CN212289700U - 360-degree panoramic camera device for unmanned automobile and vision sensing equipment - Google Patents
360-degree panoramic camera device for unmanned automobile and vision sensing equipment Download PDFInfo
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- CN212289700U CN212289700U CN201921845187.XU CN201921845187U CN212289700U CN 212289700 U CN212289700 U CN 212289700U CN 201921845187 U CN201921845187 U CN 201921845187U CN 212289700 U CN212289700 U CN 212289700U
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Abstract
The utility model discloses a 360-degree panoramic camera device and a vision sensing device for an unmanned automobile, wherein the camera device comprises a curved mirror surface, a camera sensor and a shell; the section of the curved mirror surface is an ellipse, and the curved mirror surface and the camera sensor are arranged inside the shell; the curved mirror surface is arranged at the top of the shell, and the camera sensor is positioned right below the curved mirror surface; the long axis of the curved mirror surface and the long edge of the camera sensor are positioned in the same direction, and the long axis of the curved mirror surface is larger than the wide edge of the camera sensor and smaller than or equal to the long edge of the camera sensor; the shell is provided with a light-transmitting area. This camera device adopts the tangent plane to be oval curved surface mirror surface, and the perception area of make full use of camera sensor increases effective pixel area, compares in 360 degrees panoramic cameras of tradition, has enlarged the perception distance to realize reducing the quantity of unmanned sensing equipment's sensor, reduce equipment cost.
Description
Technical Field
The utility model relates to an environment perception equipment technical field of unmanned vehicle especially relates to a 360 degrees panorama camera devices and vision sensing equipment for unmanned vehicle.
Background
Because the sensing visual field range of the existing camera is limited, the existing unmanned sensing equipment comprises a large number of cameras, laser radars and other sensors in order to cover all information around the automobile, and the reliability of observation is improved through equipment redundancy. The cost is too high due to a large number of sensor devices, and the cost reaches dozens of thousands of yuan when an unmanned automobile is equipped; and the installation is loaded down with trivial details, is difficult to deploy and debug to cause unmanned motorcade to be unable to go on a large scale and deploy, increased the degree of difficulty of the required data of the unmanned system of training of gathering, and a large amount of data that can supply the training, just any AI driven system is indispensable.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's not enough, one of the purposes of the utility model provides a 360 degrees panorama camera devices for unmanned vehicle, it adopts the tangent plane to be oval curved surface mirror surface, and make full use of camera sensor's perception is regional, increases effective pixel area, compares in 360 degrees panorama cameras of tradition, has enlarged the perception distance to realize reducing the quantity of unmanned sensing equipment's sensor, reduce equipment cost.
The utility model discloses a two lies in a vision sensing equipment for unmanned vehicle, it adopts two 360 degrees panoramic camera devices to come perception car surrounding environment's 3D information, this 360 degrees panoramic camera devices is oval curved surface mirror surface through the tangent plane, the perception area of make full use of camera sensor, increase effective pixel area, compare in 360 degrees panoramic camera of tradition, the perception distance has been enlarged, thereby realize reducing the quantity of unmanned vehicle sensing equipment's sensor, the equipment cost is reduced.
The utility model discloses an one of the purpose adopts following technical scheme to realize:
a360-degree panoramic camera device for an unmanned automobile comprises a curved mirror surface, a camera sensor and a shell; the section of the curved mirror surface is an ellipse, and the curved mirror surface and the camera sensor are arranged inside the shell; the curved mirror surface is arranged at the top of the shell, the camera sensor is positioned under the curved mirror surface, and the camera shooting direction is opposite to the curved mirror surface; the long axis of the curved mirror surface is positioned in the same direction as the long edge of the camera sensor, and the long axis of the curved mirror surface is larger than the wide edge of the camera sensor and smaller than or equal to the long edge of the camera sensor; the casing is equipped with the light zone so that light all around can shine to in order to realize 360 degrees panorama camera shooting on the curved surface mirror surface.
Further, the curvature of the curved mirror surface is determined according to a viewing angle range of a vertical angle formed by a desired specular reflection, and the viewing angle range of the desired vertical angle is-45 ° to 30 °.
Further, the housing is a cylindrical housing having a transparent sidewall.
Further, the top of the inner cavity of the shell is provided with a mirror surface calibration texture, and the mirror surface calibration texture surrounds the edge of the curved mirror surface.
The second purpose of the utility model is realized by adopting the following technical scheme:
a visual sensing device for an unmanned automobile comprises a base and two 360-degree panoramic camera devices for the unmanned automobile, wherein the base is provided with a camera installation position, the camera installation position is provided with a camera lifting device, the 360-degree panoramic camera devices are installed in the camera installation position, and the camera lifting device can control the 360-degree panoramic camera devices to extend out of the base so as to carry out 360-degree panoramic camera shooting or retract into the base; the long axes of the curved mirror surfaces of the two 360-degree panoramic camera devices are positioned in the same axial direction.
Furthermore, the outer surface of the shell of the 360-degree panoramic shooting device is provided with a first camera calibration texture, and the first camera calibration texture is used for calibrating the relative positions of the two 360-degree panoramic shooting devices.
Furthermore, a central processing unit, a memory, a sensor unit and a GPS are also arranged in the base, and the central processing unit is respectively electrically connected with the 360-degree panoramic camera device, the camera lifting device, the sensor unit, the GPS and the memory; the memory is used for storing shooting data of the 360-degree panoramic camera, detection data of the sensor unit and GPS data, and the sensor unit comprises: the central processing unit is also used for being electrically connected with a control system of the automobile.
Furthermore, a communication unit is further arranged in the base, the central processing unit is electrically connected with the communication unit, and the communication unit is used for uploading shooting data of the 360-degree camera device, detection data of the sensor unit and GPS data to a server.
Furthermore, a power supply unit is further arranged in the base and electrically connected with the central processing unit.
Furthermore, a rubber sealing ring is arranged at the edge of the camera installation position; when 360 degree panorama camera device is in the installation position of making a video recording rises or when descending, 360 degree panorama camera device's casing the light transmission district can with rubber seal produces the friction thereby right the light transmission district carries out self-cleaning in order to guarantee the luminousness.
Compared with the prior art, the beneficial effects of the utility model reside in that:
this a 360 degree panorama camera device for unmanned vehicle adopts the tangent plane to be oval curved surface mirror surface, make full use of camera sensor's perception region, the shared effective pixel area of mirror surface formation of image has been increased, compare in the 360 degrees panorama cameras of traditional adoption tangent plane for circular mirror surface, multiplicable 33% effective pixel area, convert the perception distance into, the perception distance that also is the farthest is than originally having enlarged 33%, thereby realize reducing the sensor quantity of unmanned sensing equipment, the equipment cost is reduced.
Drawings
Fig. 1 is an imaging schematic diagram of a conventional 360-degree panoramic camera;
fig. 2 is a schematic view of a mirror image of a conventional 360-degree panoramic camera;
fig. 3 is a schematic view of a mirror image of a 360-degree panoramic camera device for an unmanned vehicle according to the present invention;
fig. 4 is a schematic structural view of a 360-degree panoramic camera device for an unmanned vehicle according to the present invention;
FIG. 5 is a schematic view of mirror calibration texture provided on the top of the inner cavity of the housing of the 360 degree panoramic camera for the unmanned vehicle of FIG. 1;
fig. 6 is a schematic view of a first structure of a vision sensing apparatus for an unmanned vehicle according to the present invention, wherein the vision sensing apparatus is in an operating state;
fig. 7 is a second schematic structural diagram of a vision sensing apparatus for an unmanned vehicle according to the present invention, wherein the vision sensing apparatus is in a standby state;
fig. 8 is a block diagram of a system structure of a vision sensing apparatus for an unmanned vehicle according to the present invention;
fig. 9 is a stereoscopic vision range diagram of a visual sensing device for an unmanned vehicle according to the present invention.
In the figure: 100. a 360 degree panoramic camera; 10. a curved mirror surface; 11. a camera sensor; 12. a housing; 13. a first camera calibration texture; 14. mirror surface calibration texture; 200. a base; 20. a camera lifting device; 21. the second camera calibrates the texture.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 4 and 5, a 360-degree panoramic camera 100 for an unmanned vehicle includes a curved mirror 10, a camera sensor 11, and a housing 12; the section of the curved mirror surface 10 is an ellipse, and the curved mirror surface 10 and the camera sensor 11 are arranged inside the shell 12; the curved mirror surface 10 is arranged at the top of the shell 12, the camera sensor 11 is positioned right below the curved mirror surface 10, and the camera shooting direction is opposite to the curved mirror surface 10; the long axis of the curved mirror surface 10 and the long edge of the camera sensor 11 are located in the same direction, and the long axis of the curved mirror surface 10 is larger than the wide edge of the camera sensor 11 and smaller than or equal to the long edge of the camera sensor 11; casing 12 is equipped with the light zone so that light all around can shine to in order to realize 360 degrees panorama camera shooting on the curved surface mirror surface 10, casing 12 specifically is the cylindrical casing that has transparent lateral wall.
This a 360 degree panorama camera device 100 for unmanned vehicle adopts the tangent plane to be oval curved surface mirror surface 10, make full use of camera sensor 11's perception region, the shared effective pixel area of mirror surface formation of image has been increased, compare in the 360 degrees panorama cameras that traditional adoption tangent plane was circular mirror surface, special design through the reflection curved surface, this equipment can be under the condition that does not change camera CMOS sensor basic resolution, multiplicable 33% effective pixel area, convert the perception distance into, the farthest perception distance has just also enlarged 33% than originally, thereby realize reducing unmanned sensing equipment's sensor quantity, the equipment cost is reduced.
Specifically, referring to fig. 1 and 2, the image of the camera sensor 11 is a perfect circle in a conventional 360-degree specular reflection device, and for most image sensors, the sensor array is a rectangle (usually 4:3 aspect ratio), and the perfect circle image is mapped onto the 4:3 rectangle sensor, so that a considerable sensor area is wasted. For the visual sensor of the unmanned vehicle, it is important to obtain as many effective pixels as possible, because the unmanned vehicle must sense the existence of an obstacle several hundred meters away from the front, and then have enough time to make analysis decisions on the road conditions, and the unmanned vehicle must have enough effective pixels to support when being able to identify an obstacle far enough.
Therefore, unlike the classical circular mirror, we stretch the mirror in the x-direction (i.e. along the long side of the camera sensor 11) to make the ratio of the long axis to the short axis of the mirror and the aspect ratio of the sensor (e.g. 4:3), so that the image of the mirror can be fully used in the size range of the sensor, and this design can increase the effective pixel of the 360-degree panoramic camera sensor by nearly 33%, and when converting into the sensing distance, the farthest sensing distance can be increased by 33%. Referring to fig. 3, it is to adopt the utility model provides a mirror image for 360 degrees panorama camera device 100 of unmanned vehicle.
Note that, since the mirror surface of the 360-degree panoramic image sensor is no longer circularly symmetric, attention is required when mounting to an automobile: the wide side of the mirror surface is perpendicular to the driving direction of the vehicle, and the driving direction of the vehicle needs most effective pixels, so that the wide side of the mirror surface needs to be perpendicular to the driving direction, and the increased effective pixels are used for sensing the road condition of the driving direction.
As a preferred embodiment, the curvature of the curved mirror 10 is determined according to the required viewing angle range of the vertical angle formed by the specular reflection, which is-45 ° to 30 ° for the unmanned application scenario. Of course, for other application scenarios, the curvature of the curved mirror 10 can be adjusted to obtain the desired vertical angle viewing angle range.
In a preferred embodiment, the top of the inner cavity of the housing 12 is provided with a mirror-surface calibration texture 14, and the mirror-surface calibration texture 14 surrounds the edge of the curved mirror surface 10. The mirror alignment texture 14 can be provided on the entire top of the interior cavity of the housing 12 so that the mirror alignment texture 14 always surrounds the curved mirror 10 regardless of the position of the curved mirror 10.
In order to restore the image of the reflecting curved surface into a horizontal projection picture, the position of the camera relative to the reflecting curved surface needs to be calculated with high precision, and the camera can observe the calibration texture on the periphery of the reflecting curved surface to calculate the accurate position of the reflecting curved surface. The specific algorithm is as follows:
1. detecting angular points of black and white textures in the acquired image;
2. calculating the position of the elliptical outline of the reflector in the image according to the position of the angular point in the image;
3. and according to the position of the oval outline, cutting and unfolding the shot picture into a horizontal projection picture.
Referring to fig. 6 to 8, the utility model also provides a visual sensing equipment for unmanned vehicle, including base 200 and two as above 360 degrees panorama camera device 100 for unmanned vehicle, base 200 is equipped with the installation position of making a video recording, the installation position of making a video recording is equipped with camera elevating gear 20, 360 degrees panorama camera device 100 is installed in the installation position of making a video recording and camera elevating gear 20 can control 360 degrees panorama camera device 100 stretches out of base 200 in order to carry out 360 degrees panorama camera or retract inside base 200; the long axes of the curved mirror surfaces 10 of the two 360-degree panoramic imaging apparatuses 100 are located in the same axial direction.
This a visual sensing equipment for unmanned vehicle adopts two 360 degrees panorama camera device 100, can use the image data that two 360 degrees panorama camera device 100 gathered, calculates the degree of depth information of object in the field of vision. Since the depth information requires a certain parallel distance between the two cameras, a small number of angles cannot obtain the depth information within the entire 360-degree range, as shown in fig. 9. It can be seen that the reliable stereoscopic information has certain stereoscopic ineffective areas on both sides in the forward and backward areas, i.e., the direction of vehicle travel. Information of the stereoscopic vision invalid area can still be collected by one camera, and the perception information of the area can be acquired by a monocular object detection algorithm.
The base 200 is mainly used for ensuring that the relative positions of the two cameras are fixed so as to conveniently calculate a 3D (three-dimensional) view; and a camera lifting device 20 is built in, and when the 360-degree panoramic camera 100 is not used, the camera is folded to protect the lens from being polluted by wind, rain, air impurities and the like. A rubber ring (i.e., a rubber seal ring) is installed at the intersection of the 360-degree panoramic photographing apparatus 100 and the base 200, so that the transparent cylindrical surface is automatically cleaned in the camera lifting process, and the high light transmittance of the lens is maintained. In addition, the base 200 is used to house other sensor units, a central processing unit, a memory, a communication unit, a power supply unit, and the like. When the automobile seat is installed and used, the automobile seat is directly fixed on the roof of an automobile through the base 200.
In a preferred embodiment, the outer surface of the housing 12 of the 360-degree panoramic camera 100 is provided with a first camera calibration texture 13, and the first camera calibration texture 13 is used for calibrating the relative positions of two 360-degree panoramic camera 100.
The calibration of the relative positions of two 360-degree panoramic cameras 100 is crucial to calculating the depth information of stereo vision, and there are two methods for calculating the relative positions of two cameras:
1. because the panoramic image can be seen by the 360-degree camera, and the other camera can also be seen directly, the position parameters of the cameras can be calculated by observing the calibration texture installed on the other camera. In the case that the relative distance of the camera is fixed on the base 200, the camera position parameter to be calculated is mainly the relative angular position of the camera. The specific algorithm is as follows:
finding the position of the correction texture of the black and white grid in a 360 degree image
Positioning the camera position according to the texture position
Translating the 360 image along the X-axis (i.e. horizontal 360 wrap around) to a standard position (equivalent to rotating the image of the opposing camera horizontally to the edge) using the calculated X-axis coordinate position of the camera position
2. For the solution that the camera may move on the base 200, a second camera calibration texture 21 may be added on the base 200, and the estimation of the relative position of the camera is realized by two cameras observing the texture at the same time, and the specific algorithm is as follows:
detecting the corner points on the second camera calibration texture 21 on the mount 200 between the two cameras
From the observed texture corner coordinates, the position of each camera relative to the second camera calibration texture 21 is calculated
The second camera calibration texture 21 is used as a unified coordinate system, and both cameras are converted to this common coordinate system, thereby obtaining their relative positions.
As a preferred embodiment, a central processing unit, a memory, a sensor unit and a GPS are further disposed in the base 200, and the central processing unit is electrically connected to the 360-degree panoramic image capturing apparatus 100, the camera lifting device 20, the sensor unit, the GPS and the memory respectively; the memory is used for storing shooting data of the 360-degree panoramic photographing apparatus 100, detection data of the sensor unit, and GPS data, the sensor unit including: the central processing unit is also used for being electrically connected with a control system of the automobile. Through integrated central processing unit, memory sensor unit and GPS, directly through 360 degrees panorama camera device 100 through video bus with data transmission to central processing unit carry out image correction, three-dimensional point cloud calculation and synthesize GPS and other sensors for example IMU to make road surface analysis, utilize these analytic data, central processing unit and vehicle control system interact, acquire the vehicle data of traveling and provide control information, the data of gathering simultaneously can be stored through storage system, can also upload to the high in the clouds through communication unit's 4G or 5G.
As a preferred embodiment, a communication unit is further disposed in the base 200, the central processing unit is electrically connected to the communication unit, and the communication unit is configured to upload the shooting data of the 360-degree camera, the detection data of the sensor unit, and the GPS data to a server. The communication unit may be a WiFi wireless communication module, a 4G/5G communication module, or the like.
As a preferred embodiment, a power supply unit is further disposed in the base 200, and the power supply unit is electrically connected to the central processing unit. The power supply unit is a battery, preferably a rechargeable battery, for supplying power to the entire visual sensor device. Of course, when the vision sensing device is not provided with a power supply unit, the vision sensing device can be directly connected to a vehicle-mounted power supply of the automobile through a power line to supply power to the vision sensing device.
In a preferred embodiment, a rubber sealing ring is arranged at the edge of the camera installation position; when the 360-degree panoramic shooting device 100 is in the shooting installation position rises or falls, the light transmission area of the shell 12 of the 360-degree panoramic shooting device 100 can rub against the rubber sealing ring, so that the light transmission area is automatically cleaned to ensure the light transmittance.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Claims (10)
1. A360-degree panoramic camera device for an unmanned automobile is characterized by comprising a curved mirror surface, a camera sensor and a shell; the section of the curved mirror surface is an ellipse, and the curved mirror surface and the camera sensor are arranged inside the shell; the curved mirror surface is arranged at the top of the shell, the camera sensor is positioned under the curved mirror surface, and the camera shooting direction is opposite to the curved mirror surface; the long axis of the curved mirror surface is positioned in the same direction as the long edge of the camera sensor, and the long axis of the curved mirror surface is larger than the wide edge of the camera sensor and smaller than or equal to the long edge of the camera sensor; the casing is equipped with the light zone so that light all around can shine to in order to realize 360 degrees panorama camera shooting on the curved surface mirror surface.
2. A 360 degree panoramic camera apparatus for unmanned vehicles according to claim 1, wherein the curvature of the curved mirror is determined according to a desired viewing angle range of vertical angle formed by the mirror reflection, the desired viewing angle range of vertical angle being-45 ° to 30 °.
3. A 360 degree panoramic camera apparatus for unmanned vehicles according to claim 1, wherein the housing is a cylindrical housing with transparent side walls.
4. A 360 degree panoramic camera apparatus for unmanned vehicles as defined in claim 1, wherein the top of the interior cavity of the housing has a mirror calibration texture that wraps around the edge of the curved mirror.
5. A vision sensing apparatus for an unmanned vehicle, comprising a base and two 360-degree panoramic camera devices for the unmanned vehicle according to any one of claims 1 to 4, wherein the base is provided with a camera installation position, the camera installation position is provided with a camera lifting device, the 360-degree panoramic camera devices are installed in the camera installation position, and the camera lifting device can control the 360-degree panoramic camera devices to extend out of the base for 360-degree panoramic camera shooting or retract into the base; the long axes of the curved mirror surfaces of the two 360-degree panoramic camera devices are positioned in the same axial direction.
6. The vision sensing apparatus for an unmanned aerial vehicle of claim 5, wherein an outer surface of the housing of the 360 degree panoramic camera is provided with a first camera calibration texture for calibrating the relative position of the two 360 degree panoramic cameras.
7. The vision sensing apparatus for an unmanned aerial vehicle of claim 5, wherein the base further has a central processing unit, a memory, a sensor unit and a GPS, the central processing unit is electrically connected to the 360-degree panoramic camera, the camera lifting device, the sensor unit, the GPS and the memory, respectively; the memory is used for storing shooting data of the 360-degree panoramic camera, detection data of the sensor unit and GPS data, and the sensor unit comprises: the central processing unit is also used for being electrically connected with a control system of the automobile.
8. The vision sensing apparatus for an unmanned aerial vehicle of claim 7, wherein a communication unit is further provided in the base, the central processing unit is electrically connected to the communication unit, and the communication unit is configured to upload the photographing data of the 360-degree panoramic photographing device, the detection data of the sensor unit, and the GPS data to a server.
9. The vision sensing apparatus for an unmanned aerial vehicle of claim 8, wherein a power supply unit is further provided in the base, the power supply unit being electrically connected to the central processor.
10. The vision sensing apparatus for the unmanned aerial vehicle of any one of claims 5 to 9, wherein an edge of the imaging mount site is provided with a rubber seal; when 360 degree panorama camera device is in the installation position of making a video recording rises or when descending, 360 degree panorama camera device's casing the light transmission district can with rubber seal produces the friction thereby right the light transmission district carries out self-cleaning in order to guarantee the luminousness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921845187.XU CN212289700U (en) | 2019-10-30 | 2019-10-30 | 360-degree panoramic camera device for unmanned automobile and vision sensing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921845187.XU CN212289700U (en) | 2019-10-30 | 2019-10-30 | 360-degree panoramic camera device for unmanned automobile and vision sensing equipment |
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| Publication Number | Publication Date |
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| CN212289700U true CN212289700U (en) | 2021-01-05 |
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| CN201921845187.XU Expired - Fee Related CN212289700U (en) | 2019-10-30 | 2019-10-30 | 360-degree panoramic camera device for unmanned automobile and vision sensing equipment |
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| CN (1) | CN212289700U (en) |
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2019
- 2019-10-30 CN CN201921845187.XU patent/CN212289700U/en not_active Expired - Fee Related
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