CN106204654A - 3 D stereo intelligent vision system - Google Patents
3 D stereo intelligent vision system Download PDFInfo
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- CN106204654A CN106204654A CN201610559256.5A CN201610559256A CN106204654A CN 106204654 A CN106204654 A CN 106204654A CN 201610559256 A CN201610559256 A CN 201610559256A CN 106204654 A CN106204654 A CN 106204654A
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Abstract
3 D stereo intelligent vision system, it is characterized in that, including sensor matrices group, spatial information computing module and matrix plate, described sensor is arranged on matrix plate in the way of matrix, described spatial information computing module connection matrix plate, for calculating the object real-time distance to sensor, described spatial information computing module includes computer, described computer installation has refreshing frequency, for again identifying object in real time.The present invention can build the real-time three-dimensional model of object being measured, and displacement and the speed of machine is judged by computer refreshing, position relatively is identified, after having intelligent vision, the supporting body of native system can relatively judge operation according to expection threedimensional model and visual imaging model, makes intelligent work be possibly realized.
Description
Technical field
The present invention relates to 3 d stereoscopic vision system, a kind of 3 D stereo intelligent vision system.
Background technology
Traditional visual system is mostly method based on monocular vision.At present, monocular vision target tracking algorism is
Comparative maturity, all achieves good development in a lot of fields and aspect.But monocular vision there is also the biggest defect, monocular regards
Visual information amount is little, and image lost the three-dimensional information of actual scene in projection process, it is impossible to makes full use of and follows the tracks of the vertical of target
Body structural information, therefore has irremediable defect.When using method based on monocular vision to carry out motion target tracking,
It is usually present the problems such as target occlusion and the scene light change around interference with shade.
In recent years, along with the development and progress of 3-D technology, the acquisition of threedimensional model becomes more and more convenient, stereoscopic vision
The three-dimensional information of scenery can be asked for, use the three-dimensional information of scene to follow the tracks of target, the change of scene light can be efficiently solved
Interference with shade and insoluble problem in the monocular vision such as blocking.
Summary of the invention
It is an object of the invention to overcome above-mentioned deficiency, it is provided that a kind of 3 D stereo intelligent vision system, institute can be built
Surveying the real-time three-dimensional model of object, and refreshed displacement and the speed judging excavator by computer, relative position obtains
To mark.
The object of the present invention is achieved like this: 3 D stereo intelligent vision system, including sensor matrices group, space letter
Breath computing module and matrix plate, described sensor is arranged on matrix plate in the way of matrix, described spatial information computing module
Connection matrix plate, for calculating the object real-time distance to sensor, described spatial information computing module includes computer, described
Computer installation has refreshing frequency, for again identifying object in real time.
Further, also include that infrared sensor matrix, described infrared sensor matrix are used for testing temperature.
Further, lens amplifying technique is used to reduce transducer spacing and obtain big between described sensor matrices group
Vision spacing
Further, also including 24GHz radar sensor matrix group, described 24GHz radar sensor matrix group is by launching
With the existence that the microwave that reception frequency is about 24.125GHz carrys out sense object.
The advantage of invention is:
The present invention can build the real-time three-dimensional model of object being measured, and refreshed the movement judging machine by computer
Distance and speed, relative position is identified, after having intelligent vision, the supporting body of native system can according to expection threedimensional model and
Visual imaging model relatively judges operation, makes intelligent work be possibly realized.
Accompanying drawing explanation
Accompanying drawing 1 is the system flow chart of the present invention；
Accompanying drawing 2 is the excavator application schematic diagram of the present invention；
Accompanying drawing 3 is the matrix system figure of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
Embodiment 1
A kind of hydraulic crawler excavator 3 D stereo intelligent vision matrix system, calculates mould including sensor matrix group, spatial information
Block and matrix plate, sensor is arranged on matrix plate in the way of matrix, spatial information computing module connection matrix plate, by based on
Calculating the object real-time distance to sensor, spatial information computing module includes that computer, described computer installation have refreshing frequency,
For in real time, object is identified again, also include that infrared sensor matrix, for testing temperature, uses between sensor matrices group
Lens amplifying technique reduces transducer spacing and obtains big vision spacing.
Native system is so work: assume first that a distance measuring sensor group is by A5×5Totally 25 sensor probe groups
Becoming, horizontal direction and adjacent two probe spacings of vertical direction are 1m, then distance measuring sensor group is detectable in the range of long 4m and width
4m 16m altogether2Areal extent.In the range of this, each distance measuring sensor can record the distance of corresponding point and distance measuring sensor,
Thus the matrix that order records distance composition is B5×5, additionally infrared ray sensor also can record the temperature of every, the temperature square of composition
Battle array is set to C5×5, the most each point has two kinds of identification characteristics distances and temperature, if the species number of identification characteristics is N, then, it is seen that
N is the biggest, more can more clearly identify this point.
When excavator moves forward, distance measuring sensor group moves with hydraulic crawler excavator, and testee actual bit
Put and do not change.Make distance measuring sensor measurement direction move 1m assuming that hydraulic crawler excavator moves, then testee passes from range finding
1st row of sensor group matrix moves on to the 2nd row, and this computer-chronograph, according to the identification characteristics of testee point last time, is quickly judged
Testee point has been in the 2nd row, mobile 1 lattice.Owing to every compartment is away from 1m, therefore, computer can determine whether out that hydraulic crawler excavator moves
Dynamic distance.Computer is set to refreshing frequency and is moving on to, from the 1st row, the time that the 2nd row identifies again from testee location point
t.Column direction is similar to, and is expert at and after column direction all identifications, this point is also with regard to identification.
As can be seen here, the real-time three-dimensional model of excavation surface can be built by this distance measuring sensor group, and tested by refreshing
Object identification judges that hydraulic crawler excavator displacement and speed, relative position are also identified, and provides for excavator intellectuality
Perception judges.Meanwhile, above-mentioned example A5×525 sensors of array, transducer spacing 1m, precision is low, bulky.When matrix changes
For A9×9Time, transducer spacing becomes 0.5m, it is seen then that sensor group array Am×m, the m that counts is the most, and sensor group precision is the highest.
And transducer spacing, lens amplifying technique can be used to reduce transducer spacing and to obtain big vision spacing.So that range finding
It is the least that sensor group is done.It addition, used the species number N that can increase identification characteristics by variety classes sensor combinations, and then
It is greatly increased testee identification.It is shortened by refreshing frequency t and can improve monitoring accuracy.
After having intelligent vision, hydraulic crawler excavator relatively can judge to make according to expection threedimensional model and visual imaging model
Industry, makes intelligent excavating be possibly realized.
It is last that it is noted that obviously above-described embodiment is only for clearly demonstrating the application example, and also
The non-restriction to embodiment.For those of ordinary skill in the field, can also do on the basis of the above description
Go out change or the variation of other multi-form.Here without also cannot all of embodiment be given exhaustive.And thus drawn
What Shen went out obviously changes or among the variation protection domain still in the application type.
Claims (4)
1. 3 D stereo intelligent vision system, it is characterised in that include sensor matrices group, spatial information computing module and matrix
Plate, described sensor is arranged on matrix plate in the way of matrix, described spatial information computing module connection matrix plate, by based on
Calculating the object real-time distance to sensor, described spatial information computing module includes that computer, described computer installation have refreshing
Frequency, for again identifying object in real time.
3 D stereo intelligent vision system the most according to claim 1, it is characterised in that also include infrared sensor square
Battle array, described infrared sensor matrix is used for testing temperature.
3 D stereo intelligent vision system the most according to claim 1, it is characterised in that between described sensor matrices group
Lens amplifying technique is used to reduce transducer spacing and obtain big vision spacing.
3 D stereo intelligent vision system the most according to claim 1, it is characterised in that also include that 24GHz radar senses
Device matrix group, described 24GHz radar sensor matrix group is felt by the microwave launched with reception frequency is about 24.125GHz
Answer the existence of object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610559256.5A CN106204654A (en) | 2016-07-16 | 2016-07-16 | 3 D stereo intelligent vision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610559256.5A CN106204654A (en) | 2016-07-16 | 2016-07-16 | 3 D stereo intelligent vision system |
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| CN106204654A true CN106204654A (en) | 2016-12-07 |
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| CN201610559256.5A Pending CN106204654A (en) | 2016-07-16 | 2016-07-16 | 3 D stereo intelligent vision system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334017A (en) * | 2018-01-11 | 2018-07-27 | 余军辉 | Programmable sensor array for AR systems |
| CN113688847A (en) * | 2021-08-25 | 2021-11-23 | 徐州徐工矿业机械有限公司 | Control method and device for switching operation modes of excavator and excavator |
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| CN101243328A (en) * | 2005-08-11 | 2008-08-13 | 罗伯特·博世有限公司 | Radar sensor having a compact design |
| CN103282753A (en) * | 2010-11-17 | 2013-09-04 | 株式会社伊西特姆 | Portable device for measuring temperature using infrared array sensor |
| EP3029931A1 (en) * | 2014-12-04 | 2016-06-08 | Thomson Licensing | Image sensor unit and imaging apparatus |
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| CN101243328A (en) * | 2005-08-11 | 2008-08-13 | 罗伯特·博世有限公司 | Radar sensor having a compact design |
| CN103282753A (en) * | 2010-11-17 | 2013-09-04 | 株式会社伊西特姆 | Portable device for measuring temperature using infrared array sensor |
| EP3029931A1 (en) * | 2014-12-04 | 2016-06-08 | Thomson Licensing | Image sensor unit and imaging apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334017A (en) * | 2018-01-11 | 2018-07-27 | 余军辉 | Programmable sensor array for AR systems |
| CN113688847A (en) * | 2021-08-25 | 2021-11-23 | 徐州徐工矿业机械有限公司 | Control method and device for switching operation modes of excavator and excavator |
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Application publication date: 20161207 |