CN111935423A - Method for acquiring depth image data by robot and control system thereof - Google Patents
Method for acquiring depth image data by robot and control system thereof Download PDFInfo
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Abstract
The invention discloses a method for acquiring depth image data by a robot, which specifically comprises the following steps: the robot acquires exposure information of the current working environment based on preset calibration information; the robot carries out self-adaptive adjustment of integration time based on preset calibration information and current working environment exposure information; the robot acquires depth image data based on the adjusted integration time. The method can enable the robot to obtain the depth image data with the best exposure effect in different working environments, has high flexibility and accuracy, and avoids the situation of overexposure or underexposure when the depth image data is obtained. The invention also discloses a robot control system for self-adaptively acquiring the depth image data.
Description
Technical Field
The invention relates to the field of robots, in particular to a method for acquiring depth image data by a robot and a control system thereof.
Background
The robot usually has the condition that image data is abnormal due to overexposure or underexposure in the process of acquiring depth image data, and currently, the integration time is mainly preset by the robot, but the condition that the quality of the depth image data acquired by the robot is uneven due to different light intensities of different working environments exists in a method of presetting the integration time by the robot.
Disclosure of Invention
In order to solve the problems, the invention provides a method for acquiring depth image data by a robot and a control system thereof, which greatly improve the working efficiency of the robot for acquiring the depth image data and ensure the quality of the robot for acquiring the depth image data. The specific technical scheme of the invention is as follows:
a method for acquiring depth image data by a robot is characterized by comprising the following specific steps: the robot acquires exposure information of the current working environment based on preset calibration information; the robot carries out self-adaptive adjustment of integration time based on preset calibration information and current working environment exposure information; the robot acquires depth image data based on the adjusted integration time; the preset calibration information is information obtained by calibration based on a preselected sampling area when the robot is set in a standard test environment; the pre-selected sampling area is a defined area pre-selected from the robot infrared light intensity image. The method can enable the robot to rapidly obtain high-quality depth image data with the best exposure effect by adaptively adjusting the integration time under different working environments.
Further, the acquiring of the calibration information specifically includes the following steps: the robot is set up in the standard test environment; the integration time of the robot is adjusted in sequence, and the robot collects and stores the integration time and an infrared light intensity map corresponding to the integration time; based on the collected infrared light intensity image and a preselected sampling area, the robot calculates a median IR _ mid of the infrared light intensity in the sampling area in the infrared light intensity image; performing curve fitting based on the integration time and the infrared light intensity median IR _ mid in the sampling area in the infrared light intensity image corresponding to the integration time, and acquiring a standard curve relation between the integration time and the infrared light intensity median by the robot; and comparing the infrared light intensity graphs to obtain an image with the best exposure effect, and acquiring and storing the infrared light intensity median IR _ mid with the best exposure effect by the robot. The robot is arranged in a standard test environment to obtain calibration information, and the calibration information can be used for calibrating the integration time when the exposure effect of the robot is optimal under different working environments, so that the aim of obtaining high-quality depth image data by the robot under different working environments is fulfilled.
Further, the pre-selected sampling area is an area which meets the depth data requirement and is selected from the infrared light intensity map based on different requirements of different functions of the robot on the depth data. The invention can carry out customized limitation on the sampling area in the infrared light intensity image according to different functional purposes of the robot, and has high flexibility.
Further, the specific steps of the robot acquiring the standard curve relation between the integration time and the median of the infrared light intensity include: the robot selects a proper curve relation to fit a relation between two variables reflecting the Integration time Integration _ time and the infrared light intensity median IR _ time in the sampling area in the infrared light intensity graph corresponding to the Integration time Integration _ time, and a standard curve relation of the Integration time Integration _ time and the intensity median IR _ mid is obtained.
Further, the specific steps of the robot acquiring the exposure information of the current working environment include the following steps: the robot calculates the Integration time Integration _ time _ best when the exposure effect in the current working environment is optimal according to the infrared light intensity median IR _ best when the exposure effect in the calibration information, the standard curve relation of the Integration time and the infrared light intensity median IR _ standard in the calibration information and the scaling factor Scale _ factor; and the integral time when the exposure effect in the current working environment is optimal is the exposure information of the current working environment of the robot. The invention enables the robot to accurately acquire the exposure information of the current working environment, and can help the robot to acquire more accurate depth image data based on the acquired exposure information of the current working environment.
Further, the current working environment scaling factor Scale _ factor is the nth power of the ratio of the standard intensity median IR _ standard corresponding to the current integration time of the robot in the standard curve relation to the infrared light intensity median IR _ real in the sampling region in the current working environment real-time infrared light intensity map.
Further, the integration time at the time of the best exposure effect is obtained by substituting the product of the median intensity value IR _ best at the time of the best exposure effect in the calibration information and the current scaling coefficient Scale _ factor as IR _ mid into the standard curve relation. According to the invention, the scaling coefficient is utilized to enable the standard curve relational expression in the calibration information to be used as a reference relational expression for acquiring the depth image data by the robot under different working environments.
Further, the acquiring, by the robot, depth image data based on the adjusted integration time specifically includes the following steps: the robot adjusts the self integration time according to the integration time obtained by calculation when the exposure effect of the current working environment is optimal; and the robot acquires the depth image data when the current working environment exposure effect is optimal. The robot can acquire the depth image data with the best exposure effect based on the integral time with the best exposure effect of the current working environment without consuming a large amount of manpower and time, and can be adaptively adjusted to acquire the high-quality depth image data.
The invention also discloses a robot control system for self-adaptively acquiring the depth image data, which comprises: the control unit is used for acquiring and storing preset calibration information, receiving a real-time infrared light intensity image acquired by the TOF sensor, calculating an intensity median IR _ MID in a preselected sampling area in the infrared light intensity image of the current working environment, acquiring the integration time when the exposure effect of the current working environment is optimal, and transmitting the integration time to the TOF sensor; and the TOF sensor is used for acquiring a real-time infrared light intensity image, transmitting the real-time infrared light intensity image to the control unit, receiving the integral time of the current working environment with the best exposure effect, acquired by the control unit, adjusting the integral time based on the integral time of the current working environment with the best exposure effect, and acquiring depth image data of the current working environment with the best exposure effect. The control system can control the robot to rapidly acquire the depth image data with high quality and the best exposure effect under different working environments, is not influenced by the ambient light intensity, and avoids the over-exposure or under-exposure.
Further, the calibration information is obtained by: the robot control system is arranged in a standard test environment; the method comprises the steps of sequentially adjusting integration time within the integration time range based on a TOF sensor, collecting an infrared light intensity image changed along with the change of the integration time by the TOF sensor, receiving, calculating and storing an integration time and an infrared light intensity median IR _ MID in a sampling area in the infrared light intensity corresponding to the integration time by a control unit, carrying out curve fitting based on the integration time and the infrared light intensity median IR _ MID corresponding to the integration time, and obtaining and storing a standard curve relation formula of the integration time and the infrared light intensity median by the control unit. The calibration information can be used for the robot control system to obtain depth image data with the best exposure effect in different working environments, and has the advantage of flexible calibration.
Drawings
Fig. 1 is a flowchart illustrating a method for acquiring depth image data by a robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a robot control system for adaptively acquiring depth image data according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
The invention discloses a method for acquiring depth image data by a robot, which is used for acquiring the depth image data by adaptively adjusting parameters under different working environments of the robot, and the method comprises the following specific steps in combination with the attached drawing 1: the robot acquires exposure information of the current working environment based on preset calibration information; the robot carries out self-adaptive adjustment of integration time based on preset calibration information and current working environment exposure information; the robot acquires depth image data based on the adjusted integration time.
Specifically, the preset calibration information is information obtained by performing calibration based on a pre-selected sampling area when the robot is set in a standard test environment; the sampling area is a sampling area which is obtained by selecting limited pixel points in the infrared light intensity image in advance according to the requirement of the product function on the depth data, and can be, but is not limited to, forty rows of lower pixel points in the infrared light intensity image, twenty rows of upper pixel points in the infrared light intensity image, ten rows of right pixel points in the infrared light intensity image or a full-width infrared light intensity image, and the specific limited pixel points serving as the sampling area can be changed according to the requirement of the product function on the depth image data; the robotic acquisition of depth image data may be, but is not limited to, a robotic acquisition with a TOF sensor; the integration time is the time for the TOF module to transmit and receive the reflected light wave pulses.
In an embodiment of the present invention, the acquiring of the calibration information specifically includes the following steps: the robot is set up in the standard test environment; the integration time of the robot is adjusted in sequence, and the robot collects and stores the integration time and an infrared light intensity map corresponding to the integration time; based on the collected infrared light intensity image and a preselected sampling area, the robot calculates a median IR _ mid of the infrared light intensity in the sampling area in the infrared light intensity image; performing curve fitting based on the integration time and the infrared light intensity median IR _ mid in the sampling area in the infrared light intensity image corresponding to the integration time, and acquiring a standard curve relation between the integration time and the infrared light intensity median by the robot; and comparing the infrared light intensity graphs to obtain an image with the best exposure effect, and acquiring and storing the infrared light intensity median IR _ mid with the best exposure effect by the robot.
Specifically, the standard test environment refers to an environment with open space and no obstacles; the infrared light intensity graph refers to the intensity of infrared light represented by each pixel point in a shot image; the infrared light intensity median refers to the median of pixel values of all pixel points in a sampling area in an infrared light intensity image.
In an embodiment of the invention, the pre-selected sampling area is an area that meets the depth data requirement selected from the infrared light intensity map based on different requirements of different functions of the robot on the depth data.
Specifically, the sampling area is based on the requirements of different functions of the robot on depth data, line data in the infrared light intensity image is selected as a limited sampling area range, the line data can be, but are not limited to, forty line data below the infrared light intensity image, twenty line data above the infrared light intensity image or a full-width infrared light intensity image, the limitation of the specific sampling area can be changed according to the requirements of the robot functions on the depth data, and if the robot is a sweeping robot and the depth data of the sweeping area needs to be measured, pixel points with a certain number of lines below the infrared light intensity image can be selected as the robot sampling area according to the position of the sensor.
In an embodiment of the present invention, the specific step of acquiring the standard curve relation between the integration time and the median of the infrared light intensity by the robot includes: the robot selects a proper curve relation to fit a relation between two variables reflecting the Integration time Integration _ time and the infrared light intensity median IR _ time in the sampling area in the infrared light intensity graph corresponding to the Integration time Integration _ time, and a standard curve relation of the Integration time Integration _ time and the intensity median IR _ mid is obtained. Specifically, the standard curve relation can be used as a calibration formula of the robot in different working environments, and the standard intensity median of the current working environment is obtained by using the standard curve relation.
In an embodiment of the present invention, the specific steps of the robot acquiring the exposure information of the current working environment include the following: the robot calculates the Integration time Integration _ time _ best when the exposure effect in the current working environment is optimal according to the infrared light intensity median IR _ best when the exposure effect in the calibration information, the standard curve relation of the Integration time and the infrared light intensity median IR _ standard in the calibration information and the scaling factor Scale _ factor; specifically, the current working environment exposure information of the robot is the integral time when the exposure effect in the current working environment is optimal.
In an embodiment of the present invention, the current working environment scaling factor Scale _ factor is an nth power of a ratio of a standard intensity median IR _ standard corresponding to the current integration time of the robot in a standard curve relation to an infrared light intensity median IR _ real in a sampling region in a current working environment real-time infrared light intensity map. Specifically, the nth power is determined according to a standard curve relation, and may be, but is not limited to, 1 th power or 2 nd power; because the current working environment of the robot is different from the standard testing environment, the calibration can be carried out through the scaling coefficient, so that the standard curve relational expression can be applied to different working environments.
In an embodiment of the present invention, the integration time when the exposure effect is optimal is obtained by substituting the product of the median intensity value IR _ best when the exposure effect is optimal and the current scaling factor Scale _ factor in the calibration information as IR _ mid into the standard curve relation. Specifically, the product of the pre-selected intensity median value when the exposure effect is optimal and the current scaling coefficient represents the intensity median value when the exposure effect of the current working environment of the robot is optimal; and the standard curve relation is obtained by fitting the Integration time Integration _ time and the intensity median IR _ mid under the standard test environment in the calibration information.
In an embodiment of the present invention, the acquiring depth image data by the robot based on the adjusted integration time specifically includes the following steps: the robot adjusts the self integration time according to the integration time obtained by calculation when the exposure effect of the current working environment is optimal; and the robot acquires the depth image data when the current working environment exposure effect is optimal. Specifically, the robot acquires depth image data based on a TOF time-of-flight ranging method, and the depth image data when the exposure effect is optimal in the current working environment can be acquired by adjusting the integration time.
The present invention also discloses a robot control system for adaptively acquiring depth image data, as shown in fig. 2, the robot control system includes: the control unit is used for acquiring and storing preset calibration information, receiving a real-time infrared light intensity image acquired by the TOF sensor, calculating an intensity median IR _ mid in a preselected sampling area in the infrared light intensity image of the current working environment, acquiring the integration time when the exposure effect of the current working environment is optimal, and transmitting the integration time to the TOF sensor; and the TOF sensor is used for acquiring a real-time infrared light intensity image, transmitting the real-time infrared light intensity image to the control unit, receiving the integral time of the current working environment with the best exposure effect, acquired by the control unit, adjusting the integral time based on the integral time of the current working environment with the best exposure effect, and acquiring depth image data of the current working environment with the best exposure effect. Specifically, the control system can control the robot to rapidly acquire high-quality depth image data with the best exposure effect in different working environments, is not influenced by the ambient light intensity, and avoids the over-exposure or under-exposure.
In an embodiment of the present invention, the calibration information is obtained through the following steps: the robot control system is arranged in a standard test environment; the method comprises the steps of sequentially adjusting integration time within the integration time range of a TOF sensor, collecting an infrared light intensity image transformed along with the change of the integration time by the TOF sensor, receiving, calculating and storing an integration time and an infrared light intensity median IR _ mid corresponding to the integration time in a sampling area, carrying out curve fitting based on the integration time and the infrared light intensity median IR _ mid corresponding to the integration time, and obtaining and storing a standard curve relation formula of the integration time and the infrared light intensity median by the control unit. Specifically, the calibration information can be used for the robot control system to obtain depth image data with the best exposure effect in different working environments, and has the advantage of flexible calibration
The above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. In the above embodiments of the present invention, the description of each embodiment has a respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed method and control system may be implemented in other ways. For example, the above-described embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not executed.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which are to be considered as merely preferred embodiments of the invention, and not intended to be limiting of the invention, and that various changes and modifications may be effected therein by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for acquiring depth image data by a robot is characterized by comprising the following specific steps:
the robot acquires exposure information of the current working environment based on preset calibration information;
the robot carries out self-adaptive adjustment of integration time based on preset calibration information and current working environment exposure information;
the robot acquires depth image data based on the adjusted integration time;
the preset calibration information is information obtained by calibration based on a preselected sampling area when the robot is set in a standard test environment; the pre-selected sampling area is a defined area pre-selected from the robot infrared light intensity image.
2. The method for acquiring depth image data by a robot according to claim 1, wherein the acquiring of the calibration information specifically comprises the steps of:
the robot is set up in the standard test environment;
the integration time of the robot is adjusted in sequence, and the robot collects and stores the integration time and an infrared light intensity map corresponding to the integration time;
based on the collected infrared light intensity image and a preselected sampling area, the robot calculates a median IR _ mid of the infrared light intensity in the sampling area in the infrared light intensity image;
performing curve fitting based on the integration time and the infrared light intensity median IR _ mid in the sampling area in the infrared light intensity image corresponding to the integration time, and acquiring a standard curve relation between the integration time and the infrared light intensity median by the robot;
and comparing the infrared light intensity graphs to obtain an image with the best exposure effect, and acquiring and storing the infrared light intensity median IR _ mid with the best exposure effect by the robot.
3. The method for acquiring depth image data by a robot as claimed in claim 2, wherein the pre-selected sampling area is an area which meets the depth data requirement and is selected from the infrared light intensity map based on different requirements of different functions of the robot on the depth data.
4. The method for acquiring depth image data by a robot as claimed in claim 2, wherein the specific steps of the robot for acquiring the standard curve relation between the integration time and the median of the infrared light intensity comprise:
the robot selects a proper curve relation to fit a relation between two variables reflecting the Integration time Integration _ time and the infrared light intensity median IR _ time in the sampling area in the infrared light intensity graph corresponding to the Integration time Integration _ time, and a standard curve relation of the Integration time Integration _ time and the intensity median IR _ mid is obtained.
5. The method for acquiring depth image data by a robot as claimed in claim 2, wherein the specific steps of acquiring the exposure information of the current working environment by the robot comprise the following steps:
the robot collects a real-time infrared light intensity image of the current working environment and calculates a median IR _ real of infrared light intensity in a sampling area in the real-time infrared light intensity image;
the robot calculates a scaling coefficient Scale _ factor of the current working environment according to an infrared light intensity median IR _ real in a sampling area in a real-time infrared light intensity diagram of the current working environment and a standard intensity median IR _ standard corresponding to the current integration time in a standard curve relational expression in calibration information;
the robot calculates the Integration time Integration _ time _ best when the exposure effect is optimal in the current working environment according to the infrared light intensity median IR _ best when the exposure effect is optimal in the calibration information, the standard curve relation of the Integration time and the infrared light intensity median and the scaling coefficient Scale _ factor;
and the integral time when the exposure effect in the current working environment is optimal is the exposure information of the current working environment of the robot.
6. The method for acquiring depth image data by a robot as claimed in claim 5, wherein the current working environment scaling factor Scale factor is an nth power of a ratio of a standard intensity median IR standard corresponding to the current integration time of the robot in a standard curve relation to an infrared light intensity median IR real in a sampling region in the real-time infrared light intensity map of the current working environment.
7. The method for acquiring depth image data by a robot as claimed in claim 5, wherein the integration time when the exposure effect is optimal is obtained by substituting the product of the median intensity value when the exposure effect is optimal IR _ best and the current scaling factor Scale _ factor in the calibration information as IR _ mid into the standard curve relation.
8. The method for acquiring depth image data according to claim 5, wherein the robot acquires depth image data based on the adjusted integration time specifically comprises the following steps:
the robot adjusts the self integration time according to the integration time obtained by calculation when the exposure effect of the current working environment is optimal;
and the robot acquires the depth image data when the current working environment exposure effect is optimal.
9. A robotic control system for adaptively acquiring depth image data, the robotic control system comprising:
the control unit is used for acquiring and storing preset calibration information, receiving a real-time infrared light intensity image acquired by the TOF sensor, calculating an intensity median IR _ mid in a preselected sampling area in the infrared light intensity image of the current working environment, acquiring the integration time when the exposure effect of the current working environment is optimal, and transmitting the integration time to the TOF sensor;
and the TOF sensor is used for acquiring a real-time infrared light intensity image, transmitting the real-time infrared light intensity image to the control unit, receiving the integral time of the current working environment with the best exposure effect, acquired by the control unit, adjusting the integral time based on the integral time of the current working environment with the best exposure effect, and acquiring depth image data of the current working environment with the best exposure effect.
10. The robot control system of claim 9, wherein the calibration information is obtained by:
the robot control system is arranged in a standard test environment;
the integration time is adjusted in sequence based on the integration time range of the TOF sensor, the TOF sensor collects infrared light intensity images changed along with the change of the integration time, and the control unit receives, calculates and stores the integration time and infrared light intensity median IR _ mid in a sampling area in the corresponding infrared light intensity;
and performing curve fitting based on the integration time and the corresponding infrared light intensity median IR _ mid, and acquiring and storing a standard curve relation between the integration time and the infrared light intensity median by the control unit.
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