CN107806857A - Unpiloted movable equipment - Google Patents
Unpiloted movable equipment Download PDFInfo
- Publication number
- CN107806857A CN107806857A CN201711091774.XA CN201711091774A CN107806857A CN 107806857 A CN107806857 A CN 107806857A CN 201711091774 A CN201711091774 A CN 201711091774A CN 107806857 A CN107806857 A CN 107806857A
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- China
- Prior art keywords
- movable equipment
- laser
- dual camera
- moving direction
- image
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- 230000009977 dual effect Effects 0.000 claims abstract description 39
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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 disclosure provides a kind of unpiloted movable equipment.The movable equipment includes：Dual camera, the front end on the movable equipment moving direction, for obtaining the ambient image of front end；Processor, it is connected with the dual camera, the ambient image for the dual camera to be obtained is handled, and obtains the depth image of the movable equipment front end, and determine front end obstacle distance according to the depth image.Pass through above-mentioned technical proposal, dual camera is installed in the front end of unpiloted movable equipment moving direction, obstacle distance is detected by binocular range measurement principle.So, unpiloted movable equipment can determine obstacle distance by the method for image procossing, and precision is higher, dependable performance.
Description
Technical field
This disclosure relates to unmanned field, in particular it relates to a kind of unpiloted movable equipment.
Background technology
In recent years, as the horizontal continuous improvement of automatic control technology, unmanned technology are increasingly used in respectively
, there is varied unpiloted movable equipment in kind occasion.For example, the automatic driving vehicle travelled on urban road,
For conveying articles or survey the small unmanned vehicles of landform, robot for cargo transport of being come and gone in warehouse etc..
These unpiloted movable equipments rely primarily on various sensors and carry out monitoring of environmental data, and by being arranged on
Standby internal computer system controls its move mode.For unpiloted movable equipment, for ensureing itself environment
Monitoring it is most important, on the one hand, equipment must assure that oneself is not collided by barrier, and on the other hand, some equipment also undertakes
The task of detection environment terrain.These equipment are in order to adapt to the application environment to become increasingly complex, and its avoidance ability is by more next
More technological challenges.Avoidance ability is increasingly becoming the important indicator for investigating its work capacity under complex environment.It is existing nobody
In the movable equipment of driving, barrier can be detected by way of ultrasonic wave.
The content of the invention
The purpose of the disclosure is to provide a kind of avoidance ability reliably unpiloted movable equipment.
To achieve these goals, the disclosure provides a kind of unpiloted movable equipment.The movable equipment bag
Include：Dual camera, the front end on the movable equipment moving direction, for obtaining the ambient image of front end；Processing
Device, it is connected with the dual camera, the ambient image for the dual camera to be obtained is handled, and is obtained described removable
The depth image of front equipment end, and front end obstacle distance is determined according to the depth image.
Alternatively, for the moving direction of the movable equipment parallel to ground, the dual camera is arranged to described double
Line between camera is perpendicular to ground.
Alternatively, for the moving direction of the movable equipment parallel to ground, the dual camera is arranged to described double
Line between camera is perpendicular to the moving direction, and parallel to ground.
Alternatively, the movable equipment also includes laser, and the laser is arranged to along the movable equipment
Moving direction outwards launch laser.
Alternatively, the laser is red laser.
Alternatively, the laser is arranged to swashing along the outside emitting linear type of moving direction of the movable equipment
Light, the angle of the laser and vertical direction is predetermined acute angle.
Alternatively, the laser is arranged to swashing along the outside emitting linear type of moving direction of the movable equipment
Light, the angle of the laser and vertical direction is 45° angle.
Alternatively, the movable equipment also includes：Controller, it is connected with the processor, for according to the processing
The obstacle distance that device determines controls the movable equipment avoiding barrier.
Pass through above-mentioned technical proposal, dual camera is installed in the front end of unpiloted movable equipment moving direction,
Obstacle distance is detected by binocular range measurement principle.So, unpiloted movable equipment can pass through the side of image procossing
Method determines obstacle distance, and precision is higher, dependable performance.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is the structured flowchart for the unpiloted movable equipment that an exemplary embodiment provides；
Fig. 2 is the schematic diagram of the installation site for the dual camera that an exemplary embodiment provides；
Fig. 3 is the schematic diagram of the installation site for the dual camera that another exemplary embodiment provides；
Fig. 4 is the schematic diagram for the ambient image for having laser that an exemplary embodiment provides.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
Fig. 1 is the structured flowchart for the unpiloted movable equipment that an exemplary embodiment provides.As shown in figure 1, institute
Dual camera 11 and processor 12 can be included by stating movable equipment 10.
Dual camera 11 is arranged on the front end on the moving direction of movable equipment 10, for obtaining the ambient image of front end.
Processor 12 is connected with dual camera 11, and the ambient image for dual camera 11 to be obtained is handled, and obtains removable set
The depth image of standby 10 front ends, and front end obstacle distance is determined according to depth image.
Wherein, the moving direction of movable equipment 10 can include one or more directions.For example, movable equipment 10 is
During the aircraft of fixed-wing, moving direction can be a direction, and when movable equipment 10 is delivery robot, moving direction can be with
For the both direction that moves forward and backward.Dual camera 11 corresponding to being set on each moving direction, therefore, movable equipment
Multiple dual cameras 11 can be set on 10.
Dual camera 11 is arranged on the front end on the moving direction of movable equipment 10, is advantageous to obtain the row of movable equipment 10
Sail the ambient image in front.Processor 12 can be integrated chip, and ambient image is carried out at data according to binocular range measurement principle
Reason, the depth image of front end environment is determined, further according to depth image, determine the obstacle distance of front end.
Because binocular range measurement principle is known to those skilled in the art, therefore, its particular content is herein without detailed
Description.In the unmanned movable equipment of correlation, conventional ultrasonic wave carrys out ranging.In the disclosure, Pass through above-mentioned technical proposal,
Dual camera is installed in the front end of unpiloted movable equipment moving direction, barrier is detected by binocular range measurement principle
Distance.So, unpiloted movable equipment can determine obstacle distance by the method for image procossing, and precision is higher,
Dependable performance.
Before the operation of movable equipment 10, the posture of movable equipment 10 can be demarcated in advance, when movable equipment exists
When the change of posture occurring in moving process, it is possible to influence whether imaging results.Therefore, generally when handling imaging data,
Have corresponding backoff algorithm.In the disclosure, it can reduce this compensating calculating by the installation site of dual camera
Data processing amount.
When the moving direction of movable equipment 10 is parallel to ground, dual camera 11 can be configured to dual camera 11
Between line (i.e. line between two cameras) perpendicular to ground.Fig. 2 is double shootings that an exemplary embodiment provides
The schematic diagram of first 11 installation site.In the embodiment, movable equipment 10 is unmanned vehicle, and Fig. 2 is unmanned
The side view of aircraft, v are moving directions.Two cameras of dual camera 11 are separately mounted to the both ends of bar shaped support 13,
Bar shaped support 13, which is fixed, on board the aircraft, makes the line between dual camera 11 perpendicular to ground.Meanwhile between dual camera 11
Line be also perpendicular to moving direction v's.
Or when the moving direction of movable equipment 10 is parallel to ground, dual camera 11 can be configured to double take the photograph
As the line between first 11 is perpendicular to moving direction, and parallel to ground.Fig. 3 is double shootings that another exemplary embodiment provides
The schematic diagram of first 11 installation site.In the embodiment, movable equipment 10 is unmanned vehicle.Fig. 3 is unmanned
The side view of aircraft, v are moving directions.Two cameras of dual camera 11 are separately mounted to the both ends of bar shaped support 13,
Bar shaped support 13, which is fixed, on board the aircraft, makes the line between dual camera 11 perpendicular to moving direction v, and parallel to ground.
Two kinds of installation sites of the dual camera shown in Fig. 2 and Fig. 3, allow for movable equipment and attitudes vibration occurs
Situation and set.In Fig. 2 and Fig. 3 embodiment, when the posture of movable equipment 10 changes, enter in most cases
The algorithm of row compensation data is simpler, and therefore, data processing speed is fast.Especially Fig. 3 embodiment, for the machine of ground moving
Device people, mostly it is that the displacement of two camera in the vertical directions is suitable when running into roughness pavement, therefore, two
The relative displacement of camera is smaller, and compensation calculation is fairly simple.
In binocular ranging, the number of texture can have a certain impact to ranging effect in ambient image.Work as ambient image
When middle texture is very few, then it is not easy to calculate depth image.For example, due to " few texture " feature of pure white wall, it is removable to set
Standby 10 in face of one when blocking up white wall, and depth image may distortion.In an embodiment of the disclosure, movable equipment 10 may be used also
So that including laser, the laser can be configured to outwards launch laser along the moving direction of the movable equipment 10.
When laser is irradiated to the barrier of movable equipment front end, just added to barrier certain " texture ".So when running into
During the barrier of " few texture ", it can play a part of increasing the texture of ambient image using the laser of projection, so as to add
Barrier can identification, make ranging more accurate.
Because feux rouges has longer wavelength in visible ray, penetration power is stronger, and therefore, laser can be red laser
Device.Barrier, Neng Gouzeng are irradiated using red laser while carrying out ranging with binocular range measurement principle in movable equipment 10
The accuracy of strong ranging.
In one embodiment, laser can be configured to along the outside emitting linear type of moving direction of movable equipment
Laser, the angle of the laser and vertical direction is predetermined acute angle.In this embodiment, the water in acquired ambient image
Square to can be with parallel to the ground.Now, if the linear laser is straight line vertically, in ambient image
In and be in vertical straight line, then the image (may there was only a vertical row pixel) of the laser occupies less pixel
Point.If the linear laser is in vertical direction with certain angle, in ambient image and oblique line, then this swashs
For image of the image of light compared to the laser of vertical (or horizontal), more pixel is occupied, by contrast equivalent to increasing
" texture " of ambient image is added, has contributed to data processing, strengthened the accuracy of depth image.
In one embodiment, laser can be configured to along the outside emitting linear type of moving direction of movable equipment
Laser, the angle of the laser and vertical direction is 45° angle.When straight line and vertical direction are in 45° angle, obtained in dual camera
Ambient image in, the image of laser occupies pixels more more than other angles (in the situation that the width of laser is fixed
Under), therefore, make the texture of ambient image more, the accuracy of depth image is high.
For example, Fig. 4 is the schematic diagram for the ambient image for having laser that an exemplary embodiment provides.As described in Figure 4,
In the ambient image of square, there is the image of two laser, one be center vertical direction laser, another be with vertically
The laser at direction angle at 45 °.It will be appreciated by persons skilled in the art that the laser of 45° angle is shared in ambient image
Pixel is greater than the pixel shared by vertical laser.
After barrier ranging being carried out in unpiloted movable equipment 10 by above-mentioned dual camera, processor,
The control such as avoidance can be carried out using distance measurement result.In an embodiment of the disclosure, on the basis of Fig. 1, movable equipment
10 can also include controller.Controller can be connected with processor, for the obstacle distance control determined according to processor
Movable equipment avoiding barrier.Wherein, movable equipment avoiding barrier is controlled, can be according to the control strategy prestored
It is controlled.The movable equipment provided according to above-described embodiment of the disclosure, its avoidance performance is good, and operational reliability is high.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (8)
1. a kind of unpiloted movable equipment, it is characterised in that the movable equipment includes：
Dual camera, the front end on the movable equipment moving direction, for obtaining the ambient image of front end；
Processor, it is connected with the dual camera, the ambient image for the dual camera to be obtained is handled, and obtains institute
The depth image of movable equipment front end is stated, and front end obstacle distance is determined according to the depth image.
2. movable equipment according to claim 1, it is characterised in that the moving direction of the movable equipment parallel to
Ground, the dual camera are arranged to line between the dual camera perpendicular to ground.
3. movable equipment according to claim 1, it is characterised in that the moving direction of the movable equipment parallel to
Ground, the dual camera are arranged to line between the dual camera perpendicular to the moving direction, and parallel to ground
Face.
4. movable equipment according to claim 1, it is characterised in that the movable equipment also includes laser, institute
Laser is stated to be arranged to outwards launch laser along the moving direction of the movable equipment.
5. movable equipment according to claim 4, it is characterised in that the laser is red laser.
6. movable equipment according to claim 4, it is characterised in that the laser is arranged to along described removable
The laser of the outside emitting linear type of moving direction of equipment, the angle of the laser and vertical direction is predetermined acute angle.
7. movable equipment according to claim 4, it is characterised in that the laser is arranged to along described removable
The laser of the outside emitting linear type of moving direction of equipment, the angle of the laser and vertical direction is 45° angle.
8. movable equipment according to claim 1, it is characterised in that the movable equipment also includes：
Controller, it is connected with the processor, the obstacle distance control for being determined according to the processor is described removable
Equipment avoiding barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091774.XA CN107806857A (en) | 2017-11-08 | 2017-11-08 | Unpiloted movable equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091774.XA CN107806857A (en) | 2017-11-08 | 2017-11-08 | Unpiloted movable equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107806857A true CN107806857A (en) | 2018-03-16 |
Family
ID=61591933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711091774.XA Pending CN107806857A (en) | 2017-11-08 | 2017-11-08 | Unpiloted movable equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107806857A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594211A (en) * | 2018-04-11 | 2018-09-28 | 沈阳上博智像科技有限公司 | Determine device, method and the movable equipment of obstacle distance |
| CN109885053A (en) * | 2019-02-28 | 2019-06-14 | 深圳市道通智能航空技术有限公司 | A kind of obstacle detection method, device and unmanned plane |
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| JP2012047637A (en) * | 2010-08-27 | 2012-03-08 | Kurabo Ind Ltd | Non-contact three-dimensional measurement equipment and non-contact three-dimensional measurement method |
| CN105014675A (en) * | 2014-06-20 | 2015-11-04 | 北京信息科技大学 | Intelligent mobile robot visual navigation system and method in narrow space |
| CN105787447A (en) * | 2016-02-26 | 2016-07-20 | 深圳市道通智能航空技术有限公司 | Method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision |
| US20170010623A1 (en) * | 2015-07-08 | 2017-01-12 | SZ DJI Technology Co., Ltd | Camera configuration on movable objects |
| US20170201738A1 (en) * | 2015-06-13 | 2017-07-13 | Alberto Daniel Lacaze | Senising on uavs for mapping and obstacle avoidance |
| CN207335683U (en) * | 2017-11-08 | 2018-05-08 | 沈阳上博智像科技有限公司 | Unpiloted movable equipment |
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2017
- 2017-11-08 CN CN201711091774.XA patent/CN107806857A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012047637A (en) * | 2010-08-27 | 2012-03-08 | Kurabo Ind Ltd | Non-contact three-dimensional measurement equipment and non-contact three-dimensional measurement method |
| CN105014675A (en) * | 2014-06-20 | 2015-11-04 | 北京信息科技大学 | Intelligent mobile robot visual navigation system and method in narrow space |
| US20170201738A1 (en) * | 2015-06-13 | 2017-07-13 | Alberto Daniel Lacaze | Senising on uavs for mapping and obstacle avoidance |
| US20170010623A1 (en) * | 2015-07-08 | 2017-01-12 | SZ DJI Technology Co., Ltd | Camera configuration on movable objects |
| CN105787447A (en) * | 2016-02-26 | 2016-07-20 | 深圳市道通智能航空技术有限公司 | Method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision |
| CN207335683U (en) * | 2017-11-08 | 2018-05-08 | 沈阳上博智像科技有限公司 | Unpiloted movable equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594211A (en) * | 2018-04-11 | 2018-09-28 | 沈阳上博智像科技有限公司 | Determine device, method and the movable equipment of obstacle distance |
| CN109885053A (en) * | 2019-02-28 | 2019-06-14 | 深圳市道通智能航空技术有限公司 | A kind of obstacle detection method, device and unmanned plane |
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