CN111813116A - Obstacle avoidance auxiliary system based on three-dimensional model - Google Patents
Obstacle avoidance auxiliary system based on three-dimensional model Download PDFInfo
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- CN111813116A CN111813116A CN202010654696.5A CN202010654696A CN111813116A CN 111813116 A CN111813116 A CN 111813116A CN 202010654696 A CN202010654696 A CN 202010654696A CN 111813116 A CN111813116 A CN 111813116A
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- 230000009286 beneficial effect Effects 0.000 description 2
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- 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
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
Abstract
The invention discloses an obstacle avoidance auxiliary system based on a three-dimensional model, which comprises a camera unit, a control unit and a display unit, wherein the camera unit is used for shooting a scene and regulates and controls a fixed image capturing speed in advance; the image acquisition unit is connected with the camera shooting unit and used for taking continuous scene images shot by camera shooting during the self backward period; the model building unit is connected with the image acquisition unit and used for respectively and sequentially building the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera shooting unit; the speed measuring unit is used for detecting the real-time speed of the speed measuring unit; the detection judging unit is connected with the camera shooting unit, the model building unit and the speed measuring unit, is used for detecting whether a moving object exists behind the camera shooting unit, and is used for detecting whether a movable object exists behind the camera shooting unit; the obstacle avoidance auxiliary system based on the three-dimensional model can wps.
Description
Technical Field
The invention relates to an obstacle avoidance auxiliary system based on a three-dimensional model.
Background
And various obstacle avoiding actions are carried out on the external obstacle in the moving direction of the object, and the previous actions are continuously interrupted, so that the obstacle avoiding process is realized. The method is applied to robots, machine trolleys, quadrotors and the like.
Obstacle avoidance is one of the technologies that researchers in many fields such as the robot field and the automobile field have studied, but the current obstacle avoidance technology is only mastered by a few companies, so that the researchers in the field hope to develop a novel obstacle avoidance system to reduce the dependence.
Disclosure of Invention
The invention aims to provide an obstacle avoidance auxiliary system based on a three-dimensional model.
In order to solve the problems, the invention adopts the following technical scheme:
an obstacle avoidance auxiliary system based on a three-dimensional model comprises
The camera shooting unit is used for shooting a scene and regulates and controls a fixed image capturing speed in advance;
the image acquisition unit is connected with the camera shooting unit and used for taking continuous scene images shot by camera shooting during the self backward period;
the model building unit is connected with the image acquisition unit and used for respectively and sequentially building the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera shooting unit;
the speed measuring unit is used for detecting the real-time speed of the speed measuring unit;
the detection judging unit is connected with the camera shooting unit, the model building unit and the speed measuring unit, is used for detecting whether a moving object exists behind or not, and is used for determining the moving speed of the moving object according to the established three-dimensional model, the image capturing speed of the camera shooting unit and the real-time speed measured by the speed measuring unit when the movable object exists behind;
the adjusting unit is used for inputting a safety distance which accords with the actual situation in advance by a user;
the determining unit is used for determining whether the moving object is impacted by the self continuous movement according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the self continuous movement in the three-dimensional model established at the last time;
and the alarm unit is connected with the determination unit and immediately gives an alarm when the alarm unit collides with the moving object.
Preferably, it further comprises
And the forcing unit is connected with the determining unit and the alarming unit, and after the alarming unit performs alarming processing for 2-5s, the forcing unit still receives the information that the determining unit determines that the forcing unit can impact the moving object when the forcing unit continues to move, and immediately performs forced physical stop of the self moving processing.
Preferably, after the alarm unit processes the alarm, the determining unit determines whether the moving object is impacted by the continuous moving of the determining unit every 1-4 seconds until the moving object is not impacted by the continuous moving of the determining unit.
Preferably, the image capturing speed regulated by the image capturing unit in advance is 0.6-1.3 s.
Preferably, the forcing unit comprises
The timing module provides a basic timing function and is used for timing after the alarm unit gives an alarm;
the brake module is used for forcibly and physically stopping the self movement;
and the control module is connected with the timing module and the control module and is used for controlling the brake module to work according to the actual condition.
Preferably, after the alarm unit performs the alarm processing for 2.5 seconds, the alarm unit receives the information that the determination unit determines that the mobile object is impacted when the mobile object is continuously moved, and immediately performs the forced physical stop of the mobile processing.
Preferably, the image capturing speed regulated by the image capturing unit in advance is 0.8 s.
The invention also provides a working method of the obstacle avoidance auxiliary system based on the three-dimensional model, which comprises the following steps:
1) shooting the scene and detecting the real-time speed of the scene;
2) calling continuous scene images shot by shooting in a backward period;
3) respectively and sequentially establishing the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera unit;
4) detecting whether a moving object exists behind the mobile terminal;
5) when the movable object is behind, determining the moving speed of the movable object according to the established three-dimensional model, the image capturing speed of the camera unit and the real-time speed measured by the speed measuring unit;
6) determining whether the moving object is impacted by the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the moving object in the three-dimensional model established at last;
7) the alarm processing is immediately carried out when the mobile object collides with the mobile object.
The invention has the beneficial effects that: the moving speed of the moving object behind the user is determined, whether the user collides with the moving object is correspondingly determined, if the user collides with the moving object, an alarm is given to inform the user, the probability of accidents can be effectively reduced, and meanwhile, if the user does not operate the collision avoidance operation all the time, the user can automatically make a forced stop to avoid collision.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram of unit connections of an obstacle avoidance assistance system based on a three-dimensional model according to the present invention.
In the figure:
1. an image pickup unit; 2. an image acquisition unit; 3. a model construction unit; 4. a speed measuring unit; 5. a detection judgment unit; 6. an adjustment unit; 7. a determination unit; 8. an alarm unit; 9. and a forcing unit.
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.
The connections between the components in this embodiment are conventional, if not specifically described, and therefore, are not described in detail in the examples.
Example 1
As shown in FIG. 1, an obstacle avoidance assistance system based on a three-dimensional model comprises
The system comprises a camera unit 1, a camera unit, a camera module and a control module, wherein the camera unit is used for shooting a scene and regulates and controls a fixed image capturing speed in advance;
the image acquisition unit 2 is connected with the camera shooting unit and used for taking continuous scene images shot by camera shooting during the self-retreating period;
the model building unit 3 is connected with the image acquisition unit and used for respectively and sequentially building the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera shooting unit;
the speed measuring unit 4 is used for detecting the real-time speed of the speed measuring unit;
the detection judging unit 5 is connected with the camera shooting unit, the model building unit and the speed measuring unit, is used for detecting whether a moving object exists behind or not, and is used for determining the moving speed of the moving object according to the established three-dimensional model, the image capturing speed of the camera shooting unit and the real-time speed measured by the speed measuring unit when the movable object exists behind;
the adjusting unit 6 is used for inputting a safe distance meeting the actual situation in advance by a user;
a determining unit 7, configured to determine whether the moving object collides with the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance, and the distance difference between the moving object and the three-dimensional model established at the last time;
and the alarm unit 8 is connected with the determination unit and immediately gives an alarm when the alarm unit collides with the moving object.
In this embodiment, the method further comprises
And the forcing unit 9 is connected with the determining unit and the alarming unit, still receives the information that the determining unit determines that the self continuously moves and can impact the moving object after the alarming unit performs alarming processing for 2s, and immediately performs forced physical stop of self moving processing.
In this embodiment, after the alarm unit 8 performs alarm processing, the determination unit 7 determines whether the moving object will be hit by the moving object after the moving object is moved again every 1 second until the moving object will not be hit by the moving object is detected twice.
In the present embodiment, the image capturing speed previously regulated by the image capturing unit 1 is 0.6 s.
In this embodiment, the forcing unit 9 comprises
The timing module provides a basic timing function and is used for timing after the alarm unit gives an alarm;
the brake module is used for forcibly and physically stopping the self movement;
and the control module is connected with the timing module and the control module and is used for controlling the brake module to work according to the actual condition.
The embodiment also provides a working method of the obstacle avoidance auxiliary system based on the three-dimensional model, which comprises the following steps:
1) shooting the scene and detecting the real-time speed of the scene;
2) calling continuous scene images shot by shooting in a backward period;
3) respectively and sequentially establishing the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera unit;
4) detecting whether a moving object exists behind the mobile terminal;
5) when the movable object is behind, determining the moving speed of the movable object according to the established three-dimensional model, the image capturing speed of the camera unit and the real-time speed measured by the speed measuring unit;
6) determining whether the moving object is impacted by the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the moving object in the three-dimensional model established at last;
7) the alarm processing is immediately carried out when the mobile object collides with the mobile object.
8) After the alarm unit carries out alarm processing for 2s, the alarm unit still receives the information that the determining unit determines that the alarm unit can impact the moving object when the alarm unit continues to move, and immediately carries out forced physical stop of the alarm unit.
Example 2
As shown in FIG. 1, an obstacle avoidance assistance system based on a three-dimensional model comprises
The system comprises a camera unit 1, a camera unit, a camera module and a control module, wherein the camera unit is used for shooting a scene and regulates and controls a fixed image capturing speed in advance;
the image acquisition unit 2 is connected with the camera shooting unit and used for taking continuous scene images shot by camera shooting during the self-retreating period;
the model building unit 3 is connected with the image acquisition unit and used for respectively and sequentially building the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera shooting unit;
the speed measuring unit 4 is used for detecting the real-time speed of the speed measuring unit;
the detection judging unit 5 is connected with the camera shooting unit, the model building unit and the speed measuring unit, is used for detecting whether a moving object exists behind or not, and is used for determining the moving speed of the moving object according to the established three-dimensional model, the image capturing speed of the camera shooting unit and the real-time speed measured by the speed measuring unit when the movable object exists behind;
the adjusting unit 6 is used for inputting a safe distance meeting the actual situation in advance by a user;
a determining unit 7, configured to determine whether the moving object collides with the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance, and the distance difference between the moving object and the three-dimensional model established at the last time;
and the alarm unit 8 is connected with the determination unit and immediately gives an alarm when the alarm unit collides with the moving object.
In this embodiment, the method further comprises
And the forcing unit 9 is connected with the determining unit and the alarming unit, still receives the information that the determining unit determines that the self continuously moves and can impact the moving object after performing alarming processing 5s according to the alarming unit, and immediately performs forced physical stop of self moving processing.
In this embodiment, after the alarm unit 8 performs alarm processing, the determining unit 7 determines whether the moving object will be hit once every 1.5 seconds until the moving object will not be hit twice.
In the present embodiment, the image capturing speed that the image capturing unit 1 regulates in advance is 1.3 s.
In this embodiment, the forcing unit 9 comprises
The timing module provides a basic timing function and is used for timing after the alarm unit gives an alarm;
the brake module is used for forcibly and physically stopping the self movement;
and the control module is connected with the timing module and the control module and is used for controlling the brake module to work according to the actual condition.
The embodiment also provides a working method of the obstacle avoidance auxiliary system based on the three-dimensional model, which comprises the following steps:
1) shooting the scene and detecting the real-time speed of the scene;
2) calling continuous scene images shot by shooting in a backward period;
3) respectively and sequentially establishing the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera unit;
4) detecting whether a moving object exists behind the mobile terminal;
5) when the movable object is behind, determining the moving speed of the movable object according to the established three-dimensional model, the image capturing speed of the camera unit and the real-time speed measured by the speed measuring unit;
6) determining whether the moving object is impacted by the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the moving object in the three-dimensional model established at last;
7) the alarm processing is immediately carried out when the mobile object collides with the mobile object.
8) After the alarm unit carries out alarm processing 5s, the alarm unit still receives the information that the determining unit determines that the alarm unit can impact the moving object when the alarm unit continues to move, and immediately carries out forced physical stop of the self-moving processing.
Example 3
As shown in FIG. 1, an obstacle avoidance assistance system based on a three-dimensional model comprises
The system comprises a camera unit 1, a camera unit, a camera module and a control module, wherein the camera unit is used for shooting a scene and regulates and controls a fixed image capturing speed in advance;
the image acquisition unit 2 is connected with the camera shooting unit and used for taking continuous scene images shot by camera shooting during the self-retreating period;
the model building unit 3 is connected with the image acquisition unit and used for respectively and sequentially building the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera shooting unit;
the speed measuring unit 4 is used for detecting the real-time speed of the speed measuring unit;
the detection judging unit 5 is connected with the camera shooting unit, the model building unit and the speed measuring unit, is used for detecting whether a moving object exists behind or not, and is used for determining the moving speed of the moving object according to the established three-dimensional model, the image capturing speed of the camera shooting unit and the real-time speed measured by the speed measuring unit when the movable object exists behind;
the adjusting unit 6 is used for inputting a safe distance meeting the actual situation in advance by a user;
a determining unit 7, configured to determine whether the moving object collides with the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance, and the distance difference between the moving object and the three-dimensional model established at the last time;
and the alarm unit 8 is connected with the determination unit and immediately gives an alarm when the alarm unit collides with the moving object.
In this embodiment, the method further comprises
And the forcing unit 9 is connected with the determining unit and the alarming unit, still receives the information that the determining unit determines that the self continuously moves and can impact the moving object after performing alarming processing for 2.5s according to the alarming unit, and immediately performs forced physical stop of self moving processing.
In this embodiment, after the alarm unit 8 performs alarm processing, the determination unit 7 determines whether the moving object will be hit by the moving object after the moving object is moved again every 1 second until the moving object will not be hit by the moving object is detected twice.
In the present embodiment, the image capturing speed previously regulated by the image capturing unit 1 is 0.8 s.
In this embodiment, the forcing unit 9 comprises
The timing module provides a basic timing function and is used for timing after the alarm unit gives an alarm;
the brake module is used for forcibly and physically stopping the self movement;
and the control module is connected with the timing module and the control module and is used for controlling the brake module to work according to the actual condition.
The embodiment also provides a working method of the obstacle avoidance auxiliary system based on the three-dimensional model, which comprises the following steps:
1) shooting the scene and detecting the real-time speed of the scene;
2) calling continuous scene images shot by shooting in a backward period;
3) respectively and sequentially establishing the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera unit;
4) detecting whether a moving object exists behind the mobile terminal;
5) when the movable object is behind, determining the moving speed of the movable object according to the established three-dimensional model, the image capturing speed of the camera unit and the real-time speed measured by the speed measuring unit;
6) determining whether the moving object is impacted by the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the moving object in the three-dimensional model established at last;
7) the alarm processing is immediately carried out when the mobile object collides with the mobile object.
8) After the alarm unit carries out alarm processing for 2.5s, the alarm unit still receives the information that the determining unit determines that the alarm unit can impact the moving object when the alarm unit continues to move, and immediately carries out forced physical stop of the self-moving processing.
The invention has the beneficial effects that: the moving speed of the moving object behind the user is determined, whether the user collides with the moving object is correspondingly determined, if the user collides with the moving object, an alarm is given to inform the user, the probability of accidents can be effectively reduced, and meanwhile, if the user does not operate the collision avoidance operation all the time, the user can automatically make a forced stop to avoid collision.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention.
Claims (8)
1. The utility model provides an obstacle avoidance auxiliary system based on three-dimensional model which characterized in that: the system comprises a camera unit, a control unit and a display unit, wherein the camera unit is used for shooting a scene and regulates and controls a fixed image capturing speed in advance;
the image acquisition unit is connected with the camera shooting unit and used for taking continuous scene images shot by camera shooting during the self backward period;
the model building unit is connected with the image acquisition unit and used for respectively and sequentially building the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera shooting unit;
the speed measuring unit is used for detecting the real-time speed of the speed measuring unit;
the detection judging unit is connected with the camera shooting unit, the model building unit and the speed measuring unit, is used for detecting whether a moving object exists behind or not, and is used for determining the moving speed of the moving object according to the established three-dimensional model, the image capturing speed of the camera shooting unit and the real-time speed measured by the speed measuring unit when the movable object exists behind;
the adjusting unit is used for inputting a safety distance which accords with the actual situation in advance by a user;
the determining unit is used for determining whether the moving object is impacted by the self continuous movement according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the self continuous movement in the three-dimensional model established at the last time;
and the alarm unit is connected with the determination unit and immediately gives an alarm when the alarm unit collides with the moving object.
2. The obstacle avoidance assistance system based on the three-dimensional model according to claim 1, wherein: also comprises
And the forcing unit is connected with the determining unit and the alarming unit, and after the alarming unit performs alarming processing for 2-5s, the forcing unit still receives the information that the determining unit determines that the forcing unit can impact the moving object when the forcing unit continues to move, and immediately performs forced physical stop of the self moving processing.
3. The obstacle avoidance assistance system based on the three-dimensional model according to claim 2, wherein: after the alarm unit is used for alarm processing, the determining unit determines whether the moving object is impacted by the continuous moving of the determining unit every 1-4 seconds until the moving object is not impacted by the continuous moving of the determining unit twice.
4. The obstacle avoidance assistance system based on the three-dimensional model according to claim 3, wherein: the image capturing speed pre-regulated and controlled by the camera unit is 0.6-1.3 s.
5. The obstacle avoidance assistance system based on the three-dimensional model according to claim 4, wherein: the forcing unit comprises
The timing module provides a basic timing function and is used for timing after the alarm unit gives an alarm;
the brake module is used for forcibly and physically stopping the self movement;
and the control module is connected with the timing module and the control module and is used for controlling the brake module to work according to the actual condition.
6. The obstacle avoidance assistance system based on the three-dimensional model according to claim 5, wherein: after the alarm unit carries out alarm processing for 2.5s, the alarm unit still receives the information that the determining unit determines that the alarm unit can impact the moving object when the alarm unit continues to move, and immediately carries out forced physical stop of the alarm unit.
7. The obstacle avoidance assistance system based on the three-dimensional model according to claim 6, wherein: the pre-regulated image capturing speed of the camera unit is 0.8 s.
8. A working method of an obstacle avoidance auxiliary system based on a three-dimensional model is characterized by comprising the following steps:
1) shooting the scene and detecting the real-time speed of the scene;
2) calling continuous scene images shot by shooting in a backward period;
3) respectively and sequentially establishing the acquired scene images into corresponding three-dimensional models according to the distance from each point in the scene images to the camera unit;
4) detecting whether a moving object exists behind the mobile terminal;
5) when the movable object is behind, determining the moving speed of the movable object according to the established three-dimensional model, the image capturing speed of the camera unit and the real-time speed measured by the speed measuring unit;
6) determining whether the moving object is impacted by the moving object when the moving object moves continuously according to the moving speed of the moving object, the real-time moving speed of the moving object, the safety distance and the distance difference between the moving object and the moving object in the three-dimensional model established at last;
7) the alarm processing is immediately carried out when the mobile object collides with the mobile object.
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Application publication date: 20201023 |