CN107139666B - Obstacle detouring identifying system and method - Google Patents
Obstacle detouring identifying system and method Download PDFInfo
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- CN107139666B CN107139666B CN201710357960.7A CN201710357960A CN107139666B CN 107139666 B CN107139666 B CN 107139666B CN 201710357960 A CN201710357960 A CN 201710357960A CN 107139666 B CN107139666 B CN 107139666B
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 60
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The present invention provides a kind of obstacle detouring identifying system and methods, are related to technical field of transportation.Obstacle detouring identifying system includes forward looking camera, laser radar and obstacle detouring recognition processor, and forward looking camera is used to acquire the first video image of hovercar front obstacle；Laser radar is used to detect the first distance of barrier and hovercar；Obstacle detouring recognition processor is used to go out according to the first video image analysis type, the second distance of barrier and hovercar and the flying speed of hovercar of barrier, and calculated compensation displacement, first distance, the type of barrier, second distance and flying speed are sent to the winged control module of hovercar, so that flying control module control hovercar carries out obstacle detouring.Obstacle detouring identifying system and method provided by the invention can realize the crossing obstacle automatically function of hovercar, avoid hovercar from causing the generation of safety accident because that can not avoid front obstacle in time in flight course, provide safety guarantee for the flight of hovercar.
Description
Technical field
The present invention relates to technical field of transportation, in particular to a kind of obstacle detouring identifying system and method.
Background technique
Hovercar is a kind of novel land and air double-used vehicles, since it is with helicopter maneuverability and automobile
The characteristics of ground fast running, has become various countries' research hotspot.
During hovercar flight, since the flying speed of hovercar is exceedingly fast, so that hovercar may
The barrier in front can not be avoided in time and causes safety accident.Therefore, how providing one kind, safely and effectively obstacle detouring scheme is
The a great problem that hovercar industry is faced at present.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of obstacle detouring identifying system and method to improve above-mentioned ask
Topic.
In a first aspect, being applied to hovercar, the flight vapour the embodiment of the invention provides a kind of obstacle detouring identifying system
Vehicle includes flying control module, and the obstacle detouring identifying system includes:
Forward looking camera, for acquiring the first video image of the hovercar front obstacle；
Laser radar, for detecting the first distance of the barrier Yu the hovercar；
Obstacle detouring recognition processor, for the flight according to the hovercar current course heading, the hovercar
Speed and the laser radar adjacent time difference for obtaining the first distance twice, calculate the compensation of the hovercar
Displacement；And
According to the compensation displacement, first video image analysis go out the type of the barrier, the barrier with
The flying speed of the second distance of the hovercar and the hovercar, and by the first distance, the barrier
Type, the second distance and the flying speed be sent to the winged control module so that described in winged control module control
Hovercar carries out obstacle detouring；
Calculate the formula of the compensation displacement are as follows:
x(t)=(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·cos(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·sin(ω(t)Δt)
y(t)=-(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·sin(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·cos(ω(t)Δt)
Wherein, x(t)Indicate the displacement in t moment along base coordinate system in x-axis direction, y(t)It indicates in t moment along basis
Displacement in coordinate system on y-axis direction, ω(t)Indicate the course heading of the hovercar described in t moment, v(t)It indicates in t moment
The flying speed of the hovercar, Δ t indicate the laser radar adjacent time difference for obtaining the first distance twice,
x(t-Δt)Indicate the displacement in t- time Δt along base coordinate system in x-axis direction, y(t-Δt)It indicates in t- time Δt along basis
Displacement in coordinate system on y-axis direction.
Preferably, obstacle detouring identifying system further include:
Lower view video camera, for acquiring the second video image of the hovercar lower zone；
The obstacle detouring recognition processor is also used to go out according to second video image identification landing of the hovercar
The location information in region and the drop zone, and the location information of the drop zone is sent to the winged control module,
So that the winged control module controls the hovercar landing.
Preferably, obstacle detouring identifying system further includes the winged control module, and the winged control module is used for according to the barrier
Type judge whether to need to carry out obstacle detouring, the winged control module is also used to when needing to carry out obstacle detouring according to the first distance
With in second distance the shortest distance and the flying speed calculate time point of obstacle detouring, and control institute at the time point
It states hovercar and carries out obstacle detouring.
Preferably, the obstacle detouring recognition processor is used to obtain the image of the barrier according to first video image
Profile, and classified according to hsv color model to the barrier, obtain the type of the barrier.
Preferably, the obstacle detouring recognition processor is used to be based on monocular vision location algorithm according to first video image
The second distance is analyzed, and flying for the hovercar is analyzed according to the corresponding second distance of different time points
Scanning frequency degree.
Second aspect, the embodiment of the invention provides a kind of obstacle detouring recognition methods, are applied to hovercar, the flight vapour
Vehicle includes flying control module, and the obstacle detouring recognition methods includes:
Acquire the first video image of the hovercar front obstacle；
Detect the first distance of the barrier Yu the hovercar；
According to the current course heading of the hovercar, the flying speed of the hovercar and the laser radar
The adjacent time difference for obtaining the first distance twice calculates the compensation displacement of the hovercar；And
According to the compensation displacement, first video image analysis go out the type of the barrier, the barrier with
The flying speed of the second distance of the hovercar and the hovercar, and by the first distance, the barrier
Type, the second distance and the flying speed be sent to the winged control module so that described in winged control module control
Hovercar carries out obstacle detouring；
Calculate the formula of the compensation displacement are as follows:
x(t)=(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·cos(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·sin(ω(t)Δt)
y(t)=-(x(t-Δt)-v(t)·cos(ω(t)Δt)Δt)·sin(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·cos(ω(t)Δt)
Wherein, x(t)Indicate the displacement in t moment along base coordinate system in x-axis direction, y(t)It indicates in t moment along basis
Displacement in coordinate system on y-axis direction, ω(t)Indicate the course heading of the hovercar described in t moment, v(t)It indicates in t moment
The flying speed of the hovercar, Δ t indicate the laser radar adjacent time difference for obtaining the first distance twice,
x(t-Δt)Indicate the displacement in t- time Δt along base coordinate system in x-axis direction, y(t-Δt)It indicates in t- time Δt along basis
Displacement in coordinate system on y-axis direction.
Preferably, the method also includes:
Acquire the second video image of the hovercar lower zone；
Go out the drop zone of the hovercar and the position of the drop zone according to second video image identification
Information, and the location information of the drop zone is sent to the winged control module, so that described in the winged control module control
Hovercar landing.
Preferably, the method also includes:
Judge whether to need to carry out obstacle detouring according to the type of the barrier；
When needing to carry out obstacle detouring according to the shortest distance and flight speed in the first distance and second distance
Degree calculates the time point of obstacle detouring, and controls the hovercar at the time point and carry out obstacle detouring.
Preferably, described the step of going out the type of the barrier according to first video image analysis, includes:
The image outline of the barrier is obtained according to first video image, and according to hsv color model to described
Barrier is classified, and the type of the barrier is obtained.
Preferably, described the step of going out the barrier according to first video image analysis, includes:
Monocular vision location algorithm, which is based on, according to first video image analyzes the second distance；
Described the step of going out the flying speed of the hovercar according to first video image analysis includes:
The flying speed of the hovercar is analyzed according to the corresponding second distance of different time points.
For the prior art, obstacle detouring identifying system and method provided by the invention have it is following the utility model has the advantages that
Obstacle detouring identifying system and method provided by the invention are collected to forward looking camera by obstacle detouring recognition processor
First video image is analyzed to obtain the second distance of the type of barrier, barrier and hovercar and hovercar
Flying speed, and calculated compensation displacement, the type of barrier, second distance, flying speed and laser radar are detected
To barrier and the first distance of hovercar be sent to the winged control module of hovercar, control flight vapour to fly control module
Vehicle carries out obstacle detouring.In this way, the crossing obstacle automatically function of hovercar can be realized, avoid hovercar in flight course because can not
The timely generation avoided front obstacle and cause safety accident, provides safety guarantee for the flight of hovercar.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the functional block diagram for the obstacle detouring identifying system that first embodiment of the invention provides.
Fig. 2 is the functional block diagram for the another obstacle detouring identifying system that first embodiment of the invention provides.
Fig. 3 is the flow chart for the obstacle detouring recognition methods that second embodiment of the invention provides.
Fig. 4 is the flow chart for the another obstacle detouring recognition methods that second embodiment of the invention provides.
Icon: 100- forward looking camera；200- laser radar；300- obstacle detouring recognition processor；400- flies control module；500-
Lower view video camera.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
First embodiment
Fig. 1 shows a kind of functional block diagram of obstacle detouring identifying system provided in an embodiment of the present invention, the embodiment of the present invention
The obstacle detouring identifying system of offer is applied to hovercar, and hovercar includes the winged control module 400 for controlling its flight, more
Barrier identifying system include forward looking camera 100, laser radar 200, obstacle detouring recognition processor 300 and this fly control module 400, more
Hinder recognition processor 300 to be electrically connected respectively with forward looking camera 100, laser radar 200 and winged control module 400 to be counted
According to interaction.
Forward looking camera 100 is used to acquire the first video image of hovercar front obstacle.
In embodiments of the present invention, forward looking camera 100 is mountable to the front end of hovercar, in hovercar flight shape
It is opened under state.For hovercar during flight, forward looking camera 100 is arranged to open state, when front has barrier
When hindering object, forward looking camera 100 can get the first video image of front obstacle.
Laser radar 200 is used to detect the first distance of barrier and hovercar.
Laser radar 200 is installed on hovercar, and for hovercar during flight, laser radar 200 is to flight
Vehicle front emits laser acquisition signal, and laser acquisition signal meets barrier and is reflected back and received by laser radar 200,
And then detect the first distance of barrier and hovercar.
Obstacle detouring recognition processor 300 be used for according to the flying speed of the current course heading of hovercar, hovercar with
And the laser radar adjacent time difference for obtaining first distance twice, calculate the compensation displacement of hovercar.
Recordable course heading, flying speed and the laser radar for having hovercar current of hovercar itself is adjacent twice
Obtain the time difference of first distance.Obstacle detouring recognition processor 300 is according to the current course heading of hovercar, flying speed and swashs
The optical radar adjacent time difference for obtaining first distance twice calculates compensation displacement, position caused by being used to compensate due to the time difference
In error.Calculate the company of compensation displacement are as follows:
x(t)=(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·cos(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·sin(ω(t)Δt)
y(t)=-(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·sin(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·cos(ω(t)Δt)
Wherein, x(t)Indicate the displacement in t moment along base coordinate system in x-axis direction, y(t)It indicates in t moment along basis
Displacement in coordinate system on y-axis direction, ω(t)Indicate the course heading of the hovercar described in t moment, v(t)It indicates in t moment
The flying speed of the hovercar, Δ t indicate the laser radar adjacent time difference for obtaining the first distance twice,
x(t-Δt)Indicate the displacement in t- time Δt along base coordinate system in x-axis direction, y(t-Δt)It indicates in t- time Δt along basis
Displacement in coordinate system on y-axis direction.
Obstacle detouring recognition processor 300 is also used to go out according to the first video image analysis type, the barrier of the barrier
With the second distance of hovercar and the flying speed of hovercar.
After forward looking camera 100 gets the first video image of front obstacle, the first video image is sent to more
Hinder recognition processor 300.Obstacle detouring recognition processor 300 first in video image every frame picture or partial frame picture carry out it is pre-
Processing, extracts the characteristics of image of picture, characteristics of image includes the image outline and color of image of barrier, and according to HSV
Color model classifies to barrier, identifies the type of barrier.
It should be noted that in the embodiment of the present invention, to also being identified only on the basis of image outline for barrier.Example
Such as, the identification of human body can directly be compared the image outline of barrier in picture and pre-stored human body image profile
It is right, when the characteristic matching degree of the two is more than that given threshold judges the barrier for human body.In another example relatively fixed for color
Plant, building etc., then classified according to image outline and hsv color model to barrier, when the barrier in picture
Image outline match and the parametric tone (H) in hsv color model, satisfies with the image outline of pre-stored building or plant
Just determine that the barrier is corresponding building or plant when with degree (S) and lightness (V) within the scope of corresponding pre-set interval.
Further, to guarantee effectively to identify the barrier in the first video image, according to hsv color model pair
Before barrier is classified, obstacle detouring recognition processor 300 can also denoise every frame image in the first video image
Processing.
Meanwhile obstacle detouring recognition processor 300 is based on monocular vision location algorithm according to the first video image and analyzes obstacle
The second distance of object and hovercar.Its principle are as follows: for not in CCD image planes (the object transmitting lens of 100 camera lens of forward looking camera
Head can blur-free imaging face) dimensional target point on alignment surface, as disc of confusion can be generated on CCD, so that barrier is in CCD
It can thicken after upper imaging, barrier is different at a distance from forward looking camera 100, and the fuzziness of obtained image is different, benefit
With the fuzziness of image processing algorithm detection image, barrier and forward looking camera 100 can be obtained according to the fuzziness of image
Distance, i.e., barrier is at a distance from hovercar.
During hovercar flies, barrier is also different at a distance from hovercar in different time points, is measuring
After barrier is at a distance from hovercar, obstacle detouring recognition processor 300 can be obtained the corresponding second distance of different time points away from
Deviation value, and difference with the ratio of corresponding time difference obtains the flying speed of hovercar according to this distance.
Obstacle detouring recognition processor 300 obtain the second of compensation displacement, the type of barrier, barrier and hovercar away from
After the flying speed with hovercar, displacement, the type of barrier, the flying speed of second distance, hovercar will be compensated
And the currently detected first distance of laser radar 200 is sent to the winged control module 400 of hovercar together.It needs to illustrate
It is that the currently detected first distance of laser radar 200 can also be transmitted directly to the winged control mould of hovercar by laser radar 200
Block 400 is not specifically limited in the embodiment of the present invention.
Fly control module 400 be used for according to compensation displacement, the type of barrier, flying speed and first distance and second away from
Shortest distance control hovercar from carries out obstacle detouring.
Obtain compensation displacement, the type of barrier, second distance, hovercar flying speed and first distance after,
Fly control module 400 whether need to carry out obstacle detouring according to the type decision of barrier, such as need to carry out obstacle detouring, then take first distance and
The shortest distance in second distance as hovercar at a distance from barrier, then according to this distance, compensation displacement and flight
The flying speed of automobile calculates the specific time point of obstacle detouring, and control hovercar carries out obstacle detouring at the time point.
Referring to Fig. 2, being identified the embodiment of the invention also provides another obstacle detouring identifying system with obstacle detouring shown in FIG. 1
Unlike system, which further includes having lower view video camera 500, lower view video camera 500 and obstacle detouring identifying processing
Device 300 is electrically connected to carry out data interaction, the lower bottom for being mountable to hovercar depending on video camera 500, in flight vapour
The second video image of hovercar lower zone is acquired when vehicle flight.Obstacle detouring recognition processor 300 is also used to according to the second view
Frequency image recognition goes out the drop zone of hovercar and the location information of drop zone.
The settable landing mark that indicates hovercar and can land in hovercar drop zone, in the mistake of hovercar flight
Cheng Zhong, it is lower to acquire the second video image of hovercar lower zone in real time depending on video camera 500 and be sent to obstacle detouring identifying processing
Device 300, if occurring corresponding landing mark in the second video image, obstacle detouring recognition processor 300 can be known according to image outline
Other principle identifies the drop zone in the second video image, and analyzes hovercar and drop based on monocular vision location algorithm
The distance of local is fallen, then the position according to landing mark in the second video image and hovercar and landing local
Distance calculate drop zone location information and by the location information be sent to fly control module 400.
If needing to land in drop zone at this time, module 400 can be controlled by user Xiang Fei and issue Trig control signal,
Fly control module 400 and receive to control hovercar after the Trig control signal and fly to the drop zone to land.
To sum up, obstacle detouring identifying system provided in an embodiment of the present invention is by obstacle detouring recognition processor 300 to forward looking camera
100 collected first video images analyzed to obtain the second distance of the type of barrier, barrier and hovercar with
And the flying speed of hovercar, and by calculated compensation displacement, the type of barrier, second distance, flying speed and
The first distance of barrier and hovercar that laser radar 200 detects is sent to the winged control module 400 of hovercar, then
By fly control module 400 according to compensation displacement, the type of barrier, flying speed and first distance with it is most short in second distance
Distance controlling hovercar carries out obstacle detouring.In this way, the crossing obstacle automatically function of hovercar can be realized, hovercar is avoided to fly
The generation for causing safety accident during row because that can not avoid front obstacle in time, provides safety for the flight of hovercar
It ensures.Meanwhile also it can go out fly according to lower the second video image identification for collecting hovercar lower zone depending on video camera 500
The drop zone of automobile and the location information of drop zone are to control hovercar landing, in this way, facilitating the automatic of hovercar
Landing avoids the problem that hovercar occurs accurately droping to drop zone in landing.
Second embodiment
Referring to Fig. 3, being the obstacle detouring identification side provided in an embodiment of the present invention applied to obstacle detouring identifying system shown in FIG. 1
The flow chart of method.Detailed process shown in Fig. 3 will be described in detail below.
Step S101 acquires the first video image of hovercar front obstacle.
In embodiments of the present invention, forward looking camera 100 is mountable to the front end of hovercar, in hovercar flight shape
It is opened under state.Hovercar is during flight, and when front has barrier, obstacle detouring identifying system is imaged by forward sight
Machine 100 gets the first video image of front obstacle.
It should be understood that step S101 can be executed by the forward looking camera 100 in above-mentioned first embodiment.
Step S102 detects the first distance of barrier and hovercar.
Laser radar 200 is installed on hovercar, and for hovercar during flight, obstacle detouring identifying system is by swashing
Optical radar 200 meets barrier and is reflected back and is swashed to transmitting laser acquisition signal, laser acquisition signal in front of hovercar
Optical radar 200 receives and then detects the first distance of barrier and hovercar.
It should be noted that step S101 and step S102 out-of-order limit in the embodiment of the present invention.
It should be understood that step S102 can be executed by the laser radar 200 in above-mentioned first embodiment.
Step S103, according to course heading, flying speed and the laser radar adjacent time for obtaining first distance twice
Difference calculates compensation displacement.
Recordable course heading, flying speed and the laser radar for having hovercar current of hovercar itself is adjacent twice
Obtain the time difference of first distance.Obstacle detouring recognition processor 300 is according to the current course heading of hovercar, flying speed and swashs
The optical radar adjacent time difference for obtaining first distance twice calculates compensation displacement, position caused by being used to compensate due to the time difference
In error.Calculate the company of compensation displacement are as follows:
x(t)=(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·cos(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·sin(ω(t)Δt)
y(t)=-(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·sin(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·cos(ω(t)Δt)
Wherein, x(t)Indicate the displacement in t moment along base coordinate system in x-axis direction, y(t)It indicates in t moment along basis
Displacement in coordinate system on y-axis direction, ω(t)Indicate the course heading of the hovercar described in t moment, v(t)It indicates in t moment
The flying speed of the hovercar, Δ t indicate the laser radar adjacent time difference for obtaining the first distance twice,
x(t-Δt)Indicate the displacement in t- time Δt along base coordinate system in x-axis direction, y(t-Δt)It indicates in t- time Δt along basis
Displacement in coordinate system on y-axis direction.
It should be understood that step S103 can be executed by the obstacle detouring recognition processor 300 in above-mentioned first embodiment.
Step S104, according to the first video image analysis go out the second of the type of barrier, barrier and hovercar away from
From the flying speed with hovercar.
After forward looking camera 100 gets the first video image of front obstacle, the first video image is sent to more
Hinder the obstacle detouring recognition processor 300 in identifying system.At this point, obstacle detouring identifying system is right first by obstacle detouring recognition processor 300
Every frame picture or partial frame picture in video image are pre-processed, and extract the characteristics of image of picture, characteristics of image includes
There are the image outline and color of image of barrier, and classified according to hsv color model to barrier, identifies barrier
Type.
Meanwhile obstacle detouring recognition processor 300 is based on monocular vision location algorithm according to the first video image and analyzes obstacle
The second distance of object and hovercar.And according to the distance difference of the corresponding second distance of different time points and corresponding time difference
Ratio obtain the flying speed of hovercar.
It should be understood that step S104 can be executed by the obstacle detouring recognition processor 300 in above-mentioned first embodiment.
Compensation displacement, first distance, the type of barrier, second distance and flying speed are sent to winged by step S105
Control module 400.
Obtaining the second distance of compensation displacement, the type of barrier, barrier and hovercar and flying for hovercar
After scanning frequency degree, obstacle detouring identifying system will compensate displacement by obstacle detouring recognition processor 300, the type of barrier, second distance, fly
The currently detected first distance of the flying speed and laser radar 200 of row automobile is sent to the winged control mould of hovercar together
Block 400.
It should be understood that step S105 can be executed by the obstacle detouring recognition processor 300 in above-mentioned first embodiment.
Step S106, according in compensation displacement, the type of barrier, flying speed and first distance and second distance
The shortest distance carries out obstacle detouring.
In the flying speed and first distance for obtaining compensation displacement, the type of barrier, second distance, hovercar
Afterwards, obstacle detouring identifying system is by flying control module 400 according to compensation displacement, the type of barrier, flying speed and first distance
Obstacle detouring is carried out with the shortest distance control hovercar in second distance.
It should be understood that step S106 can be executed by the winged control module 400 in above-mentioned first embodiment.
Referring to Fig. 4, being the obstacle detouring identification side provided in an embodiment of the present invention applied to obstacle detouring identifying system shown in Fig. 2
The flow chart of method.Detailed process shown in Fig. 4 will be described in detail below.
Step S201 acquires the first video image of hovercar front obstacle.
Step S202 detects the first distance of barrier and hovercar.
Step S203, according to course heading, flying speed and the laser radar adjacent time for obtaining first distance twice
Difference calculates compensation displacement.
Step S204, according to the first video image analysis go out the second of the type of barrier, barrier and hovercar away from
From the flying speed with hovercar.
Compensation displacement, first distance, the type of barrier, second distance and flying speed are sent to winged by step S205
Control module 400.
Step S206, according in compensation displacement, the type of barrier, flying speed and first distance and second distance
The shortest distance carries out obstacle detouring.
Step S207 acquires the second video image of the hovercar lower zone.
The settable landing mark that indicates hovercar and can land in hovercar drop zone, in the mistake of hovercar flight
Cheng Zhong, obstacle detouring identifying system are concurrent by the second video image that lower view video camera 500 acquires hovercar lower zone in real time
Give obstacle detouring recognition processor 300.
It should be noted that step S201, step S202 and step S207 out-of-order limit in the embodiment of the present invention.
It should be understood that step S207 can be executed by lower in above-mentioned first embodiment depending on video camera 500.
Believe the position of step S208, drop zone and drop zone that hovercar is gone out according to the second video image identification
Breath.
Obstacle detouring identifying system identifies the second video figure according to Image outline identification principle by obstacle detouring recognition processor 300
Drop zone as in, and based on monocular vision location algorithm analyze hovercar at a distance from the local that lands, then basis
Landing mark in the second video image position and hovercar with land local at a distance from calculate drop zone
Location information and by the location information be sent to fly control module 400.
It should be understood that step S208 can be executed by the obstacle detouring recognition processor 300 in above-mentioned first embodiment.
Step S209, control hovercar landing.
If needing to land in drop zone at this time, can be sent out from user to the winged control module 400 of obstacle detouring identifying system
Trig control signal out, the winged control module 400 of obstacle detouring identifying system control hovercar after receiving the Trig control signal
Land flight to the drop zone.
It should be understood that step S209 can be executed by the winged control module 400 in above-mentioned first embodiment.
To sum up, obstacle detouring recognition methods provided in an embodiment of the present invention is by regarding forward looking camera 100 collected first
Frequency image is analyzed to obtain the flight speed of the second distance of the type of barrier, barrier and hovercar and hovercar
Degree, and according to calculated compensation displacement, the type of barrier, flying speed and first distance with it is most short in second distance
Distance controlling hovercar carries out obstacle detouring.In this way, the crossing obstacle automatically function of hovercar can be realized, hovercar is avoided to fly
The generation for causing safety accident during row because that can not avoid front obstacle in time, provides safety for the flight of hovercar
It ensures.Meanwhile also it can go out fly according to lower the second video image identification for collecting hovercar lower zone depending on video camera 500
The drop zone of automobile and the location information of drop zone are to control hovercar landing, in this way, facilitating the automatic of hovercar
Landing avoids the problem that hovercar occurs accurately droping to drop zone in landing.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of obstacle detouring identifying system, is applied to hovercar, the hovercar includes flying control module, which is characterized in that institute
Stating obstacle detouring identifying system includes:
Forward looking camera, for acquiring the first video image of the hovercar front obstacle；
Laser radar, for detecting the first distance of the barrier Yu the hovercar；
Obstacle detouring recognition processor, for the flying speed according to the current course heading of the hovercar, the hovercar
And the laser radar adjacent time difference for obtaining the first distance twice, calculate the compensation position of the hovercar
It moves；And
According to the compensation displacement, first video image analysis go out the type of the barrier, the barrier with it is described
The flying speed of the second distance of hovercar and the hovercar, and by the first distance, the class of the barrier
Type, the second distance and the flying speed are sent to the winged control module, so that the winged control module controls the flight
Automobile carries out obstacle detouring；
Calculate the formula of the compensation displacement are as follows:
x(t)=(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·cos(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·sin(ω(t)Δt)
y(t)=-(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·sin(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·cos(ω(t)Δt)
Wherein, x(t)Indicate the displacement in t moment along base coordinate system in x-axis direction, y(t)It indicates in t moment along base coordinate
Displacement in system on y-axis direction, ω(t)Indicate the course heading of the hovercar described in t moment, v(t)It indicates described in the t moment
The flying speed of hovercar, Δ t indicate the laser radar adjacent time difference for obtaining the first distance twice, x(t-Δt)
Indicate the displacement in t- time Δt along base coordinate system in x-axis direction, y(t-Δt)It indicates in t- time Δt along base coordinate system
Displacement on middle y-axis direction.
2. obstacle detouring identifying system according to claim 1, which is characterized in that further include:
Lower view video camera, for acquiring the second video image of the hovercar lower zone；
The obstacle detouring recognition processor is also used to go out according to second video image identification drop zone of the hovercar
With the location information of the drop zone, and the location information of the drop zone is sent to the winged control module, so that
The winged control module controls the hovercar landing.
3. obstacle detouring identifying system according to claim 1, which is characterized in that further include the winged control module, the winged control
Module is used to judge whether to need to carry out according to the type of the barrier obstacle detouring, and the winged control module, which is also used to work as, to be needed to carry out
When obstacle detouring according in the first distance and second distance the shortest distance and the flying speed calculate time of obstacle detouring
Point, and control the hovercar at the time point and carry out obstacle detouring.
4. obstacle detouring identifying system according to claim 1, which is characterized in that the obstacle detouring recognition processor is used for according to institute
It states the first video image and obtains the image outline of the barrier, and classified according to hsv color model to the barrier,
Obtain the type of the barrier.
5. obstacle detouring identifying system according to claim 1, which is characterized in that the obstacle detouring recognition processor is used for according to institute
It states the first video image and the second distance is analyzed based on monocular vision location algorithm, and is corresponding according to different time points
The second distance analyzes the flying speed of the hovercar.
6. a kind of obstacle detouring recognition methods, is applied to hovercar, the hovercar includes flying control module, which is characterized in that institute
Stating obstacle detouring recognition methods includes:
Acquire the first video image of the hovercar front obstacle；
Detect the first distance of the barrier Yu the hovercar；
It is adjacent twice according to the current course heading of the hovercar, the flying speed of the hovercar and laser radar
The time difference for obtaining the first distance calculates the compensation displacement of the hovercar；And
According to the compensation displacement, first video image analysis go out the type of the barrier, the barrier with it is described
The flying speed of the second distance of hovercar and the hovercar, and by the first distance, the class of the barrier
Type, the second distance and the flying speed are sent to the winged control module, so that the winged control module controls the flight
Automobile carries out obstacle detouring；
Calculate the formula of the compensation displacement are as follows:
x(t)=(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·cos(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·sin(ω(t)Δt)
y(t)=-(x(t-Δt)-v(t)·cos(ω(t)Δt)·Δt)·sin(ω(t)Δt)
+(y(t-Δt)-v(t)·sin(ω(t)Δt)·Δt)·cos(ω(t)Δt)
Wherein, x(t)Indicate the displacement in t moment along base coordinate system in x-axis direction, y(t)It indicates in t moment along base coordinate
Displacement in system on y-axis direction, ω(t)Indicate the course heading of the hovercar described in t moment, v(t)It indicates described in the t moment
The flying speed of hovercar, Δ t indicate the laser radar adjacent time difference for obtaining the first distance twice, x(t-Δt)
Indicate the displacement in t- time Δt along base coordinate system in x-axis direction, y(t-Δt)It indicates in t- time Δt along base coordinate system
Displacement on middle y-axis direction.
7. obstacle detouring recognition methods according to claim 6, which is characterized in that the method also includes:
Acquire the second video image of the hovercar lower zone；
Go out the drop zone of the hovercar and the location information of the drop zone according to second video image identification,
And the location information of the drop zone is sent to the winged control module, so that the winged control module controls the flight vapour
Vehicle landing.
8. obstacle detouring recognition methods according to claim 6, which is characterized in that the method also includes:
Judge whether to need to carry out obstacle detouring according to the type of the barrier；
When needing to carry out obstacle detouring according in the first distance and second distance the shortest distance and the flying speed meter
The time point of obstacle detouring is calculated, and controls the hovercar at the time point and carries out obstacle detouring.
9. obstacle detouring recognition methods according to claim 6, which is characterized in that described according to first video image analysis
The step of type of the barrier includes: out
The image outline of the barrier is obtained according to first video image, and according to hsv color model to the obstacle
Object is classified, and the type of the barrier is obtained.
10. obstacle detouring recognition methods according to claim 6, which is characterized in that described according to first video image point
The step of barrier is precipitated include:
Monocular vision location algorithm, which is based on, according to first video image analyzes the second distance；
Described the step of going out the flying speed of the hovercar according to first video image analysis includes:
The flying speed of the hovercar is analyzed according to the corresponding second distance of different time points.
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| CN111098649B (en) * | 2018-10-25 | 2021-07-20 | 飞的科技有限公司 | Aerocar control system and method and aerocar |
| CN109633620B (en) * | 2018-12-13 | 2021-02-19 | 广州极飞科技有限公司 | Target object identification method and device, and working equipment |
| CN110568857A (en) * | 2019-08-15 | 2019-12-13 | 深圳市道通智能航空技术有限公司 | unmanned aerial vehicle flight control method and unmanned aerial vehicle |
| CN110522359B (en) * | 2019-09-03 | 2021-09-03 | 深圳飞科机器人有限公司 | Cleaning robot and control method of cleaning robot |
| CN114494839A (en) * | 2020-11-09 | 2022-05-13 | 苏州科瓴精密机械科技有限公司 | Obstacle identification method, device, equipment, medium and weeding robot |
| CN113657331A (en) * | 2021-08-23 | 2021-11-16 | 深圳科卫机器人科技有限公司 | Warning line infrared induction identification method and device, computer equipment and storage medium |
| CN113997737A (en) * | 2021-10-26 | 2022-02-01 | 南京壮大智能科技研究院有限公司 | Method for taking off and landing flying car parking lot |
| CN114379801A (en) * | 2022-01-19 | 2022-04-22 | 上海今一科技发展有限公司 | Flying automobile driving control system |
| CN114924595A (en) * | 2022-05-06 | 2022-08-19 | 华南师范大学 | Unmanned aerial vehicle group obstacle crossing method, control system, electronic device and storage medium |
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