fixedly arranged on the left front of described vehicular platform, right front respectively, left back and
Right back.The number of video camera 102 is not limited in 4, can be one, Liang Tai, three or other
Quantity.If video camera 102 configures one, video camera 102 can be fixedly arranged on one rotatable
On device so that it is can rotate in the range of 306 degree.If video camera 102 configures two, can be by
Video camera is fixedly arranged on one can be carried out on the device of 180 degree of rotations, and one of them video camera is responsible for shooting front
The image of 180 degree of scopes, another video camera is responsible for shooting the image of the 180 degree of scopes in rear.
In the embodiment of the present invention, the acquisition device of outdoor scene uses vehicle speed sensor 103 to detect vehicular platform in real time
The speed of travel, calculate travel distance according to the speed of travel, and open when travel distance meets preset distance
Dynamic video camera 102 automatically snaps the vehicular platform 360 degree of scopes in the track route residing for current time
Image, thus realize the outdoor scene harvester of simple in construction and economy.Meanwhile, this device passes also by position
The direction positional information of sensor 201 Real-time Collection vehicular platform, can be by direction positional information and the reality collected
Scape image merges so that the image collected has directional information, advantageously in driving simulator
Outdoor scene simulated operation.The acquisition device of this outdoor scene can not only get the picture rich in detail of 360 degree, and image
Collecting efficiency is high, and acquisition cost is low, reduces the manufacturing cost of driving simulator.
Refer to the schematic flow sheet of the acquisition methods that Fig. 3, Fig. 3 are outdoor scene of the present invention, the reality of this acquisition methods
Existing carrier can be the outdoor scene acquisition device of above-described embodiment.The acquisition methods of outdoor scene mainly comprises the steps that
S301, in real time acquisition vehicular platform are along the speed of travel in the route walking process needing shooting.Can
To use vehicle speed sensor 103 to detect the speed of travel of vehicular platform in real time, sensed by speed the most again
The speed of travel detected is real-time transmitted to microcontroller 101 by device 103.
Control module 104 in mobile terminal 203 carries out data transmission module 204 and obtains microcontroller 101
The interior speed of travel.
S302, according to the speed of travel and combine preset time and calculate the travel distance of vehicular platform.
The speed of travel that preset time period can be detected by the travel distance of vehicular platform carries out asking for average speed
Degree, then average speed was multiplied with this set time obtains travel distance.Preset time is according to the actual needs
Go to arrange, such as, preset time can be set to 5 seconds, 10 seconds, 15 seconds, 30 seconds etc..Certainly, also
The method that can use integration asks for travel distance.
S303, when travel distance equal to preset distance time, start video camera carry out captured in real-time vehicular platform row
Walk the image of 360 degree of scopes of route.
Preset distance is that the shooting distance according to vehicular platform and video camera 102 determines, this predeterminable range
Can be adjusted as required.Such as, predeterminable range could be arranged to 50 meters, 100 meters, 200 meters,
300 meters etc..Mobile terminal 203 can control video camera 102 and enter under the fixed interval distance of less error
Row is taken pictures.
Preset distance is stored in mobile terminal 203, in real time by calculated travel distance and preset distance
Comparing, when both are equal, control module 104 sends shooting and instructs to video camera 102, to control to take the photograph
Camera 102 carries out automatic camera.
On the basis of above-described embodiment, it is also possible to increase following steps:
The direction positional information of Real-time Collection vehicular platform.
In the present embodiment, position sensor 201 is used to carry out the direction positional information of Real-time Collection vehicular platform.
Concrete, position sensor 201 can be 9 shaft position sensors.9 shaft position sensors pass through I2C bus
Communicating to connect with microcontroller 101, sample frequency is 100Hz, and microcontroller 101 obtains in real time and is fixed on car
The information of 9 shaft position sensors on carrying platform, it is thus achieved that the absolute value of the position, direction of vehicular platform, mobile
Terminal 203 is communicated with microcontroller 101 by USB data line, can obtain the position, direction of vehicular platform in real time
Confidence ceases.
The image of direction positional information with direction positional information current time is associated.
Direction positional information is performed by processing module 105 with associating of image, i.e. processing module 105 will be every
The direction positional information that the image that one moment photographed is corresponding with this moment stores correspondingly.
According to the incidence relation of direction positional information Yu image, the image arrived by real-time reception is corresponding with this image
The direction positional information of current time merge.After fusion, when checking each image, can with adopt
Direction positional information when collecting this image is mapped.
In the embodiment of the present invention, the acquisition methods of outdoor scene detects in real time puts down for the vehicle-mounted of fixed video camera 102
The speed of travel of platform, calculates travel distance according to the speed of travel, and when travel distance meets preset distance
Start video camera 102 and automatically snap the vehicular platform 360 degree of scopes in the track route residing for current time
Image, thus realize simply and quickly obtaining the real scene image in street.Further, the method is also by reality
Time collecting vehicle carrying platform direction positional information, direction positional information can be carried out with the real scene image collected
Merge so that the image collected has directional information, beneficially the outdoor scene simulated operation of driving simulator.
The acquisition methods of this outdoor scene can not only get the picture rich in detail of 360 degree, and image acquisition efficiency is high, adopt
Collection low cost, reduces the manufacturing cost of driving simulator.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (9)
1. the acquisition device of an outdoor scene, it is characterised in that this acquisition device include video camera, vehicular platform,
Control module, vehicle speed sensor and microcontroller；
Described vehicular platform is for walking along the route needing shooting；
Described vehicle speed sensor is fixedly arranged on described vehicular platform, is connected with described microcontroller, for real
Time detect the speed of travel of described vehicular platform, and the described speed of travel is fed back to described microcontroller；
Described microcontroller is fixedly arranged on described vehicular platform, is connected with described control module, for adopting
Collect to the speed of travel feed back to described control module；
Described control module is placed on described vehicular platform, and is connected with described video camera, for according to connecing
The described speed of travel that receives also combines preset time and calculates the operating range of described vehicular platform, when described
When operating range is equal to preset distance, send shooting instruction to described video camera；
Described video camera is fixedly arranged on described vehicular platform, and when receiving described shooting instruction, shooting is described
The image of the vehicular platform 360 degree of scopes in the track route residing for current time, and the figure that will photograph
As being uploaded to described control module.
Acquisition device the most according to claim 1, it is characterised in that described acquisition device also includes position
Put sensor；
Described position sensor is fixedly arranged on described vehicular platform, is connected with described microcontroller, for real
Time gather the direction positional information of described vehicular platform, and described direction positional information is sent to described micro-control
Device processed；
Described control module is additionally operable to be associated the described direction positional information gathered and described image.
Acquisition device the most according to claim 2, it is characterised in that described acquisition device also includes place
Reason module, described processing module is placed on described vehicular platform and is connected with described video camera, in real time
Receive the image that described video camera photographs, and by the institute of current time corresponding with described image for described image
State direction positional information to merge.
Acquisition device the most according to claim 1, it is characterised in that described vehicle speed sensor is photoelectricity
Sensor, described photoelectric sensor is placed in outside the trailing wheel of described vehicular platform.
Acquisition device the most according to claim 2, it is characterised in that described position sensor is 9 axles
Position sensor.
6. according to the arbitrary described acquisition device of claim 1 to 5, it is characterised in that described video camera
Camera lens is full shot, and the video camera of described configuration full shot is four, is fixedly arranged on described vehicle-mounted flat respectively
The left front of platform, right front, left back and right back.
7. the acquisition methods of an outdoor scene, it is characterised in that this acquisition methods comprises the following steps:
Obtain vehicular platform in real time along the speed of travel in the route walking process needing shooting；
According to the described speed of travel and combine preset time and calculate the travel distance of vehicular platform；
When described travel distance is equal to preset distance, starts vehicular platform described in video camera captured in real-time and working as
The image of 360 degree of scopes in the track route residing for the front moment.
Acquisition methods the most according to claim 7, it is characterised in that described acquisition methods also includes:
The direction positional information of vehicular platform described in Real-time Collection；
The image of described direction positional information with described direction positional information current time is associated.
Acquisition methods the most according to claim 8, it is characterised in that described acquisition methods also includes:
According to associating of described direction positional information and described image, the image that described real-time reception is arrived and institute
The direction positional information stating current time corresponding to image merges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610284902.1A CN105959536A (en) | 2016-04-29 | 2016-04-29 | Real scenery obtaining method and obtaining device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610284902.1A CN105959536A (en) | 2016-04-29 | 2016-04-29 | Real scenery obtaining method and obtaining device |
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| CN105959536A true CN105959536A (en) | 2016-09-21 |
Family
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| CN201610284902.1A Pending CN105959536A (en) | 2016-04-29 | 2016-04-29 | Real scenery obtaining method and obtaining device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111179582A (en) * | 2018-11-12 | 2020-05-19 | 本田技研工业株式会社 | Image management device, road surface information management system, vehicle, computer-readable storage medium, and image management method |
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