CN204340873U - A kind of based on wireless panoramic parking assist system - Google Patents
A kind of based on wireless panoramic parking assist system Download PDFInfo
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- CN204340873U CN204340873U CN201420818648.5U CN201420818648U CN204340873U CN 204340873 U CN204340873 U CN 204340873U CN 201420818648 U CN201420818648 U CN 201420818648U CN 204340873 U CN204340873 U CN 204340873U
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Abstract
The utility model discloses a kind of based on wireless panoramic parking assist system, it comprises one or more wireless camera and a mobile display terminal.Wherein, wireless camera comprises camera image acquisition module, image compression module, ultrasonic distance measuring module, microprocessor, the first power module and wireless transport module.Mobile display terminal comprises wireless router, wireless signal amplifier, wireless transport module, image decoder module, memory module, display module, voice cue module and second source module.The utility model can stretch flexibly between one and multiple camera, the utility model uses wireless network to transmit, and need not connect up in a large number to vehicle, easy for installation, Scalability is good, do not take vehicle bus resource, reliability is high, and mobile display terminal human-computer interaction is simple and convenient simultaneously, intelligence degree is high, solve traditional parking assisting system wiring on the market complicated, retractility is poor, and the problem of complicated operation.
Description
Technical field
The utility model relates to car parking accessory system field, particularly relates to based on wireless panoramic parking assist system field.
Background technology
Because chaufeur sits the situation can only being observed obstacle on the seat by the outside rear-view mirror of inside rear-view mirror and the left and right sides, the position of back mirror is fixed and limited, chaufeur is difficult to the omnibearing situation observing obstacle, even when obstacle is in driver's seat blind area, due to cannot obstacle be seen, now move backward abnormally dangerous.Namely allow to effectively observe obstacle, chaufeur also needs hand eye coordination, does not stop observe and decide, becomes very tired.Although along with the development of automotive technology, electronic machine set on automobile gets more and more, and the function of vehicle electronic device is also more and more abundanter, and the Reverse Sensor that being applied to moves backward assists, backup camera also arise at the historic moment.
But, current Reverse Sensor and backup camera all use existing wired radar and wired backup camera to be connected to automobile head control desk by data transmission cable or car-mounted display equipment shows, its installing/dismounting is complicated, need a large amount of wiring, and take the Internet resources of vehicle own, and be only applicable to dilly, for the scheme that full size vehicle is not comparatively suitable for, in addition also to there is human-computer interaction interface unreasonable for existing parking assisting system, the problems such as complicated operation.In today that labour cost is more and more expensive, the expense of the problem that a large amount of installation wiring work brings and resource is very huge, and these unfavorable factors are all wanted user to bear, this is also that user is unwilling to select one of relevant reversing aid system large reason greatly.
Utility model content
In order to overcome above-mentioned technical matters, the utility model provides a kind of based on wireless panoramic parking assist system, and this system does not need to connect up in a large number to vehicle, and can stretch flexibly between one, four and eight cameras.Mobile display terminal can use the mobile devices such as mobile phone, flat board and notebook to substitute, and it is low to have cost, and performance is high, and reliability is high, and customizability is strong, and Scalability is strong, the advantages such as man-machine interaction is simple.
The utility model solves the technical scheme that its technical matters adopts: a kind of based on wireless panoramic parking assist system, it comprises one or more wireless camera and a mobile display terminal.
Wherein, wireless camera comprises camera image acquisition module, image compression module, ultrasonic distance measuring module, microprocessor, the first power module and wireless transport module.Above-mentioned camera image acquisition module is responsible for image to external world and is gathered, ultrasonic distance measuring module is responsible for the distance between collection vehicle to obstacle, camera image acquisition module is connected with the input port of microprocessor by image compression module, and the output port of ultrasonic distance measuring module is connected with microprocessor.In the graphicinformation that the overlay distance information that microprocessor is responsible for ultrasonic distance measuring module to gather gathers to camera image acquisition module.Microprocessor is connected with image compression module, and image compression module is responsible for the compression process of image, and its output port is connected with wireless transport module.Data packing is sent to mobile display terminal by wireless transport module, receives the instruction that mobile display terminal is passed on simultaneously.First power module is connected with wireless transport module with camera image acquisition module, image compression module, microprocessor, ultrasonic distance measuring module, provides the power supply supply of whole wireless camera.
Mobile display terminal comprises wireless router, wireless signal amplifier, wireless transport module, image decoder module, memory module, display module, voice cue module and second source module.Wherein, wireless transport module can based on 802.11b, 802.11g, 802.11n and 802.11ac many signal band operation, and its output port is connected with wireless signal amplifier, and signal sends after amplification.Wireless router is connected with image decoder module simultaneously, and image decoder module obtains graphicinformation by wireless router, and decodes to graphicinformation.Image decoder module is connected with memory module, display module and voice cue module respectively.Memory module is responsible for the storage of graphicinformation, and display module is responsible for by image information display on screen, and voice cue module is responsible for carrying out intelligent voice prompt to image decoding result.Second source module connects wireless router, wireless signal amplifier, image decoder module, wireless transport module, memory module, display module and voice cue module respectively, for whole mobile display terminal provides power supply supply.
Adopt technique scheme to carry out networking by wireless, built-in wireless signal amplifier can setting up wireless networks in the larger context, wiring that need not be complicated.After wireless camera installation, obtain real-time image signal and be transferred to mobile display terminal, image, by built-in image mosaic and correcting algorithm, carries out splicing and combining into panoramic picture by mobile display terminal, higher to the reducing degree of environment.
Further, mobile display terminal is developed APP application, network is managed, and the graphicinformation that wireless camera packings all in network send synchronously is processed, its processing mode comprises distortion correction, perspective transform, image mosaic and imaging importing, the image information display after process on the display module of mobile display terminal for chaufeur move backward time as a reference.
Further, mobile display terminal, after decoding to image package information, is analyzed graphicinformation, is proposed information warning by voice alarm module to chaufeur.
Further, wireless camera can be one, four or eight.When an installation wireless camera, system automatically switches to common reverse image.When installation four wireless cameras, wireless camera should lay respectively at body forward structure, vehicle body both sides and compartment afterbody, and system will be carried out splicing to image and be shown in mobile display terminal.When installation eight cameras, wireless camera should lay respectively at body forward structure, vehicle body both sides, compartment afterbody and vehicle body four on angle point, system is shown in mobile display terminal after carrying out splicing to image.
The utility model has following beneficial effect:
1, stretch flexibly, widely applicable.The utility model has considered the characteristic of dilly and full size vehicle, and has carried out scalable design to system.Chaufeur can use one, four, eight wireless camera operation native systems, and mobile display terminal can use the equipment such as mobile phone, flat board and notebook to substitute simultaneously.
2, safety is high, real-time is high.Native system transmits based on 802.11 wireless networks, and speed is fast, and safety is high, and image transmitting, can not to vehicle internal networks build-up of pressure independent of vehicle internal networks.Adopt H.264 image compression algorithm to compress image simultaneously, make the file size of transmission less.
3, intelligence degree is high.The utility model adopts the technology such as distortion correction, perspective transform, image mosaic and imaging importing to carry out comprehensive treatment to image.Multiple image is being rendered as panoramic picture after treatment, and has superposed ambient environment information, and more true directly perceived, simultaneously built-in voice cue module can be reported to the police to the risky operation that vehicle produces and instruct, and avoids unexpected generation of moveing backward.
4, driving recording.Tradition reverse image only plays a role when moveing backward, and the utility model can be opened under normal motoring condition, uses as drive recorder.Compare traditional drive recorder, the utility model recorded information is more comprehensively objective, and when occurring unexpected, the image information that native system stores will become vaild evidence.In addition, user can transfer intrasystem image information at any time and consult, and corrects reversing or the irrational driving habit in travelling.
Below with reference to drawings and Examples, the utility model is described in detail.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present utility model.
Fig. 2 is wireless camera switch logic figure of the present utility model.
Fig. 3 is reception FB(flow block) of the present utility model.
Fig. 4 is ultrasonic distance measuring module schematic diagram of the present utility model.
Fig. 5 is perspective transform schematic diagram of the present utility model.
Wherein, 1, wireless camera; 2, mobile display terminal; 1-1, camera image acquisition module; 1-2, image compression module; 1-3, microprocessor; 1-4, ultrasonic distance measuring module; 1-5, wireless transport module; 1-6, the first power module; 2-1, memory module; 2-2, image decoder module; 2-3, wireless router; 2-4, wireless signal amplifier; 2-5, wireless transport module; 2-6, voice cue module; 2-7, display module; 2-8, second source module; 3, projector; 4, receptor; 5, obstacle; 6, camera coordinate system; 7, imaging plane system of axes; 8, image coordinate system.
Detailed description of the invention
Embodiment, as shown in Figure 1, a kind of based on wireless panoramic parking assist system, it comprises wireless camera 1 and mobile display terminal 2 two parts.
Wherein, wireless camera 1 comprises camera image acquisition module 1-1, image compression module 1-2, ultrasonic distance measuring module 1-4, microprocessor 1-3, the first power module 1-6 and wireless transport module 1-5.
Camera image acquisition module 1-1: be responsible for image to external world and gather; Its output interface is connected with image compression module, is for further processing the corresponding port that the graphicinformation of collection transfers to image compression module 1-2.
Ultrasonic distance measuring module 1-4: be responsible for the distance between collection vehicle to obstacle; Its output interface is connected with microprocessor 1-3, is for further processing by distance information transmission to microprocessor 1-3 corresponding port.
Image compression module 1-2: the compression process being responsible for image, its input port is connected with camera image acquisition module 1-1, and output port is connected with microprocessor 1-3, is for further processing transferring to microprocessor 1-3 after graphicinformation compression process.
Microprocessor 1-3: microprocessor 1-3 is the core of wireless camera 1, its input port is connected with ultrasonic distance measuring module 1-4 and image compression module 1-2, in the graphicinformation that the overlay distance information being responsible for ultrasonic distance measuring module to gather gathers to camera image acquisition module; The output port of microprocessor 1-3 is connected with wireless transport module 1-5, spreads out of the graphicinformation after superposition to wireless transport module 1-5 and is for further processing.
Wireless transport module 1-5: its input port is connected with microprocessor 1-3, this module in charge graphicinformation is packed after by wireless network transmissions to mobile display terminal 2, realize receiving the control command that mobile display terminal 2 sends over simultaneously.
First power module 1-6: this module is connected with camera image acquisition module 1-1, ultrasonic distance measuring module 1-4, image compression module 1-2, microprocessor 1-3 and wireless transport module 1-5 respectively, is responsible for the power supply supply of whole wireless camera.
In addition, mobile display terminal 2 comprises wireless router 2-3, wireless transport module 2-5, wireless signal amplifier 2-4, image decoder module 2-2, memory module 2-1, display module 2-7, voice cue module 2-6 and second source module 2-8.
Wireless router 2-3: the establishment being responsible for network.
Wireless transport module 2-5: be responsible for the reception of wireless camera 1 graphicinformation and the transmission of control command.Its output port is connected with wireless signal amplifier 2-4, the information transmission after packing is for further processing to wireless signal amplifier 2-4.
Wireless signal amplifier 2-4: the amplification being responsible for signal is amplified, and the information sended over of being packed by wireless transport module 2-5 carries out amplification amplification.
Image decoder module 2-2: be responsible for the distortion correction of image, perspective transform, image mosaic and imaging importing.Its input port is connected with wireless router 2-3, and output port connects with voice cue module 2-6, image analysis data is transferred to voice cue module 2-6 and is for further processing; Image decoder module 2-2 is connected with memory module 2-1, graphicinformation is stored on memory module 2-1; The output port of image decoder module 2-2 is connected with display module 2-7, by image information display on display module 2-7 simultaneously.
Voice cue module 2-6: be responsible for voice and drive prompting and reversing warning, its input port is connected with image decoder module 2-2.
Display module 2-7: the display being responsible for graphicinformation, its input port is connected with image decoder module 2-2.
Second source module 2-8: the power supply supply being responsible for whole mobile display terminal 2.Its output module is connected with wireless router 2-3, wireless signal amplifier 2-4, wireless transport module 2-5, image decoder module 2-2, memory module 2-1, display module 2-7, voice cue module 2-6 respectively.
As shown in Figure 2, after system sets up network connection, namely start to detect wireless camera 1 number that wireless router 2-3 connects, when number is 1, directly show the individual picture of this wireless camera; When connect number be 4 or 8 time, the process such as the graphicinformation that system spreads out of wireless camera corrects, splicing, build three-dimensional panoramic image output on the picture of mobile display terminal; When connection number is other quantity, system is by automatic alarm, and reminding user checks that the network of each wireless camera connects, and selects picture to be switched in the real-time pictures of arbitrary wireless camera for user simultaneously.
As shown in Figure 3, system acceptance flow process is as follows:
After the camera image acquisition module 1-1 of wireless camera 1 and ultrasonic distance measuring module 1-4 collects information, transfer to microprocessor 1-3, graphicinformation and range information are superposed by superposition algorithm by microprocessor 1-3, carry out compression of images by H264 image compression algorithm again, the data after compression are sent by wireless transport module 1-5.After the wireless router 2-3 of mobile display terminal 2 receives data, send data to image decoder module 2-2, data are stored in memory module 2-1 by image decoder module 2-2, again by the data separating of superposition, and graphicinformation is wherein sent to display module 2-7, export information after distance wherein and obstacle information being analyzed, transfer to voice cue module 2-6, complete voice message by voice cue module 2-6.
As shown in Figure 4, in the utility model, the principle of work of ultrasonic distance measuring module is as follows:
Ultrasonic distance measuring module launches multiple ultrasonic pulse to the direction that will detect, and meanwhile time meter starts timing, and super sonic is propagated in atmosphere, encounters obstacle and just return immediately in way, and ultrasonic receiver receives backward wave and just stops timing immediately.Be C=340m/s according to the aerial propagation speed of super sonic, and the duration △ t of timer record, the distance S of launch point distance obstacle can be calculated:
S＝C△t
In order to energy quick detection distance, ultrasonic distance measuring module needs namely to launch a set of pulses at set intervals, and concrete interval of launching is determined by maximum detectable range.Namely in maximum detectable range, if there is obstacle, then must ensure that receptor can receive transmitting of direct impulse.If do not receive echo pip signal, then projector just can continue to launch next group direct impulse signal.Assuming that maximum detectable range is d
max=6 meters, the minimum interval so between projector transmitter pulse is:
2d
max□/C＝2×6/340≈35ms
In fact camera lens with wide-angle also exists distortion, and camera distortion comprises radial distortion, centrifugal distortion and thin prism distortion.Native system carries out distortion correction by using camera inner parameter and internal distortions model to graphicinformation, and its detailed description of the invention is as follows:
Suppose that (x, y) corrects a bit on front image, adopt fitting of a polynomial algorithm, the pass between point (x, y) and the corresponding point (u, v) after correcting is:
Wherein, n is fitting of a polynomial number of times,
be the distortion correction regulating parameter that system needs.
As shown in Figure 5, the perspective transform principle that adopts of native system is as follows:
Transformation relation between (a) camera coordinate system 6 and ideal image plane coordinate system 7:
The available pin-hole model of relation between camera coordinate system and ideal distortionless imaging plane system of axes, namely linear model represents.Any some preferred view position p of P on imaging surface in space is the intersection point of line OP on imaging surface that photocentre O and P puts.This relation is also referred to as central projection or perspective projection, therefore camera coordinate system.
and there is following relational expression between desirable imaging plane system of axes x-y:
Namely
Wherein, f is the imaging focal length of pick up camera.
Transformation relation between (b) actual (distortion) imaging plane system of axes 7 and image coordinate system 8:
Because image coordinate system is a system of axes not having physical unit, for symbolizing the position resembled in the picture of spatial point, the relation therefore between imaging plane system of axes x-y and image coordinate system u-v is as follows:
Wherein, dx, dy are the physical dimension of each pixel in x-axis and y-axis, the length namely representated by unit picture element.U
0, v
0for principal point coordinate.
Have in conjunction with (a) (b):
Wherein, α=f/dx, β=f/dy; M is 3 × 4 matrixes, is called perspective projection transformation matrix.A is exactly the internal reference matrix of pick up camera.M
1for the ambient parameter of pick up camera, description be rotation between pick up camera and world coordinate system and translation relation.
System utilizes above distortion correction, perspective transform algorithm the graphicinformation that multiple camera image acquisition module 1-1 passes back to be spliced, construct the three-dimensional scenic of environment residing for vehicle, chaufeur can carry out parking manoeuvres by the three-dimensional scenic picture observing display in mobile display terminal 2.Reduce the difficulty of parking, improve the availability of system.
In sum, the Processing Algorithm of multiple machine vision that the utility model is embedded and digital image processing, simultaneously due to networking mode and the system architecture of uniqueness, the utility model is made to be applied to various, and due to the difference of embodiment, can several functions be produced, and, excellent performance good based on Scalability and intelligence degree advantages of higher, be convenient to large scale application.
Although do not enumerate more detailed description of the invention in the utility model, but Yan Junke understands for those skilled in the art, anyly carry out simply replacing to complete the behavior realizing constructed effect to each technical characteristic of the utility model, not unconventional initiative spirit of the present utility model all should be considered as.
Claims (3)
1., based on a wireless panoramic parking assist system, comprise one or more wireless camera (1), and a mobile display terminal (2), it is characterized in that:
Described wireless camera (1) is made up of camera image acquisition module (1-1), image compression module (1-2), microprocessor (1-3), ultrasonic distance measuring module (1-4), wireless transport module (1-5) and the first power module (1-6); Described mobile display terminal (2) is made up of memory module (2-1), image decoder module (2-2), wireless router (2-3), wireless signal amplifier (2-4), wireless transport module (2-5), voice cue module (2-6), display module (2-7) and second source module (2-8);
The output interface of described camera image acquisition module (1-1) is connected with image compression module (1-2); The input port of image compression module (1-2) is connected with camera image acquisition module (1-1), and its output port is connected with microprocessor (1-3); The input port of microprocessor (1-3) is connected with ultrasonic distance measuring module (1-4) and image compression module (1-2), and its output port is connected with wireless transport module (1-5); The output interface of ultrasonic distance measuring module (1-4) is connected with microprocessor (1-3); The input port of wireless transport module (1-5) is connected with microprocessor (1-3); First power module (1-6) is connected with camera image acquisition module (1-1), image compression module (1-2), microprocessor (1-3), ultrasonic distance measuring module (1-4) and wireless transport module (1-5) respectively;
The output port of described wireless transport module (2-5) is connected with the input port of wireless signal amplifier (2-4); The input port of image decoder module (2-2) is connected with wireless router (2-3), and its output port is connected with voice cue module (2-6), memory module (2-1), display module (2-7) respectively; Second source module is connected with voice cue module (2-6) with wireless router (2-3), wireless signal amplifier (2-4), image decoder module (2-2), memory module (2-1), display module (2-7), wireless transport module (2-5) respectively.
2. as claimed in claim 1 based on wireless panoramic parking assist system, it is characterized in that: described wireless camera (1) can be one, four or eight.
3., as claimed in claim 1 or 2 based on wireless panoramic parking assist system, it is characterized in that: described wireless transport module (2-5) can based on signal frequency range be any one in 802.11b, 802.11g, 802.11n, 802.11ac.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420818648.5U CN204340873U (en) | 2014-12-22 | 2014-12-22 | A kind of based on wireless panoramic parking assist system |
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| CN201420818648.5U CN204340873U (en) | 2014-12-22 | 2014-12-22 | A kind of based on wireless panoramic parking assist system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590124A (en) * | 2014-12-22 | 2015-05-06 | 昌辉汽车电气系统（安徽）有限公司 | Wireless-based panoramic parking auxiliary system |
| CN105128742A (en) * | 2015-08-31 | 2015-12-09 | 刘丰 | Automobile reversing system through stereophotography |
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2014
- 2014-12-22 CN CN201420818648.5U patent/CN204340873U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590124A (en) * | 2014-12-22 | 2015-05-06 | 昌辉汽车电气系统（安徽）有限公司 | Wireless-based panoramic parking auxiliary system |
| CN105128742A (en) * | 2015-08-31 | 2015-12-09 | 刘丰 | Automobile reversing system through stereophotography |
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Granted publication date: 20150520 Termination date: 20181222 |
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| CF01 | Termination of patent right due to non-payment of annual fee |