阅读说明：本技术 一种障碍物探测器、方法、存储介质及移动机器 (Obstacle detector, obstacle detecting method, storage medium and mobile machine ) 是由 方遒 许师中 袁江南 洪剑锋 陈鼎 于 2020-07-13 设计创作，主要内容包括：本发明公开了一种障碍物探测器、方法、存储介质及移动机器,障碍物探测器包括：壳体、红外线组件、摄像机构以及控制器；控制器与红外线组件以及摄像机构电连接；红外线组件能产生多层平面红外线；控制器被配置为能够实现如下方法：控制红外线组件发射多层平面红外线以对待测区域进行照射；获取摄像机构拍摄的待测区域的图像；判断图像是否出现与多层平面红外线相对应的光条；当判断出现相对应的光条时,则判断有障碍物,并根据图像中多道光条的信息预估障碍物的距离、障碍物的尺寸以及方位。本发明能够快速探测待测区域是否存在障碍物以及障碍物的尺寸信息以及方位信息。(The invention discloses an obstacle detector, a method, a storage medium and a mobile machine, wherein the obstacle detector comprises: the device comprises a shell, an infrared component, a camera shooting mechanism and a controller; the controller is electrically connected with the infrared component and the camera shooting mechanism; the infrared component can generate multilayer plane infrared rays; the controller is configured to implement the following method: controlling the infrared component to emit multilayer plane infrared rays to irradiate the area to be detected; acquiring an image of a region to be detected shot by a camera mechanism; judging whether the image has light bars corresponding to the multilayer plane infrared rays; and when the corresponding light bars are judged to appear, judging that the obstacles exist, and estimating the distance, the size and the direction of the obstacles according to the information of the plurality of light bars in the image. The invention can quickly detect whether the obstacle exists in the area to be detected and the size information and the direction information of the obstacle.)

1. An obstacle detector, comprising: the device comprises a shell, an infrared component, a camera shooting mechanism and a controller, wherein the infrared component, the camera shooting mechanism and the controller are arranged on the shell; wherein the content of the first and second substances,

the controller is electrically connected with the infrared component and the camera shooting mechanism;

the infrared component can generate multilayer plane infrared rays;

the controller comprises a processor and a memory having stored therein a computer program configured to be executable by the processor to implement a method of:

controlling the infrared component to emit multilayer plane infrared rays to irradiate the area to be detected;

acquiring an image of the area to be detected shot by a camera mechanism;

judging whether the image has light bars corresponding to the multilayer plane infrared rays;

and when judging that the image has light bars corresponding to the multilayer plane infrared rays, judging that an obstacle exists, and estimating the distance, the size and the direction of the obstacle according to the information of the plurality of light bars in the image.

2. The obstacle detector according to claim 1, wherein the infrared module employs a line-type infrared laser or LED, and the number of layers of planar infrared is 2 to 160; wherein, the projection distance of the linear laser or the LED is more than or equal to 10 cm.

3. The obstacle detector of claim 2, wherein the spacing between adjacent planar infrared rays is 1-90 centimeters.

4. The obstacle detector according to claim 3, wherein the multilayer plane infrared rays have a wavelength of any of near infrared and far infrared.

5. Obstacle detector according to claim 4, characterized in that the properties of the multilayer planar infrared each comprise different angles, intensities, duty cycles, polarization directions and structure dimensions.

6. The obstacle detector of claim 5, wherein the optical axis of the camera mechanism is in the same plane as one of the layers of planar infrared.

7. The obstacle detector of claim 6, wherein each layer of planar infrared is comprised of light emitted by one or more infrared generators; the distance between the starting points of the planar infrared rays with different properties of the plurality of layers is 1-80 cm.

8. An obstacle detection method, comprising:

emitting multilayer infrared rays to irradiate the area to be measured;

acquiring an image of a region to be detected shot by a camera mechanism;

judging whether the image has a plurality of light bars corresponding to the multilayer plane infrared rays;

and when the image is judged to have a plurality of light bars corresponding to the multi-layer plane infrared rays, judging that the obstacle exists, and estimating the distance, the size and the direction of the obstacle according to the information of the plurality of light bars in the image.

9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the obstacle detection method according to claim 8.

10. A mobile machine comprising an obstacle detector as claimed in any one of claims 1 to 7.

Technical Field

The present invention relates to the field of machine vision, and in particular, to an obstacle detector, an obstacle detection method, a storage medium, and a mobile machine.

Background

Machine vision is a leading-edge field of artificial intelligence, and in recent years, machine vision measurement technology has been developed rapidly and has been widely applied to multiple fields, for example, in the prior art, a method for identifying obstacles by using machine vision technology generally adopts a camera to acquire images under the general illumination of a background light source, and then analyzes and processes the acquired images through subsequent hardware circuit and software analysis to judge whether obstacles exist around, but the software analysis and processing of the method has the disadvantages of large workload, low processing efficiency, time and labor waste and high cost.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide an obstacle detector, an obstacle detecting method, a storage medium, and a mobile device, which can simply and quickly detect whether an obstacle and basic information of the obstacle exist in a region to be detected.

An embodiment of the present invention provides an obstacle detector, including: the device comprises a shell, an infrared component, a camera shooting mechanism and a controller, wherein the infrared component, the camera shooting mechanism and the controller are arranged on the shell; wherein the content of the first and second substances,

the controller is electrically connected with the infrared component and the camera shooting mechanism;

the infrared component can generate multilayer plane infrared rays;

the controller comprises a processor and a memory having stored therein a computer program configured to be executable by the processor to implement a method of:

controlling the infrared component to emit multilayer plane infrared rays to irradiate the area to be detected;

acquiring an image of the area to be detected shot by a camera mechanism;

judging whether the image has light bars corresponding to the multilayer plane infrared rays;

and when judging that the image has light bars corresponding to the multilayer plane infrared rays, judging that an obstacle exists, estimating the distance of the obstacle according to the distance of the plurality of light bars in the image, and estimating the direction and the height of the obstacle according to the position of the plurality of light bars in the image.

Preferably, the infrared component adopts a linear infrared laser or an LED, and the number of layers of the planar infrared is 2-160; wherein, the projection distance of the linear laser or the LED is more than or equal to 10 cm.

Preferably, the spacing distance between adjacent planar infrared rays is 1 to 90 cm.

Preferably, the wavelength of the multilayer plane infrared ray is any wavelength of near infrared and far infrared.

Preferably, the properties of the multilayer planar infrared ray include different angles, intensities, duty cycles, polarization directions, and structure sizes.

Preferably, the optical axis of the camera mechanism is in the same plane with one layer of plane infrared rays.

Preferably, each layer of plane infrared rays consists of light rays emitted by one or more infrared ray generators; the distance between the starting points of the planar infrared rays with different properties of the plurality of layers is 1-80 cm.

The embodiment of the invention also provides an obstacle detection method, which comprises the following steps:

emitting multilayer infrared rays to irradiate the area to be measured;

acquiring an image of a region to be detected shot by a camera mechanism;

judging whether the image has a plurality of light bars corresponding to the multilayer plane infrared rays;

and when the image is judged to have a plurality of light bars corresponding to the multi-layer plane infrared rays, judging that the obstacle exists, and estimating the distance, the size and the direction of the obstacle according to the information of the plurality of light bars in the image.

The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the above obstacle detection method.

The embodiment of the invention also provides a mobile machine which comprises the obstacle detector.

In the above embodiment, a plurality of layers of plane infrared rays with different attributes are set on the obstacle detector, the region to be detected is irradiated, an image is extracted by the camera mechanism and analyzed, and whether obstacles exist in the region to be detected, the distance between the obstacles and the obstacle, the size of the obstacle and the like are detected quickly according to whether light bars with color attributes corresponding to the plurality of layers of plane infrared rays appear in the region corresponding to the extracted image by the camera mechanism. Compared with the prior art, the method and the device are simpler to implement and can acquire more information of the obstacles.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an obstacle detector according to a first embodiment of the present invention;

2-4 are schematic diagrams of the distribution of light bars in an image under different conditions according to the embodiment of the present invention;

fig. 5 is a schematic structural diagram of an obstacle detecting device according to a second embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a first embodiment of the present invention provides an obstacle detector, including: the device comprises a shell 6, an infrared component arranged on the shell 6, a camera shooting mechanism 5 and a controller 7; wherein the content of the first and second substances,

the controller 7 is electrically connected with the infrared component and the camera shooting mechanism 5;

the infrared component can generate multilayer plane infrared rays.

In this embodiment, the infrared ray assembly may include a plurality of planar light sources, which are sequentially arranged from top to bottom. The planar light source can adopt a linear infrared laser or an LED, and the projection distance of the linear infrared laser or the LED is generally more than or equal to 10 cm.

For example, as shown in fig. 1, in one implementation, the infrared component may include a first planar light source 2, a second planar light source 3, and a third planar light source 4, wherein the second planar light source 3 is located between the first planar light source 2 and the third planar light source 4. Each plane light source can emit plane infrared rays, and the spacing distance between the adjacent plane infrared rays is 1-90 cm. Of course, it should be noted that more or less planar light sources can be provided according to actual needs, and particularly, in the present embodiment, the number of layers of the planar infrared light is 2 to 160.

The wavelength of the multilayer plane infrared ray may be near infrared, far infrared or any infrared wavelength, and the present invention is not particularly limited.

Wherein each layer of plane infrared rays also has corresponding properties, for example, different layers of plane infrared rays can have different angles, intensities, duty cycles, polarization directions and structural dimensions.

Taking fig. 1 as an example, in the present embodiment, for example, the color attribute of the first planar light source 2 is red; the color attribute of the third planar light source 4 is green or yellow-green; the color attribute of the second-layer planar light source 3 is blue. By arranging three layers of light sources with different color attributes, three light bars with different colors can be seen when the obstacle is close (the obstacle is cut by three plane lights) and is easy to identify. Of course, the colors of the first planar light source 2, the second planar light source 3 and the third planar light source 4 may be set according to actual needs, and the present invention is not particularly limited.

In this embodiment, particularly, the plane infrared rays located in the middle layer are kept horizontal to the ground, and the plane infrared rays located on both sides of the middle layer have a predetermined angle with the plane infrared rays located in the middle layer. For example, the planar infrared rays above the intermediate layer all have a first included angle, and the planar infrared rays below the intermediate layer all have a second included angle.

In this embodiment, the camera mechanism 5 may be a camera, which is used to capture an image of the area to be measured and send the image to the controller 7.

The camera of the camera mechanism 5 and the detection direction of the infrared component are the same.

In the present embodiment, the controller 7 comprises a processor and a memory, the memory having stored therein a computer program configured to be executable by the processor to implement the method of:

and controlling the infrared assembly to emit multilayer plane infrared rays to irradiate the area to be detected.

And acquiring an image of the region to be measured by the camera mechanism 5.

And judging whether the image has a plurality of light bars corresponding to the multilayer plane infrared rays.

And when the image is judged to have a plurality of light bars corresponding to the multilayer plane infrared rays, judging that an obstacle exists, and estimating the distance, the direction and the size of the obstacle according to the information of the plurality of light bars in the image.

In this embodiment, since the planar infrared rays of different layers and the planar infrared rays of the middle layer have a predetermined included angle, the distance between the obstacle detector and the obstacle can be converted according to the included angle of the planar infrared rays and the interval between the planar infrared rays.

For example, as shown in fig. 1, assuming that the distance between the first planar light source 2 and the second planar light source 3 is a and parallel to each other, the imaging distance of the light bar corresponding to the first planar light source 2 and the second planar light source 3 on the image plane of the camera is b, and the distance between the image plane of the camera and the lens center point is f, the distance between the obstacle and the obstacle detecting device is f × a ÷ b can be calculated from the geometric relationship.

In the present embodiment, similarly, the height information of the entire obstacle can be calculated by the above calculation formula by obtaining the relative positional relationship between the lowermost light bar and the middle light bar of the uppermost light bar.

In the present embodiment, the orientation of the obstacle with respect to the obstacle detector can be roughly estimated from the distribution of the light bars on the obstacle.

For example, as shown in fig. 2, when there is a light bar at the front end and no light bar at the rear end of the surface of the obstacle in the collected image, it indicates that the obstacle has just entered the area to be detected; as shown in fig. 3, when the surface of the obstacle in the collected image entirely includes a light bar, it indicates that the obstacle entirely enters the region to be detected; as shown in fig. 4, when there is light on the rear end and no light on the front end of the surface of the obstacle in the collected image, it indicates that the obstacle is leaving the area to be detected.

Referring to fig. 5, a second embodiment of the present invention further provides an obstacle detecting method, including:

s201, emitting multilayer infrared rays to irradiate a region to be detected;

s202, acquiring an image of a to-be-detected area shot by a camera mechanism;

s203, judging whether the image has a plurality of light bars corresponding to the multilayer plane infrared rays;

and S204, judging that an obstacle exists when the image is judged to have a plurality of light bars corresponding to the multilayer plane infrared rays, and estimating the distance, the size and the direction of the obstacle according to the information of the plurality of light bars in the image.

In summary, the invention sets multiple layers of plane infrared rays with different attributes on the obstacle detector, irradiates the region to be detected, extracts and analyzes the image through the camera mechanism, and quickly detects whether the region to be detected has obstacles, the distance between the obstacles and the obstacle, the size of the obstacle and the like according to whether the corresponding region in the image has light bars with color attributes corresponding to the multiple layers of plane infrared rays through the camera mechanism. Compared with the prior art, the method and the device are simpler to implement and can acquire more information of the obstacles.

The fourth embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the obstacle detection method according to the above embodiment.

A fifth embodiment of the present invention also provides a mobile machine comprising an obstacle detector as described in the above embodiments.

Illustratively, the computer program may be divided into one or more units, which are stored in the memory and executed by the processor to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the obstacle detector.

The obstacle detector may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of an obstacle detector and does not constitute a limitation of an obstacle detector, and may include more or fewer components than shown, or some components in combination, or different components, e.g. the obstacle detector may also include input-output devices, network access devices, buses, etc.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the control center of the obstacle detector being connected to the various parts of the entire obstacle detector by means of various interfaces and lines.

The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the obstacle detector by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

Wherein the obstacle detector integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.