CN111353469B - Obstacle detector, obstacle detecting method, storage medium and mobile machine - Google Patents
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Abstract
The invention discloses an obstacle detector, an obstacle detector method, a storage medium and a mobile machine, which comprise a shell, a light source component, a camera shooting mechanism and a controller, wherein the light source component, the camera shooting mechanism and the controller are arranged on the shell; the controller is electrically connected with the light source component and the camera shooting mechanism; the light source assembly comprises three layers of planar light sources, namely an upper layer planar light source, a lower layer planar light source and a middle layer planar light source, which have different color attributes; the controller comprises a processor and a memory, and can execute the following method: irradiating the area to be measured based on the three layers of plane light sources; extracting an image of the region to be detected shot by the shooting unit through the shooting mechanism; judging whether the image has three light bars with the same or fused color attributes with the three planar light sources; and when the image is judged to have three light bars with the same or fused color attributes with the three planar light sources, judging that the obstacle exists, and estimating the distance of the obstacle according to the distance of the three light bars in the image. The method can be used for rapidly detecting whether the obstacle exists in the area to be detected.
Description
Technical Field
The present invention relates to the field of machine vision, and in particular, to an obstacle detector, an obstacle detection method, a storage medium, and a mobile machine.
Background
Machine vision is a leading-edge field of artificial intelligence, and in recent years, machine vision measurement technology has been developed rapidly and has been widely applied to multiple fields, for example, in the prior art, a method for identifying obstacles by using machine vision technology generally adopts a camera to acquire images under the general illumination of a background light source, and then analyzes and processes the acquired images through subsequent hardware circuit and software analysis to judge whether obstacles exist around, but the software analysis and processing of the method has the disadvantages of large workload, low processing efficiency, time and labor waste and high cost.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide an obstacle detector, an obstacle detecting method, a storage medium, and a mobile machine, which can quickly detect whether an obstacle exists in a region to be detected.
The present invention provides an obstacle detector, including: the device comprises a shell, a light source component, a camera shooting mechanism and a controller, wherein the light source component, the camera shooting mechanism and the controller are arranged on the shell; wherein,
the controller is electrically connected with the light source assembly and the camera shooting mechanism;
the light source assembly comprises an upper layer plane light source, a lower layer plane light source and three layers of plane light sources, wherein the upper layer plane light source and the lower layer plane light source have different color attributes, and the three layers of plane light sources are positioned between the upper layer plane light source and the lower layer plane light source; the controller comprises a processor and a memory having stored therein executable code configured to be executable by the processor to implement a method comprising:
irradiating the area to be measured based on the three layers of plane light sources;
extracting the image of the area to be detected shot by the shooting unit through the shooting mechanism;
judging whether the image has the same color attribute as the three layers of plane light sources;
and when the image is judged to have the same or the same color attribute as the three layers of the plane light sources, judging that an obstacle exists, and estimating the distance of the obstacle according to the distance of three light imaging images emitted by the three layers of the plane light sources.
Preferably, the three layers of planar light sources adopt a linear laser or an LED lamp; wherein, the projection distance of the linear laser or the LED lamp is more than or equal to 10 centimeters.
Preferably, the upper layer planar light source, the lower layer planar light source and the middle layer planar light source are separated by a distance of 1-80 cm.
Preferably, the color attribute of the upper layer planar light source is red; the color attribute of the lower layer plane light source is green or yellow-green; the color attribute of the intermediate layer planar light source is blue or white.
Preferably, the properties of the three layers of planar light sources each further include different angles, intensities, duty cycles, polarization directions, and structural orders.
Preferably, the optical axis of the camera mechanism and the plane light source of the middle layer are in the same plane.
Preferably, the upper layer planar light source, the lower layer planar light source and the middle layer planar light source are each composed of one or more light sources; the distance between the starting points of the three layers of planar light sources of different properties may be 1-80 cm.
The embodiment of the invention also provides an obstacle detection method, which comprises the following steps:
irradiating the area to be measured based on the three layers of plane light sources;
extracting an image shot by a shooting unit through a shooting mechanism;
judging whether the image has three light bars with the same or fused color attributes with the three planar light sources;
and when the image is judged to have three light bars with the same or fused color attributes with the three layers of plane light sources, judging that an obstacle exists, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the position of the three light bars in the image.
An embodiment of the present invention further provides an obstacle detection apparatus, including:
the light source irradiation unit is used for irradiating the area to be measured based on the three layers of plane light sources;
the image extraction unit is used for extracting the image of the area to be measured shot by the shooting unit through the shooting mechanism;
the first judging unit is used for judging whether the image has three light bars with the same or blended color attributes with the three planar light sources or not by a user;
and the second judging unit is used for judging that an obstacle exists when the image is judged to have three light bars with the same or fused color attributes with the three layers of plane light sources, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the positions of the three light bars in the image.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, a device in which the computer-readable storage medium is located is controlled to execute the method for detecting an obstacle according to the above embodiment.
An embodiment of the present invention further provides a mobile machine including an obstacle detector as described in the above embodiment.
In the embodiment, the three layers of planar light sources with different attributes are arranged on the detector, the area to be detected is irradiated, the image is extracted through the camera shooting mechanism and analyzed, and whether the obstacle exists in the area to be detected or not is detected quickly according to whether the corresponding area in the image extracted by the camera shooting mechanism has the color attribute corresponding to the three layers of planar light sources, so that the device is convenient, time-saving and labor-saving.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an obstacle detector according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an obstacle detection method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an obstacle detection device according to an embodiment of the present invention.
Reference numerals;
1-barrier, 2-upper layer plane light source, 3-middle layer plane light source, 4-lower layer plane light source, 5-camera mechanism, 6-shell.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, a first embodiment of the present invention provides an obstacle detector, including: a housing 6, and a light source assembly, an image pickup mechanism 5, and a controller (not shown) provided on the housing 6; wherein,
the controller is electrically connected with the light source assembly and the camera shooting mechanism 5;
the light source assembly comprises an upper layer planar light source 2, a lower layer planar light source 4 and a three-layer planar light source of an intermediate layer planar light source 3, wherein the upper layer planar light source 2 and the lower layer planar light source 4 have different color attributes. The optical axis of the camera mechanism 5 and the middle layer plane light source 3 are in the same plane and are arranged adjacently. Of course, it should be noted that the light source module may also be composed of four or more layers of planar light sources, for example, four layers of planar light sources, five layers of planar light sources, and the like, and thus, the present invention is not described herein again.
In this embodiment, the three-layer planar light source employs a linear laser or an LED lamp; wherein, the projection distance of the linear laser or the LED lamp is more than or equal to 10 centimeters. Preferably, the separation distance between the upper layer planar light source 2, the lower layer planar light source 4 and the middle layer planar light source 3 is 1-80 cm, and it can be understood that the separation distance between the upper layer planar light source 2, the lower layer planar light source 4 and the middle layer planar light source 3 can be set according to actual situations, which is not described herein again.
Wherein, the color attribute of the upper layer plane light source 2 is red; the color attribute of the lower layer plane light source 4 is green or yellow-green; the color attribute of the intermediate layer planar light source 3 is blue or white. By arranging three layers of light sources with different color attributes, three light bars can be seen when the obstacle is close (the obstacle is cut by three plane lights) and is easy to identify. Of course, it should be noted that the color attribute of the upper-layer planar light source 2 may also be green; the color attribute of the lower-layer planar light source 4 can also be red; the color attribute of the intermediate layer planar light source 3 may also be purple, and the present invention is not particularly limited herein.
It can be understood that the camera mechanism 5 may be composed of one or more camera units, and it can be known from the optical imaging principle that the closer the obstacle is, the greater the distance of three light images in the camera unit is, and vice versa, so that the distance of the obstacle can be deduced reversely.
The attributes of the three layers of planar light sources also include different angles (plane divergence angle, elevation angle), intensity, duty ratio, polarization direction and structural order. Preferably, the upper layer planar light source 2, the lower layer planar light source 4 and the middle layer planar light source 3 are all composed of one or more light sources, and the distance between the starting points of the three layers of planar light sources with different properties is 1-80 cm.
Specifically, in the present embodiment, the controller includes a processor and a memory, and the memory stores executable codes, and the executable codes are configured to be executed by the processor to implement the following method:
and S101, irradiating the area to be measured based on the three layers of plane light sources, wherein the irradiation width of the three layers of plane light sources can be 1-3 times wider than the width of the maximum obstacle.
And S102, extracting the image of the region to be measured shot by the shooting unit through the shooting mechanism.
S103, judging whether the image has three light bars with the same or blended color attributes with the three planar light sources.
And S104, when the image is judged to have three light bars with the same or fused color attributes with the three planar light sources, judging that the image has the obstacle, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the position of the three light bars in the image.
In summary, the three layers of planar light sources with different attributes are arranged on the detector, the area to be detected is irradiated, the image is extracted and analyzed through the camera mechanism, and whether the obstacle exists in the area to be detected or not is rapidly detected according to whether the corresponding area in the image extracted by the camera mechanism has the color attribute corresponding to the three layers of planar light sources, so that the device is convenient, time-saving and labor-saving.
Referring to fig. 2, the second embodiment of the present invention also provides an obstacle detection method including:
s101, irradiating the area to be measured based on the three layers of plane light sources;
s102, extracting an image shot by a shooting unit through a shooting mechanism;
s103, judging whether the image has three light bars with the same or blended color attributes with the three planar light sources;
and S104, when the image is judged to have three light bars with the same or fused color attributes with the three planar light sources, judging that the image has the obstacle, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the position of the three light bars in the image. And when the image is judged to have three light bars with the same or fused color attributes with the three layers of plane light sources, judging that the obstacle exists, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the position of the three light bars in the image.
Referring to fig. 3, the third embodiment of the present invention also provides an obstacle detecting apparatus including:
a light source irradiation unit 100 configured to irradiate a region to be measured based on the three layers of planar light sources;
an image extracting unit 200, configured to extract, by using a camera, an image of the region to be measured captured by the camera;
the first judging unit 300 is configured to judge whether the image has three light bars with color attributes the same as or different from those of the three planar light sources;
the second judging unit 400 is configured to judge that there is an obstacle when it is judged that three light bars with color attributes identical to or compatible with three planar light sources appear in the image, estimate a distance of the obstacle according to the distance of the three light bars in the image, and estimate an orientation of the obstacle according to the position of the three light bars in the image.
The fourth embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the obstacle detection method according to the above embodiment.
A fifth embodiment of the present invention also provides a mobile machine comprising an obstacle detector as described in the above embodiments.
Illustratively, the computer program may be divided into one or more units, which are stored in the memory and executed by the processor to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the obstacle detector.
The obstacle detector may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of an obstacle detector and does not constitute a limitation of an obstacle detector, and may include more or fewer components than shown, or some components in combination, or different components, e.g. the obstacle detector may also include input-output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the control center of the obstacle detector being connected to the various parts of the entire obstacle detector by means of various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the obstacle detector by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein the obstacle detector integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An obstacle detector, comprising: the device comprises a shell, a light source component, a camera shooting mechanism and a controller, wherein the light source component, the camera shooting mechanism and the controller are arranged on the shell; wherein,
the controller is electrically connected with the light source assembly and the camera shooting mechanism;
the light source assembly comprises an upper layer plane light source, a lower layer plane light source and three layers of plane light sources, wherein the upper layer plane light source and the lower layer plane light source have different color attributes, and the three layers of plane light sources are positioned between the upper layer plane light source and the lower layer plane light source; the controller comprises a processor and a memory having stored therein executable code configured to be executable by the processor to implement a method comprising:
irradiating the area to be measured based on the three layers of plane light sources;
extracting the image of the area to be detected shot by the shooting unit through the shooting mechanism;
judging whether the image has three light bars with the same or fused color attributes with the three planar light sources;
and when the image is judged to have three light bars with the same or fused color attributes with the three layers of plane light sources, judging that an obstacle exists, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the position of the three light bars in the image.
2. The obstacle detector of claim 1, wherein the three-layer planar light source employs a inline laser or an LED lamp; wherein, the projection distance of the linear laser or the LED lamp is more than or equal to 10 centimeters.
3. The obstacle detector of claim 2, wherein the upper layer planar light source, the lower layer planar light source, and the intermediate layer planar light source are separated by a distance of 1-80 centimeters.
4. The obstacle detector according to claim 3, wherein the color attribute of the upper-layer planar light source is red; the color attribute of the lower layer plane light source is green or yellow-green; the color attribute of the intermediate layer planar light source is blue or white.
5. The obstruction detector of claim 4, wherein the attributes of the three layers of planar light sources each further comprise different angles, intensities, duty cycles, polarization directions, and structural order.
6. The obstacle detector of claim 5, wherein the optical axis of the camera mechanism is in the same plane as the interlayer planar light source.
7. The obstacle detector according to claim 6, wherein the upper layer planar light source, the lower layer planar light source, and the intermediate layer planar light source are each composed of one or more light sources; the distance between the starting points of the three layers of planar light sources of different properties may be 1-80 cm.
8. An obstacle detection method, characterized by comprising:
irradiating the area to be measured based on the three layers of plane light sources;
extracting an image shot by a shooting unit through a shooting mechanism;
judging whether the image has three light bars with the same or fused color attributes with the three planar light sources;
and when the image is judged to have three light bars with the same or fused color attributes with the three layers of plane light sources, judging that an obstacle exists, estimating the distance of the obstacle according to the distance of the three light bars in the image, and estimating the direction of the obstacle according to the position of the three light bars in the image.
9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the obstacle detection method according to claim 8.
10. A mobile machine comprising an obstacle detector as claimed in any one of claims 1 to 7.
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| CN202010176317.6A CN111353469B (en) | 2020-03-13 | 2020-03-13 | Obstacle detector, obstacle detecting method, storage medium and mobile machine |
| PCT/CN2020/094144 WO2021179448A1 (en) | 2020-03-13 | 2020-06-03 | Obstacle detector, method, storage medium, and mobile machine |
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