CN204301735U - A kind of novel obstacle recognition system - Google Patents
A kind of novel obstacle recognition system Download PDFInfo
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- CN204301735U CN204301735U CN201420865149.1U CN201420865149U CN204301735U CN 204301735 U CN204301735 U CN 204301735U CN 201420865149 U CN201420865149 U CN 201420865149U CN 204301735 U CN204301735 U CN 204301735U
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- obstacle recognition
- barrier
- recognition system
- light curtain
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Abstract
A kind of novel obstacle recognition system, it launches the laminar sector optical curtain being parallel to ground by the LASER Light Source being equipped with light curtain modulating device, make flare on the barrier band that is above the ground level; The camera shooting of recycling Matching installation with the image of flare information, and is transferred to after spot detection device carries out computer recognizing, just can detect the situation of barrier.Compared with the existing obstacle recognition system adopting characteristics of image to contrast at present, there is the advantage that structure is simpler, cost is lower, identification probability is higher.Be applicable to the obstacle recognition of the various mobile platforms such as automobile, robot, submarine, aircraft, household electrical appliances.
Description
Technical field
The utility model relates to a kind of novel obstacle recognition system, and being mainly used in provides barrier and channel information to various indoor and outdoor vehicle and movable equipment.
Background technology
At present, patent ZL201420056188.7 has disclosed the technology that light curtain that a kind of forward projects is parallel to road surface identifies for barrier, a bright band shaped laser spot will be formed above when being irradiated to the barrier on road surface when horizon light curtain, make barrier can be very clearly out identified, allow driver can see barrier on road surface very clear, very intuitively.Since this technology can allow driver easily distinguish that there is clear on road surface according to the plain mode with or without hot spot, reduce the difficulty that eyes differentiate barrier, so this according to hot spot with or without differentiating that the technology of barrier significantly can reduce the difficulty of computer recognizing barrier too, solve prior art and must carry out aspect ratio to the difficult problem that just can identify barrier as feature database by dependency graph, improve obstacle recognition rate, reduce equipment complexity and manufacturing cost.
Summary of the invention
In order to solve the problem, the utility model provides a kind of novel obstacle recognition system, and it feeds back to computing machine after can adding facula information to barrier and identifies, thus reduces the difficulty of computing machine obstacle recognition.
The utility model relates to a kind of novel obstacle recognition system, it is made up of LASER Light Source and supporting light curtain modulating device, for launch be parallel to ground light curtain to identify barrier, it is also equipped with the camera mated with light curtain emitter transmit direction, for taking the flare of barrier, the signal of camera is electrically connected with spot detection device by wire.
The beneficial effects of the utility model are such: because this novel obstacle recognition system have employed LASER Light Source disclosed in ZL201420056188.7 patent and supporting light curtain modulating device, therefore the laminar sector optical curtain being parallel to ground for identifying barrier can be gone out by forward projects, due to this light curtain, to be parallel to ground not crossing with ground, only crossing with the barrier of ground projection, therefore will reflect a bright band shaped laser spot above when this light curtain runs into barrier, the alarming effect of the reflecting strips on similar traffic police's clothes, in like manner there is no the place of barrier certainly just without any flare.At this moment the camera of Matching installation just can photograph the scenic picture containing flare, then this picture transmission is to spot detection device, and the computing machine in spot detection device just can directly judge the existence of preceding object thing and the situation of passage according to the hot spot distribution situation in picture.Compared with this spot detection device and prior art carry out image feature comparison cognitive disorders thing device by computing machine, obvious difficulty is fallen much lower, and spot detection does not have image matching identification to need the limitation of dependence characteristics database, therefore this novel obstacle recognition system can identify the barrier of unknown profile, identifies that accuracy is higher.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present utility model.
Accompanying drawing 2 is camera multi-view image schematic diagram of the present utility model.
In figure, mark is as follows: 1. LASER Light Source, 2. light curtain modulating device, 3. camera, 4. spot detection device.
Embodiment
As shown in Figure 1, a kind of novel obstacle recognition system, the LASER Light Source 1 that it adopts can select non-visible light laser module or the fiber laser of the various wavelength such as wavelength 808nm, 915nm, 980nm, 1060nm, the visible light lasers modules such as green, white, blueness, redness can certainly be adopted as required, as long as the camera lens optical filter of supporting camera 3 can through their light.The light curtain modulating device 2 of coupling is housed before LASER Light Source 1, and this light curtain modulating device 2 is laminar sector optical curtain for laser beam modulation LASER Light Source 1 launched.This light curtain modulating device 2 has various structures form, and such as employing rotating mirror scanning device, Bao Weier prism apparatus, shake mirror scanning mechanism, corrugated mirror device etc. all can realize this light curtain modulation function.After the modulation of light curtain modulating device 2, the fan-shaped flake shape light curtain of certain angle can be had in the output terminal injection of light curtain modulating device 2, the cross section of this fan-shaped flake shape light curtain is exactly a bright band shaped laser spot, when to projecting a bright band shaped laser spot during object illumination on the object.As shown in Figure 2, when this fan-shaped flake shape light curtain is parallel with road surface and when keeping certain distance to front irradiation with road surface, if road surface there is barrier will reflect a bright band shaped laser spot, just as the reflecting strips on traffic police's clothes at this blocking surfaces; If road surface does not have barrier, can not intersect just do not reflect, so do not have the place of barrier to occur flare because light curtain is parallel to road surface.The shooting direction of the camera 3 mated in this novel obstacle recognition system is identical with the direction of illumination of light curtain modulating device 2, generally be arranged on the position having certain height difference with light curtain modulating device 2, if when light curtain modulating device 2 is arranged on automobile front beam lower limb, then camera 3 is arranged in automobile cab windshield and surveys.The object forming certain altitude difference is that the hot spot of different distance in the image allowing camera 3 take can be distributed in At The Heights different in picture, the distance of barrier can also be estimated according to the hot spot difference in height be distributed in picture after making spot detection device 4 cognitive disorders thing, its foundation be exactly convex lens imaging principle in middle school's textbook geometrical optics, this principle has application to belong to known technology in a lot of Optical Range Instrumentation, no longer specifically repeats; Even if certain camera 3 is in sustained height with light curtain modulating device 2, the flare that can photograph barrier too realizes the obstacle recognition object of application claims, and just carrying out follow-up range estimation can more complex, non-optimal scheme.As long as occur in the shooting picture of obvious camera 3 that the place of hot spot is exactly the place of barrier, such recognition rule wants simple accurately a lot of more than the prior art of recognition object profile, spot detection device 4 only utilizes the algorithms most in use such as modal color boundary detection algorithm can complete spot detection identification, makes Computing workload significantly decline thus reduce equipment cost.Compared with this novel obstacle recognition system, prior art is mated contrast one by one to identify whether into barrier with the known profiles stored in computer characteristic storehouse after relying on shooting barrier profile, visible prior art needs a large amount of graphics process evaluation works and huge property data base, if run into the characteristics of image that do not have in computer characteristic storehouse with regard to None-identified, the obstacle recognition accuracy rate of this novel obstacle recognition system will apparently higher than prior art very greatly, therefore for limitation.
Although employ some particular term in this instructions, these terms just for convenience of description, are not construed as limiting the present invention.Under the technological thought guidance that this instructions discloses and describes, those skilled in the art can change above-mentioned embodiment and revise in actual production.Therefore the present invention is not limited to the embodiment of above-mentioned announcement and description, to any modifications and changes of the present invention equally in the protection domain of the claims in the present invention.
Claims (2)
1. a novel obstacle recognition system, it includes the LASER Light Source (1) being equipped with light curtain modulating device (2), it is characterized in that: the camera (3) mated with light curtain modulating device (2) transmit direction is also housed, camera (3) is electrically connected with spot detection device (4) by wire, thus the shooting realized veiling reflection situation and detection.
2. novel obstacle recognition system according to claim 1, is characterized in that: camera (3) and light curtain modulating device (2) installation site be not at same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420865149.1U CN204301735U (en) | 2014-12-22 | 2014-12-22 | A kind of novel obstacle recognition system |
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| CN201420865149.1U CN204301735U (en) | 2014-12-22 | 2014-12-22 | A kind of novel obstacle recognition system |
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| CN204301735U true CN204301735U (en) | 2015-04-29 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159296A (en) * | 2015-09-09 | 2015-12-16 | 广州睿航电子科技有限公司 | Unmanned ship anti-wave cruise control method and system |
| CN111156968A (en) * | 2020-01-09 | 2020-05-15 | 杭州魔象智能科技有限公司 | Aquatic animal water surface predation ripple characteristic monitoring method and device |
| CN112105113A (en) * | 2020-11-05 | 2020-12-18 | 宁波市奉化浩轩光电有限公司 | LED light-emitting system for flashlight and light-emitting method thereof |
| WO2021082657A1 (en) * | 2019-10-29 | 2021-05-06 | 珠海市一微半导体有限公司 | Indoor environment-based auxiliary light vision detection device, and mobile robot |
-
2014
- 2014-12-22 CN CN201420865149.1U patent/CN204301735U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159296A (en) * | 2015-09-09 | 2015-12-16 | 广州睿航电子科技有限公司 | Unmanned ship anti-wave cruise control method and system |
| WO2021082657A1 (en) * | 2019-10-29 | 2021-05-06 | 珠海市一微半导体有限公司 | Indoor environment-based auxiliary light vision detection device, and mobile robot |
| CN111156968A (en) * | 2020-01-09 | 2020-05-15 | 杭州魔象智能科技有限公司 | Aquatic animal water surface predation ripple characteristic monitoring method and device |
| CN112105113A (en) * | 2020-11-05 | 2020-12-18 | 宁波市奉化浩轩光电有限公司 | LED light-emitting system for flashlight and light-emitting method thereof |
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