CN109521772A - A kind of vehicle environment image capturing system and method - Google Patents
A kind of vehicle environment image capturing system and method Download PDFInfo
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- CN109521772A CN109521772A CN201811428507.1A CN201811428507A CN109521772A CN 109521772 A CN109521772 A CN 109521772A CN 201811428507 A CN201811428507 A CN 201811428507A CN 109521772 A CN109521772 A CN 109521772A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
This application provides a kind of vehicle environment image capturing systems, applied to unmanned vehicle, equipment is acquired including pedestal, the first radar, control system and multiple images, image capture device and the first radar are arranged on pedestal, image capture device is fixed on the base, first radar can be relative to base rotation, and pedestal is for being fixed on unmanned vehicle；First radar, for acquiring first environment information and present rotation angel degree information；Control system needs the target image of work to acquire equipment, and sends image capture instruction to target image acquisition equipment for being determined from multiple images acquisition equipment according to present rotation angel degree information；Image capture device, for acquiring ambient image after the image capture instruction received.Vehicle environment image capturing system provided by the embodiments of the present application acquires ambient image by the first radar control image capture device, so that unmanned vehicle is capable of the actual range of accurate judgement and ambient enviroment.
Description
Technical field
This application involves unmanned vehicle technology fields, more particularly, to a kind of vehicle environment image capturing system and method.
Background technique
Unmanned vehicle is to acquire environmental information using vehicle environment information acquisition system, and automatic planning travelling line simultaneously controls vehicle
Reach predeterminated target intelligent automobile.Numerous skills such as the automatic control of unmanned vehicle collection, architecture, artificial intelligence, vision calculating
Art Yu Yiti.Unmanned vehicle acquires ambient condition information by vehicle environment information acquisition system, and according to the ambient enviroment of acquisition
Information, controls the steering and speed of vehicle, to enable the vehicle to reliably and securely travel on road.
Unmanned vehicle vehicle environment information acquisition system generally include positioning device, control system, image capture device and
Laser environment information collection and distance-measuring equipment.Laser environment information in existing unmanned vehicle vehicle environment image capturing system is adopted
Collection and distance-measuring equipment and the usual independent acquisition ambient enviroment image of image capture device, are unable to synchronous acquisition ambient condition information,
Unmanned vehicle cannot be collected to laser environment information collection and the collected environmental information of distance-measuring equipment and image capture device
Environmental information carries out comprehensive analysis, thus unmanned vehicle cannot be accurately judged in moving process with ambient enviroment it is practical away from
From.
Summary of the invention
In view of this, the application's is designed to provide a kind of vehicle environment image capturing system, to realize unmanned vehicle
Laser environment information collection and distance-measuring equipment control image capture device acquire ambient image.
In a first aspect, the embodiment of the present application provides a kind of vehicle environment image capturing system, it is applied to unmanned vehicle, including
Pedestal, the first radar, control system and multiple images acquire equipment, and image capture device and the first radar are arranged at pedestal
On, image capture device is fixed on the base, and the first radar can be relative to base rotation, and pedestal is for being fixed on unmanned vehicle；
First radar, for acquiring first environment information and present rotation angel degree information；
Control system, for according to present rotation angel degree information, determination to need work from multiple images acquisition equipment
Target image acquires equipment, and sends image capture instruction to target image acquisition equipment；
Image capture device, for acquiring ambient image after the image capture instruction received.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein
Pedestal is consistent with unmanned vehicle direction of advance in front of pedestal for being fixed at the top of unmanned vehicle.
The possible embodiment of with reference to first aspect the first, the embodiment of the present application provide second of first aspect
Possible embodiment, wherein
The system also includes the second radar that pedestal left front is arranged in and third radar that pedestal right front is arranged in,
Second radar is located at from left side 30 degree to 45 degree of position obliquely, and third radar is positioned at from 30 degree to 45 degree obliquely of right side
Position.
The possible embodiment of second with reference to first aspect, the embodiment of the present application provide the third of first aspect
Possible embodiment, wherein
Telephoto lens, short-focus lens and middle zoom lens in front of pedestal are arranged in including horizontal alignment in image capture device,
The short-focus lens of chassis left side and base right side are separately positioned on, and the telephoto lens at pedestal rear is set.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, wherein
The system also includes positioning device, positioning device is set on the base, for obtaining current location information；Positioning
Equipment includes GPS positioning device and inertial navigation unit.
Second aspect, the embodiment of the present application also provide a kind of vehicle environment image-pickup method, are applied to vehicle environment figure
As acquisition system, the system comprises pedestal, the first radar, control system and multiple images to acquire equipment, image capture device
It being arranged on pedestal with the first radar, image capture device is fixed on the base, and image capture device is fixed on the base, the
One radar can be relative to base rotation, and pedestal is for being fixed on unmanned vehicle；
The described method includes:
First radar acquires first environment information and present rotation angel degree information；
Control system determines the target figure for needing work according to present rotation angel degree information from multiple images acquisition equipment
Image capture instruction is sent as acquisition equipment, and to target image acquisition equipment；
Image capture device acquires ambient image after receiving image capture instruction.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein
It is consistent with unmanned vehicle direction of advance in front of pedestal.
In conjunction with the first possible embodiment or second of possible embodiment of second aspect, the embodiment of the present application
Provide the third possible embodiment of second aspect, wherein
Telephoto lens, short-focus lens and middle zoom lens in front of pedestal are arranged in including horizontal alignment in image capture device,
The short-focus lens of chassis left side and base right side are separately positioned on, and the telephoto lens at pedestal rear is set.
The third aspect, the embodiment of the present application also provide a kind of electronic equipment, comprising: processor, memory and bus, it is described
Memory is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor with it is described
The step in the above method is executed by bus communication between memory, when the machine readable instructions are executed by the processor
Suddenly.
Fourth aspect, the embodiment of the present application also provide a kind of computer readable storage medium, the computer-readable storage medium
It is stored with computer program in matter, the step in the above method is executed when which is run by processor.
A kind of vehicle environment image capturing system provided by the embodiments of the present application and method are applied to unmanned vehicle, including bottom
Seat, the first radar, control system and multiple images acquire equipment, and image capture device and the first radar are arranged on pedestal,
Image capture device is fixed on the base, and the first radar can be relative to base rotation, and pedestal is for being fixed on unmanned vehicle；First
Radar, for acquiring first environment information and present rotation angel degree information；Control system, for being believed according to present rotation angel degree
Breath determines from multiple images acquisition equipment and the target image of work is needed to acquire equipment, and acquires equipment hair to target image
Send image capture instruction；Image capture device, for acquiring ambient image after the image capture instruction received.The application is real
Apply example offer vehicle environment image capturing system may be implemented the first radar by control system control image capture device into
Row acquisition ambient image.
To enable the above objects, features, and advantages of the application 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
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, 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 shows a kind of vehicle environment image capturing system schematic diagram provided by the embodiment of the present application；
Fig. 2 shows a kind of vehicle environment image-pickup method flow charts provided by the embodiment of the present application；
Fig. 3 shows a kind of structural schematic diagram of vehicle environment image collecting device provided by the embodiment of the present application；
Fig. 4 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Icon: 100, pedestal；101, the first radar；102, the second radar；103, third radar；104, the first long lens
Head；105, the first short-focus lens；106, middle zoom lens；107, the second short-focus lens；108, third short-focus lens；109, second is long
Zoom lens.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Currently, traffic jam is serious in China big city, the unmanned vehicle of artificial intelligence is allowed to replace manned vehicle can
The problem of to well solve traffic jam.Unmanned vehicle is the crowds such as collection automatic control, architecture, artificial intelligence, vision calculating
More technologies are in the product of one, and measure the important symbol of national a research strength and industrial level, in national defence and its people
Economic field has broad application prospects.
Unmanned vehicle is to acquire environmental information using vehicle environment information acquisition system, and automatic planning travelling line simultaneously controls vehicle
Reach predeterminated target intelligent automobile.Unmanned vehicle acquires ambient condition information, and root by vehicle environment information acquisition system
According to the ambient condition information of acquisition, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely in road uplink
It sails.
Unmanned vehicle vehicle environment information acquisition system generally include positioning device, control system, image capture device and
Laser environment information collection and distance-measuring equipment.Currently, unmanned vehicle development is still in infancy, existing unmanned vehicle is multiple vehicle-mounted
Ambient image acquires usual independent acquisition ambient enviroment image, having time when acquiring the ambient image in same place between equipment
Difference.
In view of in existing unmanned vehicle vehicle environment image capturing system laser environment information collection and distance-measuring equipment
With the usual independent acquisition ambient enviroment image of image capture device, it is unable to synchronous acquisition ambient condition information, unmanned vehicle cannot be right
Laser environment information collection and the collected environmental information of distance-measuring equipment and the collected environmental information of image capture device carry out
Comprehensive descision is unable to the actual range of accurate judgement and ambient enviroment in moving process.Based on this, the embodiment of the present application is mentioned
A kind of vehicle environment image capturing system and method have been supplied, has been described below by embodiment.
To be adopted to a kind of vehicle environment image provided by the embodiment of the present application first convenient for understanding the present embodiment
Collecting system and method describe in detail.
The embodiment of the present application provides a kind of vehicle environment image capturing system, is applied to unmanned vehicle, including pedestal, the
One radar, control system and multiple images acquire equipment, and image capture device and the first radar are arranged on pedestal, and image is adopted
Collection equipment is fixed on the base, and the first radar can be relative to base rotation, and pedestal is for being fixed on unmanned vehicle；
First radar, for acquiring first environment information and present rotation angel degree information；
Control system, for according to present rotation angel degree information, determination to need work from multiple images acquisition equipment
Target image acquires equipment, and sends image capture instruction to target image acquisition equipment；
Image capture device, for acquiring ambient image after the image capture instruction received.
Implement principle are as follows: the present rotation angel degree information of acquisition is sent to control system, control system by the first radar
For system according to present rotation angel degree, whether the direction in the transmitted wave direction and image capture device that judge the first radar is consistent, determines
The consistent image capture device in transmitted wave direction with the first radar is that target image acquires equipment, and sets to target image acquisition
Preparation acquires ambient image after sending image capture instruction, image capture device to receive instruction.In the vehicle-mounted image collection system
First radar controls image capture device by control system and acquires ambient image, realizes the first radar and image capture device
Synchronous acquisition environmental information can make unmanned vehicle carry out the environmental information of the first radar and image capture device acquisition at analysis
Reason guarantees that unmanned vehicle accurately analyzes the information of ambient enviroment, the reality of energy accurate judgement and ambient enviroment in moving process
Distance.
In specific implementation, pedestal can be fixed on the top of unmanned vehicle, the front of pedestal and the direction of advance of unmanned vehicle
Unanimously.First radar can be set in base top center, and such first radar can acquire around at the top of unmanned vehicle
First environment information, for example, the first radar can acquire the first environment letter of 4 meters of diameter of surrounding of border circular areas at the top of unmanned vehicle
Breath.
First radar can be rotated relative to base rotation, the i.e. direction of the transmitted wave of the first radar relative to pedestal.
Here, the first radar can be laser radar, then laser radar will be received to target environment launch environment information collection signal
To the reflected signal of slave target environment with transmitting signal be compared, to obtain target environment for information about.
In specific implementation, the first radar acquires present rotation angel degree by laser encoder.For example, laser encoder can
Think that disc type optical encoder, disc type optical encoder can collect the present rotation angel degree of the first radar.
After control system receives the collected present rotation angel degree of laser encoder, arrived using pre-set programs are available
The transmitted wave direction of current first radar.
In view of control system receives the collected present rotation angel degree of laser encoder and issues acquisition image command
During can have a lesser time difference, image capture device needs certain time for exposure after receiving instruction.The application
Embodiment in the specific implementation process, the time difference of the first radar and image capture device response is calculated by timing module, really
It is same for protecting the first environment information that control system can control the ambient image of image capture device acquisition and the first radar acquires
The information of time.
In specific implementation, pedestal left front is provided with the second radar, and the second radar can be located at from left side obliquely 30
It spends to 45 degree of position, the second radar is used to acquire the second environment information of unmanned vehicle, and pedestal right front is provided with third radar,
Third radar can be located at from right side 30 degree to 45 degree of position obliquely, and third radar is for acquiring the third environment of unmanned vehicle
Information.Second radar and third radar are symmetricly set on pedestal, and can be relative to base rotation.Due to the two of unmanned vehicle
There are environment information acquisition blind areas for side, and the second radar and third radar can be with the rings in the blind area of environment information acquisition unmanned vehicle two sides
Border information ensure that unmanned vehicle can drive safely.
Since the first radar, the second radar and third radar are by the electronic equipment of electromagnetic wave detection target
The third environment of the first environment information of one radar acquisition, the second environment information of the second radar acquisition and the acquisition of third radar
Information all can be peripheral obstacle at a distance from unmanned vehicle, the information such as the shape of barrier and size, can not judge
The information such as the color of barrier and specific structure.Therefore need to combine the color and tool of image capture device acquisition barrier
The information such as body structure.
In specific implementation, image capture device include horizontal alignment be arranged in front of pedestal the first telephoto lens,
One short-focus lens and middle zoom lens are separately positioned on the second short-focus lens of chassis left side and the third short-focus mirror of base right side
Head, and second telephoto lens at pedestal rear is set.
It is respectively the first telephoto lens, middle zoom lens and the first short-focus lens that 3 in front of pedestal camera lenses, which are arranged in, and 3
A lens location can be exchanged arbitrarily, for example, can be according to the first telephoto lens, the position of the first short-focus lens and middle zoom lens
Arrangement.Here the focal length of telephoto lens is longer, can take apart from the farther away ambient image of unmanned vehicle, the focal length of short-focus lens
Shorter, visual angle is wider, can take the ambient image of wider field of view.By the way that the different camera lens of 3 focal lengths is arranged in front of pedestal,
It can take in front of the unmanned vehicle farther out and the ambient image of wider field of view, guarantee that unmanned vehicle obtains more environment letters
Breath, the safety of enhancing unmanned vehicle in motion.
Second short-focus lens of chassis left side can sufficiently collect the ambient image on the left of unmanned vehicle, and the of base right side
Three short-focus lens can sufficiently collect the ambient image on the right side of unmanned vehicle, conducive to the ring in shooting unmanned vehicle two sides blind area
Border image guarantees that unmanned vehicle can drive safely.
Here, the information of image capture device acquisition can be the image information of barrier, can specifically include barrier
Color, shape, size and the information such as specific structure, but barrier and nobody can not be collected by image capture device
The range information of vehicle；The information of image capture device acquisition can also be road condition information and traffic mark information etc..
The second telephoto lens that pedestal rear is arranged in is for the farther away ambient image in shooting distance unmanned vehicle rear, benefit
In the barrier for avoiding unmanned vehicle rear from occurring.
In specific implementation, the method also includes obtaining current location information by positioning device.Specifically, positioning is set
Standby may include GPS positioning device and inertial navigation unit, such as GPS positioning device can be GPS positioning antenna.Inertial navigation
Device is using gyro and accelerometer as the navigational parameter resolver of Sensitive Apparatus, which leads according to the output of gyro foundation
Navigate coordinate system, calculates speed and position of the unmanned vehicle in navigational coordinate system according to the output of accelerometer.It is filled using positioning
It sets, unmanned vehicle can be accurately positioned, and be conducive to unmanned vehicle and plan driving path.
In the above-mentioned methods, control system is that the transmitting of the first radar is determined according to the present rotation angel degree of the first radar
The consistent image capture device in wave direction is that target image acquires equipment, and sends Image Acquisition to target image acquisition equipment and refer to
It enables, therefore target image acquisition equipment and the direction of the first radar are consistent, the first environment information of the first radar acquisition
It is also consistent with the ambient image of target image acquisition equipment acquisition and is synchronous acquisition, unmanned vehicle believes first environment
It ceases and is analyzed and processed with the ambient image of target image acquisition equipment acquisition, it can be deduced that unmanned vehicle can be accurately judged to week
The size for enclosing barrier obtains the actual range with ambient condition information.
One embodiment is provided below to illustrate the optimal case of vehicle environment image capturing system provided herein.
As shown in Figure 1, the system includes pedestal 100, the first radar 101, the second radar 102, third radar 103, control
System and multiple images acquire equipment, and for being fixed at the top of unmanned vehicle, the front of pedestal 100 and unmanned vehicle advance pedestal 100
Direction it is consistent, the first radar 101, the second radar 102, third radar 103 and multiple images acquisition equipment be arranged at pedestal
On 100, image capture device is fixed on pedestal 100, and the first radar 101, the second radar 102, third radar 103 can be opposite
It is rotated in pedestal 100；
The top center of pedestal 100 is arranged in first radar 101, and the second radar 102 is horizontal right with third radar 103
Claim setting in 100 front of pedestal, the left front of pedestal 100 is arranged in the second radar 102, and the second radar 102 is located at oblique from left side
The right front of pedestal 100 is arranged in upward 30 degree to 45 degree of position, third radar 103, and third radar 103 is located at oblique from right side
Upward 30 degree to 45 degree of position, the second radar 102 hang down with the central junction line of third radar 103 and the direction of advance of unmanned vehicle
Directly；
Image capture device includes the first telephoto lens 104, the first short-focus lens 105, middle zoom lens 106, the second short focus
Camera lens 107, third short-focus lens 108 and the second telephoto lens 109；
First telephoto lens 104, the first short-focus lens 105 and middle zoom lens 106 are set according to sequence level from left to right
It sets in 100 front of pedestal, and is located at the rear of the second radar 102 and third radar 103, the first telephoto lens 104, the first short focus
The central junction line of camera lens 105 and middle zoom lens 106 is vertical with the direction of advance of unmanned vehicle；
Second short-focus lens 107 are symmetrically arranged at the left and right side of pedestal 100 with third short-focus lens 108, the
The central junction line of two short-focus lens 107, the first radar 101 and third short-focus lens 108 is vertical with unmanned vehicle direction of advance；The
The center at 100 rear of pedestal, and the second telephoto lens 109, the first radar 101 and first is arranged in two telephoto lenses 109
The central junction line of telephoto lens 104 is parallel with unmanned vehicle direction of advance.
In above-described embodiment, the first radar 101 be can be set in 100 top center of pedestal, and the first radar 101
It can be rotated relative to pedestal 100, such first radar 101 can collect the first environment information around at the top of unmanned vehicle.
The two sides of unmanned vehicle there are environment information acquisition blind area, the setting of the second radar 102 100 left front of pedestal be located at from
Left side 30 degree to 45 degree of position obliquely, can sufficiently collect the second environment information on the left of unmanned vehicle；Third radar 103
100 right front of pedestal is arranged in be located at from right side 30 degree to 45 degree of position obliquely, can sufficiently collect unmanned vehicle
The third environmental information on right side；And second radar 102 can be rotated relative to pedestal 100 with third radar 103, eliminate
Unmanned vehicle bring security risk is given in the environment information acquisition blind area of unmanned vehicle two sides；Second radar 102 and third radar 103
Horizontal symmetrical setting is in 100 front of pedestal, so that unmanned vehicle is accurately judged to according to second environment information and third environmental information
With the actual range of ambient enviroment.
In conjunction with Fig. 1 as can be seen that image capture device is distributed in the surrounding of the first radar 101, when the first radar 101 rotates
When, the first radar 101 acquires present rotation angel degree by laser encoder, and collected present rotation angel degree is sent to control
System processed, control system judge current first radar 101 transmitted wave direction and target image acquisition equipment direction whether one
It causes, if the transmitted wave direction of current first radar 101 is consistent with the target image acquisition direction of equipment, controls the target image
It acquires equipment and carries out ambient image acquisition.
As shown in Figure 1, the first telephoto lens 104, the first short-focus lens 105 and middle zoom lens 106 are according to from left to right
Sequence is horizontally set on 100 front of pedestal, since the focal length of telephoto lens is longer, can take apart from the farther away ring of unmanned vehicle
The focal length of border image, short-focus lens is shorter, and visual angle is wider, can take the ambient image of wider field of view.Lead in front of pedestal 100
The different camera lens of 3 focal lengths of setting is crossed, can take in front of unmanned vehicle farther out and the ambient image of wider field of view, guarantee
Unmanned vehicle obtains more environmental informations, the safety of enhancing unmanned vehicle in motion.Meanwhile first telephoto lens 104, first
Short-focus lens 105 and middle zoom lens 106 are located at the rear of the second radar 102 and third radar 103, to eliminate to the second radar
102 and third radar 103 acquire unmanned vehicle two sides environmental information when influence.
Second short-focus lens 107 are symmetrically arranged at the left and right side of pedestal 100 with third short-focus lens 108, by
Shorter in the focal length of short-focus lens, visual angle is wider, therefore can symmetrically take the image of unmanned vehicle two sides wider field of view, is conducive to
Shoot the ambient image in the blind area of unmanned vehicle two sides, guarantee unmanned vehicle can security row, and be conducive to unmanned vehicle according to left side and
The ambient image accurate judgement on right side and the actual range of ambient enviroment.
The center at 100 rear of pedestal is arranged in second telephoto lens 109, can with shooting distance unmanned vehicle dead astern compared with
Remote ambient image avoids unmanned vehicle conducive to the barrier for avoiding unmanned vehicle rear from occurring.
Based on above-mentioned vehicle environment image capturing system, the embodiment of the present application provides a kind of vehicle environment Image Acquisition
Method is applied to the vehicle environment image capturing system, as shown in Figure 2.
The described method includes:
S201: the first radar acquires first environment information and present rotation angel degree information.
S202: control system is according to present rotation angel degree information, and determination needs work from multiple images acquisition equipment
Target image acquires equipment, and sends image capture instruction to target image acquisition equipment.
S203: image capture device acquires ambient image after receiving image capture instruction.
In specific implementation, the first radar can acquire the first environment information around at the top of unmanned vehicle, for example, the first thunder
Up to the first environment information that can acquire 4 meters of diameter of surrounding of border circular areas at the top of unmanned vehicle.
Here, the first radar can be laser radar, and laser radar is to target environment launch environment information collection signal, so
The reflected signal of slave target environment received is compared with transmitting signal afterwards, to obtain the related of target environment
Information.
First radar acquires present rotation angel degree by laser encoder.For example, laser encoder can be disc type light
Encoder is learned, disc type optical encoder can accurately measure the transmitted wave direction of the first radar.
After control system receives the collected present rotation angel degree of laser encoder, arrived using pre-set programs are available
The direction of the transmitted wave of current first radar.
In view of control system receives the collected present rotation angel degree of laser encoder and issues acquisition image command
During can have a lesser time difference, image capture device needs certain time for exposure after receiving instruction.The application
Embodiment in the specific implementation process, the time difference of the first radar and image capture device response is calculated by timing module, really
It is same for protecting the first environment information that control system can control the ambient image of image capture device acquisition and the first radar acquires
The information of time.
In specific implementation, the second radar positioned at pedestal left front can acquire the second environment information of unmanned vehicle.Position
Third radar in pedestal right front can acquire the third environmental information of unmanned vehicle.Second radar and third radar are mutually right
Claim, the second radar is located at from left side 30 degree to 45 degree of position obliquely, and third radar is positioned at from 30 degree to 45 obliquely of right side
The position of degree.Since the two sides of unmanned vehicle are there are environment information acquisition blind area, the second radar can be with environmental information with third radar
The environmental information in the blind area of unmanned vehicle two sides is acquired, ensure that unmanned vehicle can drive safely.
Since the first radar, the second radar and third radar are by the electronic equipment of electromagnetic wave detection target
The third environment of the first environment information of one radar acquisition, the second environment information of the second radar acquisition and the acquisition of third radar
Information all can be peripheral obstacle at a distance from unmanned vehicle, the information such as the shape of barrier and size, can not judge
The information such as the color of barrier and specific structure.Therefore need to combine the color and tool of image capture device acquisition barrier
The information such as body structure.
In specific implementation, image capture device includes telephoto lens, the short-focus mirror that horizontal alignment is arranged in front of pedestal
Head and middle zoom lens, are separately positioned on the short-focus lens of chassis left side and base right side, and the focal length at pedestal rear is arranged in
Camera lens.
3 camera lenses in front of pedestal are respectively telephoto lens, middle zoom lens and short-focus lens, and 3 lens locations
It can arbitrarily exchange, for example, can be arranged according to the position of telephoto lens, short-focus lens and middle zoom lens.Here telephoto lens
Focal length it is longer, can take apart from the farther away ambient image of unmanned vehicle, the focal length of short-focus lens is shorter, and visual angle is wider, can
To take the ambient image of wider field of view.By the camera lens that 3 focal lengths of setting are different in front of pedestal, can take apart from nothing
People front side is farther out and the ambient image of wider field of view, guarantee unmanned vehicle obtain more environmental informations, and enhancing unmanned vehicle is expert at
Safety when sailing.
Second short-focus lens of chassis left side can sufficiently collect the ambient image on the left of unmanned vehicle, and the of base right side
Three short-focus lens can sufficiently collect the ambient image on the right side of unmanned vehicle, conducive to the ring in shooting unmanned vehicle two sides blind area
Border image guarantees that unmanned vehicle can drive safely.
Telephoto lens positioned at pedestal rear is for the farther away ambient image in shooting distance unmanned vehicle rear, conducive to avoiding
The barrier that unmanned vehicle rear occurs avoids unmanned vehicle.
In specific implementation, the method also includes obtaining current location information by positioning device.Specifically, positioning is set
Standby may include GPS positioning device and inertial navigation unit, such as GPS positioning device can be GPS positioning antenna.Inertial navigation
Device is using gyro and accelerometer as the navigational parameter resolver of Sensitive Apparatus, which leads according to the output of gyro foundation
Navigate coordinate system, calculates speed and position of the unmanned vehicle in navigational coordinate system according to the output of accelerometer.It is filled using positioning
It sets, unmanned vehicle can be accurately positioned, and be conducive to unmanned vehicle and plan driving path.
In conclusion a kind of vehicle environment image capturing system and method provided by the embodiment of the present application, pass through realization
First radar and image capture device synchronous acquisition ambient image, guarantee unmanned vehicle in moving process can accurate judgement and around
The actual range of environment effectively enhances the safety of unmanned vehicle；Multiple radars and image capture device are set, environment is expanded
The information content of information collection range and ambient enviroment collects information by incuding ambient enviroment in real time, to dynamically or statically
Object identified, environment information acquisition, and combines positioning device, conducive to unmanned vehicle programme path and is driven safely.
Based on the same technical idea, the embodiment of the present application also provides a kind of vehicle environment image collecting device, electronics is set
Standby and computer storage medium etc., for details, reference can be made to following embodiments.
The structure of vehicle environment image collecting device provided by the embodiments of the present application is as shown in figure 3, the vehicle environment figure
As the structure 300 of acquisition device includes: the first acquisition module 301, the second acquisition module 302, determining module 303, instruction transmission
Module 304 and third acquisition module 305；
First acquisition module 301 acquires first environment information for the first radar；
Second acquisition module 302 acquires present rotation angel degree information for the first radar；
Determining module 303 is determined from multiple images acquisition equipment for control system according to present rotation angel degree information
The target image of work is needed to acquire equipment；
Instruction sending module 304 sends image capture instruction to target image acquisition equipment for control system；
Third acquisition module 305 acquires ambient image for image capture device after receiving image capture instruction.
In specific implementation, the first radar can acquire the first environment information around at the top of unmanned vehicle, for example, the first thunder
Up to the first environment information that can acquire 4 meters of diameter of surrounding of border circular areas at the top of unmanned vehicle.
Here, the first radar can be laser radar, and laser radar is to target environment launch environment information collection signal, so
The reflected signal of slave target environment received is compared with transmitting signal afterwards, to obtain the related of target environment
Information.
Here, first environment information may include the position, shape and size of unmanned vehicle peripheral obstacle.
First radar acquires present rotation angel degree by laser encoder.For example, laser encoder can be disc type light
Encoder is learned, disc type optical encoder can accurately measure the transmitted wave direction of the first radar.
In specific implementation, after control system receives the collected present rotation angel degree of laser encoder, using default
The direction of the available transmitted wave to current first radar of program.
In view of control system receives the collected present rotation angel degree of laser encoder and issues acquisition image command
During can have a lesser time difference, image capture device needs certain time for exposure after receiving instruction.The application
Embodiment in the specific implementation process, the time difference of the first radar and image capture device response is calculated by timing module, really
It is same for protecting the first environment information that control system can control the ambient image of image capture device acquisition and the first radar acquires
The information of time.
In specific implementation, the second radar positioned at pedestal left front can acquire the second environment information of unmanned vehicle, the
Two environmental informations may include the position, shape and size of barrier on the left of unmanned vehicle.Third radar positioned at pedestal right front
The third environmental information of unmanned vehicle can be acquired, third environmental information may include the position of barrier, shape on the right side of unmanned vehicle
And size.Second radar and third radar are symmetrical, and the second radar is located at from left side 30 degree to 45 degree of position obliquely, the
Three radars are located at from right side 30 degree to 45 degree of position obliquely.Since the two sides of unmanned vehicle are there are environment information acquisition blind area,
Second radar and third radar can ensure that unmanned vehicle can with the environmental information in the blind area of environment information acquisition unmanned vehicle two sides
Safety traffic.
In specific implementation, image capture device includes telephoto lens, the short-focus mirror that horizontal alignment is arranged in front of pedestal
Head and middle zoom lens, are separately positioned on the short-focus lens of chassis left side and base right side, and the focal length at pedestal rear is arranged in
Camera lens.
It is respectively telephoto lens, middle zoom lens and short-focus lens that 3 in front of pedestal camera lenses, which are arranged in, and 3 camera lens positions
Setting arbitrarily to exchange, for example, can arrange according to the position of telephoto lens, short-focus lens and middle zoom lens.Here long lens
The focal length of head is longer, can take apart from the farther away ambient image of unmanned vehicle, and the focal length of short-focus lens is shorter, and visual angle is wider,
The ambient image of wider field of view can be taken.By the camera lens that 3 focal lengths of setting are different in front of pedestal, distance can be taken
Unmanned vehicle front is farther out and the ambient image of wider field of view, guarantee unmanned vehicle obtain more environmental informations, and enhancing unmanned vehicle exists
Safety when driving.
The short-focus lens of chassis left side and base right side can take the image of unmanned vehicle two sides wider field of view, be conducive to clap
The ambient image in the blind area of unmanned vehicle two sides is taken the photograph, guarantees that unmanned vehicle can drive safely.
The telephoto lens that pedestal rear is arranged in is for the farther away ambient image in shooting distance unmanned vehicle rear, conducive to keeping away
The barrier for exempting from the appearance of unmanned vehicle rear avoids unmanned vehicle.
As shown in figure 4, the structure of a kind of electronic equipment 400 provided by the embodiments of the present application, the electronic equipment 400 include:
At least one processor 401, memory 402, at least one communication bus 403.Communication bus 403 for realizing these components it
Between connection communication.
Memory 402 may include read-only memory and random access memory, and provide instruction sum number to processor 401
According to.The a part of of memory 402 can also include nonvolatile RAM (NVRAM).
In the embodiment of the present application, by the program or instruction of calling memory 402 to store, processor 401 is used for:
First radar acquires first environment information and present rotation angel degree information；
Control system determines the target figure for needing work according to present rotation angel degree information from multiple images acquisition equipment
Image capture instruction is sent as acquisition equipment, and to target image acquisition equipment；
Image capture device acquires ambient image after receiving image capture instruction.
In specific implementation, consistent with unmanned vehicle direction of advance in front of pedestal.
In specific implementation, telephoto lens in front of pedestal, short-focus mirror is arranged in including horizontal alignment in image capture device
Head and middle zoom lens, are separately positioned on the short-focus lens of chassis left side and the base right side, and pedestal rear is arranged in
Telephoto lens.
The computer program product of vehicle environment Image Acquisition is carried out provided by the embodiment of the present application, including stores place
The computer readable storage medium of the executable non-volatile program code of device is managed, the instruction that said program code includes can be used for
Previous methods method as described in the examples is executed, specific implementation can be found in embodiment of the method, and details are not described herein.
A kind of vehicle environment image capturing system provided by the embodiments of the present application and method are applied to unmanned vehicle, including bottom
Seat, the first radar, control system and multiple images acquire equipment, and image capture device and the first radar are arranged on pedestal,
Image capture device is fixed on the base, and the first radar can be relative to base rotation, and pedestal is for being fixed on unmanned vehicle；First
Radar, for acquiring first environment information and present rotation angel degree information；Control system, for being believed according to present rotation angel degree
Breath determines from multiple images acquisition equipment and the target image of work is needed to acquire equipment, and acquires equipment hair to target image
Send image capture instruction；Image capture device, for acquiring ambient image after the image capture instruction received.The application is real
Apply example offer vehicle environment image capturing system may be implemented the first radar by control system control image capture device into
Row acquisition ambient image.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of vehicle environment image capturing system is applied to unmanned vehicle, which is characterized in that including pedestal, the first radar, control
System and multiple images acquire equipment, and described image acquisition equipment and first radar are respectively provided on the base, described
Image capture device is fixed on the base, and first radar can be relative to the base rotation, and the pedestal is for solid
It is scheduled on unmanned vehicle；
First radar, for acquiring first environment information and present rotation angel degree information；
The control system, for according to present rotation angel degree information, determination to need work from multiple images acquisition equipment
Target image acquires equipment, and sends image capture instruction to target image acquisition equipment；
Described image acquires equipment, for acquiring ambient image after receiving image capture instruction.
2. system according to claim 1, which is characterized in that the pedestal is for being fixed at the top of unmanned vehicle, the bottom
Seat front is consistent with unmanned vehicle direction of advance.
3. system according to claim 2, which is characterized in that further include the second radar that the pedestal left front is arranged in
With the third radar that the pedestal right front is arranged in, second radar is located at from left side 30 degree to 45 degree of position obliquely
It sets, the third radar is located at from right side 30 degree to 45 degree of position obliquely.
4. system according to claim 2, which is characterized in that described image acquires equipment, including horizontal alignment setting exists
Telephoto lens, short-focus lens and middle zoom lens in front of the pedestal, are separately positioned on the chassis left side and the pedestal is right
The short-focus lens of side, and the telephoto lens at the pedestal rear is set.
5. system according to claim 1, which is characterized in that further include positioning device, the positioning device is arranged in institute
It states on pedestal, for obtaining current location information；The positioning device includes GPS positioning device and inertial navigation unit.
6. a kind of vehicle environment image-pickup method is applied to vehicle environment image capturing system, which is characterized in that the system
Equipment is acquired including pedestal, the first radar, control system and multiple images, described image acquires equipment and first radar is equal
On the base, described image acquires equipment and fixes on the base for setting, and described image acquisition equipment is fixed on described
On pedestal, first radar can be relative to the base rotation, and the pedestal is for being fixed on unmanned vehicle；
The described method includes:
The first radar acquisition first environment information and present rotation angel degree information；
The control system determines the mesh for needing work according to present rotation angel degree information from described multiple images acquisition equipment
Logo image acquires equipment, and sends image capture instruction to target image acquisition equipment；
Described image acquisition equipment acquires ambient image after receiving image capture instruction.
7. according to the method described in claim 6, it is characterized in that, consistent with unmanned vehicle direction of advance in front of the pedestal.
8. the method according to the description of claim 7 is characterized in that described image acquires equipment, including horizontal alignment setting exists
Telephoto lens, short-focus lens and middle zoom lens in front of the pedestal, are separately positioned on the chassis left side and the pedestal is right
The short-focus lens of side, and the telephoto lens at the pedestal rear is set.
9. a kind of electronic equipment characterized by comprising processor, memory and bus, the memory are stored with the place
The executable machine readable instructions of device are managed, when electronic equipment operation, pass through bus between the processor and the memory
Communication executes the vehicle environment image as described in claim 6-8 and adopts when the machine readable instructions are executed by the processor
The step of set method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer journey on the computer readable storage medium
Sequence executes the step of the vehicle environment image-pickup method as described in claim 6-8 when the computer program is run by processor
Suddenly.
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| CN201811428507.1A CN109521772A (en) | 2018-11-27 | 2018-11-27 | A kind of vehicle environment image capturing system and method |
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Cited By (1)
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