CN109131075A - A kind of back-up alarm based on image procossing - Google Patents
A kind of back-up alarm based on image procossing Download PDFInfo
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- CN109131075A CN109131075A CN201811096423.2A CN201811096423A CN109131075A CN 109131075 A CN109131075 A CN 109131075A CN 201811096423 A CN201811096423 A CN 201811096423A CN 109131075 A CN109131075 A CN 109131075A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
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Abstract
The present disclosure provides a kind of back-up alarms based on image procossing, the back-up alarm acquires realtime graphic when moving backward by automobile camera head, using infrared "-" type laser emitter, and the conventional measurement influence to reversing process big away from method error can be reduced with the distance between more accurate measurement vehicle and barrier by image procossing；The present invention is also sounded an alarm by phonetic warning system, and the maloperation in driver's reversing process can be effectively avoided in the design of brake module, so that reversing process is safer；The present invention can cope with different road conditions environment by adjusting different safe distances, so that driver is easily faced various road conditions and carries out car backing operation, and, the manual control module of the device can carry out artificial correction to the erroneous judgement of device by driver, it ensure that the flexibility of the device when in use, enhance the practicability of the device.
Description
Technical field
The present invention relates to technical field of image processing, more particularly to a kind of reverse alarming based on image procossing
Device.
Background technique
With the development of society, the mode of people's trip becomes varied, automobile is become more and more popular, and gradually becomes
Indispensable a part in life.So the driving safety of automobile also just becomes particularly important.During driving
Inevitably carry out reversing this operation.And during reversing, there is outstanding driving technology even if driver
It can not can guarantee and be operable to function every time, and for fresh driver insufficient for some driving ages, the process of reversing just seems
It is more troublesome.And lead to the principal element made a fault in reversing process, the hardware reason of automobile itself is removed, wherein main
To be exactly driver make mistakes to the estimation for driving distance between vehicle and car and obstruction.The main reason for causing estimation to make mistakes has
The following: (1) driver attention does not concentrate in reversing process, does not see barrier clearly；(2) driver does not have enough warps
It tests, according to circumstances can not accurately judge the actual range between automobile and barrier；(3) ambient enviroment reason to drive at that time
The person of sailing can not accurately recognize barrier, make mistakes to cause to estimate the distance between barrier.According to statistics, general with automobile
And domestic communication accident rate can not have always been high any more, wherein because the accident for improper generation of moving backward also has up to ten thousand.Therefore, exist
Electron assistant backing device is added on automobile just seems quite valuable.
Existing reversing auxiliary electron product is broadly divided into two classes, is reverse image and reversing radar respectively.For reversing
Image realizes that the major way of assisting car backing is that the real-time imaging of reversing is provided for driver.The device is to road conditions after reversing
Judgement mainly by driver experience, therefore judge result largely influenced by the subjective thought of driver,
It is unable to get accurate traffic information.For reversing radar, although the device can accurately detect it is existing after vehicle
Barrier, but there is also vision dead zone to a certain extent, show according to investigations, either SUV or general family-sized car,
The reversing radar of installation only generates reaction to the barrier of 70cm-43cm.
Therefore, develop it is a kind of can solve it is existing reversing auxiliary product defects back-up alarm be those skilled in the art
The problem of member's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of back-up alarms based on image procossing.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of back-up alarm based on image procossing, the back-up alarm include: main control module, Image Acquisition
Module, Infrared laser emission module, serial communication modular, voice alarm module；
The main control module and the serial communication modular are electrically connected, the serial communication modular respectively also with the figure
As acquisition module, the Infrared laser emission module and the voice alarm module are electrically connected with each other, the serial communication mould
Block is used to receive or send the control signal of the main control module, and the main control module is controlled by the serial communication modular
The operation of the back-up alarm；
Wherein, the Infrared laser emission module is for emitting positioning laser, and described image acquisition module is for moving backward
Shi Dingwei laser and external environment carry out Image Acquisition, and the main control module carries out at image institute's acquired image data
Reason is detected the actual range of vehicle and barrier by the distance between measurement positioning laser, preset when actual range is less than
Safe distance when the voice alarm module carry out audio alert.
By adopting the above technical scheme have the beneficial effect that the present invention for it is existing reversing auxiliary product defect, Neng Goutong
When solve the disadvantage that reverse image relies primarily on driver itself judgement and reversing radar the shortcomings that there are vision dead zones, maximum journey
Spend the height of Shangdi detection barrier, and can difference according to the actual situation, adjust determining for Infrared laser emission module transmitting
Angulation between the laser of position so that different safe distances be arranged, and calculates vehicle by the distance between positioning laser
Actual range between barrier, can more comprehensively assist the reversing process of driver.
Preferably, the Infrared laser emission module includes infrared "-" type laser emitter, and the infrared "-" type swashs
For the positioning laser projection of optical transmitting set transmitting on barrier, the laser-formed smooth surface of positioning includes the first smooth surface and second
Smooth surface, first smooth surface is parallel to the ground, and first smooth surface projects the horizon light Duan Wei formed on barrier
One light section, second smooth surface and first smooth surface form smooth surface angle, and second smooth surface projects to be formed on ground
One horizon light section is the second light section, and the first light section is parallel with the second light section.
Preferably, the back-up alarm further includes angular adjustment module, and the angular adjustment module is by adjusting institute
The angle of smooth surface angle is stated to preset alarm threshold value, changes the angle of the second smooth surface, the first smooth surface keeps horizontal.
Preferably, when the intersection for being parallel to the first light section generated between barrier and ground is overlapped with the second light section,
Vehicle is in safety critical point, and the distance between the first light section and the second light section are alarm threshold value and preset to the master control at this time
In module.
Preferably, described image acquisition module includes camera, acquires the first light section in real time by the camera
With image formed by the second light section and external environment, the main control module includes single-chip microcontroller, and the single-chip microcontroller is taken the photograph described
As an image progress image procossing obtained, so that the real-time range between the first light section and the second light section is obtained, it will be described
Real-time range is compared with the alarm threshold value.
Preferably, the method for described image processing are as follows: carry out described image acquisition module image obtained at gray scale
It manages, the grayscale image that brightness value is 0~255 is obtained after gray proces, the grayscale image is filtered processing, then carries out edge
Detection extracts the first light section and the second light section finally by image binaryzation.
By adopting the above technical scheme have the beneficial effect that the present invention by image processing techniques and laser ranging technique dexterously
It combines, is applied in reversing process, can not only accurately calculate the actual range between vehicle and barrier, moreover it is possible to avoid taking charge of
Machine is caused danger by subjective Distance Judgment in reversing；And the method for automatic default safe distance is very convenient, and it is practical
Property is strong.
Preferably, the back-up alarm further includes brake module；
The brake module is electrically connected by the serial communication modular and the main control module, for controlling vehicle
Brake threshold value is arranged according to alarm threshold value in self-actuating brake anticollision, the brake module, and will brake threshold preset to institute
State main control module.
It should be further noted that: brake threshold value is set according to different situations, can be by brake threshold value and warning level
Value setting fixed proportion, such as brake threshold value are 0.5 times of alarm threshold value.
Preferably, the voice alarm module real-time range be less than alarm threshold value when alarm, if vehicle continue into
Row reversing, the brake module automatically control vehicle brake when real-time range is less than brake threshold value.
Preferably, the back-up alarm further includes manual control module；
The manual control module is electrically connected by the serial communication modular and the main control module, the manual control
Molding block is used to manually control the closing of the voice alarm module when false alarm occurs in the voice alarm module and opens
It is dynamic.
Preferably, the main control module is according to the principle of similitude, by between the first light section and the second light section
Real-time range calculates the actual range between vehicle and barrier.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind based at image
The back-up alarm of reason, which acquires realtime graphic when moving backward by automobile camera head, using infrared by one
Font laser emitter, and can be reduced by image procossing with the distance between more accurate measurement vehicle and barrier
The conventional measurement influence to reversing process big away from method error；The present invention is also sounded an alarm by phonetic warning system, brake
The maloperation in driver's reversing process can be effectively avoided in the design of brake module, so that reversing process is safer；This
Invention can cope with different road conditions environment by adjusting different safe distance, make driver easily face various road conditions into
Row car backing operation guarantees moreover, the manual control module of the device can carry out artificial correction to the erroneous judgement of device by driver
The flexibility of the device when in use, enhances the practicability of the device.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is structural schematic diagram provided by the invention；
Fig. 2 attached drawing is infrared "-" type laser radiation device imaging schematic diagram provided by the invention；
Fig. 3 attached drawing is change safe distance schematic illustration provided by the invention；
Light mobile schematic diagram when Fig. 4 attached drawing is reversing provided by the invention；
Fig. 5 attached drawing is image processing flow figure provided by the invention；
Fig. 6 attached drawing is the course of work provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of back-up alarms based on image procossing, as shown in Figure 1, reverse alarming fills
Set includes: main control module, image capture module, Infrared laser emission module, serial communication modular, voice alarm module；
Main control module and serial communication modular are electrically connected, serial communication modular respectively also with image capture module, infrared
Laser emitting module and voice alarm module are electrically connected with each other, and serial communication modular is used to receive or send the control of main control module
Signal processed, main control module control the operation of back-up alarm by serial communication modular；
Wherein, Infrared laser emission module is used for the positioning in reversing and swashs for emitting positioning laser, image capture module
Light and external environment carry out Image Acquisition, and main control module carries out image procossing to institute's acquired image data, fixed by measuring
Position the distance between laser detects the actual range of vehicle and barrier, the language when actual range is less than preset safe distance
Sound alarm module carries out audio alert.
Back-up alarm further includes brake module；Brake module passes through serial communication modular and main control module
It is electrically connected, for controlling vehicle self-actuating brake anticollision, brake threshold value is arranged according to alarm threshold value in brake module, and will stop
Vehicle threshold preset is to main control module.
Back-up alarm further includes manual control module；Manual control module passes through serial communication modular and main control module
It is electrically connected, manual control module is used to manually control the pass of voice alarm module when false alarm occurs in voice alarm module
It closes and starts.
As shown in Fig. 2, Infrared laser emission module includes infrared "-" type laser emitter, infrared "-" type Laser emission
Device transmitting positioning laser projection on barrier, position laser-formed smooth surface include the first smooth surface and the second smooth surface, first
Smooth surface is parallel to the ground, and it is the first light section that the first smooth surface, which projects the horizon light section formed on barrier, is designated as A in Fig. 2,
Second smooth surface and the first smooth surface form smooth surface angle, and it is the second light that the second smooth surface, which projects the horizon light section formed on ground,
Section, it is designated as B in Fig. 2, the first light section A is parallel with the second smooth B.
As shown in figure 3, back-up alarm further includes angular adjustment module, angular adjustment module is by adjusting smooth surface angle
Angle preset alarm threshold value, change the angle of the second smooth surface, the first smooth surface keeps horizontal.Wherein a is the first smooth surface,
B is the second smooth surface, and b ' is the second smooth surface changed after angle, and when increasing smooth surface angle, alarm threshold value can reduce therewith, on the contrary
Then increase.
As shown in figure 4, when the intersection for being parallel to the first light section generated between barrier and ground is overlapped with the second light section
When, vehicle is in safety critical point, and the distance between the first light section and the second light section are alarm threshold value and preset to master control at this time
In module, wherein the first smooth surface is designated as a, the second smooth surface is designated as b, and the first smooth surface is designated as a ' after reversing, the second smooth surface after reversing
It is designated as b '.Vehicle and barrier can be measured by measuring the distance between the first light section and the second light section by the principle of similar triangles
Hinder the distance between object.
Image capture module includes camera, acquires the first light section and the second light section and external environment in real time by camera
Formed image, main control module include single-chip microcontroller, and camera image obtained is carried out image procossing by single-chip microcontroller, to obtain
Real-time range between first light section and the second light section, by real-time range compared with alarm threshold value.
As shown in figure 5, the method for image procossing are as follows: image capture module image obtained is carried out gray proces, ash
The grayscale image that brightness value is 0~255 is obtained after degree processing, and grayscale image is filtered processing, then carries out edge detection, finally
By image binaryzation, the first light section and the second light section are extracted.
Voice alarm module is alarmed when real-time range is less than alarm threshold value, if vehicle continues to move backward, brake
Brake module automatically controls vehicle brake when real-time range is less than brake threshold value.
As shown in fig. 6, the course of work of the invention are as follows:
Infrared "-" type laser emitter is arranged in the bottom of vehicle, first by infrared "-" type laser transmitter projects
The first smooth surface parallel to the ground, direct the first light section of projection has a smooth surface angle between the second smooth surface and the first smooth surface, the
Two smooth surfaces project the second light section, and camera acquires the image data of rear of vehicle in real time, and detect whether to detect a pair of flat
Capable laser determines that automobile rear obstacle height is lower than laser transmitter height if parallel laser cannot be detected, and
Judge that the obstacle height for safe altitude, then continues to move backward, and continues the detection of parallel laser；
If detecting a pair of parallel laser, image capture module carries out institute's collected realtime graphic at image
Reason, obtains the live actual distance between two laser after image procossing, and further determines whether to reach alert locations.
If not reaching alert locations, continue to move backward, if reaching alert locations, voice alarm module is alarmed, if report
It continues to move backward after police, is made to determine whether to reach brake position according to the live actual distance between two laser being calculated
It sets, if reaching normal danger, brake module is braked automatically, if not reaching normal danger, is continued calculating two and is swashed
Live actual distance between light, and further progress judges whether to reach normal danger.
It should be further noted that: brake threshold value is set according to different situations, can be by brake threshold value and warning level
Value setting fixed proportion, such as brake threshold value are 0.5 times of alarm threshold value.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
It should be noted that the difference of the brand styles due to automobile, partial automobile can not access brake module,
In the case where brake module can not be accessed, vehicle distances barrier can be reacted by the way that different alarm sounds is arranged
The distance between, further to remind driver to stop reversing behavior.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of back-up alarm based on image procossing characterized by comprising main control module, image capture module, red
Outer laser emitting module, serial communication modular, voice alarm module；
The main control module and the serial communication modular are electrically connected, and the serial communication modular is also adopted with described image respectively
Collection module, the Infrared laser emission module and the voice alarm module are electrically connected with each other, and the serial communication modular is used
In the control signal for receiving or sending the main control module, the main control module is controlled described by the serial communication modular
The operation of back-up alarm；
Wherein, the Infrared laser emission module is used for fixed in reversing for emitting positioning laser, described image acquisition module
Position laser and external environment carry out Image Acquisition, and the main control module carries out image procossing to institute's acquired image data, lead to
The distance between measurement positioning laser is crossed to detect the actual range of vehicle and barrier, when actual range is less than preset safety
Apart from when the voice alarm module carry out audio alert.
2. a kind of back-up alarm based on image procossing according to claim 1, which is characterized in that described infrared
Laser emitting module includes infrared "-" type laser emitter, and the positioning laser of the infrared "-" type laser transmitter projects is thrown
It penetrates on barrier, the laser-formed smooth surface of positioning includes the first smooth surface and the second smooth surface, first smooth surface and ground
In parallel, it is the first light section, second smooth surface and institute that first smooth surface, which projects the horizon light section formed on barrier,
It states the first smooth surface and forms smooth surface angle, it is the second light section that second smooth surface, which projects the horizon light section formed on ground,
The first light section is parallel with the second light section.
3. a kind of back-up alarm based on image procossing according to claim 2, which is characterized in that the reversing report
Alarm device further includes angular adjustment module, and the angular adjustment module presets by adjusting the angle of the smooth surface angle
Alarm threshold value, changes the angle of the second smooth surface, and the first smooth surface keeps horizontal.
4. a kind of back-up alarm based on image procossing according to claim 3, which is characterized in that when barrier with
When the intersection for being parallel to the first light section generated between ground is overlapped with the second light section, vehicle is in safety critical point, and at this time
The distance between one light section and the second light section are alarm threshold value and preset in the main control module.
5. a kind of back-up alarm based on image procossing according to claim 4, which is characterized in that described image is adopted
Collecting module includes camera, acquires the first light section and the second light section and external environment institute in real time by the camera
At image, the main control module includes single-chip microcontroller, and the single-chip microcontroller carries out camera image obtained at image
Reason, so that the real-time range between the first light section and the second light section is obtained, by the real-time range compared with the alarm threshold value.
6. a kind of back-up alarm based on image procossing according to claim 5, which is characterized in that at described image
The method of reason are as follows: described image acquisition module image obtained is subjected to gray proces, it is 0 that brightness value is obtained after gray proces
The grayscale image is filtered processing, then carries out edge detection by~255 grayscale image, finally by image binaryzation, is extracted
The first light section and the second light section.
7. a kind of back-up alarm based on image procossing according to claim 6, which is characterized in that the reversing report
Alarm device further includes brake module；
The brake module is electrically connected by the serial communication modular and the main control module, for controlling vehicle certainly
Brake threshold value is arranged according to alarm threshold value in dynamic brake anticollision, the brake module, and will brake threshold preset to the master
Control module.
8. a kind of back-up alarm based on image procossing according to claim 7, which is characterized in that the voice reporting
Alert module is alarmed when real-time range is less than alarm threshold value, if vehicle continues to move backward, the brake module exists
Real-time range automatically controls vehicle brake when being less than brake threshold value.
9. a kind of back-up alarm based on image procossing, feature described in any one exist according to claim 1~8
In the back-up alarm further includes manual control module；
The manual control module is electrically connected by the serial communication modular and the main control module, described to manually control mould
Block is for manually controlling being turned off and on for the voice alarm module when false alarm occurs in the voice alarm module.
10. a kind of back-up alarm based on image procossing according to claim 5, which is characterized in that the master control
Module calculates vehicle and obstacle by the real-time range between the first light section and the second light section according to the principle of similitude
Actual range between object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096423.2A CN109131075B (en) | 2018-09-19 | 2018-09-19 | Reversing alarm device based on image processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096423.2A CN109131075B (en) | 2018-09-19 | 2018-09-19 | Reversing alarm device based on image processing |
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| Publication Number | Publication Date |
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| CN109131075A true CN109131075A (en) | 2019-01-04 |
| CN109131075B CN109131075B (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811096423.2A Active CN109131075B (en) | 2018-09-19 | 2018-09-19 | Reversing alarm device based on image processing |
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| CN (1) | CN109131075B (en) |
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| CN110936892A (en) * | 2019-12-11 | 2020-03-31 | 陈昌义 | Automobile backing and warehousing auxiliary device |
| CN111583718A (en) * | 2020-05-29 | 2020-08-25 | 江铃汽车股份有限公司 | Automobile reversing early warning method and system and vehicle-mounted terminal |
| CN112896044A (en) * | 2021-01-13 | 2021-06-04 | 北华航天工业学院 | Backing system and method based on laser structure grating grid image analysis |
| CN115042757A (en) * | 2022-06-27 | 2022-09-13 | 中国第一汽车股份有限公司 | Automatic emergency braking method and device for backing car, electronic equipment and storage medium |
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| CN109131075B (en) | 2021-08-10 |
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