CN113221635A - Structured light module and autonomous mobile device - Google Patents
Structured light module and autonomous mobile device Download PDFInfo
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- CN113221635A CN113221635A CN202110334816.8A CN202110334816A CN113221635A CN 113221635 A CN113221635 A CN 113221635A CN 202110334816 A CN202110334816 A CN 202110334816A CN 113221635 A CN113221635 A CN 113221635A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention relates to a structured light module and an autonomous mobile device. The module comprises a camera module, a transmitter module and a first control unit, wherein the transmitter module comprises N structural light emitters, the N structural light emitters are distributed around the camera module, and N is more than or equal to 2; the first control unit is in signal connection with the camera module and the transmitter module; the first control unit is configured to control the N structural light emitters in the emitter module to emit light in a time-sharing mode, and control the camera module to shoot a target area irradiated by the structural light emitters. By utilizing various implementation modes of the invention, the reliability and the accuracy of the obstacle identification by utilizing the structured light image can be improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of image processing, in particular to a structured light module and autonomous mobile equipment.
[ background of the invention ]
With the rapid development of laser technology, laser detection technology has been gradually applied to various fields. The structured light is used as an effective laser detection means, and is widely applied to the aspects of object identification, distance measurement and the like. Specifically, by emitting structured light (such as line laser, cross light, etc.) with a specific shape to the region to be detected, whether an obstacle exists in the region can be detected according to the structured light pattern in the shot image of the region to be detected, and the related information of the obstacle can be determined according to the characteristics of the structured light image.
However, in the prior art, there may be situations where the structured light emission and the image capturing are not synchronized, which may result in the captured structured light image missing the structured light pattern or the captured structured light image not being the current real-time image. In this case, the reliability and accuracy of obstacle recognition using the structured light image may be degraded. In addition, due to the interference of the ambient light, the structured light image is also distorted, and the reliability and accuracy of the obstacle recognition using the structured light image are further reduced.
[ summary of the invention ]
The invention provides a structured light module and an autonomous mobile device, which are used for saving controller resources, ensuring synchronization of structured light irradiation and image shooting, improving the real-time property of structured light image acquisition and reducing the distortion of the structured light image, thereby improving the reliability and accuracy of obstacle identification by using the structured light image.
According to a first aspect of the invention, a structured light module is provided, which comprises a camera module, an emitter module and a first control unit, wherein the emitter module comprises N structured light emitters, the N structured light emitters are respectively arranged around the camera module, and N is more than or equal to 2;
the first control unit is in signal connection with the camera module and the transmitter module;
the first control unit is configured to control the N structural light emitters in the emitter module to emit light in a time-sharing mode, and control the camera module to shoot a target area irradiated by the structural light emitters.
In a possible implementation manner, the controlling the camera module to photograph the target area irradiated by the structured light emitter includes:
and when the light emitting of the structured light emitter is controlled, the camera module is synchronously controlled to shoot the target area, so that a structured light image is obtained.
In a possible implementation manner, the system further comprises a second control unit which is in signal connection with the first control unit and is in signal connection with the camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured,
correspondingly, the second control unit is configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
In a possible implementation manner, the first control unit is further configured to control the N structured light emitters to emit light in sequence, and a time interval during which none of the N structured light emitters emits light is set after each emission.
In a possible implementation manner, the controlling the camera module to photograph the target area irradiated by the structured light emitter includes:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
and when the structural light emitters are not controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a non-structural light image is obtained.
In a possible implementation manner, the system further comprises a second control unit which is in signal connection with the first control unit and is in signal connection with the camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured, the light source distinguishing signal corresponding to a structured light emitter of the N structured light emitters that emits light when the structured light image is captured;
correspondingly, the second control unit is further configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
In one possible implementation, the first control unit is further configured to synchronously send no light source signal to the second control unit or no signal to the second control unit when the unstructured light image is captured;
correspondingly, the second control unit is further configured to acquire the unstructured-light image and mark the unstructured-light image as a reference image in response to receiving the illuminant-free signal or in response to not receiving the signal sent by the first control unit;
further, the second control unit is further configured to perform ambient light filtering processing on the structured light image by using the reference image, so as to obtain an optimized structured light image.
According to a second aspect of the present invention, there is provided an autonomous mobile device, the device comprising:
an apparatus main body;
the structured light module is arranged on the equipment main body and comprises a camera module, an emitter module and a first control unit, wherein the emitter module comprises N structured light emitters, the N structured light emitters are distributed around the camera module, N is more than or equal to 2,
the first control unit is in signal connection with the camera module and the transmitter module,
the first control unit is configured to control the N structural light emitters in the emitter module to emit light in a time-sharing manner, and control the camera module to shoot a target area irradiated by the structural light emitters;
the main controller is configured to determine obstacle information of the target area according to image data shot by the camera module, and control the equipment to move according to the obstacle information.
In a possible implementation manner, the controlling the camera module to photograph the target area irradiated by the structured light emitter includes:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
the main controller is further configured to determine obstacle information of the target area from the structured light image, and to control movement of the device according to the obstacle information.
In a possible implementation manner, the structured light module further includes a second control unit in signal connection with the first control unit and in signal connection with the camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured,
correspondingly, the second control unit is configured to acquire the structured light image, receive the light source distinguishing signal, and establish a correlation between the structured light image and the light source distinguishing signal;
the main controller is further configured to determine whether an obstacle exists in the target area or not according to the structured light image and the light source distinguishing signal associated with the structured light image, determine position information of the obstacle, and control the equipment to normally move or execute a predetermined obstacle avoidance action according to the determination result.
In a possible implementation manner, the first control unit is further configured to control the N structured light emitters to emit light in sequence, and a time interval during which none of the N structured light emitters emits light is set after each emission;
the controlling the camera module to shoot the target area irradiated by the structured light emitter comprises:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
when the structured light emitters are not controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a non-structured light image is obtained;
the main controller is further configured to determine obstacle information of the target area from the structured light image subjected to the ambient light filtering processing, and to control movement of the device according to the obstacle information.
In a possible implementation manner, the structured light module further includes a second control unit in signal connection with the first control unit and in signal connection with the camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured, the light source distinguishing signal corresponding to a structured light emitter of the N structured light emitters that emits light when the structured light image is captured;
correspondingly, the second control unit is further configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
In one possible implementation, the first control unit is further configured to synchronously send no light source signal to the second control unit or no signal to the second control unit when the unstructured light image is captured;
correspondingly, the second control unit is further configured to acquire the unstructured-light image and mark the unstructured-light image as a reference image in response to receiving the illuminant-free signal or in response to not receiving the signal sent by the first control unit;
further, the second control unit is further configured to perform ambient light filtering processing on the structured light image by using the reference image, so as to obtain an optimized structured light image;
the main controller is further configured to determine whether an obstacle exists in the target area or not according to the optimized structured light image and the light source distinguishing signal related to the optimized structured light image, determine position information of the obstacle, and control the equipment to normally move or execute a preset obstacle avoidance action according to the determination result.
According to the embodiment provided by the aspects of the invention, the time-sharing light emission of the emitter module and the shooting of the camera module are controlled by using the same control unit, namely the first control unit, so that the synchronization of the light emission of the emitter module and the shooting of the camera module can be effectively ensured. The method can ensure the synchronization of the structured light irradiation and the image shooting while saving the controller resource, and improve the real-time property of the structured light image acquisition, thereby improving the reliability and the accuracy of the obstacle identification by using the structured light image.
Furthermore, the first control unit can be used for controlling the camera module to shoot a reference image of a target area without structured light irradiation, and the second control unit can utilize the reference image to perform image filtering processing on the structured light image, so that the interference of ambient light can be reduced, and an optimized structured light image with higher image quality can be obtained. Furthermore, the obstacle in the target area is detected by using the optimized structured light image, so that the reliability and the accuracy of obstacle detection can be further improved.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
[ description of the drawings ]
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic block diagram of a structured light module according to an embodiment of the present invention.
Fig. 2 is a block diagram of an autonomous mobile device according to an embodiment of the present invention.
Fig. 3 is a schematic device structure diagram of an autonomous mobile device according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating an obstacle recognition principle of an autonomous mobile apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of an obstacle detection scenario of an autonomous mobile device according to an embodiment of the present invention.
FIG. 6 is the structured light image obtained in one embodiment of the present invention.
Fig. 7 is the reference image acquired in an embodiment of the present invention.
FIG. 8 is the optimized structured light image obtained in one embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and claims of this application, the singular form of "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the specification and claims of this specification refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
"plurality" appearing in the embodiments of the present invention means two or more. The descriptions of the first, second, etc. appearing in the embodiments of the present invention are only for illustrating and differentiating the objects, and do not have any order or represent any special limitation to the number of devices in the embodiments of the present invention, and do not constitute any limitation to the embodiments of the present invention.
Fig. 1 is a schematic block diagram of a structured light module according to an embodiment of the present invention. Specifically, as shown in fig. 1, the module may include a camera module 101, an emitter module 102, and a first control unit 103, where the emitter module 102 may include N structural light emitters, where the N structural light emitters are distributed around the camera module, and N is greater than or equal to 2;
the first control unit 103 is in signal connection with the camera module 101 and in signal connection with the transmitter module 102;
the first control unit 103 is configured to control the N structural light emitters 1021 in the emitter module 102 to emit light in a time-sharing manner, and control the camera module 101 to photograph a target area irradiated by the structural light emitters 1021.
The structured light refers to a laser beam that can form an optical pattern with a certain shape when projected on the surface of an object, for example, a planar laser beam that can form a linear optical pattern when projected on the surface of an object, and such a beam can be referred to as a linear laser, which is one type of structured light. Of course, the shape of the structured light beam and the shape of the optical pattern formed by the structured light beam are not limited in the present invention, and in other embodiments of the present invention, the shape of the optical pattern formed may be any shape such as a line, a cross, a triangle, a circle, a square, and the like. By projecting the structured light to the optical pattern formed in a certain area, information on whether an object exists in the area and information on the distance, shape, size, and the like of the object can be obtained.
The target area refers to a real physical area mapped by the structured light image, namely an actual shooting area of a shooting device for shooting the structured light image.
In this example, an image including the optical pattern may be acquired by an image acquisition device such as a camera, etc., for subsequently determining whether an obstacle exists in the projected target area according to the image, and for deducing relevant physical information of the obstacle according to the image. The image containing the optical pattern is the structured light image.
In an embodiment of the present invention, the number of the structure light emitters 1021 in the emitter module 102 may be two, and the two structure light emitters 1021 are respectively arranged at different positions, and the first control unit 103 controls the two structure light emitters 1021 to alternately emit light to illuminate different positions of the target area. In other embodiments of the present invention, the transmitter module 102 may also be provided with two or more structured light emitters 1021 in any number, and the first control unit 103 controls to alternately emit light according to a preset sequence to illuminate more different positions. Specifically, the present invention is not limited, and the implementer may set the number of the structured light emitters 1021 according to the specific identification requirement.
In an embodiment of the present invention, the controlling the camera module 101 to photograph the target area irradiated by the structured light emitter 1021 may include:
when the structured light emitter 1021 is controlled to emit light, the camera module 101 is synchronously controlled to shoot the target area, and a structured light image is obtained.
In an embodiment of the present invention, the structured light module may further include a second control unit 104, which is in signal connection with the first control unit 103 and the camera module 101;
the first control unit 103 is further configured to, upon capturing the structured light image, synchronously send a light source distinguishing signal to the second control unit 104,
correspondingly, the second control unit 104 is configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
For example, as shown in fig. 1, in the case that there are two left and right structure light emitters 1021 in the emitter module 102, the light source distinguishing signal may be used to determine whether the structure light image is captured when the left structure light emitter emits light or captured when the right structure light emitter emits light. And when the structured light image is subsequently used for identifying the obstacle, the light source information corresponding to the structured light image can be used as a parameter for judging the position of the obstacle. Of course, in other embodiments of the present invention, there may be more than 2 emitters 1021 in the emitter module 102, and the light source distinguishing signal may also be used to determine which emitter is illuminated by the structured light image. Specifically, the light source distinguishing signal may be implemented in a high-low level form, for example, when the light source distinguishing signal is at a high level, it indicates that the left emitter emits light, and when the light source distinguishing signal is at a low level, it indicates that the right emitter emits light. Of course, a binary code may also be used to indicate the position or serial number of the corresponding transmitter, which is not limited in the present invention as long as the signal can be used to distinguish different light sources.
In an embodiment of the present invention, the second control unit 104 may associate the structured light image and the light source distinguishing signal by means of a mark. For example, identifiers representing left and right or serial numbers may be added to the structured light image data to determine light source information corresponding to the structured light image in subsequent image applications as a data basis for obstacle identification.
In another embodiment of the present invention, the first control unit 103 may be further configured to control the N structured light emitters 1021 to emit light sequentially, and a time interval during which none of the N structured light emitters 1021 emits light is set after each emission.
Specifically, in this example, the controlling the camera module to photograph the target area irradiated by the structured light emitter may include:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
and when the structural light emitters are not controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a non-structural light image is obtained.
Further, in this example, the structured light module may further include a second control unit 104, which is in signal connection with the first control unit 103 and the camera module 101;
the first control unit 103 is further configured to synchronously send a light source distinguishing signal to the second control unit 104 when the structured light image is captured, the light source distinguishing signal corresponding to a structured light emitter of the N structured light emitters that emits light when the structured light image is captured;
correspondingly, the second control unit 104 may be further configured to acquire the structured light image and receive the light source distinguishing signal and to establish a correlation for the structured light image and the light source distinguishing signal.
In an embodiment of the present invention, the first control unit 103 may be further configured to synchronously send a no-light source signal to the second control unit 104 or not send a signal to the second control unit 104 when the unstructured-light image is captured;
correspondingly, the second control unit 104 may be further configured to acquire the unstructured light image and mark the unstructured light image as a reference image in response to receiving the illuminant-free signal or in response to not receiving the signal sent by the first control unit;
further, the second control unit 104 may be further configured to perform an ambient light filtering process on the structured light image by using the reference image, so as to obtain an optimized structured light image.
The image filtering is to suppress the noise of the target image under the condition of keeping the detail features of the image as much as possible, and the effectiveness and reliability of subsequent image analysis are directly affected by the quality of the processing effect.
In this example, the image filtering process mainly removes noise generated by ambient light in the structured light image to obtain the optimized structured light image, so that in a subsequent process of identifying an object by using the structured light image, an error of object identification caused by interference of ambient light noise is reduced, and accuracy and reliability of object identification are improved.
In an embodiment of the present invention, the performing, by using the reference image, an image filtering process on the structured light image to obtain an optimized structured light image may include:
acquiring ambient light related information from the reference image;
and according to the ambient light related information, carrying out ambient light filtering processing on the structured light image to obtain the optimized structured light image.
The ambient light related information may include image parameters capable of characterizing ambient light characteristics, for example, the image parameters may include any one or more of parameters such as brightness, gray scale, RGB values, saturation, hue, image intensity, and the like, or may be parameters obtained by combining multiple parameters according to preset weights.
In another embodiment of the present invention, the ambient light related information may include an image parameter value of each pixel of a reference image, and correspondingly, the performing the ambient light filtering process on the structured light image may include:
subtracting the image parameter value of each pixel point of the reference image from the image parameter value of each pixel point of the structured light image to be processed to obtain the optimized structured light image; or the like, or, alternatively,
and subtracting the image parameter value of the corresponding reference image local area from the image parameter value of the structural light image local area to be processed to obtain the optimized structural light image.
The image parameter value may be any one or more of parameter values such as brightness, gray scale, RGB value, saturation, hue, image intensity, and the like, or may be a value of a parameter obtained by combining a plurality of parameters according to a preset weight.
For example, in some embodiments of the present invention, the image parameter value may include a luminance value, and correspondingly, the performing the ambient light filtering process on the structured light image may include: and subtracting the brightness value of each pixel point of the structured light image from the corresponding brightness value of each pixel point of the reference image, namely subtracting the brightness values of the corresponding pixel points of the structured light image and the reference image to obtain the optimized structured light image. Of course, in other embodiments of the present invention, the image parameter value may also be an image intensity (image intensity), an RGB value, a gray scale, a saturation, a hue, and other parameter values that can characterize a pixel of an image. An implementer may select the type of the image parameter value according to the actual application scene and requirements of the subsequent structured light image, for example, for the application requirements of object recognition, if the influence of the brightness of the optical pattern on the recognition accuracy is large, the brightness value may be selected as the image parameter value, which is not limited in the present invention. Through image filtering processing, ambient light noise in the structured light image can be inhibited or even eliminated, and accordingly the definition of an optical pattern formed by structured light irradiation in the image is higher and the characteristics are more obvious.
By using the implementation manners provided by the above embodiments, the same control unit, that is, the first control unit, is used to control the time-sharing light emission of the emitter module and the shooting of the camera module, so that the synchronization of the light emission of the emitter module and the shooting of the camera module can be effectively ensured. The method can ensure the synchronization of the structured light irradiation and the image shooting while saving the controller resource, and improve the real-time property of the structured light image acquisition, thereby improving the reliability and the accuracy of the obstacle identification by using the structured light image.
Furthermore, the first control unit can be used for controlling the camera module to shoot a reference image of a target area without structured light irradiation, and the second control unit can utilize the reference image to perform image filtering processing on the structured light image, so that the interference of ambient light can be reduced, and an optimized structured light image with higher image quality can be obtained. Furthermore, the obstacle in the target area is detected by using the optimized structured light image, so that the reliability and the accuracy of obstacle detection can be further improved.
Fig. 2 is a block diagram of an autonomous mobile device according to an embodiment of the present invention. Fig. 3 is a schematic device structure diagram of an autonomous mobile device according to an embodiment of the present invention. The autonomous mobile equipment can be any electronic equipment or intelligent equipment which can automatically move or automatically work, such as a sweeping robot, a mopping robot, a sweeping robot, a food delivery robot, an automatic mower, a snowplow, an unmanned aerial vehicle and the like. Specifically, as shown in fig. 2 and 3, the apparatus may include:
an apparatus main body 100;
the structured light module 200 is installed on the device main body 100, and comprises a camera module 201, an emitter module 202 and a first control unit 203, wherein the emitter module 202 comprises N structured light emitters 2021, the N structured light emitters 2021 are distributed around the camera module 201, N is more than or equal to 2,
the first control unit 203 is in signal connection with the camera module 201, and in signal connection with the transmitter module 202,
the first control unit 203 is configured to control the N structural light emitters 2021 in the emitter module 202 to emit light in a time-sharing manner, and control the camera module 201 to capture a target area illuminated by the structural light emitters 2021;
the main controller 300 may be configured to determine obstacle information of the target area according to image data captured by the camera module 201, and control movement of the device according to the obstacle information.
The device body 100 at least has a driving assembly including a driving wheel and a driving motor, and the main controller 300 can control the driving assembly to autonomously control the autonomous moving device. In a specific implementation scenario, the apparatus main body 100 may further include other workloads, such as a cleaning component, a cutting component, a photographing component, and the like, which is not limited by the invention.
In an embodiment of the present invention, the controlling the camera module 201 to shoot the target area irradiated by the structured light emitter 202 may include:
when the structured light emitter 2021 is controlled to emit light, the camera module 201 is synchronously controlled to shoot the target area, so that a structured light image is obtained;
the main controller 300 is further configured to determine obstacle information of the target area from the structured light image, and to control the movement of the device according to the obstacle information.
The structured light refers to a laser beam which can form an optical pattern with a certain shape and is projected on the surface of an object. For example, fig. 4 is a schematic diagram illustrating an obstacle recognition principle of an autonomous moving apparatus according to an embodiment of the present invention, and as shown in fig. 4, the laser emitters E, F each emit a planar line laser, and when the planar laser beam is projected onto an obstacle, a linear optical pattern, such as the linear pattern AB and the linear pattern CD shown in fig. 4, is formed, and such a light beam emitted by the laser emitter E, F may be referred to as a line laser, which is one of the structured lights. Of course, the shape of the structured light beam and the shape of the optical pattern formed thereby are not intended to limit the present invention. In other embodiments of the present invention, the shape of the optical pattern may be any shape such as a line, a cross, a triangle, a circle, a square, etc. By projecting the structured light to the optical pattern formed in a certain area, information on whether an object exists in the area and information on the distance, shape, size, and the like of the object can be obtained.
The target area may be a direction of the autonomous mobile apparatus in which an obstacle needs to be detected, and a size of a photographable area of an image acquisition device of the autonomous mobile apparatus depends on a visible range (a field angle, etc.) of the image acquisition device. The image acquiring device may be a camera, or the like, and for the case that the structured light is a non-visible light emitter, the image acquiring device may also be a corresponding non-visible light camera, such as an infrared camera or the like.
Fig. 5 is a schematic diagram of an obstacle detection scenario of an autonomous mobile device according to an embodiment of the present invention. As shown in fig. 5, the visual range of the camera C of the autonomous mobile device is the angle range θ in front of the camera, and this visual range can be regarded as a target area, and for the autonomous mobile device, the target area is generally in the traveling direction of the device, and the two structured light lasers a and B of the device can emit structured light into the visual range. The camera C captures an image in a time period in which the target area is irradiated by the structured light, so that the structured light image can be obtained. If an obstacle appears on the propagation path of the structured light (for example, an obstacle appears in the traveling direction of the autonomous mobile device), a corresponding optical pattern is formed, the structured light image of the target area captured by the camera C includes the optical pattern, and according to the optical pattern, the obstacle can be detected, and related information such as the distance, the shape, the size and the like of the obstacle can be analyzed.
In an embodiment of the present invention, the controlling the camera module 201 to shoot the target area irradiated by the structured light emitter may include:
when the structured light emitter is controlled to emit light, the camera module 201 is synchronously controlled to shoot the target area, so that a structured light image is obtained;
the main controller 300 may be further configured to determine obstacle information of the target area from the structured light image, and to control movement of the device according to the obstacle information.
In another embodiment of the present invention, the structured light module 200 may further include a second control unit 204 (not shown in the figure), which is in signal connection with the first control unit 203 and the camera module 201;
the first control unit 203 may be further configured to synchronously send a light source distinguishing signal to the second control unit 204 when capturing the structured light image,
correspondingly, the second control unit 204 may be configured to acquire the structured light image, and receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal;
the main controller 300 may be further configured to determine whether an obstacle exists in the target area according to the structured light image and the light source distinguishing signal associated therewith, determine position information of the obstacle, and control the apparatus to normally move or perform a predetermined obstacle avoidance action according to the determination result.
For example, as shown in fig. 3, in the case that there are two left and right structure light emitters 2021 in the emitter module 202 (as shown in a dashed line frame in fig. 3), the light source distinguishing signal may be used to determine whether the structure light image is captured when the left structure light emitter emits light or captured when the right structure light emitter emits light. And when the structured light image is subsequently used for identifying the obstacle, the light source information corresponding to the structured light image can be used as a parameter for judging the position of the obstacle. Of course, there may be more than 2 emitters 2021 in the emitter module 202, as shown in fig. 3, besides the two left and right structure light emitters 2021, the light source distinguishing signal may also be used to determine which emitter is used to shoot the structure light image, and the other structure light emitters 2021 are disposed on the side surface of the apparatus main body 100 along the circumference of the apparatus main body 100. Specifically, the light source distinguishing signal may be implemented in a high-low level form, for example, when the light source distinguishing signal is at a high level, it indicates that the left emitter emits light, and when the light source distinguishing signal is at a low level, it indicates that the right emitter emits light. Of course, a binary code may also be used to indicate the position or serial number of the corresponding transmitter, which is not limited in the present invention as long as the signal can be used to distinguish different light sources.
In an embodiment of the present invention, the second control unit 204 may establish a relationship between the structured light image and the light source distinguishing signal by means of a mark. For example, identifiers representing left and right or serial numbers may be added to the structured light image data, and the main controller 300 of the autonomous mobile device may determine the position information of the obstacle more accurately according to the light source information corresponding to the determined structured light image, so as to control the device to perform more accurate obstacle avoidance.
However, in some implementations of the invention, the structured light image includes, in addition to the optical pattern, optical noise caused by ambient light in the target area, which may include, for example, sunlight, lamp light, light reflected by an object, etc. For example, FIG. 6 is the structured light image obtained in one embodiment of the present invention. As shown in fig. 6, in the structured light image, besides the optical pattern formed by the structured light irradiating the obstacle, there are also ambient light noises generated by the presence of various ambient lights, and if the structured light image is used for obstacle recognition, a recognition error may be caused by interference of the ambient light noises (for example, there may also be an optical pattern generated by similar structured light irradiating in the ambient light noises, or the optical pattern formed by the structured light is covered by the ambient light noises, and the like, which may cause subsequent recognition errors), resulting in low recognition accuracy and reliability.
In another embodiment of the present invention, the first control unit 203 may be further configured to control the N structured light emitters 2021 to emit light sequentially, and a time interval during which none of the N structured light emitters 2021 emit light is set after each emission;
the controlling the camera module 201 to photograph the target area irradiated by the structured light emitter 2021 may include:
when the structured light emitter 2021 is controlled to emit light, the camera module 201 is synchronously controlled to shoot the target area, so that a structured light image is obtained;
when the structural light emitters are not controlled to emit light, the camera module 201 is synchronously controlled to shoot the target area to obtain a non-structural light image;
the main controller 300 may be further configured to determine obstacle information of the target area from the structured light image subjected to the ambient light filtering process, and to control movement of the device according to the obstacle information.
Further, in this example, the structured light module 200 may further include a second control unit 204 in signal connection with the first control unit 203 and in signal connection with the camera module 201;
the first control unit 203 may be further configured to synchronously send a light source distinguishing signal to the second control unit 204 when the structured light image is captured, the light source distinguishing signal corresponding to a structured light emitter of the N structured light emitters that emits light when the structured light image is captured;
correspondingly, the second control unit 204 may be further configured to acquire the structured light image, and receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
Further, in this example, the first control unit 203 may be further configured to synchronously send a no-light source signal to the second control unit 204 or no signal to the second control unit 204 when the unstructured-light image is captured;
correspondingly, the second control unit 204 may be further configured to acquire the unstructured-light image and mark the unstructured-light image as a reference image in response to receiving the illuminant-free signal or in response to not receiving the signal sent by the first control unit 203;
further, the second control unit 204 may be further configured to perform an ambient light filtering process on the structured light image by using the reference image, so as to obtain an optimized structured light image;
the main controller 300 is further configured to determine whether an obstacle exists in the target area according to the optimized structured light image and the light source distinguishing signal associated with the optimized structured light image, determine position information of the obstacle, and control the device to normally move or perform a predetermined obstacle avoidance action according to the determination result.
The image filtering is to suppress the noise of the target image under the condition of keeping the detail features of the image as much as possible, and the effectiveness and reliability of subsequent image analysis are directly affected by the quality of the processing effect.
In this example, the image filtering process mainly removes noise generated by ambient light in the structured light image to obtain the optimized structured light image, so that in a subsequent process of identifying an object by using the structured light image, an error of object identification caused by interference of ambient light noise is reduced, and accuracy and reliability of object identification are improved.
In an embodiment of the present invention, the performing, by using the reference image, an image filtering process on the structured light image to obtain an optimized structured light image may include:
s231: ambient light related information is obtained from the reference image.
S232: and according to the ambient light related information, carrying out ambient light filtering processing on the structured light image to obtain the optimized structured light image.
The ambient light related information may include image parameters capable of characterizing ambient light characteristics, for example, the image parameters may include any one or more of parameters such as brightness, gray scale, RGB values, saturation, hue, image intensity, and the like, or may be parameters obtained by combining multiple parameters according to preset weights.
In another embodiment of the present invention, the ambient light related information may include an image parameter value of each pixel of a reference image, and correspondingly, the performing the ambient light filtering process on the structured light image may include:
subtracting the image parameter value of each pixel point of the reference image from the image parameter value of each pixel point of the structured light image to be processed to obtain the optimized structured light image; or the like, or, alternatively,
and subtracting the image parameter value of the corresponding reference image local area from the image parameter value of the structural light image local area to be processed to obtain the optimized structural light image.
The image parameter value may be any one or more of parameter values such as brightness, gray scale, RGB value, saturation, hue, image intensity, and the like, or may be a value of a parameter obtained by combining a plurality of parameters according to a preset weight.
For example, in some embodiments of the present invention, the image parameter value may include a luminance value, and correspondingly, the performing the ambient light filtering process on the structured light image may include: and subtracting the brightness value of each pixel point of the structured light image from the corresponding brightness value of each pixel point of the reference image, namely subtracting the brightness values of the corresponding pixel points of the structured light image and the reference image to obtain the optimized structured light image. Of course, in other embodiments of the present invention, the image parameter value may also be an image intensity (image intensity), an RGB value, a gray scale, a saturation, a hue, and other parameter values that can characterize a pixel of an image. An implementer may select the type of the image parameter value according to the actual application scene and requirements of the subsequent structured light image, for example, for the application requirements of object recognition, if the influence of the brightness of the optical pattern on the recognition accuracy is large, the brightness value may be selected as the image parameter value, which is not limited in the present invention. Through image filtering processing, ambient light noise in the structured light image can be inhibited or even eliminated, and accordingly the definition of an optical pattern formed by structured light irradiation in the image is higher and the characteristics are more obvious.
Fig. 7 is the reference image acquired in an embodiment of the present invention. FIG. 8 is the optimized structured light image obtained in one embodiment of the present invention. Fig. 8 is an optimized structured light image obtained by performing image filtering processing on the structured light image shown in fig. 6 using the reference image shown in fig. 7. As shown in fig. 8, only the optical pattern formed by the structured light irradiation is in the optimized structured light image without the interference of the ambient light noise, and the obstacle can be identified and the related information of the obstacle can be determined more accurately and more reliably by using the image, so that the control system of the autonomous mobile device can take accurate obstacle avoidance or obstacle crossing action according to the obstacle information.
By using the implementation modes provided by the embodiments, the synchronization of the structured light irradiation and the image shooting is ensured while the controller resource is saved, the real-time performance of the structured light image acquisition is improved, and the distortion of the structured light image is reduced, so that the reliability and the accuracy of the obstacle identification of the autonomous mobile equipment are improved.
The control unit, the controller, and the like described in the above embodiments may be, for example, but are not limited to: CPU, GPU, MCU, processing chip or singlechip based on FPGA or CPLD realization.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (13)
1. A structured light module is characterized by comprising a camera module, an emitter module and a first control unit, wherein the emitter module comprises N structured light emitters, the N structured light emitters are distributed around the camera module, and N is more than or equal to 2;
the first control unit is in signal connection with the camera module and the transmitter module;
the first control unit is configured to control the N structural light emitters in the emitter module to emit light in a time-sharing mode, and control the camera module to shoot a target area irradiated by the structural light emitters.
2. The structured light module of claim 1 wherein said controlling the camera module to photograph the target area illuminated by the structured light emitter comprises:
and when the light emitting of the structured light emitter is controlled, the camera module is synchronously controlled to shoot the target area, so that a structured light image is obtained.
3. The structured light module of claim 2, further comprising a second control unit in signal connection with the first control unit and in signal connection with the camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured,
correspondingly, the second control unit is configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
4. The structured light module of claim 1, wherein the first control unit is further configured to control the N structured light emitters to emit light in sequence, and wherein a time interval is provided after each emission when none of the N structured light emitters emit light.
5. The structured light module of claim 4 wherein said controlling the camera module to photograph the target area illuminated by the structured light emitter comprises:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
and when the structural light emitters are not controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a non-structural light image is obtained.
6. The structured light module of claim 5 further comprising a second control unit in signal connection with said first control unit and in signal connection with said camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured, the light source distinguishing signal corresponding to a structured light emitter of the N structured light emitters that emits light when the structured light image is captured;
correspondingly, the second control unit is further configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
7. The structured light module of claim 6, wherein the first control unit is further configured to synchronously send no light source signal or no signal to the second control unit when capturing the unstructured light image;
correspondingly, the second control unit is further configured to acquire the unstructured-light image and mark the unstructured-light image as a reference image in response to receiving the illuminant-free signal or in response to not receiving the signal sent by the first control unit;
further, the second control unit is further configured to perform ambient light filtering processing on the structured light image by using the reference image, so as to obtain an optimized structured light image.
8. An autonomous mobile device, the device comprising:
an apparatus main body;
the structured light module is arranged on the equipment main body and comprises a camera module, an emitter module and a first control unit, wherein the emitter module comprises N structured light emitters, the N structured light emitters are distributed around the camera module, N is more than or equal to 2,
the first control unit is in signal connection with the camera module and the transmitter module,
the first control unit is configured to control the N structural light emitters in the emitter module to emit light in a time-sharing manner, and control the camera module to shoot a target area irradiated by the structural light emitters;
the main controller is configured to determine obstacle information of the target area according to image data shot by the camera module, and control the equipment to move according to the obstacle information.
9. The autonomous mobile device of claim 8 wherein said controlling said camera module to photograph a target area illuminated by said structured light emitter comprises:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
the main controller is further configured to determine obstacle information of the target area from the structured light image, and to control movement of the device according to the obstacle information.
10. The autonomous mobile device of claim 9 wherein said structured light module further comprises a second control unit in signal connection with said first control unit and in signal connection with said camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured,
correspondingly, the second control unit is configured to acquire the structured light image, receive the light source distinguishing signal, and establish a correlation between the structured light image and the light source distinguishing signal;
the main controller is further configured to determine whether an obstacle exists in the target area or not according to the structured light image and the light source distinguishing signal associated with the structured light image, determine position information of the obstacle, and control the equipment to normally move or execute a predetermined obstacle avoidance action according to the determination result.
11. The autonomous mobile device of claim 8 wherein the first control unit is further configured to control the N structured light emitters to emit light in sequence with a time interval after each emission that none of the N structured light emitters emit light;
the controlling the camera module to shoot the target area irradiated by the structured light emitter comprises:
when the structured light emitter is controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a structured light image is obtained;
when the structured light emitters are not controlled to emit light, the camera module is synchronously controlled to shoot the target area, and a non-structured light image is obtained;
the main controller is further configured to determine obstacle information of the target area from the structured light image subjected to the ambient light filtering processing, and to control movement of the device according to the obstacle information.
12. The autonomous mobile device of claim 11 wherein said structured light module further comprises a second control unit in signal connection with said first control unit and in signal connection with said camera module;
the first control unit is further configured to synchronously send a light source distinguishing signal to the second control unit when the structured light image is captured, the light source distinguishing signal corresponding to a structured light emitter of the N structured light emitters that emits light when the structured light image is captured;
correspondingly, the second control unit is further configured to acquire the structured light image, and to receive the light source distinguishing signal, and to establish a correlation for the structured light image and the light source distinguishing signal.
13. The autonomous mobile device of claim 12 wherein the first control unit is further configured to synchronously transmit no light source signal to the second control unit or no signal to the second control unit while capturing the unstructured light image;
correspondingly, the second control unit is further configured to acquire the unstructured-light image and mark the unstructured-light image as a reference image in response to receiving the illuminant-free signal or in response to not receiving the signal sent by the first control unit;
further, the second control unit is further configured to perform ambient light filtering processing on the structured light image by using the reference image, so as to obtain an optimized structured light image;
the main controller is further configured to determine whether an obstacle exists in the target area or not according to the optimized structured light image and the light source distinguishing signal related to the optimized structured light image, determine position information of the obstacle, and control the equipment to normally move or execute a preset obstacle avoidance action according to the determination result.
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| PCT/CN2021/120508 WO2022205810A1 (en) | 2021-03-29 | 2021-09-25 | Structured light module and autonomous moving device |
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