CN112995524A - High-precision acquisition vehicle, and photo exposure information generation system, method and synchronization device thereof - Google Patents
High-precision acquisition vehicle, and photo exposure information generation system, method and synchronization device thereof Download PDFInfo
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- CN112995524A CN112995524A CN201911279582.0A CN201911279582A CN112995524A CN 112995524 A CN112995524 A CN 112995524A CN 201911279582 A CN201911279582 A CN 201911279582A CN 112995524 A CN112995524 A CN 112995524A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
Abstract
High-precision acquisition vehicle and photo exposure information generation system, method and synchronizer thereof, wherein the generation system comprises: a navigation device; the synchronizing device is suitable for working based on the time of the satellite positioning system output by the navigation device, sending a shooting trigger signal to the camera device to trigger the camera device to shoot a picture, receiving an exposure feedback signal fed back when the camera device shoots the picture, recording the time of the synchronizing device as the shooting time of the picture shot by the exposure feedback signal every time an exposure feedback signal is received, and sending the shooting time of the picture to the data processing device; the camera shooting device is suitable for shooting a picture under the control of the shooting trigger signal, generating an exposure feedback signal for shooting the picture, outputting the exposure feedback signal to the synchronizing device, and transmitting the shot picture to the data processing device; the data processing device is suitable for aligning the shot picture with the shooting time for shooting the picture, and generating and storing an exposure information file of the picture.
Description
Technical Field
The embodiment of the specification relates to the technical field of high-precision map data acquisition, in particular to a high-precision acquisition vehicle, and a photo exposure information generation system, method and synchronization device thereof.
Background
The high-precision map is used as a scarce resource in the field of automatic driving and is just needed, plays a core role in the whole field, can help the automobile to sense complex road information in advance, and is combined with intelligent path planning to make a correct decision for the automobile.
In a high-precision map data acquisition application scene, a plurality of data sources exist, including laser point cloud data, image data, positioning data and the like, and the data need to be correlated with each other. The image data must be aligned with the point cloud, the positioning system and the like, and then more abundant texture information can be added to the high-precision map data. A method of aligning different devices in the time dimension, i.e. time synchronization.
For a high-precision acquisition vehicle, time information of all acquired data needs to be uniformly aligned with a certain reference time axis. Among them, the synchronization with the integrated inertial navigation system for the camera is an accurate satellite positioning system (e.g. GPS) time stamp for acquiring the exposure time of the photo taken by the camera. Taking a camera as an example, the accuracy of the traditional method for obtaining the timestamp of the camera photo is generally 10ms to 50ms, and the requirement for high-accuracy map data production can not be met. How to acquire accurate time information of camera photo exposure is a key technology for determining the accuracy of high-precision map data. For example, if the vehicle speed is 72km/h (20m/s), and the exposure time has an error of 1ms, the corresponding map accuracy relative error is 2cm, and the accuracy index of the high-precision map cannot be satisfied.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a high-precision collection vehicle, a photo exposure information generation system, a photo exposure information generation method, and a synchronization device thereof, which can improve the precision of map data generated by the high-precision collection vehicle.
The embodiment of the present specification provides a photo exposure information generation system of a high-precision collection vehicle, where the generation system includes a navigation device, a synchronization device, a camera device, and a data processing device, where:
the navigation device is suitable for outputting satellite positioning system time information;
the synchronization device is suitable for working based on the satellite positioning system time output by the navigation device, and controls the camera device connected with the synchronization device to shoot, and the synchronization device comprises: sending a shooting trigger signal to the camera device to trigger the camera device to shoot a picture, receiving an exposure feedback signal fed back when the camera device shoots the picture, recording the time of the synchronization device as the shooting time of the picture shot by the exposure feedback signal when receiving one exposure feedback signal, and sending the shooting time of the picture shot by the exposure feedback signal to the data processing device;
the camera device is suitable for taking pictures under the control of the shooting trigger signal of the synchronizing device, generates an exposure feedback signal for taking the pictures for each picture and outputs the exposure feedback signal to the synchronizing device, and transmits the taken pictures to the data processing device;
the data processing device is suitable for aligning the picture shot by the camera device with the shooting time for shooting the picture, and generating and storing an exposure information file of the picture.
Optionally, the synchronization device comprises a plurality of signal connection terminals adapted to be connected with a plurality of shooting devices to control the plurality of shooting devices to shoot synchronously.
Optionally, the synchronization apparatus includes a plurality of synchronization apparatuses, one synchronization apparatus serves as a primary synchronization apparatus, and the other synchronization apparatuses serve as secondary synchronization apparatuses, the primary synchronization apparatus is adapted to be connected in cascade with the secondary synchronization apparatuses, wherein:
the main synchronizer is suitable for being connected with the navigation device through a synchronizing signal input end, and the main synchronizer is respectively connected with a synchronizing signal input end of an auxiliary synchronizer through a signal connecting end and transmits the time information of the satellite positioning system;
the auxiliary synchronization device is suitable for receiving the time information of the satellite positioning system transmitted by the main synchronization device through a synchronization signal end and carrying out time synchronization, is connected with the camera device through a signal connection end, outputs a shooting trigger signal to the camera device connected with the auxiliary synchronization device to trigger the camera device to shoot a picture, receives an exposure feedback signal fed back when the camera device shoots the picture, and records the time of the synchronization device as the shooting time of the picture shot by the exposure feedback signal when receiving one exposure feedback signal; and sending the shooting time of the picture shot by the exposure feedback signal to the data processing device through a data transmission terminal.
Optionally, the cascaded plurality of synchronization apparatuses have the same hardware configuration or have different hardware configurations.
Optionally, the generating system further comprises: and the wheel speed measuring device is suitable for measuring the wheel speed of the high-precision acquisition vehicle and outputting the wheel speed to the synchronizing device, so that the synchronizing device outputs the shooting trigger signal according to a preset frequency based on the acquired wheel speed of the high-precision acquisition vehicle.
Optionally, the navigation device is a combined inertial navigation device, and the combined inertial navigation device includes a satellite navigation positioning module and an inertial navigation module, where the satellite navigation positioning module is adapted to output the satellite positioning system time information.
Optionally, the satellite positioning system time information includes: pulse per second information and current time information.
An embodiment of the present specification further provides a synchronization apparatus, where the synchronization apparatus works based on time of a satellite positioning system, and is configured to control an external camera device to perform shooting, and the synchronization apparatus includes:
the control unit is used for sending a shooting trigger signal to an external camera device to trigger the camera device to shoot a picture;
the signal receiving unit is used for receiving exposure feedback signals fed back when the camera device shoots a picture, and the time recording unit is triggered every time one exposure feedback signal is received;
and the time recording unit is used for recording the time of the synchronization device as the shooting time of the picture shot by the exposure feedback signal when receiving the exposure feedback signal.
Optionally, the synchronization device further comprises a signal frequency adjusting unit adapted to adjust an output frequency of the shooting trigger signal based on the measured vehicle speed.
The embodiment of the specification further provides a high-precision collection vehicle, which comprises the photo exposure information generation system of the high-precision collection vehicle in any one of the embodiments, and is suitable for generating an exposure information file of a photo in real time based on the photo shot by the camera device.
The present specification further provides a method for generating photo exposure information of a high-precision collection vehicle, where a camera device is arranged on the high-precision collection vehicle, and the method for generating photo exposure information of the high-precision collection vehicle includes:
acquiring satellite positioning system time information, performing time synchronization based on the satellite positioning system time information, sending a shooting trigger signal to a camera device arranged on the high-precision acquisition vehicle to trigger the camera device to shoot a picture, receiving an exposure feedback signal fed back when the camera device shoots the picture, and recording the synchronized satellite positioning system time as the shooting time of the picture shot by the exposure feedback signal when receiving one exposure feedback signal;
and acquiring the picture shot by the camera device, aligning the shooting time of the picture shot by the camera device with the shooting time of the picture shot by the corresponding exposure feedback signal, and generating and storing an exposure information file of the picture.
By adopting the photo exposure information generation system of the high-precision acquisition vehicle in the embodiment of the specification, the synchronization device working based on the time of the satellite positioning system sends a shooting trigger signal to the camera device connected with the synchronization device to trigger the camera device to shoot a photo, and each time an exposure feedback signal fed back from the camera device when shooting the photo is received, the time of the synchronization device is recorded as the shooting time of the photo shot by the exposure feedback signal, because the synchronization device works based on the time of the satellite positioning system, the time precision of the synchronization device can be ensured, and the time of the synchronization device receiving the exposure feedback signal is extremely short relative to the shooting time of the camera device when shooting the photo, the time of the synchronization device is recorded as the shooting time of the photo shot by the exposure feedback signal and is aligned with the storage address of the photo in real time, and generating an exposure information file of the picture, wherein the time precision of the shooting time of the picture recorded by the exposure information file can reach microsecond level, so that the matching precision of the high-precision vehicle picture and the point cloud in the map data manufacturing process can be obviously improved, and the precision of the map data is further improved.
Furthermore, as the synchronizing device is connected with the plurality of camera devices through the plurality of signal connecting ends to control the plurality of camera devices to shoot synchronously, the requirement of the high-precision acquisition vehicle for synchronously acquiring image data in multiple directions and multiple visual angles can be met.
Further, a plurality of synchronization devices may be employed, with one synchronization device acting as a master synchronization device, the other synchronizers are used as auxiliary synchronizers, the main synchronizer is respectively connected with a synchronizing signal input end of the auxiliary synchronizer through a signal connecting end to transmit the time information of the satellite positioning system, the auxiliary synchronizer receives the time information of the satellite positioning system transmitted by the main synchronizer through a synchronizing signal end, and time synchronization is carried out, so that the main synchronization device and each auxiliary synchronization device can work based on the time of the satellite positioning system, furthermore, each synchronizer can record the time of receiving the exposure feedback signal as the shooting time of the picture shot by the exposure feedback signal, through the cascade connection of a plurality of synchronous devices, the number of the camera devices supported by the high-precision acquisition vehicle can be multiplied.
Furthermore, the synchronous device outputs the shooting trigger signal according to the preset frequency based on the acquired wheel speed of the high-precision acquisition vehicle, so that the distance intervals of the pictures shot by the high-precision acquisition vehicle are more uniform, and the precision and the acquisition efficiency of the image data acquired by the high-precision map can be further improved.
Drawings
FIG. 1 is a diagram illustrating the relationship of pulses involved in the photographing process of a photographing apparatus;
fig. 2 is a schematic structural diagram illustrating a photo exposure information generation system of a high-precision collection vehicle in an embodiment of the present specification;
FIG. 3 is a schematic diagram illustrating a cascading manner of multiple synchronizers in an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a synchronization apparatus in an embodiment of the present disclosure;
fig. 5 is a flowchart illustrating a photo exposure information generation method for a high-precision collection vehicle in an embodiment of the present disclosure;
FIG. 6 shows a comparison of the point cloud vector elements and the fusion effect of a photo generated by two different exposure information generation methods.
Detailed Description
As described above, in the current high-precision map data acquisition process, the time precision of the exposure time of the acquired picture is mostly in the millisecond level, and if the picture with the millisecond level precision is adopted to be fused with the point cloud data, a large error is generated, and the precision requirement of the high-precision map cannot be met.
One solution is currently known as: the computer equipment and the navigation equipment are used for time synchronization, a photographing trigger signal is output, photographing trigger time is recorded as exposure time of the picture, time precision of the scheme is influenced by multithreading, accidental tasks and the like of the computer, and the precision is generally 10-50 ms.
The inventor finds through research and practice that the triggering moment has a time error of millisecond order with the real photo when the camera takes the photo, because the exposure time of the camera itself is in the order of milliseconds, referring to the diagram of the relationship between the pulses involved in the photographing process of the photographing apparatus shown in fig. 1, wherein, the pulse Tr is a trigger pulse for triggering the camera to take a picture, the pulse Ex is a corresponding exposure pulse in the process of taking a picture by the camera, fig. 1 shows a trigger pulse and an exposure pulse of two periods, as known from fig. 1, the exposure pulse Ex being delayed with respect to the trigger pulse Tr, and each photo exposure lasts for a period of time, and due to the difference of the shooting environment, the exposure time difference is large, as shown in fig. 1, the first picture corresponds to an exposure time of approximately 2ms, while the second, immediately following picture corresponds to an exposure time of approximately 10 ms. And the millisecond time can not meet the precision index of the high-precision map.
In view of the above problems, the embodiments of the present specification provide a corresponding solution, which includes a data processing device and a synchronization device operating based on a satellite positioning system time. Outputting a shooting trigger signal to a camera device connected with the synchronizer through the synchronizer to trigger the camera device to shoot a picture, recording the time of the synchronizer as the shooting time of the picture shot by the exposure feedback signal every time an exposure feedback signal fed back when the camera device shoots the picture is received, ensuring the time precision of the synchronizer as the synchronizer works based on the time of a satellite positioning system, and recording the time of the synchronizer as the shooting time of the picture shot by the exposure feedback signal as the time of the picture shot by the exposure feedback signal and aligning the time of the synchronizer with the storage address of the picture in real time to generate an exposure information file of the picture, wherein the time precision of the shooting time of the picture recorded by the exposure information file can reach microsecond level, the matching precision of the high-precision vehicle-collected picture and the point cloud in the map data manufacturing process can be obviously improved, and the precision of the map data can be further improved.
For a person skilled in the art to better understand and realize the embodiments of the present specification, a detailed description is given below with reference to the accompanying drawings by way of specific embodiments and in conjunction with specific application scenarios.
Fig. 2 shows a schematic structural diagram of a photo exposure information generating system of a high-precision acquisition vehicle in an embodiment of the present specification. In the embodiment of the present specification, as shown in fig. 2, the photo exposure information generating system 20 of the high-precision capturing vehicle may include: navigation device 21, synchronization device 22, camera device 23, data processing device 24, wherein:
the navigation device 21 is suitable for outputting satellite positioning system time information;
the synchronization device 22 is adapted to operate based on the satellite positioning system time output by the navigation device 21, and controls an imaging device 23 connected thereto to perform imaging, and includes: sending a shooting trigger signal to the image pickup device 23 to trigger the image pickup device to shoot a picture, receiving an exposure feedback signal fed back when the image pickup device 23 shoots the picture, recording the time of the synchronization device 22 as the shooting time of the picture shot by the exposure feedback signal every time an exposure feedback signal is received, and sending the shooting time of the picture shot by the exposure feedback signal to the data processing device 24;
the image pickup device 23 is adapted to take pictures under the control of the shooting trigger signal of the synchronization device 22, generate an exposure feedback signal for taking the pictures for each picture taken, output the exposure feedback signal to the synchronization device 22, and transmit the taken pictures to the data processing device 24;
the data processing device 24 is adapted to align the picture taken by the image pickup device 23 with the time taken to take the picture, and to generate and store an exposure information file of the picture.
By adopting the photo exposure information generation system of the high-precision acquisition vehicle, the synchronization device working based on the time of the satellite positioning system sends a shooting trigger signal to the camera device connected with the synchronization device to trigger the camera device to shoot a photo, and each time an exposure feedback signal fed back when the camera device shoots the photo is received, the time of the synchronization device is recorded as the shooting time of the photo shot by the exposure feedback signal, because the synchronization device works based on the time of the satellite positioning system, the time precision of the synchronization device can be ensured, and the time of the synchronization device receiving the exposure feedback signal is extremely short relative to the shooting time of the camera device shooting the photo, the time of the synchronization device is recorded as the shooting time of the photo shot by the exposure feedback signal and is aligned with the shooting time of the photo and the photo, and generating an exposure information file of the picture, wherein the time precision of the shooting time of the picture recorded by the exposure information file can reach microsecond level, so that the matching precision of the high-precision vehicle picture and the point cloud in the map data manufacturing process can be obviously improved, and the precision of the map data is further improved.
In a specific implementation, the synchronization device may be connected to a plurality of photographing devices through a plurality of signal connection terminals, and control the plurality of photographing devices to photograph synchronously.
In a specific implementation, as shown in fig. 2, the data processing device 24 may align the acquired photo with the photographing time of the image capturing device 23 for photographing the photo in real time, generate an exposure information file of the photo, and store the exposure information file in the storage device 25. It will be appreciated that the storage device 25 may also be built into the data processing device or may be located in the cloud. The storage device may be a mass storage device such as a magnetic disk. In specific implementation, a large-capacity high-speed storage hard disk can be used for storing data such as real-time acquired pictures of the high-precision acquisition vehicle and generated exposure information files.
In some embodiments of the present disclosure, the synchronization device 22 may include a synchronization signal input terminal, a data transmission terminal, and a plurality of signal connection terminals, wherein the synchronization device 22 may be connected to the navigation device 21 through the synchronization signal input terminal, and is adapted to perform time synchronization based on the satellite positioning system time output by the navigation device 21 to operate based on the satellite positioning system time; the signal connection end is connected with the camera device 23, a shooting trigger signal is output to the camera device 23 connected with the signal connection end to trigger the camera device 23 to shoot a picture, an exposure feedback signal fed back when the camera device 23 shoots the picture is received, and the time of the synchronization device 22 is recorded as the shooting time of the picture shot by the exposure feedback signal every time an exposure feedback signal is received. The synchronization device 22 can transmit the recorded shooting time of the photo shot by the exposure feedback signal to the data processing device 24 through the data transmission terminal in real time.
By adopting the embodiment, the synchronizer is connected with the plurality of camera devices through the plurality of signal connecting ends to control the plurality of camera devices to shoot synchronously, so that the requirement of synchronously collecting image data in a multi-direction and multi-view angle of a high-precision collecting vehicle can be met.
In a specific implementation, the navigation device 21 may be a combined inertial navigation device, and the combined inertial navigation device may include a satellite navigation positioning module and an inertial navigation module, wherein the satellite navigation positioning module is adapted to output the satellite positioning system time information.
In a specific application process, the Satellite Navigation and Positioning module may be a Global Positioning System (GPS) module, a beidou Satellite Navigation System module, a galileo Satellite Navigation System module, a glonass Satellite Navigation System module, or a Global Navigation Satellite System (GNSS) module integrating multiple Navigation systems. The inertial navigation module can acquire current position information based on inertial devices such as a gyroscope, an accelerometer and the like arranged in the inertial navigation module.
In a specific implementation, the satellite positioning system time information may include: pulse Per Second (PPS) information and current time information. For example, for the navigation device 21 including the GPS module, the current time information may be current time information (GPZDA) in a National Marine Electronics Association (NMEA) standard format, and the current time accurate to the second level may be acquired.
In a specific implementation, the image capturing device 23 may record an exposure time of the photo, and generate the exposure feedback signal based on the exposure time of the photo. For example, the imaging device 23 may obtain a certain time during exposure of a photograph as an exposure time according to its own setting, and may record the exposure time in an exposure time register. When the image capturing device 23 obtains the exposure time, a pulse signal can be immediately generated and output to the synchronization device 22 as the exposure feedback signal, and the exposure feedback signal is fed back to the synchronization device 22, and when the synchronization device 22 receives the exposure feedback signal, a timestamp can be immediately generated and recorded as the shooting time for the image capturing device 23 to take the picture.
In an implementation, the synchronizer 22 may also record the starting time of shooting and the exposure duration of each photo, and may subsequently obtain the shooting time of each photo in a post-calculation manner. For each picture, the synchronizer 22 may use the time when the shooting trigger signal is sent out as the shooting start time, and the exposure duration of each picture may be obtained by the exposure feedback signal.
In one embodiment, if there are multiple cameras, the synchronizer 22 can record the time when each camera starts to capture and obtain the exposure time information of each picture fed back by the camera.
As an example, for a plurality of image capturing devices, the synchronization device may be triggered synchronously by the shooting trigger signal, and may operate the plurality of image capturing devices in the same exposure time period in a compensation manner. In this way, the synchronization means can record only one piece of start shooting time information and exposure time length information for the pictures synchronously taken by the plurality of image pickup means.
As another example, for multiple image capture devices, the synchronization device may also control cameras of different exposure capabilities to take pictures at the same time by sending capture trigger signals at different times. In this way, for the pictures synchronously taken by the plurality of image pickup devices, the synchronization device may record only one piece of the shooting start time information and the exposure time length information.
As for the image pickup device 23 employed in the embodiment of the present specification, one or more image pickup devices 23 provided on the high-precision collection vehicle may be employed to collect a photograph as necessary. In particular implementations, to improve the integrity of the collected map data, multiple CMOS cameras may be mounted on a high-precision collection cart. In an embodiment of the present specification, a high-precision collection vehicle carries 6 CMOS cameras, wherein 5 CMOS cameras are annularly distributed on the collection vehicle, and one CMOS camera is arranged on the top of the collection vehicle, and a panoramic picture of road-related information can be collected by using the 6 CMOS cameras. In a specific application process, the number and the distribution positions of the camera devices 23 carried by the high-precision acquisition vehicle and the pixels of the selected camera devices 23 can be adjusted according to requirements.
In a specific implementation, the data processing device 24 may be a computer having data processing capabilities. In order to meet the requirements of high-precision maps on data processing reliability and stability, an industrial personal computer meeting industrial standards can be adopted for implementation.
In an implementation, the synchronization device 22 may also be built into the data processing device 24, such as an industrial personal computer, as a synchronization module.
As described above, the storage device 25 may employ a large-capacity storage medium such as a hard disk. In a specific implementation, the photo and the exposure information file of the generated photo may be stored on the same storage medium, may be stored in the same physical partition on the same storage medium, may also be stored in different physical partitions of the same storage medium, and may also be stored on different storage media.
It is to be understood that the storage device 25 in the embodiments of the present specification may be one physical storage bank or a combination of multiple physical storage banks, and the storage device 25 may include multiple storage media or multiple storage media.
In the embodiment of the present specification, in the photo exposure information generating system of the high-precision collection vehicle, various hardware interface connection lines such as a Gigabit Ethernet (GigE) interface, a Universal Serial Bus (USB) interface, a serial interface, and the like may be used to connect the synchronization device 22, the data processing device 24, the image pickup device 23, the storage device 25, and the like, or a 5G wireless communication interface may be used.
In specific implementation, the photo exposure information generation system of the high-precision acquisition vehicle can be further expanded and optimized according to actual conditions and specific requirements.
For example, when the number of signal connection terminals of the adopted synchronization device 22 is smaller than the number of the imaging devices 23 mounted on the high-precision acquisition vehicle, a plurality of synchronization devices 22 may be adopted to obtain exposure information of pictures taken by all the imaging devices 23 mounted on the high-precision acquisition vehicle in a cascade manner by the plurality of synchronization devices 22, and generate an exposure information file.
Specifically, among the plurality of synchronization apparatuses 22, one synchronization apparatus 22 may be used as a primary synchronization apparatus, and the other synchronization apparatuses 22 may be used as secondary synchronization apparatuses, wherein:
the main synchronizer is suitable for being connected with the navigation device 21 through a synchronization signal input end, and the main synchronizer is respectively connected with a synchronization signal input end of an auxiliary synchronizer through a signal connecting end and transmits the time information of the satellite positioning system;
the auxiliary synchronization device is suitable for receiving the satellite positioning system time information transmitted by the main synchronization device through a synchronization signal end, performing time synchronization, and is connected with the camera device 23 through a signal connection end, outputting a shooting trigger signal to the camera device 23 connected with the auxiliary synchronization device to trigger the camera device 23 to shoot a picture, receiving an exposure feedback signal fed back when the camera device 23 shoots the picture, and recording the time of the synchronization device 22 as the shooting time of the picture shot by the exposure feedback signal every time an exposure feedback signal is received; and sends the shooting time of the picture shot by the exposure feedback signal to the data processing device 24 through the data transmission terminal.
Referring to fig. 3, a schematic diagram of a cascade connection manner of multiple synchronizers in the embodiment of the present specification includes a primary synchronizer 31, and a secondary synchronizer 32 and a secondary synchronizer 33 cascaded therewith. Referring to fig. 3, if each synchronizer is provided with 6 signal connection terminals S1～S6Then, a cascade mode of a plurality of synchronization apparatuses shown in fig. 3 is adopted, and exposure information of pictures taken by 12 image pickup apparatuses can be acquired at the same time at most by using 3 synchronization apparatuses.
In the specific implementation, the number of the cascaded synchronizing devices can be flexibly set according to the number of the signal connecting ends of the adopted synchronizing devices and the number of the image pickup devices required to be supported. It will be appreciated that the synchronising devices of the cascade may be identical or different synchronising devices may be used, for example with a different number of signal connections. For example, three synchronization devices are used, wherein 2 signal connection terminals of the main synchronization device are used, and 6 signal connection terminals of 2 auxiliary synchronization devices are used, so that the three synchronization devices can support simultaneous real-time generation of exposure information files of pictures shot by 12 image pickup devices at most. The plurality of auxiliary synchronization devices may be different, for example, if the number of signal connection terminals of 3 auxiliary synchronization devices is 3, 6, and 8, respectively, the 3 auxiliary synchronization devices are cascaded with the matched main synchronization device, and 17 image capturing devices can be supported at most.
From the above embodiment, the number of the camera devices supported by the high-precision acquisition vehicle can be multiplied by cascading a plurality of synchronization devices.
In an embodiment of this specification, with reference to the schematic structural diagram of the photo exposure information generating system of the high-precision capturing vehicle described with reference to fig. 2, in addition to the above-mentioned devices, the photo exposure information generating system 20 of the high-precision capturing vehicle may further include a wheel speed measuring device 26 adapted to measure a wheel speed of the high-precision capturing vehicle and output the wheel speed to the synchronizing device 22, so that the synchronizing device 22 outputs the shooting trigger signal according to a preset frequency based on the obtained wheel speed of the high-precision capturing vehicle.
In a specific implementation, a wheel speed sensor such as a wheel speed meter may be used as the wheel speed measuring device 26.
By adopting the embodiment, the synchronizing device outputs the shooting trigger signal according to the preset frequency based on the acquired wheel speed of the high-precision acquisition vehicle, so that the distance intervals of the pictures shot by the high-precision acquisition vehicle are more uniform, and the precision and the acquisition efficiency of the image data acquired by the high-precision map can be further improved.
In an embodiment of the present disclosure, a synchronization apparatus is further provided, where the synchronization apparatus may operate based on time of a satellite positioning system, and is configured to control an external camera to shoot, and referring to a schematic structural diagram of the synchronization apparatus shown in fig. 4, in an embodiment of the present disclosure, the synchronization apparatus 40 may include: a control unit 401, a signal receiving unit 402, and a time recording unit 403, wherein:
the control unit 401 is configured to send a shooting trigger signal to an external camera device to trigger the camera device to shoot a picture;
the signal receiving unit 402 is configured to receive an exposure feedback signal fed back when the image pickup apparatus takes a picture, and trigger the time recording module every time an exposure feedback signal is received;
the time recording unit 403 is configured to record the time of the synchronization apparatus as the shooting time of the picture shot by the exposure feedback signal when the exposure feedback signal is received.
The synchronization device works based on accurate satellite positioning system time, so that the time accuracy of the synchronization device can be ensured, and the time of the synchronization device when the exposure feedback signals from the camera devices are received can be used as the shooting time of the pictures shot by the exposure feedback signals, so that the accuracy of the shooting time of the obtained pictures can be improved.
With continued reference to fig. 4, the synchronization device 40 may further comprise a data transmission unit 404 adapted to synchronize the time of taking the recorded photograph to the data processing device. Then, the data processing device aligns the storage addresses of the pictures shot by the camera devices with the respective shooting time, and an exposure information file of the corresponding pictures can be generated.
In a specific implementation, as shown in fig. 4, the synchronization apparatus 40 may operate on a synchronization circuit board 4A, and the synchronization circuit board 4A may include: synchronous signal input end Sync and a plurality of signal connecting ends S1～SnAnd a data transmission end D, wherein: the synchronization circuit board 4A may be connected to the navigation device 41 via the synchronization signal input Sync, via the signal connection S1～SnCan be connected with the camera device 42 and the data processing device 43 through the data transmission terminal D.
In the processing process of the synchronizer, the time of the synchronizer receiving the exposure feedback signal returned at the exposure time of the picture is recorded as the shooting time of the camera shooting device for shooting the picture, the processing mode fully considers the exposure generation mechanism when the camera shooting device shoots the picture, compared with the mode that the shooting trigger time of the camera shooting device is taken as the exposure time, the time precision of the generated exposure information file of the picture can be greatly improved, in the specific application process, the microsecond-level precision can be achieved, and the manufacturing index of a high-precision map is met.
In addition, adopt synchronizer can control a plurality of camera device on the high-accuracy collection car simultaneously, can satisfy the diversified many visual angles of high-accuracy collection car and gather the demand of image data.
In addition, adopt the synchronizer of this description embodiment, need not adopt the navigation head that can trigger the shooting device specially and shoot, can obtain the satellite positioning system time information who is used for time synchronization through general navigation head can, therefore need not replace general navigation head on the high accuracy collection car, only need install the synchronizer of this description embodiment on the high accuracy collection car, can use with existing navigation head, data processing device, camera device cooperation on the high accuracy collection car, the cost of upgrading the transformation to current high accuracy collection car is less, easily popularize.
With continued reference to fig. 4, in the present embodiment, the synchronization device 40 may further include a signal frequency adjustment unit 405, and the signal frequency adjustment unit 405 may adjust the output frequency of the shooting trigger signal based on the measured vehicle speed. In a specific implementation, the synchronization circuit board 4A may include a speed measurement signal input Wh adapted to obtain the measured vehicle speed.
In specific implementation, the synchronous circuit board 4A may be connected to the wheel speed meter 44 through a speed measurement signal input Wh to obtain a wheel rotation speed, and obtain a real-time speed of the high-precision vehicle through the wheel rotation speed.
In a specific implementation, a plurality of synchronization devices according to the embodiments of the present disclosure may be cascaded, and one synchronization device is used as a primary synchronization device, and the other synchronization devices are used as secondary synchronization devices, so that the number of the accessed image capturing devices can be arbitrarily doubled.
When the synchronizer is used as a main synchronizer, the synchronizer can be connected with the navigation device through a synchronizing signal input end and is connected with a synchronizing signal input end of an auxiliary synchronizer through a signal connecting end, and the satellite positioning system time information is transmitted to the auxiliary synchronizer.
When the synchronization device is used as an auxiliary synchronization device, the synchronization device can receive exposure feedback signals fed back when the camera device takes pictures, and every time one exposure feedback signal is received, the time of the synchronization device is recorded as the shooting time of the picture shot by the exposure feedback signals; and sending the shooting time of the picture shot by the exposure feedback signal to the data processing device through the data transmission terminal.
The signal connection ends may adopt bidirectional signal connection ends, for example, USB, serial interfaces, etc.
It is understood that, in a synchronization system formed by a plurality of synchronization devices according to the embodiments of the present disclosure, the specifications and parameters of the synchronization devices used may be completely the same or may not be completely the same. The number of signal connections provided for each synchronization device can be different.
The embodiment of the present specification further provides a high-precision collection vehicle, where the photo exposure information generation system described in the above embodiment can be set on the high-precision collection vehicle, and is suitable for generating an exposure information file of a photo in real time based on a photo taken by the camera device, so that the precision of map data generated by the high-precision collection vehicle can be improved, and the requirement of the high-precision collection vehicle for acquiring image data in all directions can be met.
The embodiment of the present specification further provides a method for generating photo exposure information of a high-precision collection vehicle, where the high-precision collection vehicle is provided with a camera device, and referring to fig. 5, the method for generating photo exposure information of a high-precision collection vehicle according to the embodiment of the present specification may include the following steps:
and S51, acquiring the time information of the satellite positioning system, and carrying out time synchronization based on the time information of the satellite positioning system.
And S52, outputting a shooting trigger signal to a camera device arranged on the high-precision acquisition vehicle to trigger the camera device to shoot a picture.
And S53, receiving an exposure feedback signal fed back when the image pickup device takes a picture.
And S54, recording the synchronous satellite positioning system time as the shooting time of the picture shot by the exposure feedback signal every time an exposure feedback signal is received.
And S55, acquiring the picture shot by the camera device, aligning the shooting time of the picture shot by the camera device with the shooting time of the picture shot by the corresponding exposure feedback signal, and generating and storing an exposure information file of the picture.
In a specific implementation, the exposure information file may record a storage address of the photo and a shooting time corresponding to the photo.
By adopting the photo exposure information generation method of the high-precision acquisition vehicle, the matching precision of the photo and the point cloud of the high-precision acquisition vehicle can be improved, and the precision of map data is further improved.
The following description will be made by referring to the point cloud vector elements shown in fig. 6 and a photograph fusion effect comparison chart generated by two different exposure information generation methods. In fig. 6, a) and b) are generated by fusing a photo base map and vector elements corresponding to point cloud data acquired by a laser radar on a corresponding high-precision acquisition vehicle, wherein a rectangular frame on the ground represents elements such as lane lines and ground arrows corresponding to the point cloud, vector elements above the ground represent rod-shaped objects by longitudinal line segments, such as telegraph poles and rectangular frames represent guideboards at corresponding positions, and circular frames mark vector elements such as traffic lights at corresponding positions. The laser radar on the high-precision acquisition vehicle is directly connected with the navigation device, and the point cloud data generated by the laser radar is time-synchronized, so that additional independent synchronization is not needed; and no matter a) or b), the photo base map and the space coordinate system of the corresponding laser radar on the high-precision acquisition vehicle complete space calibration, and the space precision required by the high-precision map is achieved.
In fig. 6, the exposure time corresponding to the a) picture is the shooting trigger time of the imaging device, and the exposure time corresponding to the b) picture in fig. 6 is the shooting time of the picture recorded by the embodiment of the present specification. It is evident that in a) of fig. 6, the vector element arrows on the ground cannot coincide with the ground arrows in the photo base, whereas in b) of fig. 6, the vector element arrows on the ground can coincide with the ground arrows in the photo base.
As can be seen from comparison of a) and b) in fig. 6, when the photo base map of a) in fig. 6 is fused with the corresponding laser point cloud vector data, the deviation is large, which indicates that the timestamp of the photographing time recorded in the exposure information file is not accurate, and the positions of the photo base map of b) in fig. 6 and the corresponding laser point cloud vector elements can be highly matched and fully fused, so that it can be seen that the matching precision of the high-precision acquired vehicle photo and the point cloud can be remarkably improved by adopting the scheme of the embodiment of the description, and further the precision of the map data can be improved.
In a specific implementation, steps S51 and S52 may be processed by using the synchronization apparatus described in the above embodiment, and step S53 may be processed by using the data processing apparatus described in the above embodiment. It will be appreciated that in particular embodiments, the synchronization means may also be built into the data processing apparatus, such as an industrial personal computer, as a synchronization module.
The data processing device such as an industrial personal computer can align the acquired storage address of the picture with the photographing time of the picture photographed by the photographing device in real time by executing a computer instruction, generate an exposure information file of the picture, and store the exposure information file to the storage device. The computer instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, and the like, implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language.
Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. The utility model provides a photo exposure information generation system of high accuracy collection car which characterized in that, includes navigation head, synchronizer, camera device, data processing apparatus, wherein:
the navigation device is suitable for outputting satellite positioning system time information;
the synchronization device is suitable for working based on the satellite positioning system time output by the navigation device, and controls the camera device connected with the synchronization device to shoot, and the synchronization device comprises: sending a shooting trigger signal to the camera device to trigger the camera device to shoot a picture, receiving an exposure feedback signal fed back when the camera device shoots the picture, recording the time of the synchronization device as the shooting time of the picture shot by the exposure feedback signal when receiving one exposure feedback signal, and sending the shooting time of the picture shot by the exposure feedback signal to the data processing device;
the camera device is suitable for taking pictures under the control of the shooting trigger signal of the synchronizing device, generates an exposure feedback signal for taking the pictures for each picture and outputs the exposure feedback signal to the synchronizing device, and transmits the taken pictures to the data processing device;
the data processing device is suitable for aligning the picture shot by the camera device with the shooting time for shooting the picture, and generating and storing an exposure information file of the picture.
2. The photo exposure information generating system of the high-precision collection vehicle according to claim 1, wherein the synchronizing device comprises a plurality of signal connection terminals adapted to be connected with a plurality of photographing devices for controlling the plurality of photographing devices to photograph synchronously.
3. The photo exposure information generation system of a high-precision collection vehicle according to claim 1, wherein the synchronization device includes a plurality of synchronization devices, one of the synchronization devices serves as a primary synchronization device, and the other synchronization devices serve as secondary synchronization devices, the primary synchronization device being adapted to be cascade-connected to the secondary synchronization devices, wherein:
the main synchronizer is suitable for being connected with the navigation device through a synchronizing signal input end, and the main synchronizer is respectively connected with a synchronizing signal input end of an auxiliary synchronizer through a signal connecting end and transmits the time information of the satellite positioning system;
the auxiliary synchronization device is suitable for receiving the time information of the satellite positioning system transmitted by the main synchronization device through a synchronization signal end and carrying out time synchronization, is connected with the camera device through a signal connection end, outputs a shooting trigger signal to the camera device connected with the auxiliary synchronization device to trigger the camera device to shoot a picture, receives an exposure feedback signal fed back when the camera device shoots the picture, and records the time of the synchronization device as the shooting time of the picture shot by the exposure feedback signal when receiving one exposure feedback signal; and sending the shooting time of the picture shot by the exposure feedback signal to the data processing device through a data transmission terminal.
4. The photo exposure information generation system of the high-precision collection vehicle according to claim 2, wherein the plurality of synchronization devices in cascade have the same hardware configuration or have different hardware configurations.
5. The photo exposure information generation system for a high-precision acquisition vehicle according to any one of claims 1 to 4, further comprising:
and the wheel speed measuring device is suitable for measuring the wheel speed of the high-precision acquisition vehicle and outputting the wheel speed to the synchronizing device, so that the synchronizing device outputs the shooting trigger signal according to a preset frequency based on the acquired wheel speed of the high-precision acquisition vehicle.
6. The photo exposure information generating system of the high-precision collection vehicle of claim 1, wherein the navigation device is a combined inertial navigation device, the combined inertial navigation device comprises a satellite navigation positioning module and an inertial navigation module, and the satellite navigation positioning module is adapted to output the satellite positioning system time information.
7. The photo exposure information generating system of the high-precision collection vehicle of claim 6, wherein the satellite positioning system time information comprises: pulse per second information and current time information.
8. The utility model provides a synchronizer, its characterized in that synchronizer works based on the time of satellite positioning system for control external camera device shoots, includes:
the control unit is used for sending a shooting trigger signal to an external camera device to trigger the camera device to shoot a picture;
the signal receiving unit is used for receiving exposure feedback signals fed back when the camera device shoots a picture, and the time recording unit is triggered every time one exposure feedback signal is received;
and the time recording unit is used for recording the time of the synchronization device as the shooting time of the picture shot by the exposure feedback signal when receiving the exposure feedback signal.
9. The synchronization device according to claim 8, further comprising a signal frequency adjustment unit adapted to adjust an output frequency of the photographing trigger signal based on the measured vehicle speed.
10. A high-precision acquisition vehicle, characterized by comprising the photo exposure information generation system of the high-precision acquisition vehicle as claimed in any one of claims 1 to 7, and being adapted to generate an exposure information file of the photo in real time based on the photo taken by the camera device.
11. The method for generating the photo exposure information of the high-precision collection vehicle is characterized by comprising the following steps of:
acquiring satellite positioning system time information, performing time synchronization based on the satellite positioning system time information, sending a shooting trigger signal to a camera device arranged on the high-precision acquisition vehicle to trigger the camera device to shoot a picture, receiving an exposure feedback signal fed back when the camera device shoots the picture, and recording the synchronized satellite positioning system time as the shooting time of the picture shot by the exposure feedback signal when receiving one exposure feedback signal;
and acquiring the picture shot by the camera device, aligning the shooting time of the picture shot by the camera device with the shooting time of the picture shot by the corresponding exposure feedback signal, and generating and storing an exposure information file of the picture.
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