CN110196062A - A kind of air navigation aid of one camera tracking lane line - Google Patents
A kind of air navigation aid of one camera tracking lane line Download PDFInfo
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- CN110196062A CN110196062A CN201910564812.1A CN201910564812A CN110196062A CN 110196062 A CN110196062 A CN 110196062A CN 201910564812 A CN201910564812 A CN 201910564812A CN 110196062 A CN110196062 A CN 110196062A
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- 238000005259 measurement Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of air navigation aids of one camera tracking lane line, comprising the following steps: calibration obtains each tilt angle pixel distance conversion scale；The tilt angle between the center line of CCD camera and the axis of support rod is adjusted, the image of any tilt angle is shot；It identifies the lane line in any image, chooses initial inclination angle；Tilt angle between the center line of CCD camera and the axis of support rod is adjusted to initial inclination angle；Acquire the angle of the longitudinal centre line of the lane line and image under initial inclination angle in image；The travel angle for adjusting robot, makes the angle zero of the longitudinal centre line of the lane line and image in image；Acquire the spacing of the central axis of the longitudinal centre line and robot of the pixel distance and image of the longitudinal centre line of lane line and image in image；Any moment lane line deviation robot distance is acquired to adjust to preset robot run-off-road distance；Robot track direction is advanced until terminal.
Description
Technical field
The present invention relates to lane detection technology field, especially a kind of air navigation aid of one camera tracking lane line.
Background technique
In tunnel, town road scene, cause robot etc. automatic due to satellite positioning signal is weak or blind area etc.
Equipment is not available based on satellite positioning navigation.In robot or other automatic equipment operation applications, it usually needs along vehicle
Diatom completes regular path movement, such as road according to disease inside the round-trip scanning road of arc type.Although unmanned skill
Art has been given birth to using lane line traffic control vehicle in lane center straight forward traveling ripe very much；Such as application No. is
201710086674.1, entitled " a kind of vehicle-mounted lane detection system and method ", is disclosed and is detected using threshold segmentation
Lane line is obtained with Straight Line Extraction；But there is no be suitable for automatic equipment on road surface by customized in the prior art
Path orientation navigation, such as N meters of parallel offset lane line (N is job task requirement) operation.
Therefore, it is badly in need of proposing that a kind of structure is simple, the air navigation aid of the convenient and fast one camera tracking lane line of detection.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of air navigation aid of one camera tracking lane line, this hair
It is bright the technical solution adopted is as follows:
A kind of air navigation aid of one camera tracking lane line, including advance along track direction and the arbitrary machine of travel angle
Device people, the lane line tracking visual component for being mounted on the front of robot and being overlapped with the central axis of robot；The lane
Line tracking visual component includes the support rod that bottom is mounted on the front of robot, and the oblique servo at the top of support rod is arranged in
Motor, the connecting column being connect with the shaft of oblique servo motor, and be mounted on connecting column, the central axis weight with robot
The CCD camera of conjunction；
The air navigation aid, comprising the following steps:
Step S1 is obtained using the evenly spaced black and white strip calibration for the central axis for being parallel to robot and is tilted in m
Pixel distance conversion scale f under angle in n-th of sectionmn；Obtain the longitudinal centre line and machine of the image under m tilt angle
The spacing L of the central axis of peoplem；Default robot run-off-road distance T；The tilt angle m is greater than -45 ° and less than 45 °；
Step S2 chooses the starting point of lane detection, and utilizes the center line and branch of oblique servo motor adjustment CCD camera
Tilt angle m between the axis of strut, meanwhile, shoot the image of any tilt angle m；
Step S3 chooses lane line in image using the lane line in threshold segmentation and Straight Line Extraction identification image
Tilt angle corresponding with the image of range difference minimum value of the center line of image is simultaneously labeled as initial inclination angle i；
Step S4 adjusts the tilt angle between the center line of CCD camera and the axis of support rod to initial inclination
Spend i, and the image advanced using CCD camera shooting；
Step S5 acquires initial inclination angle i using the lane line in threshold segmentation and Straight Line Extraction identification image
The angle of the longitudinal centre line of lane line and image in lower image；The longitudinal centre line of described image and the central axis of robot
Line is parallel；
Step S6 adjusts the travel angle of robot, repeats step S5, until the longitudinal direction of lane line and image in image
The angle of center line is zero；
Step S7 acquires the longitudinal center of the pixel distance S and image of the longitudinal centre line of lane line and image in image
The spacing L of the central axis of line and roboti；Lane line is acquired according to pixel distance S to be located in image in j-th of section；?
Pixel distance conversion scale is f in j-th of section under initial inclination angle iij；Acquire any moment lane line deviate robot away from
From for fij×S+Li；
Step S8 adjusts robot translational motion, repeats step S7, until lane line deviates robot distance and adjusts to pre-
If robot run-off-road distance T；
Step S9, Robot track direction is advanced, and repeats step S5 to step S8, until robot is travelled to lane
The terminal of detection.
Further, in the step S1, the pixel distance conversion scale under m tilt angle in n-th of section is obtained
fmn, specifically includes the following steps:
Step S11 is using the evenly spaced black and white strip for the central axis for being parallel to robot, and in tilt angle
Under m, the corresponding striped of measurement image longitudinal centre line and robot central axis obtain distance as LmWith nth streak line away from image
The actual range DX at the center of the corresponding striped of longitudinal centre linemn；
Step S12 acquires in image nth streak line away from the longitudinal direction of image using threshold segmentation and Straight Line Extraction
The pixel distance dx of heart linemn；Pixel distance conversion scale f in n-th of sectionmnStatement formula are as follows:
fmn=dxmn/DXmn。
Preferably, the tilt angle m is one of -40 °, -30 °, -20 °, -10 °, 0 °, 10 °, 20 °, 30 °, 40 °.
Compared with prior art, the invention has the following advantages:
(1) present invention shoots the image on road surface, and automatic identification lane using single CCD camera with initial inclination angle
Line, it is preparatory under initial inclination angle by measurement lane line relative to the distance of image longitudinal centre line and rotation angle
Horizontal distance and rotation angle of the calibration result conversion lane line relative to car body, require adjustment robot according to job task
Posture and the offset or dish apart from lane line are run, to realize robot autonomous navigation.
(2) present invention acquires the pixel distance substitution ratio obtained in any section using the calibration of evenly spaced black and white strip
Example, and acquire any moment lane line and deviate robot distance, deviate robot distance in order to adjust any moment lane line
To preset robot run-off-road distance, robot is made to accurately track lane line traveling.
(3) present invention makes the longitudinal centre line of the lane line and image in image by adjusting the travel angle of robot
In parallel, guarantee that any moment Robot is parallel to lane line traveling, be effectively prevented from the traveling of robot offset lanes line.
(4) present invention is using the lane line in threshold segmentation and Straight Line Extraction identification image, and chooses vehicle in image
Diatom tilt angle corresponding with the image of range difference minimum value of the center line of image guarantees that shooting image is effectively and accurate.
In conclusion the present invention has many advantages, such as that logic is simple, tracking is accurate, have in lane detection technology field very high
Practical value and promotional value.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the attached drawing used required in embodiment
It is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as to protection
The restriction of range to those skilled in the art without creative efforts, can also be attached according to these
Figure obtains other relevant attached drawings.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram that lane line of the invention tracks visual component.
Fig. 3 is the tilt angle schematic diagram of CCD camera and support rod of the invention.
Fig. 4 is that pixel distance conversion scale of the invention demarcates schematic diagram.
Fig. 5 is track navigation flow chart of the invention.
In above-mentioned attached drawing, the corresponding component names of appended drawing reference are as follows:
1- lane line, 2- robot, 3- lane line track visual component, 31- support rod, 32- oblique servo motor, 33-
Connecting column, 34-CCD camera.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application apparent, with reference to the accompanying drawings and examples to the present invention
It is described further, embodiments of the present invention include but is not limited to the following example.Based on the embodiment in the application, ability
Domain those of ordinary skill every other embodiment obtained without making creative work, belongs to the application
The range of protection.
Embodiment
As shown in Figures 1 to 5, the air navigation aid for present embodiments providing a kind of one camera tracking lane line, needs to illustrate
, the directionalities term such as " bottom " described in the present embodiment, " top ", " edge ", " center " is based on for attached drawing
Bright.In addition, the threshold segmentation and Straight Line Extraction of the present embodiment belong to the prior art, just it will not go into details herein.
Wherein, the hardware that the present embodiment is related to includes along track direction traveling and the arbitrary robot 2 of travel angle, peace
Mounted in robot 2 front and the lane line 1 that is overlapped with the central axis of robot 2 track visual component 3；The lane line
Tracking visual component 3 includes the support rod 31 that bottom is mounted on the front of robot 2, and the inclination at the top of support rod 31 is arranged in
Servo motor 32, the connecting column 33 being connect with the shaft of oblique servo motor 32, and be mounted on connecting column 33 and robot
The CCD camera 34 that 2 central axis is overlapped.
It is briefly described as follows, one camera tracks the air navigation aid of lane line, comprising the following steps:
The first step is obtained using the evenly spaced black and white strip calibration for the central axis for being parallel to robot and is tilted in m
Pixel distance conversion scale f under angle in n-th of sectionmn；Obtain the longitudinal centre line and machine of the image under m tilt angle
The spacing L of the central axis of peoplem；Default robot run-off-road distance T；The tilt angle m be -40 °, -30 °, -20 °, -
One of 10 °, 0 °, 10 °, 20 °, 30 °, 40 °.
(1) using the evenly spaced black and white strip for the central axis for being parallel to robot, and in the case where tilt angle is m,
It measures the corresponding striped of image longitudinal centre line and robot central axis obtains distance as LmWith nth streak line away from image longitudinal direction
The actual range DX at the center of the corresponding striped of center linemn；
(2) longitudinal centre line of the nth streak line away from image in image is acquired using threshold segmentation and Straight Line Extraction
Pixel distance dxmn；Pixel distance conversion scale f in n-th of sectionmnStatement formula are as follows:
fmn=dxmn/DXmn。
Herein, n-th of section refers to that image pixel is located at image laterally away from image longitudinal centre line pixel distance [dxm(n-1),
dxmn] within all pixels.
Second step chooses the starting point of lane detection, and utilizes the center line and branch of oblique servo motor adjustment CCD camera
Tilt angle m between the axis of strut, meanwhile, shoot the image of any tilt angle m；
Third step chooses lane line in image using the lane line in threshold segmentation and Straight Line Extraction identification image
Tilt angle corresponding with the image of range difference minimum value of the center line of image is simultaneously labeled as initial inclination angle i.
4th step adjusts the tilt angle between the center line of CCD camera and the axis of support rod to initial inclination
Spend i, and the image advanced using CCD camera shooting.
5th step acquires initial inclination angle i using the lane line in threshold segmentation and Straight Line Extraction identification image
The angle of the longitudinal centre line of lane line and image in lower image；The longitudinal centre line of described image and the central axis of robot
Line is parallel.
6th step adjusts the travel angle of robot, repeats the 5th step, until the longitudinal direction of lane line and image in image
The angle of center line is zero；
7th step acquires the longitudinal center of the pixel distance S and image of the longitudinal centre line of lane line and image in image
The spacing L of the central axis of line and roboti；Lane line is acquired according to pixel distance S to be located in image in j-th of section；?
Pixel distance conversion scale is f in j-th of section under initial inclination angle iij；Acquire any moment lane line deviate robot away from
From for fij×S+Li。
8th step adjusts robot translational motion, repeats the 7th step, until lane line deviates robot distance and adjusts to pre-
If robot run-off-road distance T.
9th step, Robot track direction is advanced, and repeats the 5th step to the 8th step, until robot is travelled to lane
The terminal of detection.
In conclusion the present invention has filled up, the satellite positioning signals such as tunnel, town road are weak or the scene of blind area can not be right
Road face carries out the technological gap of locating and tracking, compared with prior art, has substantive distinguishing features outstanding and significant progress,
Lane detection technology field has very high practical value and promotional value.
Above-described embodiment is merely a preferred embodiment of the present invention, and it is not intended to limit the protection scope of the present invention, as long as using
Design principle of the invention, and the non-creative variation worked and made is carried out on this basis, it should belong to of the invention
Within protection scope.
Claims (3)
1. a kind of air navigation aid of one camera tracking lane line, including advance along track direction and the arbitrary machine of travel angle
People (2), which is characterized in that further include the vehicle for being mounted on the front of robot (2) and being overlapped with the central axis of robot (2)
Diatom tracks visual component (3)；Lane line tracking visual component (3) includes the front that bottom is mounted on robot (2)
The oblique servo motor (32) at the top of support rod (31), the shaft with oblique servo motor (32) is arranged in support rod (31)
The connecting column (33) of connection, and the CCD camera for being mounted on connecting column (33), being overlapped with the central axis of robot (2)
(34)；The air navigation aid, comprising the following steps:
Step S1 is obtained using the evenly spaced black and white strip calibration for the central axis for being parallel to robot in m tilt angle
Pixel distance conversion scale f in lower n-th of sectionmn；Obtain the longitudinal centre line of image and robot under m tilt angle
The spacing L of central axism；Default robot run-off-road distance T；The tilt angle m is greater than -45 ° and less than 45 °；
Step S2 chooses the starting point of lane detection, and utilizes the center line and support rod of oblique servo motor adjustment CCD camera
Axis between tilt angle m, meanwhile, shoot the image of any tilt angle m；
Step S3 chooses lane line and figure in image using the lane line in threshold segmentation and Straight Line Extraction identification image
The corresponding tilt angle of image of the range difference minimum value of the center line of picture is simultaneously labeled as initial inclination angle i；
Step S4 adjusts the tilt angle between the center line of CCD camera and the axis of support rod to initial inclination angle i,
And the image advanced using CCD camera shooting；
Step S5 acquires the initial inclination angle i following figure using the lane line in threshold segmentation and Straight Line Extraction identification image
The angle of the longitudinal centre line of lane line and image as in；The longitudinal centre line of described image and the central axis of robot are flat
Row；
Step S6 adjusts the travel angle of robot, repeats step S5, until the longitudinal center of lane line and image in image
The angle of line is zero；
Step S7, acquire the longitudinal centre line of lane line and image in image pixel distance S and image longitudinal centre line with
The spacing L of the central axis of roboti；Lane line is acquired according to pixel distance S to be located in image in j-th of section；Initial
Pixel distance conversion scale is f in j-th of section under tilt angle iij；Acquiring any moment lane line deviation robot distance is
fij×S+Li；
Step S8 adjusts robot translational motion, repeats step S7, until lane line deviates robot distance and adjusts to preset
Robot run-off-road distance T；
Step S9, Robot track direction is advanced, and repeats step S5 to step S8, until robot is travelled to lane detection
Terminal.
2. a kind of air navigation aid of one camera tracking lane line according to claim 1, which is characterized in that the step S1
In, obtain the pixel distance conversion scale f under m tilt angle in n-th of sectionmn, specifically includes the following steps:
Step S11, using the evenly spaced black and white strip for the central axis for being parallel to robot, and in the case where tilt angle is m,
It measures the corresponding striped of image longitudinal centre line and robot central axis obtains distance as LmWith nth streak line away from image longitudinal direction
The actual range DX at the center of the corresponding striped of center linemn；
Step S12 acquires longitudinal centre line of the nth streak line away from image in image using threshold segmentation and Straight Line Extraction
Pixel distance dxmn；Pixel distance conversion scale f in n-th of sectionmnStatement formula are as follows:
fmn=dxmn/DXmn。
3. a kind of air navigation aid of one camera tracking lane line according to claim 1, which is characterized in that the inclination angle
Spending m is one of -40 °, -30 °, -20 °, -10 °, 0 °, 10 °, 20 °, 30 °, 40 °.
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| CN111273674A (en) * | 2020-03-12 | 2020-06-12 | 深圳冰河导航科技有限公司 | Distance measurement method, vehicle operation control method and control system |
| CN111896012A (en) * | 2020-03-15 | 2020-11-06 | 上海谕培汽车科技有限公司 | Vehicle-mounted navigation method based on machine vision |
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