CN110966982A - Monocular camera ranging system and method for cleaning robot - Google Patents
Monocular camera ranging system and method for cleaning robot Download PDFInfo
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- CN110966982A CN110966982A CN201910820394.8A CN201910820394A CN110966982A CN 110966982 A CN110966982 A CN 110966982A CN 201910820394 A CN201910820394 A CN 201910820394A CN 110966982 A CN110966982 A CN 110966982A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000003384 imaging method Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 25
- 239000000284 extract Substances 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000012634 optical imaging Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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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
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
Abstract
The invention provides a monocular camera ranging system and a monocular camera ranging method for a cleaning robot. The system, comprising: a monocular camera for photographing a target and imaging the target on the CCD plate; and the data processing module is connected with the monocular camera, acquires imaging data on the CCD plate and extracts the imaging data of the characteristic points of the target object for ranging. The invention reduces the whole size of the cleaning robot and has more advantages in cost.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to a monocular camera ranging system and a monocular camera ranging method for a cleaning robot.
Background
Cleaning robots, which are commonly used in daily life, recognize distances of obstacles or objects using infrared ranging in motion so as to calculate a movement route. At present, camera image recognition is widely added in a new-generation cleaning robot, and the distance of an obstacle or an object is judged by using images and infrared distance measurement, or the distance is measured by using the parallax of a binocular camera.
However, the conventional system for measuring distance by using an image and infrared rays has a complicated structure, which results in a large overall size of the cleaning robot and a high manufacturing cost.
Disclosure of Invention
In view of the above, the present invention is directed to a monocular camera ranging system and a monocular camera ranging method for a cleaning robot with high reliability.
In one aspect, the present invention provides a monocular camera ranging system for a cleaning robot, comprising: a monocular camera for photographing a target and imaging the target on the CCD plate; and the data processing module is connected with the monocular camera, acquires imaging data on the CCD plate and extracts the imaging data of the characteristic points of the target object for ranging.
The invention realizes the distance measuring function only through the monocular camera with simple structure. The distance between the barrier or the object and the camera is measured by adopting the monocular camera, the camera can be used for image acquisition and simultaneously can calculate the distance, and the infrared measuring device is omitted by adopting the invention, so that the overall size of the cleaning robot is reduced, and the cost is more advantageous.
In addition, the invention can also comprise an attitude sensor for measuring the inclination angle of the monocular camera; the data processing module is connected with the attitude sensor and calibrates a ranging result according to the inclination angle data of the attitude sensor.
According to the invention, the accuracy of distance measurement is realized through further calibration of the data processing module in consideration of the deflection of the camera in the working process of the cleaning robot.
Preferably, the attitude sensor may include a gyroscope.
In another aspect, the present invention provides a monocular camera ranging method for a cleaning robot, including: shooting a target object by a monocular camera and imaging the target object on a CCD plate; and a data processing module acquires imaging data on the CCD plate and extracts the imaging data of the characteristic points of the target object for ranging.
Furthermore, the invention can also comprise that the data processing module calibrates the ranging result according to the inclination angle data of the camera measured by the attitude sensor.
In the present invention, the tilt angle may include a left-right tilt angle or a front-back tilt angle, and the data processing module corrects the imaging data acquired by the left-right tilt or the front-back tilt.
In the present invention, the tilt angle may be decomposed into a front-rear tilt angle and a left-right tilt angle, and then the front-rear tilt and the left-right tilt may be corrected in this order, or the left-right tilt and the front-rear tilt may be corrected in this order.
Drawings
Fig. 1 is a schematic structural diagram of a monocular camera ranging system for a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of ranging using the system of FIG. 1;
FIG. 3 is a schematic diagram of the distance measurement principle after the cleaning robot deflects left and right;
FIG. 4 is a schematic view of the distance measurement principle after the cleaning robot has deflected back and forth;
fig. 5 is a partial enlarged view of fig. 4 at the CCD plate.
Detailed Description
The invention is described in further detail below with reference to the data in conjunction with the figures. It should be understood that the embodiments are merely illustrative of the present invention and do not limit the scope of the invention in any way.
Aiming at various problems existing in the prior art that a cleaning robot uses images and infrared distance measurement to judge the distance of an obstacle or an object, the invention provides a monocular camera distance measurement system with high reliability for the cleaning robot.
Fig. 1 shows an embodiment of a monocular camera ranging system for a cleaning robot according to the present invention. As shown in fig. 1, the monocular camera ranging system for a cleaning robot according to the present embodiment includes a monocular camera, an attitude sensor, and a data processing module; the monocular camera and the attitude sensor are respectively connected with the data processing module.
The monocular camera may be used to capture an object and image it on the CCD plate. The monocular camera may be generally disposed above the front of the cleaning robot. The monocular camera may be an existing monocular camera and may include a lens and a CCD plate on which light is refracted through the lens and focused. Specifically, optical imaging by a convex lens can be utilized, light is focused and imaged by the convex lens, and the direction of the light passing through the central point of the lens is unchanged, so that the light passes through the central point to reach the point of the CCD plate, namely the imaging point position.
The attitude sensor may be used to measure the tilt angle of the monocular camera. The tilt angle can be decomposed into a left-right tilt angle and a front-back tilt angle. The attitude sensor may be, for example, an existing gyroscope, and the gyroscope may directly output tilt angle data to measure the tilt angle of the monocular camera.
The data processing module can be used for acquiring imaging data on the CCD plate and extracting the imaging data of the characteristic points of the target object for ranging, and meanwhile, the data processing module can calibrate the ranging result according to the inclination angle data of the attitude sensor.
Fig. 2 is a schematic diagram of ranging using the system of fig. 1. As shown in fig. 2, as an example of the monocular camera ranging method for a cleaning robot according to the present invention, the method may include the steps of:
step one, a monocular camera shoots a target object, images are formed on a CCD plate, and imaging data are transmitted to a data processing module;
and step two, the data processing module acquires imaging data and extracts the imaging data of the characteristic points of the target object for ranging.
Ranging is described in further detail below in conjunction with fig. 2. The height of the camera and the focal length of the camera can be set, and the optical axis DC is perpendicular to the plane of the CCD plate. The ranging calculation formula may be as follows.
The distance measurement in the present invention is to measure the distance from the projection point of the camera on the ground (i.e., the point a) to the feature point of the target object (i.e., the point B), and is represented by L.
According to the principle of optical imaging, the direction of light passing through the central point C of the lens is unchanged, wherein the imaging point of the point B on the CCD plate is E, a coordinate system is established by taking the central point of the CCD as a coordinate origin, the projection of the point E on the X axis is G, the projection of the point E on the Y axis is F, the length of EG is expressed by measuring the number of pixels from the point E to the point G, and the length of EF is expressed by measuring the pixels from the point E to the point F.
According to the projection relation, △ ECG is similar to △ CBA, and EG/CG is CA/AB;
EG may be measured by the data processing module and is expressed as the number of pixels from point E to point G.
The length of the CA is equal to the height H of the camera, and the number of pixels in unit distance is taken as a unit;
namely, it is
Wherein the content of the first and second substances,
h represents the height of the camera, and the height of the camera in the invention represents the vertical distance from the central point of the lens to the ground;
the focal length of the camera is a known parameter;
b represents the contact point of the target object and the ground; namely target object characteristic points;
a represents a projection point of the camera on the ground;
c represents a lens center point;
d represents the central point of the CCD plate;
e represents the imaging point of the characteristic point of the target object on the CCD plate;
g and F represent projected points of E on the X-axis and Y-axis, respectively.
The data processing module further corrects the ranging result according to the tilt angle data of the attitude sensor in detail with reference to fig. 3 to 5. Wherein, fig. 3 is a schematic diagram of the distance measuring principle after the cleaning robot deflects left and right; FIG. 4 is a schematic view of the distance measurement principle after the cleaning robot has deflected back and forth; fig. 5 is a partial enlarged view of fig. 4 at the CCD plate.
As shown in fig. 3 to 5, when the cleaning robot is walking and the ground is not flat, the posture of the cleaning robot is inclined, and the imaging data cannot be calculated by the above formula, but the imaging data needs to be corrected to conform to the above calculation formula. First, the left-right tilt and the front-back tilt of the camera will be described in detail.
As shown in fig. 3, in one embodiment, the method further includes a third step of correcting imaging data obtained by tilting the camera left and right, so that the cleaning robot tilts left and right in posture and the camera tilts left and right accordingly, and the posture sensor detects a left and right deflection angle α of the camera1And transmitting the image data to a data processing module, and correcting the imaging data by the data processing module, wherein the correction process is as follows:
the coordinate system on the CCD plate is deflected through the front-back projection change, the left-right deflection angle α 1 is ∠ G 'DG, wherein G' represents the projection point of the E point of the cleaning robot on the X axis before deflection, the distance between the imaging point E and the central point D is not changed, namely the length of DE is not changed, and then the imaging point E is not changed from the central point D, namely the length of DE is changed, and the imaging point E is changed from the central point D to the
∠EDG＝arctan(EG/DG)
∠EDG’＝∠EDG-α1
The modified EG '═ DE sin ∠ EDG' and DG '═ DE cos ∠ EDG'.
Then corrected
α therein1Includes positive and negative values, when the camera is tilted to the right, α1When the camera is tilted to the left, α1Is negative.
As shown in fig. 4-5, in one embodiment, the method further includes a third step of obtaining imaging data by tilting the camera back and forthCorrecting, tilting the cleaning robot back and forth, correspondingly tilting the camera, detecting the upper and lower deflection angles α of the camera by the attitude sensor2And transmitting the image data to a data processing module, and correcting the imaging data by the data processing module, wherein the correction process is as follows:
by the front and back projection change, the CCD plate rotates around the point C with the length of the focal length as the radius, and the up and down deflection angle α2∠ DCD ", where D is the center point of the CCD plate, the projection point of the imaging point E on the Y axis is F, the projection point on the X axis is G, and correspondingly, the respective points before deflection are D", E ", F", G ", and since CE and CE" are collinear, their projections CF and CF "on the plane where △ CDD" is located are collinear,
then
∠F”CD”＝∠FCD+α2，
∠FCD＝arctan(FD/CD)＝arctan(EG/CD)
EG”＝F”D＝CD”*tan∠F”CD”＝CD*tan(∠FCD+α2)＝CD*tan(arctan(EG/CD)+α2) Because the included angle formed by the projection of the incident ray and the optical axis on the plane formed by the X axis and the optical axis is not changed in the deflection process, namely ∠ D 'CG' - ∠ DCG, and in △ D 'CG', ∠ G 'D' C is a right angle,
then D "G" ═ CD "· tan ∠ D" CG "═ CD × tan ∠ DCG ═ CD × DG/CD ═ DG
Then corrected
Wherein, α2Including positive and negative values, when the camera is tilted forward α2When the camera tilts backwards, α2Is negative.
In one embodiment, the camera tilt may be decomposed into a front-back tilt angle and a left-right tilt angle, and then the front-back tilt and the left-right tilt are corrected in sequence, or the left-right tilt and the front-back tilt are corrected in sequence.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. A monocular camera ranging system for a cleaning robot, comprising:
a monocular camera for photographing a target and imaging the target on the CCD plate; and
and the data processing module is connected with the monocular camera, acquires imaging data on the CCD plate and extracts the imaging data of the characteristic points of the target object for ranging.
2. The monocular camera ranging system of claim 1, further comprising:
an attitude sensor for measuring the inclination angle of the monocular camera;
the data processing module is connected with the attitude sensor and calibrates a ranging result according to the inclination angle data of the attitude sensor.
3. The monocular camera ranging system of claim 2, wherein the attitude sensor comprises a gyroscope.
4. A monocular camera ranging method for a cleaning robot, comprising:
shooting a target object by a monocular camera and imaging the target object on a CCD plate;
and a data processing module acquires imaging data on the CCD plate and extracts the imaging data of the characteristic points of the target object for ranging.
5. The monocular camera ranging method of claim 4, further comprising:
and the data processing module calibrates a ranging result according to the inclination angle data of the camera measured by the attitude sensor.
6. The monocular camera ranging method of claim 5, wherein the tilt angle comprises a left-right tilt angle or a front-back tilt angle, and the data processing module corrects the imaging data acquired by the left-right tilt or the front-back tilt.
7. The monocular camera ranging method of claim 5, wherein the tilt angle is decomposed into a front-back tilt angle and a left-right tilt angle, and then the front-back tilt and the left-right tilt are sequentially corrected, or the left-right tilt and the front-back tilt are sequentially corrected.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714861A (en) * | 2020-06-10 | 2020-09-29 | 浙大宁波理工学院 | Automatic table tennis service training system |
| CN112965052A (en) * | 2021-02-07 | 2021-06-15 | 中国科学院长春光学精密机械与物理研究所 | Monocular camera target ranging method |
| CN113848964A (en) * | 2021-09-08 | 2021-12-28 | 金华市浙工大创新联合研究院 | Non-parallel optical axis binocular distance measuring method |
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