CN106909141A - Obstacle detection positioner and obstacle avoidance system - Google Patents
Obstacle detection positioner and obstacle avoidance system Download PDFInfo
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- CN106909141A CN106909141A CN201510977360.1A CN201510977360A CN106909141A CN 106909141 A CN106909141 A CN 106909141A CN 201510977360 A CN201510977360 A CN 201510977360A CN 106909141 A CN106909141 A CN 106909141A
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 230000004888 barrier function Effects 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 29
- 239000000284 extract Substances 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 210000001525 retina Anatomy 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
-
- 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
Abstract
The invention provides a kind of obstacle detection positioner, including image acquisition unit, it is used to obtain the scene image in front of barrier traveling；Graphics processing unit, to acquisition sequence image in the scene image that is acquired by image acquisition unit, and extracts light stream from sequence image, and the relative distance of barrier and image acquisition unit is finally drawn according to light stream；Image acquisition unit may be contained within obtaining at the position of scene image with graphics processing unit.Present invention also offers a kind of obstacle avoidance system, including above-mentioned obstacle detection positioner, it is used to obtain the relative distance of barrier and image acquisition unit；Intelligent body control module, is used to obtain the relative distance of barrier and image acquisition unit, and cook up the course of avoiding barrier accordingly to realize barrier avoiding function.Can realize that the obstacle detection based on image is positioned using technical scheme, the extraction of collection, the light stream of image information is carried out at the position of IMAQ.
Description
Technical field
The present invention relates to machine vision applications technical field, more particularly to a kind of obstacle detection positioning dress
Put and employ the obstacle avoidance system of the obstacle detection positioner.
Background technology
Light stream refers to the motion of brightness or gray scale on imaging plane in time varying image.Animal is (especially
Insect) when mobile, surrounding environment can on the retina form image sequence, image sequence it is continuous
Change causes " flowing " of brightness on retina, therefore visually claims this brightness of image in two-dimensional imaging
Motion in plane is light stream.Relative motion is the necessary condition that light stream is produced, biological study result table
Bright insect is navigated using light stream, flown and is landed, and this shows to include abundant in light stream
Three-dimensional motion and scene information.Carry out numerous studies in succession both at home and abroad in light stream applied technical field,
Moving target detection is concentrated mainly on tracking, robot visual guidance and avoidance, aircraft low latitude ground
Shape follows the directions such as flight control, tentatively possesses the basis converted to engineer applied.
In light stream application algorithm research and exploitation, because light stream extraction algorithm amount of calculation is larger, therefore
The sequence image of the camera acquisition that typically intelligent body is carried passes back to ground by Radio Link to be counted
Calculation machine carries out light stream resolving, and this limits the engineering conversion of light stream application to a certain extent.Also,
, used as a kind of instantly emerging hardware system based on image light stream application, it can for PX4 light flow sensor
It is used together with supersonic sounding device, measures the lower regarding light stream of micro air vehicle, auxiliary realizes nothing
Fixed point flight under the conditions of GPS, the technology has been applied to Ar.drone quadrotors, and PX4
Light flow sensor can also fly control Pixhawk is compatible uses with increasing income, but because imaging unit is few, survey
Measure coverage and distance also very little, it is impossible to adapt to the application of forward sight long-distance large-range detection.
The content of the invention
Can be extracted at IMAQ scene it is an object of the invention to provide one kind and light stream and realized accordingly
Obstacle detection positioner and employ the obstacle detection that obstacle detection based on image is positioned
The obstacle avoidance system of positioner.
To solve the above problems, the present invention proposes a kind of obstacle detection positioner, and the device includes：
Image acquisition unit, is used to obtain the scene image in front of barrier traveling；
Graphics processing unit, to be gathered in the scene image that is acquired by described image acquiring unit
Sequence image, and light stream is extracted from the sequence image, obstacle is finally drawn according to the light stream
The relative distance of thing and described image acquiring unit；
Described image acquiring unit is connected the field for being used to that barrier will be included with described image processing unit
The image information of scape is transmitted to described image processing unit；
Described image acquiring unit may be contained within obtaining the position of scene image with described image processing unit
Place.
Preferably, the obstacle detection positioner and ground monitoring control work station be connected be used to by
Barrier is transferred to the ground monitoring control work station with the relative distance of described image acquiring unit.
Preferably, wireless network card, the obstacle physical prospecting are provided with the obstacle detection positioner
Survey positioner and control work station wireless connection with the ground monitoring.
Preferably, the ground monitoring control work station logs in control institute by wireless network card wireless remote
State graphics processing unit.
Preferably, obstacle detection positioner of the invention also includes portable power source, the mobile electricity
Source is connected to provide power supply with described image acquiring unit and graphics processing unit respectively, specifically,
Can be used between the portable power source and described image acquiring unit and graphics processing unit
MicroUSB powers.
Preferably, described image acquiring unit includes video camera；
Described image processing unit includes Pcduino microcomputers, the (SuSE) Linux OS for carrying
And Opencv application layer software Opencv application layer softwares.
Preferably, application layer software includes in described image processing unit：
Sequence images module, is used to gather the scene image that described image acquiring unit is acquired
In sequence image；
Correction module, is used to correct sequence image that the sequence images module collects and filters
Noise；
Light stream estimation module, is used to obtain and extract the sequence image after being corrected through the correction module
In light stream；
Depth estimation module, is used to obtain the relative distance between barrier and image acquisition unit.
Preferably, it is solid between each described sequence image that the sequence of modules image capture module reads
Fixed time interval, and the time interval can combine by staff and actually be set, and preset
In Opencv application layer softwares.
Preferably, the noise that filters of the correction module uses gaussian filtering method；
The light stream estimation module extracts light stream and uses binomial fitting method；
The depth estimation module is entered according to Expansion Center (FOE) and remaining collision time (TTC)
OK.
Present invention also offers a kind of obstacle avoidance system, including：
Above-mentioned obstacle detection positioner, is used to obtain barrier with described image acquiring unit
Relative distance；
Intelligent body control module, is used to obtain the relative distance of barrier and described image acquiring unit,
And the course of avoiding barrier is cooked up accordingly to realize barrier avoiding function；
The obstacle detection positioner is connected with the intelligent body control module and is used to that obstacle will be obtained
Thing is transmitted to the intelligent body control module with the relative distance of described image acquiring unit.
Using obstacle detection positioner of the invention and employ the obstacle detection positioner
Obstacle avoidance system can carry out the extraction of collection, the light stream of image information at the position of IMAQ, and
The final relative distance that barrier and described image acquiring unit are drawn according to the light stream, realizes based on figure
The obstacle detection positioning of picture.Due to the use of Pcduino microcomputers so that barrier of the invention
Hinder thing Detection location device light weight, small volume, strong adaptability, be directly mounted to robot, nothing
Carried out on people's car, unmanned vehicle early stage data acquisition and accumulation and in this, as basis realize navigation,
Avoidance, target following function, improve the intelligent level of advocating peace certainly of intelligent body view-based access control model；And can
To run Opencv application layer softwares on Pcduino microcomputers, not only low cost, easily acquisition
And it is easy to operate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be right
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described, it should be apparent that,
Drawings in the following description are only some embodiments of the present invention, for those of ordinary skill in the art
For, on the premise of not paying creative work, can also obtain other attached according to these accompanying drawings
Figure.
Fig. 1 is the theory diagram of obstacle detection positioner of the present invention in embodiment 1.
Fig. 2 is the theory diagram of obstacle avoidance system of the present invention in embodiment 1.
Fig. 3 is the scene image of image acquisition unit acquisition in embodiment 1.
The light flow diagram that Fig. 4 is extracted for graphics processing unit in embodiment 1.
Fig. 5 is the relative distance explanatory diagram of barrier and described image acquiring unit in Fig. 4.
Specific embodiment
Illustrate embodiments of the invention with reference to the accompanying drawings.In an accompanying drawing of the invention or a kind of real
Apply element and feature described in mode can with one or more other accompanying drawings or implementation method in
The element and feature for showing are combined.It should be noted that in order to understand purpose, being omitted in accompanying drawing and explanation
The expression and description of part unrelated to the invention, known to persons of ordinary skill in the art and treatment.
The invention provides a kind of obstacle detection positioner, the obstacle detection positioner includes：
Image acquisition unit, is used to obtain the scene image in front of barrier traveling；
Graphics processing unit, to acquisition sequence in the scene image that is acquired by image acquisition unit
Image, and light stream is extracted from sequence image, finally show that barrier is obtained with image according to light stream
The relative distance of unit；
Above-mentioned image acquisition unit is connected the scene for being used to that barrier will be included with graphics processing unit
Image information transmit to graphics processing unit；
Image acquisition unit may be contained within obtaining at the position of scene image with graphics processing unit.
As one kind preferred embodiment, can be by obstacle detection positioner and ground monitoring control
Work station connection processed is used to for the relative distance of barrier and image acquisition unit to be transferred to ground monitoring control
Work station processed.Wireless network card is set in obstacle detection positioner, obstacle detection is positioned and is filled
Put and control work station wireless connection with ground monitoring, meanwhile, ground monitoring control work station is by wireless
Network interface card wireless remote logs in control graphics processing unit.Can also be positioned in obstacle detection of the invention
Dress centers portable power source, and by portable power source respectively with image acquisition unit and image procossing list
Unit's connection is to provide power supply, specifically, portable power source and image acquisition unit and graphics processing unit
Between can be powered using MicroUSB.Image acquisition unit includes video camera；Image procossing list
Unit is soft including Pcduino microcomputers, the (SuSE) Linux OS for carrying and Opencv application layers
Part Opencv application layer softwares.Video camera can be by USB interface and Pcduino microcomputers
Connection.In order to realize extraction and barrier and the image acquisition unit of collection, the light stream of image information
Relative distance acquisition, can be respectively provided with the Opencv application layer softwares of graphics processing unit and be used to
The sequence images mould of the sequence image in the scene image that collection image acquisition unit is acquired
Block；The sequence image collected to correction sequence image capture module and the correction module for filtering noise；
Mould is estimated in the light stream for being used to obtain and extract the light stream in the sequence image after calibrated module correction
Block；It is used to obtain the depth estimation module of the relative distance between barrier and image acquisition unit.Tool
Body, as one kind preferred embodiment, wherein, the noise that filters of correction module is filtered using Gauss
Wave method；Light stream estimation module extracts light stream and uses binomial fitting method；Depth estimation module according to
Expansion Center and remaining collision time are carried out.And it is each that above-mentioned sequence of modules image capture module reads
Fixed time interval can be chosen between sequence image, the time interval can be tied by staff
Conjunction actually set, and defaults in Opencv application layer softwares.
Present invention also offers a kind of obstacle avoidance system, the system includes：
Above-mentioned obstacle detection positioner, is used to obtain barrier relative with image acquisition unit
Distance；
Intelligent body control module, is used to obtain the relative distance of barrier and image acquisition unit, and according to
This cooks up the course of avoiding barrier to realize barrier avoiding function；
Obstacle detection positioner is connected with intelligent body control module and is used to that barrier and image will be obtained
The relative distance of acquiring unit is transmitted to intelligent body control module.
Embodiment 1：
As shown in figure 1, as one kind preferred embodiment, in the present embodiment, image acquisition unit
Using video camera；Graphics processing unit is using Pcduino microcomputers and runs on the Pcduino
Opencv application layer softwares on microcomputer.The Pcduino microcomputers of graphics processing unit
With ground monitoring control work station by WIFI wireless connections, and by barrier and image acquisition unit
Relative distance be transferred to ground monitoring control work station.In the present embodiment, it is fixed in obstacle detection
The position portable power source that centers of dress is chosen for 5V portable power sources and by itself and graphics processing unit
Pcduino microcomputers are powered using MicroUSB, and herein, the 5V portable power sources can also be with
Video camera is powered using MicroUSB.Meanwhile, video camera is micro- with the Pcduino of graphics processing unit
Type intercomputer can be connected using USB interface, and the image information for being used to collect is transferred to
Pcduino microcomputers, meanwhile, receive and include reading respectively from Pcduino microcomputers
The image pick-up signal of the time interval information between sequence image etc..
As shown in Fig. 2 in order to realize after relative distance of the barrier with image acquisition unit is obtained
To its application such as estimation of Depth, avoidance instruction resolving, navigation algorithm, track algorithm etc., can be by
Each algorithm and corresponding control instruction are stored and run in the form of light streaming application above
On Pcduino microcomputers.Because each application by storing and can operate in the miniature calculating of Pcduino
Program on machine realizes, in addition Pcduino microcomputers small volume, can be loaded in robot,
On the autonomous agents such as unmanned vehicle, unmanned vehicle, for realizing the intelligence based on sequence image light stream
The technology applications such as body independent navigation, automatic obstacle avoiding, moving-target detecting and tracking.Pcduino is used as a kind of high
The mini PC platforms of performance, it has TTL serial ports, thus performs the estimation of Depth, avoidance instruction
The result data of resolving, navigation algorithm etc. and the corresponding control instruction for producing can be gone here and there by the TTL
Mouth is sent out to intelligent body control unit.
Furthermore, it is possible to stored on the Pcduino microcomputers and run (SuSE) Linux OS,
For algorithm development, debugging, operation provide environment, and support each open source software.As a kind of preferred
Implementation method, in the present embodiment, what the obstacle detection positioner of the obstacle avoidance system was used is
Same parts, structure and connected mode in Fig. 1, will not be repeated here.
If barrier is vehicular traffic, can optionally by video camera and Pcduino microcomputers
It is fixedly mounted on overline bridge, gathers obliquely downward scene image, as shown in figure 3, is now image acquisition
The scene image that unit namely video camera are obtained, then can be by Opencv application layer softwares
FarneBack light streams extraction module estimates the light stream in adjacent two images, as shown in figure 4, serving as reasons
The light flow diagram that this is extracted, wherein, Fig. 5 is the relative distance of barrier and image acquisition unit
Explanatory diagram.Based on the Optic flow information, mobile vehicle can be detected, and further estimate vehicle away from
From the relative distance of video camera, the nearlyer black of distance is deeper.
Although the present invention and its advantage has been described in detail it should be appreciated that without departing from by appended
The spirit and scope of the present invention that are limited of claim in the case of can carry out various changes, replace
Generation and conversion.And, scope of the present application is not limited only to process, equipment, hand described by specification
Section, the specific embodiment of method and steps.One of ordinary skilled in the art is from disclosure of the invention
Content will readily appreciate that, can be basic to corresponding embodiment described herein using performing according to the present invention
Identical function or obtain process essentially identical with it result, existing and that future is to be developed,
Equipment, means, method or step.Therefore, appended claim is intended to be wrapped in the range of them
Include such process, equipment, means, method or step.
Claims (10)
1. a kind of obstacle detection positioner, it is characterised in that including：
Image acquisition unit, is used to obtain the scene image in front of barrier traveling；
Graphics processing unit, in the scene image that is acquired by described image acquiring unit
Acquisition sequence image, and light stream is extracted from the sequence image, finally according to the light stream
Draw the relative distance of barrier and described image acquiring unit；
Described image acquiring unit is connected with described image processing unit and is used to that barrier will be included
The image information of scene transmit to described image processing unit；
Described image acquiring unit may be contained within obtaining scene image with described image processing unit
At position.
2. obstacle detection positioner according to claim 1, it is characterised in that：Institute
State obstacle detection positioner and be connected with ground monitoring control work station and be used to barrier and institute
The relative distance for stating image acquisition unit is transferred to the ground monitoring control work station.
3. obstacle detection positioner according to claim 2, it is characterised in that：Institute
State and be provided with wireless network card, the obstacle detection positioner in obstacle detection positioner
Work station wireless connection is controlled with the ground monitoring.
4. obstacle detection positioner according to claim 3, it is characterised in that：Institute
State ground monitoring control work station and control described image treatment is logged in by wireless network card wireless remote
Unit.
5. obstacle detection positioner according to claim 1, it is characterised in that：Also
Including portable power source, the portable power source respectively with described image acquiring unit and image procossing
Unit connects to provide power supply.
6. obstacle detection positioner according to any one of claim 1 to 5, its
It is characterised by：Described image acquiring unit includes video camera；
The Linux operations that described image processing unit includes Pcduino microcomputers, carries
System and Opencv application layer software Opencv application layer softwares.
7. obstacle detection positioner according to claim 6, it is characterised in that：Institute
Application layer software includes in stating graphics processing unit：
Sequence images module, is used to gather the scene that described image acquiring unit is acquired
Sequence image in image；
Correction module, is used to correct sequence image that the sequence images module collects simultaneously
Filter noise；
Light stream estimation module, is used to obtain and extract the sequence after being corrected through the correction module
Light stream in image；
Depth estimation module, is used to obtain the relative distance between barrier and image acquisition unit.
8. obstacle detection positioner according to claim 7, it is characterised in that：Institute
State between each described sequence image of sequence of modules image capture module reading as between regular time
Every.
9. obstacle detection positioner according to claim 7, it is characterised in that：
The noise that filters of the correction module uses gaussian filtering method；
The light stream estimation module extracts light stream and uses binomial fitting method；
The depth estimation module is carried out according to Expansion Center and remaining collision time.
10. a kind of obstacle avoidance system, it is characterised in that including：
Obstacle detection positioner described in claim 1 to 9, is used to obtain barrier
With the relative distance of described image acquiring unit；
Intelligent body control module, be used to obtain barrier it is relative with described image acquiring unit away from
From, and the course of avoiding barrier is cooked up accordingly to realize barrier avoiding function；
The obstacle detection positioner is connected with the intelligent body control module and is used to obtain
Barrier is transmitted to the intelligent body control module with the relative distance of described image acquiring unit.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110414392A (en) * | 2019-07-15 | 2019-11-05 | 北京天时行智能科技有限公司 | A kind of determination method and device of obstacle distance |
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