CN113452978A - Obstacle detection method and electronic equipment - Google Patents

Obstacle detection method and electronic equipment Download PDF

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Publication number
CN113452978A
CN113452978A CN202110720362.8A CN202110720362A CN113452978A CN 113452978 A CN113452978 A CN 113452978A CN 202110720362 A CN202110720362 A CN 202110720362A CN 113452978 A CN113452978 A CN 113452978A
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Prior art keywords
image
laser
determining
obstacle
brightness
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CN113452978B (en
Inventor
袁健
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Shenzhen Silver Star Intelligent Technology Co Ltd
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Shenzhen Silver Star Intelligent Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3141—Constructional details thereof
    • H04N9/315—Modulator illumination systems
    • H04N9/3161—Modulator illumination systems using laser light sources
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Abstract

The invention relates to the technical field of obstacle detection, and discloses an obstacle detection method and electronic equipment. The method comprises the following steps: acquiring a first image, wherein the first image is an image obtained by shooting a target space by a shooting device when a laser transmitter does not emit laser; determining laser projection data according to the brightness values of image pixels in the first image; acquiring a second image, wherein the second image is an image obtained by shooting the target space by a shooting device when the target space has laser corresponding to the laser projection data; obstacle data is determined from the second image. The brightness value of the first image can reflect the intensity of the ambient light and the influence effect of the ambient light on the target space to a certain extent, and the laser projection data can be determined according to the brightness of the first image so as to project laser with a larger difference from the ambient light, so that the interference of the ambient light on the obstacle detection can be reduced, and the obstacle detection accuracy can be improved.

Description

Obstacle detection method and electronic equipment
Technical Field
The invention relates to the technical field of obstacle detection, in particular to an obstacle detection method and electronic equipment.
Background
With the development of the robot technology, the robot gradually steps into a common family, and gradually liberates people from heavy and trivial housework, thereby providing great convenience for people.
Existing robots may detect obstacles using lasers. However, generally, the external environment is complex, for example, light with high intensity exists in the external environment, and such interference factors easily affect the robot to detect the obstacle, resulting in low accuracy of obstacle detection.
Disclosure of Invention
An object of the embodiments of the present invention is to provide an obstacle detection method and an electronic device, which are used to solve the problem of low accuracy of the existing obstacle detection.
In a first aspect, an embodiment of the present invention provides an obstacle detection method, where the method is applied to an electronic device, where a laser emitter and a camera are disposed on the electronic device, and the method includes:
acquiring a first image, wherein the first image is as follows: when the laser transmitter does not emit laser, the shooting device shoots an image obtained by a target space;
determining laser projection data according to brightness values of image pixels in the first image, the laser projection data including data for controlling the laser emitter to emit laser light;
acquiring a second image, wherein the second image is as follows: when the laser corresponding to the laser projection data exists in the target space, the shooting device shoots an image obtained by the target space;
determining obstacle data from the second image, the obstacle data comprising: obstacle detection data and/or obstacle distance, wherein the obstacle detection data is data for indicating whether an obstacle exists in the target space.
In some embodiments, the first image comprises an active area, and correspondingly, the determining laser projection data from luminance values of image pixels in the first image comprises:
and determining laser projection data according to the brightness values of the image pixels in the effective area.
In some embodiments, the determining laser projection data from luminance values of image pixels in the active area comprises:
obtaining an effective average brightness value of the effective area, where the effective average brightness value is: an average value corresponding to the brightness value of at least one image pixel in the effective area;
and determining laser projection data according to the effective average brightness value.
In some embodiments, the laser projection data comprises a target duty cycle, and correspondingly, the determining laser projection data from the effective average brightness value comprises:
determining a reference duty ratio according to the effective average brightness value;
and determining a target duty ratio according to the reference duty ratio.
In some embodiments, before the determining the target duty cycle from the reference duty cycle, further comprises:
calculating a luminance weighted average deviation from the effective average luminance value and a luminance value of the at least one image pixel;
correspondingly, the determining a target duty cycle according to the reference duty cycle comprises:
and determining a target duty ratio according to the reference duty ratio and the brightness weighted average deviation.
In some embodiments, the determining a target duty cycle from the reference duty cycle and the luminance weighted average deviation comprises:
and calculating a target duty ratio according to the reference duty ratio, the effective average brightness value and the brightness weighted average deviation.
In some embodiments, before the calculating a target duty cycle according to the reference duty cycle, the effective average brightness value, and the brightness weighted average deviation, the method further includes:
acquiring an experience coefficient;
correspondingly, the calculating a target duty cycle according to the reference duty cycle, the effective average brightness value and the brightness weighted average deviation includes:
and calculating a target duty ratio according to the reference duty ratio, the effective average brightness value, the brightness weighted average deviation and the empirical coefficient.
In some embodiments, the luminance value of the image pixel in the active area is less than or equal to a first luminance threshold, and correspondingly, the method further comprises:
determining the first brightness threshold according to brightness values of image pixels in the first image.
In some embodiments, the second image comprises: image pixels corresponding to the laser, wherein if the obstacle data includes an obstacle distance, the determining the obstacle data according to the second image includes:
and calculating the distance of the obstacle according to the position of the image pixel corresponding to the laser and the position relation between the laser emitter and the shooting device.
In a second aspect, an embodiment of the present invention provides an electronic device, including:
a laser transmitter;
a photographing device;
and the controller is respectively electrically connected with the shooting device and the laser transmitter and is used for executing the obstacle detection method.
Compared with the prior art, the invention at least has the following beneficial effects: in the obstacle detection method provided in the embodiment of the present invention, a first image is acquired, where the first image is: when the laser transmitter does not transmit laser, the shooting device shoots an image obtained by a target space; determining laser projection data according to the brightness of the first image, wherein the laser projection data comprises data for controlling a laser emitter to emit laser light; acquiring a second image, wherein the second image is as follows: when the laser corresponding to the laser projection data exists in the target space, the shooting device shoots an image obtained by the target space; determining obstacle data from the second image, the obstacle data including: the method comprises the steps of obtaining first image brightness values, determining laser projection data according to the first image brightness values, and projecting laser with a large difference from ambient light, wherein the first image brightness values are used for representing the intensity of the ambient light and the influence effect of the ambient light on a target space.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic flow chart of a method for detecting an obstacle according to an embodiment of the present invention;
FIG. 2a is a schematic diagram of a first image according to an embodiment of the present invention;
FIG. 2b is a diagram of an image luminance histogram according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of S12 shown in FIG. 1;
fig. 4 is a schematic flowchart of S122 shown in fig. 3;
fig. 5a is a schematic diagram of a first laser ranging method according to an embodiment of the present invention;
FIG. 5b is a schematic diagram of a second laser ranging method according to an embodiment of the present invention;
FIG. 5c is a schematic diagram of a third laser ranging method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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 noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
Example one
An embodiment of the present invention provides an obstacle detection method, where the obstacle detection method is applied to an electronic device, and the electronic device is provided with a laser emitter and a shooting device, and please refer to fig. 1, where the obstacle detection method S100 includes:
s11, acquiring a first image, wherein the first image is as follows: the photographing device photographs a resultant image of the target space when the laser transmitter does not emit the laser.
As an example and not by way of limitation, the target space is a space to be detected whether an obstacle exists or/and an obstacle distance, and the target space may include a space that can be photographed by the photographing device within a photographing angle of view range, for example, the photographing angle of view range of the photographing device is 0 to 180 degrees, and the target space is a space that can be photographed by the photographing device within a photographing angle of view range of 0 to 180 degrees.
In some embodiments, the electronics control the laser emitter to pause operation while the first image is acquired, the laser emitter pausing emitting laser light into the target space. Then, the electronic equipment controls the shooting device to shoot the target space to obtain a first image. Since no laser exists in the target space, image pixels corresponding to the laser do not exist in the first image.
Because various kinds of ambient light can exist in the target space, the ambient light comprises sunlight or light generated by other light source objects except the laser emitter, and the ambient light can act on the objects in the target space, so that the brightness value of the image pixel corresponding to the objects in the target space in the first image is influenced, and the brightness value of the first image can reflect the intensity of the ambient light and the influence effect of the ambient light on the target space to a certain extent.
And S12, determining laser projection data according to the brightness values of the image pixels in the first image, wherein the laser projection data comprises data for controlling the laser emitter to emit laser light.
By way of example and not limitation, the laser projection data includes a laser projection time length, which is a time length of the laser emitter projecting laser light to the target space, or/and an operating current of the laser emitter, or/and an operating voltage of the laser emitter, and the longer the laser projection time length is, the more laser light is projected by the laser emitter, the more laser light reflected by the obstacle is sensed by the later-stage shooting device, and the larger the brightness value of the image pixel corresponding to the laser light is. Similarly, the smaller the laser projection duration is, the smaller the amount of laser projected by the laser emitter is, the smaller the amount of laser reflected by the obstacle is sensed by the later-stage shooting device is, and the smaller the brightness value of the image pixel corresponding to the laser is, where the image pixel corresponding to the laser is the image pixel corresponding to the laser in the second image.
In some embodiments, the electronic device may adjust the laser projection time period by controlling a switch on time period of the laser emitter, e.g., the electronic device increases the switch on time period of the laser emitter when the laser projection time period needs to be increased and decreases the switch on time period of the laser emitter when the laser projection time period needs to be decreased.
The working current or the working voltage is used for driving the laser emitter to project laser, the larger the working current or the working voltage is, the larger the laser intensity generated by the laser emitter is, the more the later shooting device senses the amount of the laser reflected back by the barrier, and the larger the brightness value of the image pixel corresponding to the laser is. Similarly, the smaller the working current or working voltage is, the smaller the amount of laser projected by the laser emitter is, and the smaller the amount of laser reflected by the obstacle sensed by the post-shooting device is, the smaller the brightness value of the image pixel corresponding to the laser is.
In some embodiments, the electronic device is provided with a driving circuit, the driving circuit is electrically connected to the laser emitter, the electronic device transmits a driving signal to the driving circuit, and the driving circuit outputs a corresponding working current or working voltage according to the driving signal to drive the laser emitter to generate corresponding laser light, wherein the driving circuit may be a driving structure composed of various discrete components, for example, the driving circuit may be a driving structure composed of a resistor and a triode, or a driving structure composed of a resistor and a MOS transistor. The electronic device may adjust the working current or the working voltage output by the driving circuit in a PWM (Pulse width modulation) mode or a PFM (Pulse frequency modulation) mode.
By way of example and not limitation, the first image includes a plurality of image pixels, each image pixel corresponding to a luminance value, and the electronic device calculates the luminance value of each image pixel in the first image according to a luminance calculation formula, for example, the luminance calculation formula is: the luminance value of a single image pixel (first coefficient R) + (second coefficient G) + (third coefficient B), where the first coefficient, the second coefficient, and the third coefficient may be: 0.2, 0.6, 0.2, i.e. the luminance calculation formula may be specifically: it is understood that the luminance value of a single image pixel is (0.2 × R) + (0.6 × G) + (0.2 × B), R is the red channel value of a single image pixel, G is the green channel value of a single image pixel, and B is the blue channel value of a single image pixel, and the luminance calculation formula can be customized by a user.
In some embodiments, the size of the laser projection data has a positive correlation with the brightness value of the image pixel in the first image, for example, when the brightness value of the image pixel in the first image is larger, the electronic device may set a larger laser projection time period or/and a larger operating current or/and a larger operating voltage, so that the image pixel corresponding to the laser in the second image has a larger difference with other image pixels in the second image, so that the electronic device can reliably determine the image pixel corresponding to the laser in the second image. When the brightness value of the image pixel in the first image is smaller, the electronic device can set smaller laser projection duration or/and working current or/and working voltage, so that the power consumption of the laser emitter can be reduced, the image pixel corresponding to the laser can be reliably extracted, and the purposes of energy conservation and environmental protection can be achieved.
S13, acquiring a second image, wherein the second image is as follows: when the laser corresponding to the laser projection data exists in the target space, the shooting device shoots the obtained image of the target space.
When the electronic device controls the laser emitter to project the stress light according to the laser projection data, the laser is presented in the target space. And then, the electronic equipment controls the shooting device to shoot the target space to obtain a second image, wherein when the target space has an obstacle, the laser can be reflected to the shooting device by the obstacle, and the second image collected by the shooting device comprises image pixels corresponding to the laser. The number of image pixels corresponding to the laser is greater than or equal to one. When no obstacle exists in the target space, all laser or most of the laser cannot be reflected to the shooting device, and the second image collected by the shooting device does not include image pixels corresponding to the laser.
S14, determining obstacle data according to the second image, the obstacle data including: obstacle detection data or/and obstacle distance.
The obstacle detection data is data indicating whether or not an obstacle is present in the target space.
By way of example and not limitation, the S14 includes: if image pixels with brightness values larger than a second brightness threshold exist in the second image, determining that the obstacle detection data are used for representing that obstacle data exist in the target space, wherein the image pixels with the brightness values larger than the second brightness threshold exist in the second image are image pixels corresponding to the laser; if there are no image pixels in the second image having a luminance value greater than the second luminance threshold, the obstacle detection data is determined to be data indicating that there is no obstacle in the target space.
In some embodiments, the first brightness threshold is less than or equal to the second brightness threshold.
In some embodiments, the S12 includes: determining laser projection data according to the brightness values of the image pixels in the first image and the pre-stored shape data, wherein if the number of image pixels corresponding to the laser existing in the second image is greater than or equal to three, the S14 includes: and if the shape data corresponding to the image area formed by the image pixels corresponding to the plurality of laser beams cannot be matched with the pre-stored shape data, determining that the obstacle detection data is data indicating that no obstacle is present in the target space. Therefore, the interference of the laser corresponding to the non-laser projection data on the obstacle detection of the electronic equipment can be eliminated.
As an example and not by way of limitation, the pre-stored shape data is data for representing a circle, and correspondingly, the S12 includes: if the shape of the image area formed by the image pixels corresponding to the plurality of laser beams is circular, that is, the shape data corresponding to the image area formed by the image pixels corresponding to the plurality of laser beams is data indicating a circular shape, the shape data corresponding to the image area formed by the image pixels corresponding to the plurality of laser beams can be matched with the pre-stored shape data, and the obstacle detection data is determined as data indicating that an obstacle is present in the target space.
In addition, the obstacle distance is a distance between the obstacle and the electronic device in the target space. By way of example and not limitation, the obstacle distance may be embodied as a distance between an obstacle within the target space and a camera on the electronic device.
In some embodiments, when no obstacle exists in the target space, the obstacle distance may be set by the user according to requirements, for example, the obstacle distance is set to a default value, for example, the default value is 30 or 100 or infinity, and the later electronic device may know that no obstacle exists according to the default value of the corresponding area.
The brightness value of the first image reflects the intensity of the ambient light and the influence effect of the ambient light on the target space to a certain extent, and the electronic equipment can determine laser projection data according to the brightness of the first image so as to project laser with a large difference from the ambient light, so that the interference of the ambient light on the obstacle detection can be reduced, and the accuracy of the obstacle detection can be improved.
In some embodiments, the first image comprises an active area comprising image pixels having a luminance value less than or equal to the first luminance threshold, i.e. the active area is an area made up of at least one image pixel having a luminance value less than or equal to the first luminance threshold.
By way of example and not limitation, referring to fig. 2a, the first image includes a first pixel region 211, a second pixel region 212 and a third pixel region 213, assuming that the first luminance threshold is 120, the luminance value of each image pixel in the first pixel region 211 is greater than 120, the luminance value of each image pixel in the second pixel region 212 and the third pixel region 213 is less than 120, and correspondingly, the effective region includes the second pixel region 212 and the third pixel region 213.
In some embodiments, when the electronic device determines the laser projection data according to the brightness values of the image pixels in the first image, S12 includes: the laser projection data is determined from the brightness values of the image pixels in the active area. The image pixels in the first image having brightness values greater than the first brightness threshold correspond to the ambient light with greater (abnormal) light intensity, and if the determination factor of the laser projection data includes the image pixels in the first image having brightness values greater than the first brightness threshold, the determined laser projection data is larger. The laser projection data can be determined according to the brightness values of the image pixels in the effective area, namely, the influence of abnormal ambient light is eliminated in the process of determining the laser projection data, so that the laser projection data determined by the electronic equipment is small, the power consumption is reduced, and the image pixels corresponding to the laser can be determined efficiently and reliably in the second image at the later stage.
For example, the electronic device may determine the laser projection data based on brightness values of all image pixels in the active area, or may determine the laser projection data based on brightness values of some image pixels in the active area.
In some embodiments, as mentioned above, the brightness value of the image pixel in the effective area is less than or equal to the first brightness threshold, which may be determined by the electronic device according to the brightness value of the image pixel in the first image, and the obstacle detection method S100 further includes: a first luminance threshold is determined based on luminance values of image pixels in the first image.
Alternatively, the electronic device determines the number of pixels (the number of image pixels) corresponding to each luminance value in the first image according to the luminance values of the image pixels in the first image, and determines the first luminance value according to the number of pixels.
Optionally, the electronic device constructs an image brightness histogram according to brightness values of image pixels in the first image, determines the first brightness threshold according to the image brightness histogram, and determines the first brightness threshold through the image brightness histogram.
By way of example and not limitation, the electronic device determining the first brightness threshold from the image brightness histogram includes: and determining the number of pixels corresponding to each brightness value in the first image according to the image brightness histogram, and determining a first brightness threshold according to the number of pixels. For example, as shown in fig. 2b, each luminance value corresponding to the first image corresponds to one or more image pixels, and for example, the luminance values corresponding to the first image include: 50. 60, 155 and 120, wherein there are 1 image pixel with brightness value 50, 2 image pixels with brightness value 60, 6 image pixels with brightness value 155 and 8 image pixels with brightness value 120, that is, the number of pixels corresponding to brightness value 50, the number of pixels corresponding to brightness value 60, the number of pixels corresponding to brightness value 155 and the number of pixels corresponding to brightness value 120 are 1, 2, 6 and 8 respectively.
Optionally, the determining the first brightness threshold according to the number of pixels includes: a first luminance threshold is determined based on the number of pixels and a total number of pixels, wherein the total number of pixels is a total number of image pixels in the first image.
Specifically, a ratio of each pixel quantity to the total pixel quantity is determined, and the first brightness threshold is determined according to a brightness value corresponding to the pixel quantity corresponding to the ratio which is greater than or equal to the specified ratio. So, the first luminance threshold value that determines can embody the luminance value of most of image pixels in the first image, can embody the intensity of ambient light in the target space under the normal environment more accurately promptly to, the effective area that follow-up confirmed according to first luminance threshold value can be more accurate, and then can make the detection of barrier more accurate.
In some embodiments, if there is a ratio greater than or equal to the specified ratio, the brightness value corresponding to the number of pixels corresponding to the ratio greater than or equal to the specified ratio is determined as the first brightness threshold. So, the first luminance threshold value that determines can embody the luminance value of most of image pixels in the first image, can embody the intensity of ambient light in the target space under the normal environment more accurately promptly to, the effective area that follow-up confirmed according to first luminance threshold value can be more accurate, and then can make the detection of barrier more accurate.
By way of example and not limitation, assuming a specified ratio of 0.5, there are three pixels each: the method comprises the steps of determining the first pixel quantity, the second pixel quantity and the third pixel quantity, wherein the first pixel quantity, the second pixel quantity and the third pixel quantity are respectively 10, 20 and 60, the total pixel quantity is 100, respectively determining the ratio between the first pixel quantity and the total pixel quantity, the ratio between the second pixel quantity and the total pixel quantity and the ratio between the third pixel quantity and the total pixel quantity are respectively 0.1, 0.2 and 0.6, and determining the brightness value corresponding to the third pixel quantity as a first brightness threshold value because the ratio between the third pixel quantity and the total pixel quantity is greater than a specified ratio.
In some embodiments, if there are at least two ratios greater than or equal to the specified ratio, an average of at least two luminance values corresponding to the number of pixels corresponding to the ratio greater than or equal to the specified ratio is determined as the first luminance threshold.
In some embodiments, when the electronic device determines the laser projection data according to the brightness values of the image pixels in the active area, referring to fig. 3, S12 includes:
s121, obtaining an effective average brightness value of the effective area, wherein the effective average brightness value is as follows: and the average value corresponding to the brightness value of at least one image pixel in the effective area.
And S122, determining laser projection data according to the effective average brightness value.
For example, the active area includes a plurality of image pixels whose luminance values include { e }1,e2,e3……enThen, the effective average brightness value e0＝(e1*s1+e2*s2+e3*s3……+en*sn)/z,z＝s1+s2+s3+……snN is a positive integer greater than or equal to 4, svIs a brightness value of evThe number of image pixels in time, v ∈ n, and v belongs to a positive integer, and z is the total number of image pixels of the effective area.
When the effective average brightness value is larger, larger laser projection data may be set in order to determine the image pixel corresponding to the laser in the second image. Similarly, when the effective average brightness value is small, on the premise that the image pixel corresponding to the laser can be determined in the second image, small laser projection data can be set to reduce the power consumption of the electronic device (laser emitter).
Because the effective average brightness value can globally reflect the overall brightness condition of the effective area, the electronic equipment can control the laser emitter to project laser with larger difference with the ambient light at the later stage, and therefore reliability and efficiency of determining image pixels corresponding to the laser in the second image are improved.
In some embodiments, the laser projection data includes a target duty cycle, and the target duty cycle is a duty cycle for driving the laser emitter to project laser light, and correspondingly, referring to fig. 4, S122 includes:
and S1221, determining the reference duty ratio according to the effective average brightness value.
And S1222, determining the target duty ratio according to the reference duty ratio.
As an example and not by way of limitation, the reference duty cycle is a minimum duty cycle capable of controlling the laser emitter to project laser light having a specified degree of difference from the ambient light, the degree of difference is data representing a difference between the laser light and the ambient light, the specified degree of difference is greater than 0, that is, the reference duty cycle is a minimum duty cycle capable of controlling the laser emitter to project laser light having a greater difference from the ambient light, as described above, the effective average brightness value can globally reflect the overall brightness condition of the effective area, and therefore, the electronic device may determine the reference duty cycle according to the effective average brightness value, and then determine the target duty cycle according to the reference duty cycle. Specifically, if the effective average luminance value is larger, the determined reference duty ratio may be larger, and similarly, if the effective average luminance value is smaller, the determined reference duty ratio may be smaller.
In the present embodiment, the duty ratio refers to a ratio of a power-on time (laser projection time period) of the laser transmitter to one period in one pulse cycle. The larger the duty ratio is, the more the laser light can be received in the photosensitive element of the shooting device within a specified time period, and correspondingly, the larger the brightness value of the image pixel corresponding to the laser light is. For example, the period corresponding to one pulse cycle is 4 microseconds, and assuming that there are a duty ratio of 0.25 and a duty ratio of 0.5, the energization time of the laser emitter is 1 microsecond and 2 microseconds, respectively, in the period corresponding to one pulse cycle. Assuming that the specified time length is 8 microseconds, within 8 microseconds, the light sensing time of the light sensing element of the shooting device is 2 microseconds and 4 microseconds respectively, the laser received by the shooting device within 4 microseconds is more than the laser received within 2 microseconds, and correspondingly, the brightness value of the image pixel corresponding to the laser received within 4 microseconds is more than the brightness value of the image pixel corresponding to the laser received within 2 microseconds.
In some embodiments, the S1222 includes determining the reference duty cycle as the target duty cycle, i.e., the target duty cycle is equal to the reference duty cycle.
For example, assuming that the reference duty ratio is 0.2, correspondingly, 0.2 is determined as the target duty ratio.
In some embodiments, prior to said S1222, the obstacle detecting method S100 further comprises: calculating a luminance weighted average deviation from the effective average luminance value and the luminance value of the at least one image pixel, and correspondingly, S1222 includes: and determining the target duty ratio according to the reference duty ratio and the brightness weighted average deviation.
The luminance weighted average deviation may reflect a uniform luminance of the first image, wherein the luminance weighted average deviation γ may be:
γ＝(u1/z)*(e1-e0)+(u2/z)*(e2-e0)+……+(um/z)*(em-e0) Wherein u ismIs a brightness value of emNumber of image pixels of emThe brightness value corresponding to the mth image pixel in the first image, z is the total number of image pixels in the effective area, e0For an effective average luminance value, m is a positive integer, and e is given when m is 11When m is 2, e is the brightness value corresponding to the 1 st image pixel in the first image2The luminance value corresponding to the 2 nd image pixel in the first image, and so on.
For example, please refer to fig. 2 b:
z＝153。
e0＝(50*1+60*2+100*3+150*4+145*5+155*6+100*7+120*8+118*9+110*10+115*11+105*12+102*13+102*14+100*15+98*16+80*17)/153＝106。
γ＝7.1。
assuming that the reference duty cycle is 50%, the electronic device can reasonably determine the target duty cycle according to the reference duty cycle 50% and the luminance weighted average deviation of 7.1 in combination with the corresponding rule.
In some embodiments, when the electronic device determines the target duty cycle according to the reference duty cycle and the luminance weighted average deviation, S1222 includes: and calculating the target duty ratio according to the reference duty ratio, the effective average brightness value and the brightness weighted average deviation.
For example, the target duty ratio is the reference duty ratio (1+ | luminance weighted average deviation |/effective average luminance value), and in conjunction with the above example, the target duty ratio is 50%, (1+7.1/106) ═ 53.3%.
As described above, the effective average brightness value can globally reflect the overall brightness of the effective area, the brightness weighted average deviation can reflect the brightness uniformity of the first image, and by combining the effective average brightness value and the brightness weighted average deviation, a better target duty ratio can be obtained, so that the laser emitter is controlled to project corresponding laser in the following process, and the brightness value of the image pixel corresponding to the laser has a certain difference with respect to the image pixel corresponding to the ambient light, which is beneficial for the electronic device to determine the image pixel corresponding to the laser, and can also avoid the power consumption of the laser emitter from being too large.
In some embodiments, before the electronic device calculates the target duty cycle according to the reference duty cycle, the effective average brightness value, and the brightness weighted average deviation, the obstacle detection method S100 further includes: obtaining empirical coefficients, correspondingly, S1222 includes: and calculating the target duty ratio according to the reference duty ratio, the effective average brightness value, the brightness weighted average deviation and the empirical coefficient.
For example, the target duty ratio is a reference duty ratio (1+ k | luminance weighted average deviation |/effective average luminance value), k is a positive number, and k is 1.1 or 1.2, for example.
Because the electronic device, the laser emitter or the shooting device may be affected by the environment or hardware, resulting in errors, in this embodiment, by combining with the correction of the empirical coefficient, it is beneficial to obtain a better target duty cycle, and errors caused by the environment or hardware can be eliminated, so that an optimal target duty cycle is obtained to the maximum extent, and the laser emitter is controlled to project corresponding laser subsequently.
In some embodiments, the second image comprises: image pixels corresponding to the laser, if the obstacle data includes an obstacle distance, the electronic device may calculate the obstacle distance by using any suitable laser ranging algorithm, and in some embodiments, S14 includes: and calculating the distance of the obstacle according to the position of the image pixel corresponding to the laser and the position relation between the laser emitter and the shooting device.
By way of example and not limitation, the position of the image pixel corresponding to the laser may be a position of the pixel corresponding to the laser in the second image, and a position of an element pixel corresponding to the laser on the photosensitive element may be a position of the image pixel corresponding to the laser, where the element pixel is a pixel on the photosensitive element, and a positional relationship between the laser emitter and the camera includes a relative distance between the laser emitter and the camera on the electronic device or/and an inclination angle of the laser emitter mounted on the electronic device, and specifically, the inclination angle may be an angle between the laser emitted by the laser emitter and a vertical plane (a plane perpendicular to a horizontal plane).
To elaborate on the principle of calculating the obstacle distance, this is explained in detail below with reference to three examples, in particular as follows:
the first example: referring to fig. 5a, the laser 50 emitted by the laser emitter a is perpendicular to the vertical plane 51, that is, the laser emitter a emits the laser 50 at an inclination angle ═ BAC of 90 degrees. The optical axis 52 of the camera is perpendicular to the vertical plane 51, where the optical center of the camera is point B.
The laser 50 is incident on the barrier C, reflected by the barrier C, then incident on a lens of a shooting device, and finally falls on an imaging plane 53 of a photosensitive element, the position of an image pixel corresponding to the laser 50 is obtained as a pixel position D on the imaging plane 53, and an optical axis 52 intersects with the imaging plane 53 at a point E, so that a & lt DBE can be determined, and the & lt DBE can be recorded as theta.
Assuming that the inclination angle BAC is 90 degrees, the relative distance AB between the laser emitter and the shooting device on the electronic device can be recorded as h, and correspondingly, the obstacle distance AC is h/tan θ.
The second example: referring to fig. 5b, the laser emitter a emits laser 50 at an inclination angle ═ BAC of 60 degrees relative to the vertical plane 51.
As described above, the pixel position D, θ, and h can be determined, and the obstacle distance AC can be calculated according to the relative distance AB, the angle DBE, and the inclination angle BAC.
The third example: referring to fig. 5c, the laser emitter a emits laser 50 at an inclination angle ═ BAC of 60 degrees relative to the vertical plane 51. The angle between the optical axis 52 of the camera and the vertical plane 51 is 45 degrees, i.e., the angle ABF is 45 degrees.
The optical center of the shooting device is point B, the laser 50 enters the obstacle C, is reflected by the obstacle C, enters the lens 52 of the shooting device, and finally falls on the imaging plane 53, so that the pixel position D of the laser 50 on the imaging plane 53 is obtained, and the optical axis 52 intersects with the imaging plane 55 at point E.
In fig. 5c, a camera coordinate system XYZE is established with point E as the origin, where the plane defined by ZEY coincides with the imaging plane 53 and the X-axis passes through point E and the optical center B.
The coordinates of the point G in the camera coordinate system XYZE are known, and for a triangular DBG, the side length BG can be found from the coordinates of the optical center B and the point G according to the distance calculation principle of the spatial coordinate system.
Since the pixel position D is known, the electronic device can also determine the side length DB and the side length DG. Finally, according to the trigonometric function relationship, combining the side length BG, the side length DB and the side length DG, the angle ═ DBG ═ θ can be obtained.
According to the trigonometric function relationship, the obstacle distance AC can be calculated by combining the relative distance AB, the angle DBG and the angle BAC.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and those skilled in the art can understand, according to the description of the embodiments of the present invention, that in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed interchangeably, and the like.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
By way of example, and not limitation, the electronic device may be a robot.
For example, the robot may be embodied as a cleaning robot or a service robot, and the cleaning robot may be configured to perform at least one of the following functions: sweeping, mopping, washing and absorbing dust
As shown in fig. 6, the electronic device 600 includes a laser emitter 61, a camera 62 and a controller 63, wherein the controller 63 is electrically connected to the camera 62 and the laser emitter 61 respectively, for executing the obstacle detection method described in the above embodiments.
As shown in fig. 6, the controller 63 includes one or more processors 631 and a memory 632. In fig. 6, one processor 631 is taken as an example.
The processor 631 and the memory 632 may be connected by a bus or other means, such as the bus connection shown in fig. 6.
The memory 632 is a non-volatile computer-readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the obstacle detection method in the embodiment of the present invention. The processor 631 performs the functions of the obstacle detection method provided by the above-described method embodiments by executing the non-volatile software programs, instructions, and modules stored in the memory 632.
The memory 632 may include high speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 632 may optionally include memory located remotely from the processor 631, and such remote memory may be coupled to the processor 631 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 632 and, when executed by the one or more processors 631, perform the obstacle detection method of any of the method embodiments described above.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions for execution by one or more processors, such as the one processor 631 in fig. 6, to cause the one or more processors to perform the method for obstacle detection in any of the above method embodiments.
Embodiments of the present invention also provide a computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions that, when executed by an electronic device, cause the electronic device to perform any one of the obstacle detection methods.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An obstacle detection method is applied to an electronic device, wherein a laser transmitter and a shooting device are arranged on the electronic device, and the method comprises the following steps:
acquiring a first image, wherein the first image is as follows: when the laser transmitter does not emit laser, the shooting device shoots an image obtained by a target space;
determining laser projection data according to brightness values of image pixels in the first image, the laser projection data including data for controlling the laser emitter to emit laser light;
acquiring a second image, wherein the second image is as follows: when the laser corresponding to the laser projection data exists in the target space, the shooting device shoots an image obtained by the target space;
determining obstacle data from the second image, the obstacle data comprising: obstacle detection data and/or obstacle distance, wherein the obstacle detection data is data for indicating whether an obstacle exists in the target space.
2. The method of claim 1, wherein the first image comprises an active area, and wherein determining laser projection data from luminance values of image pixels in the first image correspondingly comprises:
and determining laser projection data according to the brightness values of the image pixels in the effective area.
3. The method of claim 2, wherein determining laser projection data from luminance values of image pixels in the active area comprises:
obtaining an effective average brightness value of the effective area, where the effective average brightness value is: an average value corresponding to the brightness value of at least one image pixel in the effective area;
and determining laser projection data according to the effective average brightness value.
4. The method of claim 3, wherein the laser projection data comprises a target duty cycle, and correspondingly, the determining laser projection data from the effective average brightness value comprises:
determining a reference duty ratio according to the effective average brightness value;
and determining a target duty ratio according to the reference duty ratio.
5. The method of claim 4, further comprising, prior to said determining a target duty cycle from said reference duty cycle:
calculating a luminance weighted average deviation from the effective average luminance value and a luminance value of the at least one image pixel;
correspondingly, the determining a target duty cycle according to the reference duty cycle comprises:
and determining a target duty ratio according to the reference duty ratio and the brightness weighted average deviation.
6. The method of claim 5, wherein determining a target duty cycle from the reference duty cycle and the luminance weighted average deviation comprises:
and calculating a target duty ratio according to the reference duty ratio, the effective average brightness value and the brightness weighted average deviation.
7. The method of claim 6, further comprising, prior to said calculating a target duty cycle from said reference duty cycle, said effective average luminance value, and said luminance weighted average deviation:
acquiring an experience coefficient;
correspondingly, the calculating a target duty cycle according to the reference duty cycle, the effective average brightness value and the brightness weighted average deviation includes:
and calculating a target duty ratio according to the reference duty ratio, the effective average brightness value, the brightness weighted average deviation and the empirical coefficient.
8. The method according to any one of claims 2 to 7, wherein the luminance value of the image pixels in the active area is less than or equal to a first luminance threshold, correspondingly the method further comprising:
determining the first brightness threshold according to brightness values of image pixels in the first image.
9. The method of any of claims 2 to 7, wherein the second image comprises: image pixels corresponding to the laser, wherein if the obstacle data includes an obstacle distance, the determining the obstacle data according to the second image includes:
and calculating the distance of the obstacle according to the position of the image pixel corresponding to the laser and the position relation between the laser emitter and the shooting device.
10. An electronic device, comprising:
a laser transmitter;
a photographing device;
a controller electrically connected to the photographing device and the laser transmitter, respectively, for performing the obstacle detection method according to any one of claims 1 to 9.
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