CN208026864U - Determine the device and movable equipment of obstacle distance - Google Patents
Determine the device and movable equipment of obstacle distance Download PDFInfo
- Publication number
- CN208026864U CN208026864U CN201820513181.1U CN201820513181U CN208026864U CN 208026864 U CN208026864 U CN 208026864U CN 201820513181 U CN201820513181 U CN 201820513181U CN 208026864 U CN208026864 U CN 208026864U
- Authority
- CN
- China
- Prior art keywords
- laser
- image
- barrier
- image parameter
- processor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
This disclosure relates to which a kind of device and movable equipment of determining obstacle distance, the device include：Laser, the processor being connect with the laser, and two cameras being connect with the processor；The laser is used for emitting linear type laser, so that the linear type laser irradiation, on barrier, which is linearity region, and the linearity region is tilting zone on the barrier；Two cameras, the first image and the second image for obtaining the barrier respectively from different shooting angles；The processor, the second image parameter for obtaining the irradiation area in the first image parameter of the irradiation area and second image in first image, and determine according to first image parameter and second image parameter distance of the barrier.
Description
Technical field
This disclosure relates to intelligent distance-measuring avoidance field, and in particular, to the device of a kind of determining obstacle distance and removable
Dynamic equipment.
Background technology
With the continuous development of the technologies such as artificial intelligence, radar, computer vision, intelligent distance-measuring avoidance technology is also by more
Carry out the concern of more people.Currently, intelligent distance-measuring avoidance technology is mainly used in robot, unmanned plane, diving apparatus, automatic Pilot
In the equipment such as vehicle or aircraft.
Binocular range finder module is a kind of typical intelligent distance-measuring obstacle avoidance apparatus, and binocular range finder module currently on the market is main
Being divided into has laser and without laser two types, in contrast, have laser class binocular range finder module be suitable for low illumination,
Ranging under the complex environments such as night and avoidance, the existing binocular ranging product that ranging is carried out based on laser are main using sharp
Light sends out the ranging graticule of point-cloud type or circular ring type, and still, the data volume of laser point cloud data is larger, and laser point cloud number
According at random irregular, it cannot be guaranteed that point cloud data presses goal-selling uniform scanning, lead to the number for subsequently reaching binocular range finder module
It is believed that breath is not accurate enough, range accuracy is influenced；Binocular range finder module based on circular ring type laser is on constant object height
Circular laser trace is formed, this is for the non-constant building of height (such as trees, well, neighbouring shack) or irregular
The barriers such as shrub be then easy to be ignored, so as to cause range error.
Utility model content
To overcome problems of the prior art, the disclosure provides the device of a kind of determining obstacle distance and removable
Equipment.
According to the first aspect of the embodiments of the present disclosure, a kind of device of determining obstacle distance is provided, described device includes：
Laser, the processor being connect with the laser, and two cameras being connected to the processor；The laser,
For emitting linear type laser, so that the linear type laser irradiation, on barrier, the linear type laser is in the barrier
It is linearity region to hinder the irradiation area on object, and the linearity region is tilting zone on the barrier；It is described two to take the photograph
As head, the first image and the second image for obtaining the barrier respectively from different shooting angles；The processor, is used for
Obtain the of irradiation area described in the first image parameter of irradiation area described in described first image and second image
Two image parameters, and determine according to described first image parameter and second image parameter distance of the barrier.
Optionally, the processor, described in being determined according to described first image parameter and second image parameter
The parallax of first image and second image, and determine according to the parallax distance of the barrier.
Optionally, described device further includes：Laser controller, laser controller setting the laser with it is described
Between processor；The laser controller, for according to the image parameter of described first image or the figure of second image
The laser as described in state modulator is turned on and off, and described image parameter includes brightness value and/or texture value.
Optionally, tilting zone angle of inclination relative to horizontal direction is 30 °~60 °.
Optionally, the laser includes a word laser.
According to the second aspect of the embodiment of the present disclosure, a kind of movable equipment is provided, including described in above-mentioned first aspect
Determine the device of obstacle distance.
Through the above technical solutions, the device of the determination obstacle distance includes：Laser, the place being connect with the laser
Device is managed, and two cameras being connect with the processor；The laser is used for emitting linear type laser, so that the straight line
For type laser irradiation on barrier, which is linearity region, and the linearity sector
Domain is tilting zone on the barrier；Two cameras, for obtaining the barrier respectively from different shooting angles
One image and the second image；The processor, for obtain in first image the first image parameter of the irradiation area and this
Second image parameter of the irradiation area in two images, and the barrier is determined according to first image parameter and second image parameter
Hinder the distance of object, in this way, the device of the determination obstacle distance is only needed according to the obstructions chart as cathetus type laser irradiation area
The image parameter in domain calculates the distance of the barrier, avoid according to the image parameter of entire image calculate the barrier away from
From to reduce the complexity of calculating, in addition, the device of the determination obstacle distance can detect front integral level width
All barriers in direction and vertical height direction, and then reduce security risk.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is the operating diagram of laser when placing laser level；
Fig. 2 is the operating diagram of laser when placing laser vertically；
Fig. 3 is the operating diagram of laser when placing laser deflection；
Fig. 4 is a kind of block diagram of the device of determining obstacle distance shown according to an exemplary embodiment；
Fig. 5, which is a kind of irradiation shown according to an exemplary embodiment, has the obstructions chart of linear type laser as schematic diagram；
Fig. 6 is a kind of block diagram of the device for the determining obstacle distance for implementing to exemplify according to Fig.4,.
Specific implementation mode
The specific implementation mode of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
The disclosure can be applied to the scene of intelligent distance-measuring avoidance, such as robot, unmanned plane, diving apparatus, vehicle pair
The ranging of barrier and hide, in this scenario, the existing intelligent distance-measuring obstacle avoidance apparatus master that real time distance is carried out based on laser
It is divided into laser point cloud formula or circular ring type, wherein laser point cloud is to obtain target under the same space referential using laser
The space coordinate of each sampled point in surface, what is obtained is the massive point of a series of expression object space distributions and target surface characteristic
Set；Circular ring type laser carries out rotation sweep by optical scanning method on constant object height, to form annular
Laser trace is generally used for angular measure field since energy week carries out high-resolution and high precision dynamic angle measurement, but
It is that the data volume of laser point cloud data is larger, obtains mass data and take time and effort, also increase the complexity of calculating, and by
It is that acquisition is measured by single point radiation laser in laser point cloud data so that the point from the near to the distant that binocular range unit obtains
The density degree of cloud data is different, and at random irregular, not so as to cause the follow-up data information for reaching binocular range finder module
It is enough accurate, and then influence range accuracy；Binocular range finder module based on circular ring type laser is formed on constant object height
Circular laser trace, this is for the non-constant building of height (such as trees, well, neighbouring shack) or irregular filling
The barriers such as wood are then easy to be ignored, so as to cause range error.
Above-mentioned to solve the problems, such as, the disclosure selects the laser that can send out linear type laser to be sent out to barrier
The linear type straight line laser of high transmittance, so that the camera of the device of the determination obstacle distance is detecting the linear type
When laser, obtaining irradiation has the obstructions chart picture of the linear type laser, then calculates the barrier according to the obstructions chart picture
Range information.
Fig. 1 is the operating diagram of laser when placing the laser level, as shown in Figure 1, working as the laser water
When placing flat, on the barrier that the linear type laser which launches can only be radiated at as oneself height, this
When, the device of the determination obstacle distance also can only just detect the barrier as oneself height, and height is less than the dress
The barrier set cannot be then detected；Fig. 2 is the operating diagram of laser when placing the laser vertically, such as Fig. 2
Shown, when the laser is placed vertically, the linear type laser which launches can only be radiated at vertical with itself
On barrier on vertical plane, at this point, the device of the determination obstacle distance also can only just detect vertical with the device hang down
The barrier faced directly, and lacked the obstacle information in horizontal width direction, that is to say, that when the linear type laser is vertical or
When on person's horizontal irradiation to barrier, the device of the determination obstacle distance can not detect front integral level width direction and
All barriers in vertical height direction, to which there are security risks, therefore, the disclosure will can send out swashing for linear type laser
Light device slant setting (as shown in Figure 3), at this point, the laser transmitting linear type laser can be irradiated to front integral level it is wide
It spends on all barriers in direction and vertical height direction, so that before the device of the determination obstacle distance can detect
All barriers of square integral level width direction and vertical height direction, and then reduce security risk.
Present disclose provides a kind of device, method and the movable equipment of determining obstacle distance, which includes：Laser
Device, the processor being connect with the laser, and two cameras being connect with the processor；The laser is straight for emitting
Linear Laser, so that the linear type laser irradiation is on barrier, the irradiation area of the linear type laser on the barrier
For linearity region, and the linearity region is tilting zone on the barrier；Two cameras are used for from different shooting angles
The first image and the second image of the barrier are obtained respectively；The processor, for obtaining the irradiation area in first image
The first image parameter and second image in the irradiation area the second image parameter, and according to first image parameter and should
Second image parameter determines the distance of the barrier, in this way, the device of the determination obstacle distance is only needed according to the obstructions chart
As the image parameter of cathetus type laser-irradiated domain calculates the distance of the barrier, avoids and joined according to the image of entire image
Number calculates the distance of the barrier, to reduce the complexity of calculating, in addition, the device of the determination obstacle distance can detect
To all barriers of front integral level width direction and vertical height direction, and then reduce security risk.
The disclosure is described in detail below by specific embodiment.
Fig. 4 is a kind of block diagram of the device of determining obstacle distance shown according to an exemplary embodiment, such as Fig. 1 institutes
Show, which includes：Laser 401, the processor 402 being connect with the laser 401, and connect with the processor 402
Two cameras 403；The laser 401 is used for emitting linear type laser, so that the linear type laser irradiation is in barrier
On, which is linearity region, and the linearity region is inclined on the barrier
Oblique region；Two cameras 403, the first image and the second figure for obtaining the barrier respectively from different shooting angles
Picture；The processor, for obtaining the first image parameter of the irradiation area and the irradiation in second image in first image
Second image parameter in region, and determine according to first image parameter and second image parameter distance of the barrier.
Wherein, which may include two visible image capturing heads, which can be that a word swashs
Light device, since feux rouges has longer wavelength in visible light, penetration power is stronger, and therefore, the linear type which sends out swashs
Light can be feux rouges, in addition, for so that irradiation area of the linear type laser that sends out of the laser on the barrier is straight line
Region, the laser also need to meet default test condition, and illustratively, which may include being put by the laser
When being placed in apart from the position of 1000 millimeters of barrier, the length for being radiated at the linear type laser on the barrier is 535 millimeters, should
The field angle of laser is 30 °, and the bending amplitude for the linear type laser being radiated on the barrier is less than or equal to 2
Millimeter, above-mentioned example are merely illustrative, and the disclosure is not construed as limiting this, when the laser meets the default test condition,
It can so that the irradiation area of linear type laser that the laser sends out on the barrier is linearity region.
In addition, tilting zone angle of inclination relative to horizontal direction is 30 °~60 °, illustratively,
Fig. 5 is the signal for the obstructions chart picture that a kind of irradiation shown according to an exemplary embodiment has linear type laser
Figure, as shown in figure 5, the angle of inclination can be indicated with α, which is linearity sector
Domain, and the linearity region is tilting zone on the barrier, and tilting zone inclination angle alpha relative to horizontal direction is
45°。
In one possible implementation, which can be placed on the centre position of two cameras, in addition,
So that the linearity region that the linear type laser irradiates on the barrier is the tilting zone, which also needs to tilt and put
It sets, illustratively, if it is desired to so that tilting zone angle of inclination relative to horizontal direction is 45 °, the inclination side of the laser
Also it is 45 ° to angle of inclination relative to horizontal direction, above-mentioned example is merely illustrative, and the disclosure is not construed as limiting this.
Optionally, which can determine first figure according to first image parameter and second image parameter
As and second image parallax, and determine according to the parallax distance of the barrier.
Wherein, which may include image pixel value, which can also include image slices
Element value, when determining the parallax of first image and second image according to first image parameter and second image parameter,
A kind of possible realization method can determine that a wherein image is matching image in first image and the second image, separately
One image is template image, images match is carried out to first image and the second image, then according to first image parameter
First image and the matching value of second image are determined with second image parameter, and parallax is determined according to the matching value, by
Determine that the principle of the distance of barrier is art technology in the principle for determining parallax by images match and according to the parallax
Well known to personnel, therefore, particular content is not be described in detail herein.
Fig. 6 is a kind of block diagram of the device for the determining obstacle distance for implementing to exemplify according to Fig.4, as shown in fig. 6,
The device further includes：Laser controller 404, the laser controller 404 can be arranged in the laser 401 and the processor 402
Between；The laser controller 404, for being controlled according to the image parameter of first image or the image parameter of second image
The laser 401 is turned on and off, which includes brightness value and/or texture value.
Illustratively, it illustrates so that the image parameter includes brightness value and texture value as an example, currently locates in the laser 401
When closed state, which obtains the brightness value and texture value of first image, then determines that the brightness value is
It is no be less than luminance threshold, and determine the texture value whether be less than texture threshold, the brightness value be less than the luminance threshold and
When the texture value is less than the texture threshold, which controls the laser 401 and opens, and otherwise, controls the laser
401 keep closed state；When the laser 401 is currently at open state, the laser controller 404 obtain this first
The brightness value and texture value of image, then determine whether the brightness value is more than luminance threshold, and determine whether the texture value is big
In texture threshold, when the brightness value is more than the luminance threshold and the texture value is more than the texture threshold, the laser controller
404, which control the laser 401, closes, and otherwise, controls the laser 401 and keeps open state, in addition, the laser controller
404 can also control the laser 401 according to the brightness value and texture value of second image is turned on and off, and does not limit this
It is fixed.
Therefore, which can control the laser and only be opened in darkness or dark, and on daytime
Or when well lighted, the laser can be controlled and be closed, in this way, resource is not only saved, also so that the determination obstacle
The device of object distance is more intelligent, to better meet the demand of ranging.
The disclosure also provides a kind of movable equipment, which includes the dress for the determination obstacle distance that the disclosure provides
It sets.
When determining obstacle distance using above-mentioned apparatus, it is only necessary to according to the obstructions chart as cathetus type laser-irradiated domain
Image parameter calculate the distance of the barrier, avoid the distance that the barrier is calculated according to the image parameter of entire image,
To reduce the complexity of calculating, in addition, the device of the determination obstacle distance can detect front integral level width side
To all barriers with vertical height direction, and then reduce security risk.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (6)
1. a kind of device of determining obstacle distance, which is characterized in that described device includes：Laser connects with the laser
The processor connect, and two cameras being connected to the processor；
The laser is used for emitting linear type laser, so that the linear type laser irradiation is on barrier, the straight line
Irradiation area of the type laser on the barrier is linearity region, and the linearity region is angled section on the barrier
Domain；
Described two cameras, the first image and the second image for obtaining the barrier respectively from different shooting angles；
The processor, the first image parameter for obtaining irradiation area described in described first image and second image
Described in irradiation area the second image parameter, and described in being determined according to described first image parameter and second image parameter
The distance of barrier.
2. the apparatus according to claim 1, which is characterized in that the processor, for according to described first image parameter
The parallax of described first image and second image is determined with second image parameter, and according to described in parallax determination
The distance of barrier.
3. the apparatus according to claim 1, which is characterized in that described device further includes：Laser controller, the laser control
Device processed is arranged between the laser and the processor；
The laser controller, for according to the image parameter of described first image or the image parameter control of second image
It makes the laser to be turned on and off, described image parameter includes brightness value and/or texture value.
4. the apparatus according to claim 1, which is characterized in that the tilting zone angle of inclination relative to horizontal direction
It is 30 °~60 °.
5. the apparatus according to claim 1, which is characterized in that the laser includes a word laser.
6. a kind of movable equipment, which is characterized in that including device described in any one of claim 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820513181.1U CN208026864U (en) | 2018-04-11 | 2018-04-11 | Determine the device and movable equipment of obstacle distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820513181.1U CN208026864U (en) | 2018-04-11 | 2018-04-11 | Determine the device and movable equipment of obstacle distance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208026864U true CN208026864U (en) | 2018-10-30 |
Family
ID=63908633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820513181.1U Active CN208026864U (en) | 2018-04-11 | 2018-04-11 | Determine the device and movable equipment of obstacle distance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208026864U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594211A (en) * | 2018-04-11 | 2018-09-28 | 沈阳上博智像科技有限公司 | Determine device, method and the movable equipment of obstacle distance |
-
2018
- 2018-04-11 CN CN201820513181.1U patent/CN208026864U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594211A (en) * | 2018-04-11 | 2018-09-28 | 沈阳上博智像科技有限公司 | Determine device, method and the movable equipment of obstacle distance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108594211A (en) | Determine device, method and the movable equipment of obstacle distance | |
| US10165202B2 (en) | Method and system for performing alignment of a projection image to detected infrared (IR) radiation information | |
| US9432593B2 (en) | Target object information acquisition method and electronic device | |
| US20170254884A1 (en) | Scanner display | |
| CN108020825A (en) | Laser radar, Laser video camera head, the fusion calibration system of video camera and method | |
| US20140368641A1 (en) | Method and system for projecting a visible representation of infrared radiation | |
| US20200288065A1 (en) | Target tracking method and device, movable platform, and storage medium | |
| CN105676884B (en) | A kind of device and method that infrared thermal imaging search and track aims at | |
| CN111238368A (en) | Three-dimensional scanning method and device | |
| CN109816702A (en) | A kind of multiple target tracking device and method | |
| EP3581969A1 (en) | System and metod for the volumetric and isotopic identification of radiation distribution in radioactive surroundings | |
| KR100955686B1 (en) | Method of tracing an eyeball in an eyeball tumor treatment | |
| KR102298645B1 (en) | 3D modeling system of underwater surfaces using infrared thermal imaging camera and drone | |
| CN208026864U (en) | Determine the device and movable equipment of obstacle distance | |
| CN109313027A (en) | Method for being compared to the reception ray projected on laser pickoff with the laser beam of rotation | |
| AU2019353165B2 (en) | Optics based multi-dimensional target and multiple object detection and tracking method | |
| CN113794922A (en) | Radar-based television curvature adjusting method and device, television and storage medium | |
| CN109143167A (en) | A kind of complaint message acquisition device and method | |
| CN211291443U (en) | Passive telemetering robot based on live-action three-dimensional map | |
| CN110136203A (en) | The scaling method and its calibration system of TOF device | |
| CN109581306B (en) | Rake ball calibration system and method | |
| CN105592294B (en) | A kind of monitoring system of VSP excitations big gun group | |
| CN207909195U (en) | Depth data measurement assembly and equipment | |
| CN208432736U (en) | A kind of infrared and visual signature obstacle avoidance apparatus | |
| JP2017181114A (en) | Radiation intensity distribution measurement system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |