CN106595570A - Vehicle single camera and six-axis sensor combination range finding system and range finding method thereof - Google Patents
Vehicle single camera and six-axis sensor combination range finding system and range finding method thereof Download PDFInfo
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- CN106595570A CN106595570A CN201611166138.4A CN201611166138A CN106595570A CN 106595570 A CN106595570 A CN 106595570A CN 201611166138 A CN201611166138 A CN 201611166138A CN 106595570 A CN106595570 A CN 106595570A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention belongs to the technical field of automobile, and especially relates to a vehicle single camera and six-axis sensor combination range finding system and a range finding method thereof. The vehicle single camera and six-axis sensor combination range finding system comprises a single camera, a six-axis sensor and a control circuit, the six-axis sensor is integrally arranged on a meter panel of the vehicle and comprises a pitch angle for measuring the vehicle, an inclination angle, a gyroscope of a yaw angle, and an accelerometer capable of measuring the x axial acceleration vector, y axial acceleration vector and z axial acceleration vector of the vehicle, x axis of the accelerometer is mutually parallel with central axis of the vehicle along the height direction, y axis is mutually parallel with central axis of the vehicle along the width direction, z axis is mutually parallel with central axis of the vehicle along the length direction, the single camera is arranged at the front end of the vehicle, and the control circuit is respectively connected with the single camera and the six-axis sensor. Compared with the prior art, the system has the advantages that design is reasonable, and the range finding precision of the single camera is increased.
Description
Technical field
The invention belongs to automobile technical field, is related to monitoring, pass more particularly, to a kind of vehicle-mounted monocular photographic head and six axles
Sensor combines range-measurement system and its distance-finding method.
Background technology
The detection and identification of the targets such as every trade people, vehicle of going forward side by side currently with photographic head shooting present road picture, while
The distance between Current vehicle and target vehicle are measured using this photographic head, merely can be because of shooting using monocular cam range finding
There is larger error in the problems such as head image quality；Also for example measured between Current vehicle and target vehicle using binocular camera
Distance, and utilize the binocular camera range finding can be than the photographic head range finding many costs of increase, and data processing also can be more
It is complicated.
For example, Chinese patent literature discloses a kind of vehicle-mounted camera [application number：201380015847.0], vehicle-mounted pick-up
Head due to arranging lens in the prominent portion of projecting from above vehicle-mounted camera main body, so with by vehicle-mounted camera main body entirety
Compare when being configured at the lower section of bracket, can be apart from the most short position configuration lens of windshield.
Although such scheme can be by for shooting and monitoring.But, however it remains error is larger etc. that technology is asked
Topic.
The content of the invention
The purpose of the present invention is for the problems referred to above, there is provided a kind of reasonable in design, it is possible to increase monocular cam range finding essence
The vehicle-mounted monocular photographic head of degree is combined range-measurement system with six axle sensors.
It is a further object of the present invention to provide a kind of vehicle-mounted monocular photographic head is combined distance-finding method with six axle sensors.
To reach above-mentioned purpose, following technical proposal is present invention employs：This vehicle-mounted monocular photographic head and six axle sensors
With reference to range-measurement system, it is arranged on car body, it is characterised in that the system includes monocular cam, six axle sensors and control electricity
Road, described six axle sensor integrated installations are on the instrumental panel of car body and six axle sensors include measuring the pitching of car body
Angle, inclination angle, the gyroscope of yaw angle and the x-axis directional acceleration vector of car body, y-axis directional acceleration vector, z can be measured
The accelerometer of direction of principal axis acceleration, x-axis and the height of the carbody direction axis of described accelerometer are parallel to each other, y
Axle and width of the carbody direction axis are parallel to each other, z-axis and length over ends of body direction axis are parallel to each other, described monocular shooting
Head is installed on the front portion of car body, and described control circuit is connected with monocular cam and six axle sensors respectively, described monocular
The pixel principal point of photographic head is located on the optical center axis of monocular cam.
Combined in range-measurement system with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described monocular cam is at least
Can realize rotating upwardly and downwardly to realize the amendment of upper and lower shooting angle and/or can realize relative to car body left-right rotation relative to car body
To realize the amendment of left and right shooting angle.
Combined in range-measurement system with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described monocular cam includes
Mounting seat and camera lens, described mounting seat is provided with left-right rotation controlling organization and described left-right rotation controlling organization is by first
Servomotor drives, and described left-right rotation controlling organization is provided with and rotates upwardly and downwardly controlling organization and described rotate upwardly and downwardly control
Mechanism is driven by the second servomotor, and described camera lens is arranged on and rotates upwardly and downwardly on controlling organization.
Combined in range-measurement system with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described monocular cam is installed
On the front windshield of car body and be narrow angle lens camera, being provided between described mounting seat and front windshield to make list
The moving connecting mechanism that mesh photographic head is laterally moved left and right along front windshield, described left-right rotation controlling organization, up and down
Rotation controling mechanism and moving connecting mechanism are connected with control circuit.
A kind of vehicle-mounted monocular photographic head is combined distance-finding method with six axle sensors, and previous moment accelerometer measures car body and exists
The x-axis directional acceleration vector at this moment is v0x, y-axis directional acceleration vector be v0y, z-axis directional acceleration vector be v0z, top
Spiral shell instrument measures the car body angle of pitch at this momentInclination angle is ω1, yaw angle be κ1, and the picture point seat of this moment impact point
It is designated as (x1,y1)；Later moment in time accelerometer measures car body x-axis directional acceleration vector at this moment for ax, y-axis direction adds
Velocity is ay, z-axis directional acceleration vector be az, gyroscope measures the car body angle of pitch at this moment and isInclination angle is
ω2, yaw angle be κ2, and the picpointed coordinate of this moment impact point is (x2,y2)；The time interval of previous moment and later moment in time
For t；Previous moment monocular cam place geodetic coordinates is S (X, Y, Z) and later moment in time monocular cam place geodetic coordinates
For S'(X', Y', Z'), then the spacing calculated by location algorithm between impact point and monocular cam is (Δ X, Δ Y, Δ Z).
Combined in distance-finding method with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described location algorithm is as follows：
Previous moment geodetic coordinates S (X, Y, Z) and later moment in time geodetic coordinates S'(X', Y', Z') the distance between be (BX,BY,BZ),
Then：Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') the distance between (BX,BY,BZ) value computing formula it is as follows：
Respectively calculate geodetic coordinates S (X, Y, Z) with geodetic coordinates S'(X', Y', Z') spin matrix R, R', so as to try to achieve
Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') value, computing formula difference is as follows：
Wherein, f is the focal length of monocular cam；
The computing formula difference of projection coefficient N and N' is as follows：
Then the distance between monocular cam and car body are
Compared with prior art, this vehicle-mounted monocular photographic head is combined range-measurement system and its distance-finding method with six axle sensors
Advantage be：1st, it is reasonable in design, it is possible to increase monocular cam range accuracy；2nd, while detection performance is improved, reduce
Manufacturing cost and use cost；3rd, the attitude of real-time monitoring car, corrects the shooting of photographic head in real time according to the attitude angle of car
Angle, with the target missing inspection situation for avoiding causing because of vision dead zone, ensures monitoring correctness, safe and reliable.
Description of the drawings
Fig. 1 is the structured flowchart that the present invention is provided.
Fig. 2 is the structural representation that the present invention is provided.
In figure, car body 1, monocular cam 2, six axle sensors 3, control circuit 4, gyroscope 5, accelerometer 6.
Specific embodiment
As shown in Figure 1, 2, this vehicle-mounted monocular photographic head is combined range-measurement system with six axle sensors, is arranged on car body 1, bag
Include monocular cam 2, six axle sensors 3 and control circuit 4, six axle sensors, 3 integrated installation is on the instrumental panel of car body 1 and six
Axle sensor 3 includes measuring the angle of pitch of car body 1, inclination angle, the gyroscope 5 of yaw angle and can measure the x-axis of car body 1
Directional acceleration vector, y-axis directional acceleration vector, the accelerometer 6 of z-axis directional acceleration vector, the x-axis of accelerometer 6
With 1 short transverse axis of car body be parallel to each other, y-axis and 1 width axis of car body are parallel to each other, 1 length of z-axis and car body
Direction axis is parallel to each other, and monocular cam 2 is installed on the front portion of car body 1, control circuit 4 respectively with monocular cam 2 and
Six axle sensors 3 are connected, and the pixel principal point of monocular cam 2 is located on the optical center axis of monocular cam 2.
In particular, monocular cam 2 can at least be realized rotating upwardly and downwardly to realize upper and lower shooting angle relative to car body 1
Amendment and/or can realize relative to 1 left-right rotation of car body to realize the amendment of left and right shooting angle.Automobile will reach slope
The moment of top/bottom of slope, if photographic head is maintained static, what its field range major part was photographed is sky/above ground portion, slope
The road surface at top/bottom will become vision dead zone, can't detect front truck image this moment, there is hidden danger, but according to six axle sensors 3
Carry out after location sensitive can real-time adjustment camera angle, then can photograph the road surface at slope top/bottom, detect the obstacle of presence
The targets such as thing, to ensure safety, i.e.,：When going up a slope, when reaching slope top, photographic head is downward-sloping, shooting before can so avoiding
The motionless target missing inspection situation that can only be photographed sky and cause；When turning, if photographic head is maintained static, on bend
Car or other target detections less than, produce vision dead zone missing inspection target and cause danger.
When car body 1 will reach the moment on slope top, according to the reality that six axle sensors 1 for being arranged at 1 front portion of car body are collected
When attitude data control monocular cam 2 shooting angle relative to the adjustment downwards of car body 1 so that monocular cam 2 is adjusted in time
The position that road is pushed up on slope can extremely be shot；When car body 1 will reach the moment of bottom of slope, according to six axles for being arranged at 1 front portion of car body
The shooting angle of the real-time attitude Data Control monocular cam 2 that sensor 1 is collected is adjusted upward relative to car body 1 so that single
Mesh photographic head 2 is adjusted in time to the position that can shoot bottom of slope road；When car body 1 travels on bend, according to being arranged at car body 1
The shooting angle of the real-time attitude Data Control monocular cam 2 that six anterior axle sensors 1 are collected is with the bending of bend
Direction is relative to 1 or so adjustment of car body so that monocular cam 2 is adjusted in time to the shooting angle that can photograph bend.
When car body 1 will reach the moment of bottom of slope and be in bend, according to six axle sensors for being arranged at 1 front portion of car body
The bending direction of 3 six axle sensors 3 of real-time attitude Data Control for collecting relative to car body 1 upwards and with bend or so is adjusted
It is whole so that monocular cam 2 is adjusted in time to the position that can shoot bend bottom of slope road；When car body 1 will reach the wink of bottom of slope
Between and in bend when, taken the photograph according to the real-time attitude Data Control monocular that six axle sensors 1 for being arranged at 1 front portion of car body are collected
As 2 bending directions relative to car body 1 upwards and with bend or so adjustment so that monocular cam 2 is adjusted in time to can
Shoot the position of bend bottom of slope road.
Monocular cam 2 includes mounting seat and camera lens, and mounting seat is provided with left-right rotation controlling organization and left-right rotation control
Mechanism processed is driven by the first servomotor, and left-right rotation controlling organization is provided with and rotates upwardly and downwardly controlling organization and rotate upwardly and downwardly control
Mechanism is driven by the second servomotor, and camera lens is arranged on and rotates upwardly and downwardly on controlling organization.
Monocular cam 2 is installed on the front windshield of car body 1 and is narrow angle lens camera, mounting seat and front windshield
The moving connecting mechanism that monocular cam 2 can be made laterally to move left and right along front windshield, left-right rotation are provided between glass
Controlling organization, rotate upwardly and downwardly controlling organization and moving connecting mechanism is connected with control circuit 4.
Previous moment accelerometer 6 measures the x-axis directional acceleration vector at this moment of car body 1 for v0x, y-axis direction accelerate
Degree vector is v0y, z-axis directional acceleration vector be v0z, gyroscope 5 measures the angle of pitch at this moment of car body 1 and isInclination angle
For ω1, yaw angle be κ1, and the picpointed coordinate of this moment impact point is (x1,y1)；Later moment in time accelerometer 6 measures car body 1
X-axis directional acceleration vector at this moment is ax, y-axis directional acceleration vector be ay, z-axis directional acceleration vector be az, top
Spiral shell instrument 5 measures the angle of pitch at this moment of car body 1Inclination angle is ω2, yaw angle be κ2, and the picture point of this moment impact point
Coordinate is (x2,y2)；Previous moment is t with the time interval of later moment in time；2 place geodetic coordinates of previous moment monocular cam
It is S'(X' for S (X, Y, Z) and 2 place geodetic coordinates of later moment in time monocular cam, Y', Z'), then calculated by location algorithm
Spacing between impact point and monocular cam 2 is (Δ X, Δ Y, Δ Z).
Location algorithm is as follows：Previous moment geodetic coordinates S (X, Y, Z) and later moment in time geodetic coordinates S'(X', Y', Z') it
Between distance be (BX,BY,BZ), then：Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') the distance between (BX,BY,
BZ) value computing formula it is as follows：
Respectively calculate geodetic coordinates S (X, Y, Z) with geodetic coordinates S'(X', Y', Z') spin matrix R, R', so as to try to achieve
Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') value, computing formula difference is as follows：
Wherein, f is the focal length of monocular cam 2；
The computing formula difference of projection coefficient N and N' is as follows：
Then the distance between monocular cam 2 and car body 1 are
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodiment
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more used herein car body 1, monocular cam 2, six axle sensors 3, control circuit 4, gyroscope 5,
6 grade term of accelerometer, but it is not precluded from the probability using other terms.Using these terms just for the sake of more easily
Describe and explain the essence of the present invention；Being construed as any additional restriction is disagreed with spirit of the present invention
's.
Claims (6)
1. a kind of vehicle-mounted monocular photographic head is combined range-measurement system with six axle sensors, is arranged on car body (1), it is characterised in that
The system includes monocular cam (2), six axle sensors (3) and control circuit (4), the described integrated peace of six axle sensors (3)
On instrumental panel loaded on car body (1) and six axle sensors (3) are including can measure the angle of pitch of car body (1), inclination angle, yaw angle
Gyroscope (5) and the x-axis directional acceleration vector of car body (1), y-axis directional acceleration vector, z-axis direction can be measured accelerate
The accelerometer (6) of degree vector, x-axis and car body (1) the short transverse axis of described accelerometer (6) are parallel to each other, y-axis
With car body (1) width axis be parallel to each other, z-axis and car body (1) length direction axis are parallel to each other, described monocular
Photographic head (2) is installed on the front portion of car body (1), described control circuit (4) respectively with monocular cam (2) and six axle sensors
(3) it is connected, the pixel principal point of described monocular cam (2) is located on the optical center axis of monocular cam (2).
2. vehicle-mounted monocular photographic head according to claim 1 is combined range-measurement system with six axle sensors, it is characterised in that institute
The monocular cam (2) stated can at least realize rotating upwardly and downwardly relative to car body (1) with realize upper and lower shooting angle amendment and/or
Can realize relative to car body (1) left-right rotation to realize the amendment of left and right shooting angle.
3. vehicle-mounted monocular photographic head according to claim 2 is combined range-measurement system with six axle sensors, it is characterised in that institute
Including mounting seat and camera lens, described mounting seat is provided with left-right rotation controlling organization and described to the monocular cam (2) stated
Left-right rotation controlling organization is driven by the first servomotor, and described left-right rotation controlling organization is provided with and rotates upwardly and downwardly control machine
The structure and described controlling organization that rotates upwardly and downwardly is driven by the second servomotor, described camera lens is arranged on and rotates upwardly and downwardly controlling organization
On.
4. vehicle-mounted monocular photographic head according to claim 3 is combined range-measurement system with six axle sensors, it is characterised in that institute
The monocular cam (2) stated is installed on the front windshield of car body (1) and for narrow angle lens camera, described mounting seat with
The moving connecting mechanism that monocular cam (2) can be made laterally to move left and right along front windshield is provided between front windshield,
Described left-right rotation controlling organization, rotate upwardly and downwardly controlling organization and moving connecting mechanism is connected with control circuit (4).
5. range-measurement system is combined with six axle sensors based on the vehicle-mounted monocular photographic head described in any one in claim 1-4
Vehicle-mounted monocular photographic head is combined distance-finding method with six axle sensors, it is characterised in that previous moment accelerometer (6) measures car body
(1) x-axis directional acceleration vector at this moment is v0x, y-axis directional acceleration vector be v0y, z-axis directional acceleration vector be
v0z, gyroscope (5) measures car body (1) angle of pitch at this moment and isInclination angle is ω1, yaw angle be κ1, and this moment mesh
The picpointed coordinate of punctuate is (x1,y1)；Later moment in time accelerometer (6) measures car body (1) x-axis directional acceleration at this moment
Vector is ax, y-axis directional acceleration vector be ay, z-axis directional acceleration vector be az, gyroscope (5) measures car body (1) here
The angle of pitch at moment isInclination angle is ω2, yaw angle be κ2, and the picpointed coordinate of this moment impact point is (x2,y2)；It is previous
Moment is t with the time interval of later moment in time；Previous moment monocular cam (2) place geodetic coordinates is S (X, Y, Z) and latter
Moment monocular cam (2) place geodetic coordinates be S'(X', Y', Z'), then impact point is calculated by location algorithm and is taken the photograph with monocular
As the spacing between head (2) is (Δ X, Δ Y, Δ Z).
6. vehicle-mounted monocular photographic head according to claim 5 is combined distance-finding method with six axle sensors, it is characterised in that institute
The location algorithm stated is as follows：Previous moment geodetic coordinates S (X, Y, Z) and later moment in time geodetic coordinates S'(X', Y', Z') between
Distance is (BX,BY,BZ), then：Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') the distance between (BX,BY,BZ)
Value computing formula it is as follows：
Respectively calculate geodetic coordinates S (X, Y, Z) with geodetic coordinates S'(X', Y', Z') spin matrix R, R', so as to try to achieve the earth
Coordinate S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') value, computing formula difference is as follows：
Wherein, f is the focal length of monocular cam (2)；
The computing formula difference of projection coefficient N and N' is as follows：
Then the distance between monocular cam (2) and car body (1) are
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| CN109724560A (en) * | 2018-12-17 | 2019-05-07 | 南京理工大学 | A kind of monocular range-measurement system based on Inertial Measurement Unit |
| CN110216678A (en) * | 2019-06-25 | 2019-09-10 | 韦云智 | A kind of method of the indoor positioning navigation of robot |
| CN110966982A (en) * | 2018-09-28 | 2020-04-07 | 成都家有为力机器人技术有限公司 | Monocular camera ranging system and method for cleaning robot |
| CN111103437A (en) * | 2019-09-13 | 2020-05-05 | 福建工程学院 | Monocular distance measurement-based adjacent vehicle acceleration detection method and device |
| CN112729220A (en) * | 2019-10-14 | 2021-04-30 | 图达通智能科技(苏州)有限公司 | Real-time pose measurement system and compensation method for road sensing system |
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