WO2022205810A1 - 结构光模组及自主移动设备 - Google Patents
结构光模组及自主移动设备 Download PDFInfo
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- WO2022205810A1 WO2022205810A1 PCT/CN2021/120508 CN2021120508W WO2022205810A1 WO 2022205810 A1 WO2022205810 A1 WO 2022205810A1 CN 2021120508 W CN2021120508 W CN 2021120508W WO 2022205810 A1 WO2022205810 A1 WO 2022205810A1
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- G06V10/00—Arrangements for image or video recognition or understanding
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- H—ELECTRICITY
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- H04N23/60—Control of cameras or camera modules
Definitions
- the invention relates to the technical field of image processing, in particular to a structured light module and an autonomous mobile device.
- structured light as an effective means of laser detection, has been widely used in object recognition, ranging and so on. Specifically, by emitting structured light with a specific shape (such as a line laser, a cross beam, etc.) to the area to be detected, it can be detected whether there is an obstacle in the area according to the structured light pattern in the captured image of the area to be detected , and the relevant information of obstacles can also be determined through the features of the structured light image.
- a specific shape such as a line laser, a cross beam, etc.
- structured light emission and image capturing may be out of synchronization, which may result in a captured structured light image missing a structured light pattern, or a captured structured light image that is not a current real-time image.
- the reliability and accuracy of obstacle identification using structured light images will be reduced.
- the structured light image will also be distorted, which further reduces the reliability and accuracy of obstacle identification using the structured light image.
- the invention provides a structured light module and an autonomous mobile device, so as to save controller resources, ensure the synchronization of structured light irradiation and image capture, improve the real-time performance of structured light image acquisition, and reduce the distortion of structured light images , thereby improving the reliability and accuracy of obstacle recognition using structured light images.
- a structured light module including a camera module, a transmitter module, and a first control unit, wherein the transmitter module includes N structured light transmitters, and the N structured light transmitters are The structured light emitters are respectively arranged around the camera module, N ⁇ 2;
- the first control unit is signal-connected with the camera module, and is signal-connected with the transmitter module;
- the first control unit is configured to control the N structured light emitters in the emitter module to emit light in a time-sharing manner, and to control the camera module to photograph the target area illuminated by the structured light emitters .
- controlling the camera module to photograph the target area illuminated by the structured light emitter includes:
- the camera module is synchronously controlled to photograph the target area to obtain a structured light image.
- it further includes a second control unit, which is signal-connected to the first control unit and signal-connected to the camera module;
- the first control unit is further configured to send a light source discrimination signal to the second control unit synchronously when capturing the structured light image
- the second control unit is configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal.
- the first control unit is further configured to control the N structured light emitters to emit light in sequence, and set a time interval during which the N structured light emitters do not emit light after each light emission .
- controlling the camera module to photograph the target area illuminated by the structured light emitter includes:
- the camera module is synchronously controlled to photograph the target area to obtain an unstructured light image.
- it further includes a second control unit, which is signal-connected to the first control unit and signal-connected to the camera module;
- the first control unit is further configured to send a light source distinguishing signal to the second control unit synchronously when the structured light image is photographed, where the light source distinguishing signal corresponds to the N when the structured light image is photographed.
- a structured light emitter that emits light in a structured light emitter;
- the second control unit is further configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal.
- the first control unit is further configured to send a no-light source signal to the second control unit synchronously when capturing the unstructured light image, or not to send a signal to the second control unit The unit sends a signal;
- the second control unit is further configured to acquire the unstructured light image, and in response to receiving the no-light source signal, or in response to not receiving the signal sent by the first control unit,
- the unstructured light image is marked as a reference image
- the second control unit is further configured to use the reference image to perform ambient light filtering processing on the structured light image to obtain an optimized structured light image.
- an autonomous mobile device comprising:
- a structured light module installed on the main body of the device, includes a camera module, a transmitter module, and a first control unit, the transmitter module includes N structured light transmitters, and the N structured light transmitters The distribution is set around the camera module, N ⁇ 2,
- the first control unit is signal-connected with the camera module, and is signal-connected with the transmitter module,
- the first control unit is configured to control the N structured light emitters in the emitter module to emit light in a time-sharing manner, and to control the camera module to photograph the target area illuminated by the structured light emitters ;
- the main controller is configured to determine obstacle information of the target area according to the image data captured by the camera module, and to control the movement of the device according to the obstacle information.
- controlling the camera module to photograph the target area illuminated by the structured light emitter includes:
- the main controller is further configured to determine obstacle information of the target area according to the structured light image, and to control the movement of the device according to the obstacle information.
- the structured light module further includes a second control unit, which is signal-connected to the first control unit and signal-connected to the camera module;
- the first control unit is further configured to send a light source discrimination signal to the second control unit synchronously when capturing the structured light image
- the second control unit is configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal;
- the main controller is further configured to differentiate the signals according to the structured light image and its associated light source, determine whether there is an obstacle in the target area, and determine the position information of the obstacle, and control the The device moves normally or performs a predetermined obstacle avoidance action.
- the first control unit is further configured to control the N structured light emitters to emit light in sequence, and set a time interval during which the N structured light emitters do not emit light after each light emission ;
- the controlling of the camera module to photograph the target area illuminated by the structured light emitter includes:
- the camera module is synchronously controlled to photograph the target area to obtain an unstructured light image
- the main controller is further configured to determine obstacle information of the target area according to the structured light image filtered by ambient light, and to control the movement of the device according to the obstacle information.
- the structured light module further includes a second control unit, which is signal-connected to the first control unit and signal-connected to the camera module;
- the first control unit is further configured to send a light source distinguishing signal to the second control unit synchronously when the structured light image is photographed, where the light source distinguishing signal corresponds to the N when the structured light image is photographed.
- a structured light emitter that emits light in a structured light emitter;
- the second control unit is further configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal.
- the first control unit is further configured to send a no-light source signal to the second control unit synchronously when capturing the unstructured light image, or not to send a signal to the second control unit The unit sends a signal;
- the second control unit is further configured to acquire the unstructured light image, and in response to receiving the no-light source signal, or in response to not receiving the signal sent by the first control unit,
- the unstructured light image is marked as a reference image
- control unit is further configured to use the reference image to perform ambient light filtering processing on the structured light image to obtain an optimized structured light image
- the main controller is further configured to differentiate the signal according to the optimized structured light image and its associated light source, determine whether there is an obstacle in the target area, and determine the position information of the obstacle, and control according to the determination result.
- the device moves normally or performs a predetermined obstacle avoidance action.
- using the same control unit, that is, the first control unit, to control the time-sharing lighting of the transmitter module and the shooting of the camera module can effectively ensure that the transmitter The lighting of the module is synchronized with the shooting of the camera module. While saving controller resources, the synchronization of structured light irradiation and image capture can be ensured, and the real-time performance of structured light image acquisition can be improved, thereby improving the reliability and accuracy of obstacle identification using structured light images.
- the first control unit can also be used to control the camera module to shoot a reference image of the target area without structured light irradiation, and the second control unit can use the reference image to image the structured light image.
- the filtering process can reduce the interference of ambient light, so that an optimized structured light image with higher image quality can be obtained. Furthermore, by using the optimized structured light image to detect obstacles in the target area, the reliability and accuracy of obstacle detection can be further improved.
- FIG. 1 is a schematic structural diagram of a structured light module according to an embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of a module of an autonomous mobile device according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of a device structure of an autonomous mobile device according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of an obstacle identification principle of an autonomous mobile device according to an embodiment of the present invention.
- FIG. 5 is a schematic diagram of an obstacle detection scene of an autonomous mobile device according to an embodiment of the present invention.
- FIG. 6 is the structured light image obtained in an embodiment of the present invention.
- FIG. 7 is the reference image obtained in an embodiment of the present invention.
- FIG. 8 is the optimized structured light image obtained in an embodiment of the present invention.
- the "plurality" in the embodiments of the present invention refers to two or more.
- the descriptions of the first, second, etc. appearing in the embodiments of the present invention are only used for illustration and distinguishing the description objects, and have no order, nor do they represent a special limitation on the number of devices in the embodiments of the present invention, and do not constitute a description of the present invention. any limitations of the examples.
- FIG. 1 is a schematic structural diagram of a structured light module provided in an embodiment of the present invention.
- the module may include a camera module 101, a transmitter module 102, and a first control unit 103, and the transmitter module 102 may include N structured light transmitters.
- N structured light emitters are distributed around the camera module, N ⁇ 2;
- the first control unit 103 is in signal connection with the camera module 101, and is in signal connection with the transmitter module 102;
- the first control unit 103 is configured to control the N structured light emitters 1021 in the emitter module 102 to emit light in a time-sharing manner, and to control the camera module 101 to illuminate the structured light emitters 1021 the target area to shoot.
- structured light refers to a laser beam projected onto the surface of an object that can form an optical pattern of a certain shape.
- a planar laser beam projected onto the surface of an object will form a linear optical pattern, which can be called a line laser.
- a type of structured light is not limited in the present invention. Any shape such as round, square, etc.
- the target area refers to the real physical area mapped by the structured light image, that is, the actual photographing area of the photographing device that photographs the structured light image.
- an image containing the optical pattern can be acquired by an image acquisition device such as a camera, a camera, etc., to be used to subsequently determine whether there is an obstacle in the projected target area according to the image, and to calculate the obstacle according to the image. relevant physical information.
- the image including the optical pattern is the structured light image.
- the number of the structured light transmitters 1021 in the transmitter module 102 may be two, which are respectively arranged at different positions, and the first control unit 103 controls the two The structured light emitters 1021 emit light alternately to illuminate different positions of the target area.
- the transmitter module 102 can also be provided with more than two structured light transmitters 1021 in any number, and the first control unit 103 controls the light to emit light in turn according to a preset order, so as to Irradiate more different locations.
- the present invention is not limited, and the implementer can set the number of structured light emitters 1021 according to specific identification requirements.
- controlling the camera module 101 to photograph the target area illuminated by the structured light emitter 1021 may include:
- the camera module 101 is synchronously controlled to photograph the target area to obtain a structured light image.
- the structured light module may further include a second control unit 104, which is signally connected to the first control unit 103 and signally connected to the camera module 101;
- the first control unit 103 is further configured to send a light source discrimination signal to the second control unit 104 synchronously when capturing the structured light image
- the second control unit 104 is configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal.
- the light source distinguishing signal is a signal used to determine the light source corresponding to the structured light image.
- the light source discrimination signal may be used to determine whether the structured light image is captured when the left structured light emitter emits light or when the right structured light emitter emits light.
- the light source information corresponding to the structured light image can be used as a parameter for judging the position of the obstacle.
- there may be more than two emitters 1021 in the emitter module 102 and the light source distinguishing signal can naturally also be used to determine which emitter the structured light image is photographed under.
- the light source distinguishing signal can be implemented in the form of high and low levels.
- the light source distinguishing signal when the light source distinguishing signal is high, it indicates that the left transmitter emits light, and when the light source distinguishing signal is low, it indicates that the right transmitter emits light.
- binary codes can also be used to represent the positions or serial numbers of the corresponding emitters, which is not limited in the present invention, as long as the signals can be used to distinguish and represent different light sources.
- the second control unit 104 may establish an association between the structured light image and the light source discrimination signal by marking. For example, an identifier representing the left or right or serial number can be added to the structured light image data to determine the light source information corresponding to the structured light image in subsequent image applications as the data basis for obstacle identification.
- the first control unit 103 may be further configured to control the N structured light emitters 1021 to emit light in sequence, and the N structured light emitters 1021 are set to emit light each time Time interval for not glowing.
- controlling the camera module to photograph the target area illuminated by the structured light emitter may include:
- the camera module is synchronously controlled to photograph the target area to obtain an unstructured light image.
- the structured light module may further include a second control unit 104, which is signal-connected to the first control unit 103 and signal-connected to the camera module 101;
- the first control unit 103 is further configured to send a light source distinguishing signal to the second control unit 104 synchronously when the structured light image is shot, where the light source distinguishing signal corresponds to the time when the structured light image is shot.
- a structured light emitter that emits light among the N structured light emitters;
- the second control unit 104 may be further configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal.
- the first control unit 103 may be further configured to send a no-light source signal to the second control unit 104 synchronously when capturing the unstructured light image, or not to send a signal to the second control unit 104. 2.
- the control unit 104 sends a signal;
- the second control unit 104 may be further configured to acquire the unstructured light image, and in response to receiving the unstructured light signal, or in response to not receiving the signal sent by the first control unit, marking the unstructured light image as a reference image;
- the second control unit 104 may also be configured to use the reference image to perform ambient light filtering processing on the structured light image to obtain an optimized structured light image.
- image filtering is to suppress the noise of the target image under the condition of preserving the image details as much as possible, and the quality of its processing effect will directly affect the effectiveness and reliability of subsequent image analysis.
- the image filtering process mainly removes the noise generated by the ambient light in the structured light image to obtain the optimized structured light image, and then in the subsequent object recognition process using this structured light image, the Minimize the error of object recognition caused by the interference of ambient light noise, and improve the accuracy and reliability of object recognition.
- the use of the reference image to perform image filtering processing on the structured light image to obtain an optimized structured light image may include:
- ambient light filtering processing is performed on the structured light image to obtain the optimized structured light image.
- the ambient light related information may include image parameters that can characterize ambient light characteristics, for example, may include any one or more of parameters such as brightness, grayscale, RGB value, saturation, hue, image intensity, etc., or It is a parameter obtained by combining various parameters according to preset weights.
- the ambient light related information may include image parameter values of each pixel of the reference image, and correspondingly, performing ambient light filtering processing on the structured light image may include:
- the optimized structured light image is obtained by subtracting the image parameter value of each pixel point of the structured light image to be processed by the corresponding image parameter value of each pixel point of the reference image; or,
- the optimized structured light image is obtained by subtracting the image parameter value of the local area of the structured light image to be processed by the image parameter value of the corresponding local area of the reference image.
- the image parameter value may be any one or more of parameter values such as brightness, grayscale, RGB value, saturation, hue, image intensity, etc., or may be parameters obtained by combining multiple parameters according to preset weights value of .
- the image parameter value may include a brightness value
- performing ambient light filtering processing on the structured light image may include: value, subtract the corresponding brightness value of each pixel of the reference image, that is, subtract the brightness value of the corresponding pixel of the structured light image and the reference image, to obtain the optimized structured light image.
- the image parameter value may also be image intensity, RGB value, grayscale, saturation, hue, and other parameter values that can characterize image pixel characteristics. The implementer can select the type of image parameter value according to the actual application scenarios and requirements of the subsequent structured light image.
- the brightness of the optical pattern has a great influence on the recognition accuracy, and the brightness value can be selected as the
- the image parameter value is not limited in the present invention.
- image filtering processing the ambient light noise in the structured light image can be suppressed or even eliminated, so that the optical pattern formed by the structured light irradiation in the image has higher definition and more obvious features.
- the transmitter module can be effectively guaranteed. Synchronization of lighting and shooting by the camera module. While saving controller resources, the synchronization of structured light irradiation and image capture can be ensured, and the real-time performance of structured light image acquisition can be improved, thereby improving the reliability and accuracy of obstacle identification using structured light images.
- the first control unit can also be used to control the camera module to shoot a reference image of the target area without structured light irradiation, and the second control unit can use the reference image to image the structured light image.
- the filtering process can reduce the interference of ambient light, so that an optimized structured light image with higher image quality can be obtained. Furthermore, by using the optimized structured light image to detect obstacles in the target area, the reliability and accuracy of obstacle detection can be further improved.
- FIG. 2 is a schematic structural diagram of a module of an autonomous mobile device according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of a device structure of an autonomous mobile device according to an embodiment of the present invention.
- the autonomous mobile device can be any electronic device or intelligent device that can move or work automatically, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, a food delivery robot, an automatic lawn mower, a snow blower, and an unmanned aerial vehicle.
- the device may include:
- the structured light module 200 is installed on the device main body 100, and includes a camera module 201, a transmitter module 202, and a first control unit 203.
- the transmitter module 202 includes N structured light transmitters 2021, so The N structured light emitters 2021 are distributed around the camera module 201, N ⁇ 2,
- the first control unit 203 is in signal connection with the camera module 201, and is in signal connection with the transmitter module 201,
- the first control unit 203 is configured to control the N structured light emitters 2021 in the emitter module 202 to emit light in a time-sharing manner, and to control the camera module 201 to illuminate the structured light emitters 2021 the target area for shooting;
- the main controller 300 may be configured to determine the obstacle information of the target area according to the image data captured by the camera module 201, and to control the movement of the device according to the obstacle information.
- the device main body 100 has at least a driving component, including a driving wheel and a driving motor, and the main controller 300 can control the driving component to realize autonomous control of the autonomous mobile device.
- the device main body 100 may further include other workloads, such as cleaning components, cutting components, photographing components, etc., which are not limited in the present invention.
- controlling the camera module 201 to photograph the target area illuminated by the structured light emitter 202 may include:
- the main controller 300 is further configured to determine obstacle information of the target area according to the structured light image, and to control the movement of the device according to the obstacle information.
- structured light refers to a laser beam projected onto the surface of an object that can form an optical pattern of a certain shape.
- FIG. 4 is a schematic diagram of an obstacle recognition principle of an autonomous mobile device provided by an embodiment of the present invention.
- the laser transmitters E and F both emit planar line lasers.
- the laser beam projected on the obstacle will form a linear optical pattern, such as the linear pattern AB and the linear pattern CD shown in Figure 4, the beams emitted by the laser emitters E and F can be called line lasers, which belong to structured light a kind of.
- the specific shape of the structured light beam and the shape of the optical pattern formed by it are not limited in the present invention.
- the shape of the formed optical pattern may also be any shape such as a line, a cross, a triangle, a circle, and a square.
- the target area may be the direction of the autonomous mobile device in which obstacles need to be detected, the photographable area of the image acquisition device of the autonomous mobile device, and the size of the photographable area depends on the image acquisition device the visible range (field of view, etc.).
- the image acquisition device may be a camera, a camera, etc.
- the image acquisition device may also be a corresponding non-visible light camera, such as an infrared camera.
- FIG. 5 is a schematic diagram of an obstacle detection scene of an autonomous mobile device according to an embodiment of the present invention.
- the visual range of the camera C of the autonomous mobile device is the ⁇ angle range in front of the camera, and the visual range can be regarded as a target area.
- the target area is generally in the In the traveling direction of the device, the two structured light lasers A and B of the device can emit structured light into the visible range.
- the camera C can obtain the structured light image by capturing an image within the time period when the target area is illuminated by the structured light.
- an obstacle appears on the propagation path of the structured light (such as an obstacle in the traveling direction of the autonomous mobile device)
- a corresponding optical pattern will be formed, and the structured light image of the target area captured by the camera C will contain
- the optical pattern will be included. According to the optical pattern, the obstacle can be detected, and the distance, shape, size and other related information of the obstacle can also be analyzed.
- controlling the camera module 201 to photograph the target area illuminated by the structured light emitter may include:
- the main controller 300 may be further configured to determine obstacle information of the target area according to the structured light image, and to control the movement of the device according to the obstacle information.
- the structured light module 200 may further include a second control unit 204, which is signally connected to the first control unit 203 and signally connected to the camera module 201;
- the first control unit 203 may also be configured to send a light source discrimination signal to the second control unit 204 synchronously when capturing the structured light image,
- the second control unit 204 may be configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal;
- the main controller 300 may be further configured to distinguish signals according to the structured light image and its associated light source, determine whether there is an obstacle in the target area, and determine the position information of the obstacle, and control according to the determination result.
- the device moves normally or performs a predetermined obstacle avoidance action.
- the light source distinguishing signal is a signal used to determine the light source corresponding to the structured light image.
- the light source discrimination signal can be used to determine whether the structured light image is captured when the left structured light emitter emits light or when the right structured light emitter emits light.
- the light source information corresponding to the structured light image can be used as a parameter for judging the position of the obstacle.
- the transmitter module 202 may have more than two transmitters 2021 . As shown in FIG.
- the transmitters 2021 are disposed on the device body 100 along the circumferential direction of the device body 100 .
- the light source discrimination signal can naturally also be used to determine which emitter the structured light image is photographed under illumination.
- the light source distinguishing signal can be implemented in the form of high and low levels. For example, when the light source distinguishing signal is high, it indicates that the left transmitter emits light, and when the light source distinguishing signal is low, it indicates that the right transmitter emits light.
- binary codes can also be used to represent the positions or serial numbers of the corresponding emitters, which is not limited in the present invention, as long as the signals can be used to distinguish and represent different light sources.
- the second control unit 204 may establish an association between the structured light image and the light source discrimination signal by marking. For example, an identifier representing a left or right or a serial number can be added to the structured light image data, and the main controller 300 of the autonomous mobile device can more accurately determine the position information of the obstacle according to the light source information corresponding to the structured light image, so as to control all the obstacles. The device performs more accurate obstacle avoidance maneuvers.
- the structured light image in addition to the optical pattern, also includes optical noise caused by ambient light in the target area, and the ambient light may include, for example, sunlight, lights, Light reflected from objects, etc.
- FIG. 6 is the structured light image obtained in an embodiment of the present invention.
- the structured light image in addition to the optical pattern formed by the structured light irradiating the obstacle, there is also ambient light noise caused by the existence of various ambient lights.
- Object recognition will cause recognition errors due to the interference of ambient light noise (for example, there may also be optical patterns generated by similar structured light irradiation in ambient light noise, or the optical patterns formed by structured light are covered by ambient light noise, etc., which will lead to subsequent recognition error), resulting in low recognition accuracy and reliability.
- ambient light noise for example, there may also be optical patterns generated by similar structured light irradiation in ambient light noise, or the optical patterns formed by structured light are covered by ambient light noise, etc., which will lead to subsequent recognition error
- the first control unit 203 may be further configured to control the N structured light emitters 2021 to emit light in sequence, and set N structured light emitters after each light emission The time interval in which the device 2021 does not emit light;
- the controlling the camera module 201 to photograph the target area illuminated by the structured light emitter 2021 may include:
- the camera module 201 is synchronously controlled to photograph the target area to obtain an unstructured light image
- the main controller 300 may be further configured to determine obstacle information of the target area according to the structured light image processed by ambient light filtering, and to control the movement of the device according to the obstacle information.
- the structured light module 200 may further include a second control unit 204, which is signal-connected with the first control unit 203 and signal-connected with the camera module 201;
- the first control unit 203 may also be configured to send a light source discrimination signal to the second control unit 204 synchronously when capturing the structured light image, where the light source discrimination signal corresponds to when capturing the structured light image, A structured light emitter that emits light among the N structured light emitters;
- the second control unit 204 may be further configured to acquire the structured light image, receive the light source discrimination signal, and establish an association between the structured light image and the light source discrimination signal.
- the first control unit 203 may also be configured to send a no-light source signal to the second control unit 204 synchronously when capturing the unstructured light image, or not to send a signal to the second control unit 204.
- the control unit 204 sends a signal;
- the second control unit 204 may also be configured to acquire the unstructured light image, and in response to receiving the no-light source signal, or in response to not receiving the signal sent by the first control unit 203 , marking the unstructured light image as a reference image;
- control unit 204 may also be configured to use the reference image to perform ambient light filtering processing on the structured light image to obtain an optimized structured light image;
- the main controller 300 is further configured to differentiate the signal according to the optimized structured light image and its associated light source, determine whether there is an obstacle in the target area, and determine the position information of the obstacle, and according to the determination result Control the device to move normally or perform a predetermined obstacle avoidance action.
- image filtering is to suppress the noise of the target image under the condition of preserving the image details as much as possible, and the quality of its processing effect will directly affect the effectiveness and reliability of subsequent image analysis.
- the image filtering process mainly removes the noise generated by the ambient light in the structured light image to obtain the optimized structured light image, and then in the subsequent object recognition process using this structured light image, the Minimize the error of object recognition caused by the interference of ambient light noise, and improve the accuracy and reliability of object recognition.
- the use of the reference image to perform image filtering processing on the structured light image to obtain an optimized structured light image may include:
- S231 Acquire ambient light related information from the reference image.
- S232 Perform ambient light filtering processing on the structured light image according to the ambient light related information to obtain the optimized structured light image.
- the ambient light related information may include image parameters that can characterize ambient light characteristics, for example, may include any one or more of parameters such as brightness, grayscale, RGB value, saturation, hue, image intensity, etc., or It is a parameter obtained by combining various parameters according to preset weights.
- the ambient light related information may include image parameter values of each pixel of the reference image, and correspondingly, performing ambient light filtering processing on the structured light image may include:
- the optimized structured light image is obtained by subtracting the image parameter value of each pixel point of the structured light image to be processed by the corresponding image parameter value of each pixel point of the reference image; or,
- the optimized structured light image is obtained by subtracting the image parameter value of the local area of the structured light image to be processed by the image parameter value of the corresponding local area of the reference image.
- the image parameter value may be any one or more of parameter values such as brightness, grayscale, RGB value, saturation, hue, image intensity, etc., or may be parameters obtained by combining multiple parameters according to preset weights value of .
- the image parameter value may include a brightness value
- performing ambient light filtering processing on the structured light image may include: value, subtract the corresponding brightness value of each pixel of the reference image, that is, subtract the brightness value of the corresponding pixel of the structured light image and the reference image, to obtain the optimized structured light image.
- the image parameter value may also be image intensity, RGB value, grayscale, saturation, hue, and other parameter values that can characterize image pixel characteristics. The implementer can select the type of image parameter value according to the actual application scenarios and requirements of the subsequent structured light image.
- the brightness of the optical pattern has a great influence on the recognition accuracy, and the brightness value can be selected as the
- the image parameter value is not limited in the present invention.
- image filtering processing the ambient light noise in the structured light image can be suppressed or even eliminated, so that the optical pattern formed by the structured light irradiation in the image has higher definition and more obvious features.
- FIG. 7 is the reference image obtained in an embodiment of the present invention.
- FIG. 8 is the optimized structured light image obtained in an embodiment of the present invention.
- FIG. 8 is an optimized structured light image obtained after performing image filtering processing on the structured light image shown in FIG. 6 using the reference image shown in FIG. 7 .
- the optimized structured light image only the optical pattern formed by the illumination of structured light, without the interference of ambient light noise, can be used to identify obstacles more accurately and reliably and determine the relevant information of obstacles , so that the control system of the autonomous mobile device can take accurate obstacle avoidance or obstacle crossing actions according to the obstacle information.
- the implementations provided by the above embodiments are used to ensure the synchronization of structured light irradiation and image capturing while saving controller resources, improve the real-time performance of structured light image acquisition, and reduce the distortion of structured light images, thereby improving the The reliability and accuracy of obstacle recognition by autonomous mobile devices.
- control unit, controller, etc. described in the above embodiments may be, for example, but not limited to, CPU, GPU, MCU, processing chip implemented based on FPGA or CPLD, or single-chip microcomputer.
- These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
- These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
- Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.
- each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions.
- the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
- each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
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Abstract
本发明涉及一种结构光模组及自主移动设备。所述模组包括摄像头模组、发射器模组、第一控制单元，所述发射器模组包括N个结构光发射器，所述N个结构光发射器分布设置在所述摄像头模组周围，N≥2；所述第一控制单元与所述摄像头模组信号连接，以及与所述发射器模组信号连接；所述第一控制单元被配置为控制所述发射器模组中的所述N个结构光发射器分时发光，并控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄。利用本发明各种实现方式，可以提高利用结构光图像进行障碍物识别的可靠性和准确性。
Description
本发明涉及图像处理技术领域，尤其涉及一种结构光模组及自主移动设备。
随着激光技术的飞速发展，激光检测技术已逐渐应用于各领域。其中，结构光作为一种有效的激光检测手段，在物体识别、测距等方面得到广泛应用。具体的，通过发射具有特定形状的结构光(如线激光、十字光等)到待检测区域，根据拍摄到的待检测区域的图像中的结构光图案，就可以检测到此区域是否存在障碍物，还可以通过结构光图像的特征确定障碍物的相关信息。
但是，现有技术中，会存在结构光发射和图像拍摄不同步的情况，这样会导致拍摄到的结构光图像缺失结构光图样、或者拍摄到的结构光图像不是当前的实时图像。上述情况下，就会造成利用结构光图像进行障碍物识别的可靠性和准确性降低。另外，由于环境光的干扰，也会导致结构光图像的失真，进一步导致利用结构光图像进行障碍物识别的可靠性和准确性降低。
【发明内容】
本发明提供一种结构光模组及自主移动设备，以在节省控制器资源的同时，保证结构光照射与图像拍摄的同步，提高结构光图像获取的实时性，并且减小结构光图像的失真，从而提高利用结构光图像进行障碍物识别的可靠性和准确性。
根据本发明的第一方面，提供了一种结构光模组，包括摄像头模组、发射器模组、第一控制单元，所述发射器模组包括N个结构光发射器，所述N个结构光发射器分别设置在所述摄像头模组周围，N≥2；
所述第一控制单元与所述摄像头模组信号连接，以及与所述发射器模 组信号连接；
所述第一控制单元被配置为控制所述发射器模组中的所述N个结构光发射器分时发光，并控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄。
在一种可能的实现方式中，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：
在控制所述结构光发射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像。
在一种可能的实现方式中，还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；
所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，
对应的，所述第二控制单元被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
在一种可能的实现方式中，所述第一控制单元进一步被配置为控制所述N个结构光发射器依次发光，且每次发光后设置有N个结构光发射器都不发光的时间间隔。
在一种可能的实现方式中，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：
在控制所述结构光反射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像；
在控制所述结构光反射器均不发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到无结构光图像。
在一种可能的实现方式中，还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；
所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，所述光源区分信号对应于拍摄所述结构光图像时，所述N个结构光发射器中发光的结构光发射器；
对应的，所述第二控制单元还被配置为获取所述结构光图像，以及接 收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
在一种可能的实现方式中，所述第一控制单元还被配置为在拍摄所述无结构光图像时，同步向所述第二控制单元发送无光源信号，或不向所述第二控制单元发送信号；
对应的，所述第二控制单元还被配置为获取所述无结构光图像，以及响应于接收到所述无光源信号，或响应于未接收到所述第一控制单元发送的信号，将所述无结构光图像标记为参考图像；
进一步的，所述第二控制单元还被配置为利用所述参考图像，对所述结构光图像进行环境光滤波处理，得到优化的结构光图像。
根据本发明的第二方面，提供了一种自主移动设备，所述设备包括：
设备主体；
结构光模组，安装在所述设备主体上，包括摄像头模组、发射器模组、第一控制单元，所述发射器模组包括N个结构光发射器，所述N个结构光发射器分布设置在所述摄像头模组周围，N≥2，
所述第一控制单元与所述摄像头模组信号连接，以及与所述发射器模组信号连接，
所述第一控制单元被配置为控制所述发射器模组中的所述N个结构光发射器分时发光，并控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄；
主控制器，被配置为根据所述摄像头模组拍摄的图像数据，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
在一种可能的实现方式中，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：
在控制所述结构光发射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像；
所述主控制器进一步被配置为根据所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
在一种可能的实现方式中，所述结构光模组还包括第二控制单元，与 所述第一控制单元信号连接，以及与所述摄像头模组信号连接；
所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，
对应的，所述第二控制单元被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联；
所述主控制器进一步被配置为根据所述结构光图像和其关联的光源区分信号，确定所述目标区域是否存在障碍物，以及确定障碍物的位置信息，以及根据所述确定结果控制所述设备正常移动或执行预定的避障动作。
在一种可能的实现方式中，所述第一控制单元进一步被配置为控制所述N个结构光发射器依次发光，且每次发光后设置有N个结构光发射器都不发光的时间间隔；
所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：
在控制所述结构光反射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像；
在控制所述结构光反射器均不发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到无结构光图像；
所述主控制器进一步被配置为根据经过环境光滤波处理的所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
在一种可能的实现方式中，所述结构光模组还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；
所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，所述光源区分信号对应于拍摄所述结构光图像时，所述N个结构光发射器中发光的结构光发射器；
对应的，所述第二控制单元还被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
在一种可能的实现方式中，所述第一控制单元还被配置为在拍摄所述 无结构光图像时，同步向所述第二控制单元发送无光源信号，或不向所述第二控制单元发送信号；
对应的，所述第二控制单元还被配置为获取所述无结构光图像，以及响应于接收到所述无光源信号，或响应于未接收到所述第一控制单元发送的信号，将所述无结构光图像标记为参考图像；
进一步的，所述第二控制单元还被配置为利用所述参考图像，对所述结构光图像进行环境光滤波处理，得到优化的结构光图像；
所述主控制器进一步被配置为根据所述优化的结构光图像和其关联的光源区分信号，确定所述目标区域是否存在障碍物，以及确定障碍物的位置信息，以及根据所述确定结果控制所述设备正常移动或执行预定的避障动作。
根据本发明的各方面提供的实施方式，利用同一个控制单元，即所述第一控制单元，控制所述发射器模组的分时发光和所述摄像头模组的拍摄，可以有效保证发射器模块发光和所述摄像头模组拍摄的同步。可以在节省控制器资源的同时，保证结构光照射与图像拍摄的同步，提高结构光图像获取的实时性，从而提高利用结构光图像进行障碍物识别的可靠性和准确性。
进一步的，还可以利用所述第一控制单元控制摄像头模组拍摄无结构光照射的目标区域的参考图像，通过所述第二控制单元可以利用所述参考图像，对所述结构光图像进行图像滤波处理，可以减小环境光的干扰，从而可以得到图像质量更高的优化的结构光图像。进而，利用所述优化的结构光图像，检测所述目标区域的障碍物，可以进一步提高障碍物检测的可靠性和准确度。
根据下面参考附图对示例性实施例的详细说明，本发明的其它特征及方面将变得清楚。
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了 本发明的示例性实施例、特征和方面，并且用于解释本发明的原理。
图1是本发明一种实施例提供的一种结构光模组的模块结构示意图。
图2是本发明一种实施例提供的一种自主移动设备的模块结构示意图。
图3是本发明一种实施例提供的一种自主移动设备的设备结构示意图。
图4是本发明一种实施例提供的一种自主移动设备的障碍物识别原理示意图。
图5是本发明一种实施例提供的一种自主移动设备的障碍物检测场景示意图。
图6是本发明一种实施例中得到的所述结构光图像。
图7是本发明一种实施例中获取到的所述参考图像。
图8是本发明一种实施例中得到的所述优化的结构光图像。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
应当理解，本发明的说明书和权利要求书中使用的术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在此本发明说明书中所使用的术语仅仅是出于描述特定实施例的目的，而并不意在限定本发明。如在本发明说明书和权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。还应当进一步理解，在本发明说明书和权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
本发明实施例中出现的“多个”是指两个或两个以上。本发明实施例中出现的第一、第二等描述，仅作示意与区分描述对象之用，没有次序之 分，也不表示本发明实施例中对设备个数的特别限定，不能构成对本发明实施例的任何限制。
图1是本发明一种实施例中提供的一种结构光模组的模块结构示意图。具体的，如图1所示，所述模组可以包括摄像头模组101、发射器模组102、第一控制单元103，所述发射器模组102可以包括N个结构光发射器，所述N个结构光发射器分布设置在所述摄像头模组周围，N≥2；
所述第一控制单元103与所述摄像头模组101信号连接，以及与所述发射器模组102信号连接；
所述第一控制单元103被配置为控制所述发射器模组102中的所述N个结构光发射器1021分时发光，并控制所述摄像头模组101对所述结构光发射器1021照射的目标区域进行拍摄。
其中，结构光是指投射到物体表面上可以形成一定形状的光学图案的激光束，比如，面状的激光束投射到物体表面上会形成线形的光学图案，这种光束可以称为线激光，属于结构光的一种。当然，具体的结构光光束的形状及其形成的光学图案的形状，本发明不作限定，在本发明其他一些实施例中，形成的所述光学图案的形状还可以是线形、十字形、三角形、圆形、方形等任意形状。通过结构光投射到某一区域形成的光学图案，可以获得该区域是否存在物体的信息、以及物体的距离、形状、尺寸等信息。
所述目标区域是指所述结构光图像映射的真实物理区域，即拍摄所述结构光图像的拍摄设备的实际拍摄区域。
本例中，可以通过摄像头、相机等图像获取设备获取包含所述光学图案的图像，以用于后续根据该图像确定被投射的目标区域是否存在障碍物，以及用于根据该图像推算出障碍物的相关物理信息。所述包含所述光学图案的图像，即为所述结构光图像。
在本发明一种实施例中，所述发射器模组102中所述结构光发射器1021的个数可以是两个，分别设置在不同的位置，由所述第一控制单元103控制两个结构光发射器1021交替发光，照射所述目标区域的不同位置。在本发明其他实施例中，所述发射器模组102也可以设置两个以上的任意个数的结构光发射器1021，由所述第一控制单元103控制按照预设的顺序轮流发光， 以照射更多的不同位置。具体的，本发明不作限定，实施人员可以根据具体的识别需求，设置结构光发射器1021的个数。
在本发明一种实施例中，所述控制所述摄像头模组101对所述结构光发射器1021照射的目标区域进行拍摄可以包括：
在控制所述结构光发射器1021发光时，同步控制所述摄像头模组101对所述目标区域进行拍摄，得到结构光图像。
在本发明一种实施例中，所述结构光模组还可以包括第二控制单元104，与所述第一控制单元103信号连接，以及与所述摄像头模组101信号连接；
所述第一控制单元103还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元104发送光源区分信号，
对应的，所述第二控制单元104被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
其中，所述光源区分信号是用于确定所述结构光图像对应的光源的信号，比如，如图1所示，对于发射器模组102中有左右两个结构光发射器1021的情况，所述光源区分信号可以用于确定所述结构光图像是在左结构光发射器发光时拍摄得到的，还是在右发结构光发射器发光时拍摄得到的。后续利用所述结构光图像进行障碍物识别时，结构光图像对应的光源信息，可以作为判断障碍物位置的参量。当然，在本发明其他实施例中，发射器模组102中可以有2个以上的发射器1021，所述光源区分信号自然也可以用于确定结构光图像是在哪个发射器照射下拍摄的。具体的，所述光源区分信号可以采用高低电平的形式来实现，比如光源区分信号为高电平时，表示是左发射器发光，光源区分信号为低电平时，表示是右发射器发光。当然，也可以采用二进制代码的方式，表示对应的发射器的位置或序号，本发明对此不作限定，只要信号可以用于区别表示不同光源即可。
本发明一种实施例中，所述第二控制单元104可以通过标记的方式，为所述结构光图像和所述光源区分信号建立关联。比如可以为结构光图像数据添加表示左右或序号的标识符，以在后续图像应用中，确定结构光图像 对应的光源信息，作为障碍物识别的数据基础。
在本发明另一种实施例中，所述第一控制单元103可以进一步被配置为控制所述N个结构光发射器1021依次发光，且每次发光后设置有N个结构光发射器1021都不发光的时间间隔。
具体的，本例中，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄可以包括：
在控制所述结构光反射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像；
在控制所述结构光反射器均不发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到无结构光图像。
进一步的，本例中，所述结构光模组还可以包括第二控制单元104，与所述第一控制单元103信号连接，以及与所述摄像头模组101信号连接；
所述第一控制单元103还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元104发送光源区分信号，所述光源区分信号对应于拍摄所述结构光图像时，所述N个结构光发射器中发光的结构光发射器；
对应的，所述第二控制单元104还可以被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
本发明一种实施例中，所述第一控制单元103还可以被配置为在拍摄所述无结构光图像时，同步向所述第二控制单元104发送无光源信号，或不向所述第二控制单元104发送信号；
对应的，所述第二控制单元104还可以被配置为获取所述无结构光图像，以及响应于接收到所述无光源信号，或响应于未接收到所述第一控制单元发送的信号，将所述无结构光图像标记为参考图像；
进一步的，所述第二控制单元104还可以被配置为利用所述参考图像，对所述结构光图像进行环境光滤波处理，得到优化的结构光图像。
其中，图像滤波是在尽量保留图像细节特征的条件下对目标图像的噪声进行抑制，其处理效果的好坏将直接影响到后续图像分析的有效性和可靠性。
本例中，所述图像滤波处理主要是去除所述结构光图像中的环境光产生的噪声，得到所述优化的结构光图像，进而在后续利用这种结构光图像进行物体识别过程中，减小因为环境光噪声的干扰导致物体识别的误差，提高物体识别的准确性和可靠性。
本发明一种实施例中，所述利用所述参考图像，对所述结构光图像进行图像滤波处理，得到优化的结构光图像可以包括：
从所述参考图像中获取环境光相关信息；
根据所述环境光相关信息，对所述结构光图像进行环境光滤波处理，得到所述优化的结构光图像。
其中，所述环境光相关信息可以包括能够表征环境光特征的图像参数，比如可以包括亮度、灰度、RGB值、饱和度、色调、图像强度等参数中的任意一种或多种，也可以是多种参数按照预设权重组合得到的参数。
在本发明另一种实施例中，所述环境光相关信息可以包括参考图像各像素点的图像参数值，对应的，所述对所述结构光图像进行环境光滤波处理可以包括：
将所述待处理的结构光图像各像素点的图像参数值，减去对应的所述参考图像各像素点的图像参数值，得到所述优化的结构光图像；或，
将所述待处理的结构光图像局部区域的图像参数值，减去对应的所述参考图像局部区域的图像参数值，得到所述优化的结构光图像。
其中，所述图像参数值可以是亮度、灰度、RGB值、饱和度、色调、图像强度等参数数值中的任意一种或多种，也可以是多种参数按照预设权重组合得到的参数的数值。
比如，在本发明一些实施例中，所述图像参数值可以包括亮度值，对应的，所述对所述结构光图像进行环境光滤波处理可以包括：将所述结构光图像各像素点的亮度值，减去对应的所述参考图像各像素点的亮度值，即将结构光图像和参考图像的相对应的像素点的亮度值相减，得到所述优化的结构光图像。当然，在本发明其他实施例中，所述图像参数值还可以是图像强度(image intensity)、RGB值、灰度、饱和度、色调等其他可以表征图像像素特征的参数数值。实施人员可以根据后续结构光图像的实际 应用场景和需求，选择图像参数值的类型，比如对于物体识别的应用需求，光学图案的亮度对识别准确度的影响较大，则可以选择亮度值作为所述图像参数值，本发明对此不作限定。通过图像滤波处理，可以抑制甚至消除结构光图像中的环境光噪声，从而使图像中结构光照射形成的光学图案的清晰度更高、特征更明显。
利用上述各实施例提供的实施方式，利用同一个控制单元，即所述第一控制单元，控制所述发射器模组的分时发光和所述摄像头模组的拍摄，可以有效保证发射器模块发光和所述摄像头模组拍摄的同步。可以在节省控制器资源的同时，保证结构光照射与图像拍摄的同步，提高结构光图像获取的实时性，从而提高利用结构光图像进行障碍物识别的可靠性和准确性。
进一步的，还可以利用所述第一控制单元控制摄像头模组拍摄无结构光照射的目标区域的参考图像，通过所述第二控制单元可以利用所述参考图像，对所述结构光图像进行图像滤波处理，可以减小环境光的干扰，从而可以得到图像质量更高的优化的结构光图像。进而，利用所述优化的结构光图像，检测所述目标区域的障碍物，可以进一步提高障碍物检测的可靠性和准确度。
图2是本发明一种实施例提供的一种自主移动设备的模块结构示意图。图3是本发明一种实施例提供的一种自主移动设备的设备结构示意图。所述自主移动设备可以是扫地机器人、拖地机器人、扫拖机器人、送餐机器人、自动割草机、扫雪机、无人机等任意可以自动移动或自动工作的电子设备或智能设备。具体的，如图2、如3所示，所述设备可以包括：
设备主体100；
结构光模组200，安装在所述设备主体100上，包括摄像头模组201、发射器模组202、第一控制单元203，所述发射器模组202包括N个结构光发射器2021，所述N个结构光发射器2021分布设置在所述摄像头模组201周围，N≥2，
所述第一控制单元203与所述摄像头模组201信号连接，以及与所述发射器模组201信号连接，
所述第一控制单元203被配置为控制所述发射器模组202中的所述N个结构光发射器2021分时发光，并控制所述摄像头模组201对所述结构光发射器2021照射的目标区域进行拍摄；
主控制器300，可以被配置为根据所述摄像头模组201拍摄的图像数据，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
其中，所述设备主体100至少具有驱动组件，包括驱动轮、驱动电机，由所述主控制器300可以通过控制所述驱动组件，实现自主控制所述自主移动设备。在具体的实施场景中，所述设备主体100还可以包括其他的工作负载，比如清洁组件、切割组件、拍照组件等等，本发明对此不作限定。
本发明一种实施例中，所述控制所述摄像头模组201对所述结构光发射器202照射的目标区域进行拍摄可以包括：
在控制所述结构光发射器2021发光时，同步控制所述摄像头模组201对所述目标区域进行拍摄，得到结构光图像；
所述主控制器300进一步被配置为根据所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
其中，结构光是指投射到物体表面上可以形成一定形状的光学图案的激光束。比如，图4是本发明一种实施例提供的一种自主移动设备的障碍物识别原理示意图，如图4所示，激光发射器E、F均发射的是面状的线激光，面状的激光束投射到障碍物上会形成线形的光学图案，如图4所示的线形图案AB和线性图案CD，所述激光发射器E、F发射的这种光束可以称为线激光，属于结构光的一种。当然，具体的结构光光束的形状及其形成的光学图案的形状，本发明不作限定。在本发明其他一些实施例中，形成的所述光学图案的形状还可以是线形、十字形、三角形、圆形、方形等任意形状。通过结构光投射到某一区域形成的光学图案，可以获得该区域是否存在物体的信息、以及物体的距离、形状、尺寸等信息。
其中，所述目标区域可以是所述自主移动设备的需要检测障碍物的方 向上，所述自主移动设备的图像获取装置的可拍摄区域，所述可拍摄区域的大小取决于所述图像获取装置的可视范围(视场角等)。其中，所述图像获取装置可以是相机、摄像头等，对于结构光是非可见光发射器的情况，所述图像获取装置也可以是对应的非可见光摄像头，比如红外摄像头等。
图5是本发明一种实施例提供的一种自主移动设备的障碍物检测场景示意图。如图5所示，自主移动设备的摄像头C的可视范围为所述摄像头前方θ角度范围，该可视范围即可以认为是一个目标区域，对于自主移动设备，所述目标区域一般是在所述设备的行进方向上，所述设备的两个结构光激光器A和B可以向所述可视范围内发射结构光。所述摄像头C在所述目标区域被所述结构光照射的时间段内拍摄图像，就可以得到所述结构光图像。如果所述结构光的传播路径上出现障碍物(比如自主移动设备行进方向上出现障碍物)，就会形成相应的光学图案，所述摄像头C拍摄到的所述目标区域的结构光图像中就会包含所述光学图案，根据所述光学图案，即可以检测到该障碍物，还可以分析出该障碍物的距离、形状、尺寸等相关信息。
本发明一种实施例中，所述控制所述摄像头模组201对所述结构光发射器照射的目标区域进行拍摄可以包括：
在控制所述结构光发射器发光时，同步控制所述摄像头模组201对所述目标区域进行拍摄，得到结构光图像；
所述主控制器300可以进一步被配置为根据所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
本发明另一种实施例中，所述结构光模组200还可以包括第二控制单元204，与所述第一控制单元203信号连接，以及与所述摄像头模组201信号连接；
所述第一控制单元203还可以被配置为在拍摄所述结构光图像时，同步向所述第二控制单元204发送光源区分信号，
对应的，所述第二控制单元204可以被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联；
所述主控制器300可以进一步被配置为根据所述结构光图像和其关联的光源区分信号，确定所述目标区域是否存在障碍物，以及确定障碍物的位置信息，以及根据所述确定结果控制所述设备正常移动或执行预定的避障动作。
其中，所述光源区分信号是用于确定所述结构光图像对应的光源的信号，比如，如图3所示，对于发射器模组202(如图3中虚线框内所示)中有左右两个结构光发射器2021的情况，所述光源区分信号可以用于确定所述结构光图像是在左结构光发射器发光时拍摄得到的，还是在右发结构光发射器发光时拍摄得到的。后续利用所述结构光图像进行障碍物识别时，结构光图像对应的光源信息，可以作为判断障碍物位置的参量。当然，发射器模组202中可以有2个以上的发射器2021，如图3所示，除了左右两个结构光发射器2021外，沿所述设备主体100周向设置在所述设备主体100的侧面的其他结构光发射器2021，所述光源区分信号自然也可以用于确定结构光图像是在哪个发射器照射下拍摄的。具体的，所述光源区分信号可以采用高低电平的形式来实现，比如光源区分信号为高电平时，表示是左发射器发光，光源区分信号为低电平时，表示是右发射器发光。当然，也可以采用二进制代码的方式，表示对应的发射器的位置或序号，本发明对此不作限定，只要信号可以用于区别表示不同光源即可。
本发明一种实施例中，所述第二控制单元204可以通过标记的方式，为所述结构光图像和所述光源区分信号建立关联。比如可以为结构光图像数据添加表示左右或序号的标识符，所述自主移动设备的主控制器300可以根据确定结构光图像对应的光源信息，更加精确地确定障碍物的位置信息，以控制所述设备执行更准确的避障动作。
但是在本发明的一些实施场景中，由于所述结构光图像中，除了光学图案之外，还包含所述目标区域中环境光造成的光学噪声，所述环境光可以包括比如太阳光、灯光、物体反射的光等。比如，图6是本发明一种实施例中得到的所述结构光图像。如图6所示，所述结构光图像中除了结构光照射到障碍物形成的光学图案外，还存在因各种环境光的存在而产生的环境光噪声，如果利用这种结构光图像进行障碍物识别，会因为环境光噪声的 干扰导致识别误差(比如环境光噪声中可能也存在类似结构光照射产生的光学图案，或者结构光形成的光学图案被环境光噪声覆盖等情形，都会导致后续的识别误差)，导致识别的准确性和可靠性较低。
对此，在本发明另一种实施例中，所述第一控制单元203可以进一步被配置为控制所述N个结构光发射器2021依次发光，且每次发光后设置有N个结构光发射器2021都不发光的时间间隔；
所述控制所述摄像头模组201对所述结构光发射器2021照射的目标区域进行拍摄可以包括：
在控制所述结构光反射器2021发光时，同步控制所述摄像头模组201对所述目标区域进行拍摄，得到结构光图像；
在控制所述结构光反射器均不发光时，同步控制所述摄像头模组201对所述目标区域进行拍摄，得到无结构光图像；
所述主控制器300可以进一步被配置为根据经过环境光滤波处理的所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
进一步的，本例中，所述结构光模组200还可以包括第二控制单元204，与所述第一控制单元203信号连接，以及与所述摄像头模组201信号连接；
所述第一控制单元203还可以被配置为在拍摄所述结构光图像时，同步向所述第二控制单元204发送光源区分信号，所述光源区分信号对应于拍摄所述结构光图像时，所述N个结构光发射器中发光的结构光发射器；
对应的，所述第二控制单元204还可以被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
进一步的，本例中，所述第一控制单元203还可以被配置为在拍摄所述无结构光图像时，同步向所述第二控制单元204发送无光源信号，或不向所述第二控制单元204发送信号；
对应的，所述第二控制单元204还可以被配置为获取所述无结构光图像，以及响应于接收到所述无光源信号，或响应于未接收到所述第一控制单元203发送的信号，将所述无结构光图像标记为参考图像；
进一步的，所述第二控制单元204还可以被配置为利用所述参考图像，对所述结构光图像进行环境光滤波处理，得到优化的结构光图像；
所述主控制器300进一步被配置为根据所述优化的结构光图像和其关联的光源区分信号，确定所述目标区域是否存在障碍物，以及确定障碍物的位置信息，以及根据所述确定结果控制所述设备正常移动或执行预定的避障动作。
其中，图像滤波是在尽量保留图像细节特征的条件下对目标图像的噪声进行抑制，其处理效果的好坏将直接影响到后续图像分析的有效性和可靠性。
本例中，所述图像滤波处理主要是去除所述结构光图像中的环境光产生的噪声，得到所述优化的结构光图像，进而在后续利用这种结构光图像进行物体识别过程中，减小因为环境光噪声的干扰导致物体识别的误差，提高物体识别的准确性和可靠性。
本发明一种实施例中，所述利用所述参考图像，对所述结构光图像进行图像滤波处理，得到优化的结构光图像可以包括：
S231：从所述参考图像中获取环境光相关信息。
S232：根据所述环境光相关信息，对所述结构光图像进行环境光滤波处理，得到所述优化的结构光图像。
其中，所述环境光相关信息可以包括能够表征环境光特征的图像参数，比如可以包括亮度、灰度、RGB值、饱和度、色调、图像强度等参数中的任意一种或多种，也可以是多种参数按照预设权重组合得到的参数。
在本发明另一种实施例中，所述环境光相关信息可以包括参考图像各像素点的图像参数值，对应的，所述对所述结构光图像进行环境光滤波处理可以包括：
将所述待处理的结构光图像各像素点的图像参数值，减去对应的所述参考图像各像素点的图像参数值，得到所述优化的结构光图像；或，
将所述待处理的结构光图像局部区域的图像参数值，减去对应的所述参考图像局部区域的图像参数值，得到所述优化的结构光图像。
其中，所述图像参数值可以是亮度、灰度、RGB值、饱和度、色调、 图像强度等参数数值中的任意一种或多种，也可以是多种参数按照预设权重组合得到的参数的数值。
比如，在本发明一些实施例中，所述图像参数值可以包括亮度值，对应的，所述对所述结构光图像进行环境光滤波处理可以包括：将所述结构光图像各像素点的亮度值，减去对应的所述参考图像各像素点的亮度值，即将结构光图像和参考图像的相对应的像素点的亮度值相减，得到所述优化的结构光图像。当然，在本发明其他实施例中，所述图像参数值还可以是图像强度(image intensity)、RGB值、灰度、饱和度、色调等其他可以表征图像像素特征的参数数值。实施人员可以根据后续结构光图像的实际应用场景和需求，选择图像参数值的类型，比如对于物体识别的应用需求，光学图案的亮度对识别准确度的影响较大，则可以选择亮度值作为所述图像参数值，本发明对此不作限定。通过图像滤波处理，可以抑制甚至消除结构光图像中的环境光噪声，从而使图像中结构光照射形成的光学图案的清晰度更高、特征更明显。
图7是本发明一种实施例中获取到的所述参考图像。图8是本发明一种实施例中得到的所述优化的结构光图像。图8是利用图7所示的参考图像，对图6所示的结构光图像进行图像滤波处理后，得到的优化的结构光图像。如图8所示，所述优化的结构光图像中只有结构光照射形成的光学图案，而没有环境光噪声的干扰，利用该图像可以更准确更可靠地识别障碍物以及确定障碍物的相关信息，以便自主移动设备的控制系统根据障碍物信息采取准确的避障或者越障动作。
利用上述各实施例提供的实施方式，以在节省控制器资源的同时，保证结构光照射与图像拍摄的同步，提高结构光图像获取的实时性，并且减小结构光图像的失真，从而提高所述自主移动设备进行障碍物识别的可靠性和准确性。
上述各实施例中所述的控制单元、控制器等例如可以是但不限于：CPU、GPU、MCU、基于FPGA或CPLD实现的处理芯片以或者单片机等。
这里参照根据本发明实施例的方法、装置(系统)和计算机程序产品 的流程图和/或框图描述了本发明的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本发明的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
Claims (13)
- 一种结构光模组，其特征在于，包括摄像头模组、发射器模组、第一控制单元，所述发射器模组包括N个结构光发射器，所述N个结构光发射器分布设置在所述摄像头模组周围，N≥2；所述第一控制单元与所述摄像头模组信号连接，以及与所述发射器模组信号连接；所述第一控制单元被配置为控制所述发射器模组中的所述N个结构光发射器分时发光，并控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄。
- 如权利要求1所述的结构光模组，其特征在于，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：在控制所述结构光发射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像。
- 如权利要求2所述的结构光模组，其特征在于，还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，对应的，所述第二控制单元被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
- 如权利要求1所述的结构光模组，其特征在于，所述第一控制单元进一步被配置为控制所述N个结构光发射器依次发光，且每次发光后设置有N个结构光发射器都不发光的时间间隔。
- 如权利要求4所述的结构光模组，其特征在于，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：在控制所述结构光反射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像；在控制所述结构光反射器均不发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到无结构光图像。
- 如权利要求5所述的结构光模组，其特征在于，还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，所述光源区分信号对应于拍摄所述结构光图像时，所述N个结构光发射器中发光的结构光发射器；对应的，所述第二控制单元还被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
- 如权利要求6所述的结构光模组，其特征在于，所述第一控制单元还被配置为在拍摄所述无结构光图像时，同步向所述第二控制单元发送无光源信号，或不向所述第二控制单元发送信号；对应的，所述第二控制单元还被配置为获取所述无结构光图像，以及响应于接收到所述无光源信号，或响应于未接收到所述第一控制单元发送的信号，将所述无结构光图像标记为参考图像；进一步的，所述第二控制单元还被配置为利用所述参考图像，对所述结构光图像进行环境光滤波处理，得到优化的结构光图像。
- 一种自主移动设备，其特征在于，所述设备包括：设备主体；结构光模组，安装在所述设备主体上，包括摄像头模组、发射器模组、第一控制单元，所述发射器模组包括N个结构光发射器，所述N个结构光发射器分布设置在所述摄像头模组周围，N≥2，所述第一控制单元与所述摄像头模组信号连接，以及与所述发射器模组信号连接，所述第一控制单元被配置为控制所述发射器模组中的所述N个结构光发射器分时发光，并控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄；主控制器，被配置为根据所述摄像头模组拍摄的图像数据，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
- 如权利要求8所述的自主移动设备，其特征在于，所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：在控制所述结构光发射器发光时，同步控制所述摄像头模组对所述目 标区域进行拍摄，得到结构光图像；所述主控制器进一步被配置为根据所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
- 如权利要求9所述的自主移动设备，其特征在于，所述结构光模组还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述第二控制单元发送光源区分信号，对应的，所述第二控制单元被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联；所述主控制器进一步被配置为根据所述结构光图像和其关联的光源区分信号，确定所述目标区域是否存在障碍物，以及确定障碍物的位置信息，以及根据所述确定结果控制所述设备正常移动或执行预定的避障动作。
- 如权利要求8所述的自主移动设备，其特征在于，所述第一控制单元进一步被配置为控制所述N个结构光发射器依次发光，且每次发光后设置有N个结构光发射器都不发光的时间间隔；所述控制所述摄像头模组对所述结构光发射器照射的目标区域进行拍摄包括：在控制所述结构光反射器发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到结构光图像；在控制所述结构光反射器均不发光时，同步控制所述摄像头模组对所述目标区域进行拍摄，得到无结构光图像；所述主控制器进一步被配置为根据经过环境光滤波处理的所述结构光图像，确定所述目标区域的障碍物信息，以及根据所述障碍物信息控制所述设备的移动。
- 如权利要求11所述的自主移动设备，其特征在于，所述结构光模组还包括第二控制单元，与所述第一控制单元信号连接，以及与所述摄像头模组信号连接；所述第一控制单元还被配置为在拍摄所述结构光图像时，同步向所述 第二控制单元发送光源区分信号，所述光源区分信号对应于拍摄所述结构光图像时，所述N个结构光发射器中发光的结构光发射器；对应的，所述第二控制单元还被配置为获取所述结构光图像，以及接收所述光源区分信号，以及为所述结构光图像和所述光源区分信号建立关联。
- 如权利要求12所述的自主移动设备，其特征在于，所述第一控制单元还被配置为在拍摄所述无结构光图像时，同步向所述第二控制单元发送无光源信号，或不向所述第二控制单元发送信号；对应的，所述第二控制单元还被配置为获取所述无结构光图像，以及响应于接收到所述无光源信号，或响应于未接收到所述第一控制单元发送的信号，将所述无结构光图像标记为参考图像；进一步的，所述第二控制单元还被配置为利用所述参考图像，对所述结构光图像进行环境光滤波处理，得到优化的结构光图像；所述主控制器进一步被配置为根据所述优化的结构光图像和其关联的光源区分信号，确定所述目标区域是否存在障碍物，以及确定障碍物的位置信息，以及根据所述确定结果控制所述设备正常移动或执行预定的避障动作。
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