CN106382918A - Three-dimensional visual sensor - Google Patents
Three-dimensional visual sensor Download PDFInfo
- Publication number
- CN106382918A CN106382918A CN201610783334.XA CN201610783334A CN106382918A CN 106382918 A CN106382918 A CN 106382918A CN 201610783334 A CN201610783334 A CN 201610783334A CN 106382918 A CN106382918 A CN 106382918A
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- China
- Prior art keywords
- image
- radar detedtor
- control system
- visual sensor
- dimensional visual
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Classifications
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
Abstract
The invention provides a three-dimensional visual sensor. Images from two cameras are spliced to obtain an image of the front within the range of 180 degrees. A control system receives the image from the camera and acquires directional angles of various objects in the image. A radar detector comprises a steering engine. The steering engine acquires the directional angles and adjusts radar transmitting direction of the radar detector to the directional angle of the object. The radar detector controls the angle of the radar detector according to the directional angles of the various objects. The radar detector acquires distance data of the various objects and sends the distance data to the control system. The control system completes corresponding control according to directions and distances of the various objects in the image. The three-dimensional visual sensor provided by the invention completes confirmation of distance and position of the object through the dual cameras and the radar detector. The three-dimensional visual sensor has high judgment accuracy and has a wide application prospect.
Description
Technical field
The present invention relates to 3D vision technical field, particularly a kind of three-dimensional visual sensor.
Background technology
With the development of computer vision and artificial intelligence, the form of vision sensor and function are also lifted rapid.Existing
Some vision sensors are generally divided into two big class, and a class is to pay attention to the stereoscopic vision of 3D, is taken the photograph by two or more
As head catches the picture of object in reality, and taken the photograph by the athletic posture and distance that the image collecting is analyzed with acquisition object
The distance of camera.An other class is panoramic picture acquisition scheme emerging in recent years, by the shooting of fixed alignment different directions
Head, the image of collection all angles around object, through calibrating and splicing the panoramic picture obtaining around object.
A but only direction of stereo vision sensor concern, although and panoramic vision sensor solution energy
Enough images simultaneously gathering multiple directions, but the visual identity of multi-vision visual can not be carried out, considerably increase and carry out artificial intelligence
The difficulty of energy.Additionally, panoramic vision sensor at this stage has multi-cam splicing, refraction-reflection type, bugeye lens splicing etc. three
Plant solution, multi-cam splicing solution is relatively costly, refraction-reflection type photographic head uses scene limited, and can be only generated post
Face panorama sketch.
Content of the invention
For solving above-mentioned technical problem, the invention provides a kind of three-dimensional visual sensor, it includes two photographic head, thunders
Reach detector, control system, two of which photographic head has to the left, to the right certain drift angle, the figure of described two photographic head respectively
As splicing gets the image of front 180 degree scope；
Described control system accepts the image that described photographic head obtains, and obtains the deflection of each object in described image
Degree, and send to the radar detedtor positioned at front end；
Described radar detedtor includes a steering machine, and described steering machine obtains described orientation angle and adjusts radar detedtor
Radar emission direction to described object place orientation angle；
Described radar detedtor controls the angle of described radar detedtor according to the orientation angle of the described each object obtaining,
Described radar detedtor obtains the range data of each object and sends to control system, and described control system is according to described image
In the direction of each object complete corresponding control with range data.
It is preferred that it is used for automatic machinery people or autonomous driving vehicle.
The invention has the advantages that：
The three-dimensional visual sensor that the present invention provides pass through dual camera and radar detedtor complete the distance to object and
The confirmation of position, the degree of accuracy of judgement is high, and application prospect is extensive.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by use required for embodiment description
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can also be obtained other attached according to these accompanying drawings
Figure.
Fig. 1 is three-dimensional visual sensor composition schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
As shown in figure 1, embodiments providing a kind of three-dimensional visual sensor, it includes two photographic head, radars
Detector, control system, two of which photographic head has to the left, to the right certain drift angle, the image of described two photographic head respectively
Splicing gets the image of front 180 degree scope；
Described control system accepts the image that described photographic head obtains, and obtains the deflection of each object in described image
Degree, and send to the radar detedtor positioned at front end；
Described radar detedtor includes a steering machine, and described steering machine obtains described orientation angle and adjusts radar detedtor
Radar emission direction to described object place orientation angle；
Described radar detedtor controls the angle of described radar detedtor according to the orientation angle of the described each object obtaining,
Described radar detedtor obtains the range data of each object and sends to control system, and described control system is according to described image
In the direction of each object complete corresponding control with range data.
The three-dimensional visual sensor that the present embodiment provides can be used for automatic machinery people or autonomous driving vehicle.
The three-dimensional visual sensor that the present invention provides pass through dual camera and radar detedtor complete the distance to object and
The confirmation of position, the degree of accuracy of judgement is high, and application prospect is extensive.
Present invention disclosed above preferred embodiment is only intended to help illustrate the present invention.Preferred embodiment is not detailed
Describe all of details, also do not limit the specific embodiment that this invention is only described.Obviously, the content according to this specification,
Can make many modifications and variations.This specification is chosen and is specifically described these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (2)
1. a kind of three-dimensional visual sensor it is characterised in that include two photographic head, radar detedtor, control systems, wherein two
Individual photographic head has to the left, to the right certain drift angle respectively, and the image mosaic of described two photographic head gets front 180 degree scope
Image；
Described control system accepts the image that described photographic head obtains, and obtains the orientation angle of each object in described image, and
Send to the radar detedtor positioned at front end；
Described radar detedtor includes a steering machine, and described steering machine obtains described orientation angle and adjusts the thunder of radar detedtor
Reach the direction of the launch to described object place orientation angle；
Described radar detedtor controls the angle of described radar detedtor according to the orientation angle of the described each object obtaining, described
Radar detedtor obtains the range data of each object and sends to control system, and described control system is according in described image
The direction of each object completes corresponding control with range data.
2. three-dimensional visual sensor as claimed in claim 1 is it is characterised in that it is used for automatic machinery people or automatically drives
Sail automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783334.XA CN106382918A (en) | 2016-08-31 | 2016-08-31 | Three-dimensional visual sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783334.XA CN106382918A (en) | 2016-08-31 | 2016-08-31 | Three-dimensional visual sensor |
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| CN106382918A true CN106382918A (en) | 2017-02-08 |
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| CN201610783334.XA Pending CN106382918A (en) | 2016-08-31 | 2016-08-31 | Three-dimensional visual sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107071347A (en) * | 2017-02-27 | 2017-08-18 | 浙江宇视科技有限公司 | The method of adjustment and headend equipment of a kind of wireless localization apparatus |
| CN108229345A (en) * | 2017-12-15 | 2018-06-29 | 吉利汽车研究院（宁波）有限公司 | A kind of driver's detecting system |
| CN112104859A (en) * | 2019-06-17 | 2020-12-18 | 苏州思善齐自动化科技有限公司 | Three-dimensional vision sensor and use method thereof |
| CN113070898A (en) * | 2021-03-31 | 2021-07-06 | 郑州工业应用技术学院 | Three-dimensional visual sense sensing control device based on multi-sense fusion |
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| US20130222174A1 (en) * | 2010-10-11 | 2013-08-29 | Tok Son Choe | Apparatus and method for providing obstacle information in autonomous mobile vehicle |
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| CN1616920A (en) * | 2003-11-14 | 2005-05-18 | 北京理工大学 | Active real-time three-dimensional positioning system based on binocular vision and laser distance detection |
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| CN107071347A (en) * | 2017-02-27 | 2017-08-18 | 浙江宇视科技有限公司 | The method of adjustment and headend equipment of a kind of wireless localization apparatus |
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| CN112104859A (en) * | 2019-06-17 | 2020-12-18 | 苏州思善齐自动化科技有限公司 | Three-dimensional vision sensor and use method thereof |
| CN113070898A (en) * | 2021-03-31 | 2021-07-06 | 郑州工业应用技术学院 | Three-dimensional visual sense sensing control device based on multi-sense fusion |
| CN113070898B (en) * | 2021-03-31 | 2022-07-15 | 郑州工业应用技术学院 | Three-dimensional visual sense sensing control device based on multi-sense organ fusion |
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Effective date of registration: 20170427 Address after: 243000 Ma'anshan Anhui city to undertake industrial transfer demonstration park, international science and Technology Park, No. 21 Applicant after: MA'ANSHAN TIANZHENG INTELLIGENT EQUIPMENT CO., LTD. Address before: 300131 Hongqiao District, Tianjin District, No. 1, No. 1, No. 1 road, Hongqiao Applicant before: Hu Zhaozheng |
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