CN108415037A - A kind of infrared and visual signature obstacle avoidance apparatus and control method - Google Patents
A kind of infrared and visual signature obstacle avoidance apparatus and control method Download PDFInfo
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- CN108415037A CN108415037A CN201810458440.XA CN201810458440A CN108415037A CN 108415037 A CN108415037 A CN 108415037A CN 201810458440 A CN201810458440 A CN 201810458440A CN 108415037 A CN108415037 A CN 108415037A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The present invention discloses a kind of infrared and visual signature obstacle avoidance apparatus and control method, this method opens and closes the pulse signal of output phase complementation and the sampling frame per second of the adjusting camera by controlling first infrared transmitting tube and second infrared transmitting tube, acquire the image that infrared light is reflected from barrier, and the brightness of image variation characteristic training sample based on the acquisition, it obtains corresponding to the grader of the left and right sides barrier of the sensing position center line of the obstacle avoidance apparatus, and then judges the position of the barrier.Finally the obstacle avoidance apparatus is driven to carry out avoidance action according to the position of judgement.Compared with the existing technology, the infrared component of low cost is combined with camera, the image brightness properties variation that the barrier captures the transmitting signal intensity difference of the infraluminescence pipe from two different distances by the camera in a determining orientation and brings is advantageously implemented to be positioned, to eliminate the influence of different reflectings surface, the accuracy described to environmental characteristic is improved.
Description
Technical field
The present invention relates to autonomous actions robotic technology fields, and in particular to a kind of infrared and visual signature obstacle avoidance apparatus
And control method.
Background technology
Acquisition of the perception of environment dependent on various sensing datas, sensor common at present include：Infrared light intensity passes
Sensor, infrared distance sensor, ultrasonic sensor, visual sensor, laser sensor etc..From precision, infrared survey
Relatively high precision can be obtained away from sensor, ultrasonic sensor, laser sensor, but cost is relatively high, removes simultaneously
The angle changing rate covered outside laser sensor is small, needs more number that can reduce the blind area of detection, and laser
Sensor mainly perceives a very narrow two dimensional surface, and there are blind areas for vertical direction.Visual sensor accomplishes ranging if necessary, then
At least two cameras are needed, cost is relatively high, and precision is not good enough, and special hole is also required on mold to place.From cost
Consider with appearance, infrared light intensity sensor is undoubtedly the most cheaply is all based on monochromatic light with most widely used but current usage
Strong detection, different materials is different to infrared transmitting, causes the adaptability to barrier poor.
Invention content
A kind of infrared and visual signature obstacle avoidance apparatus, including detection module and image processing module；
The detection module includes load carrier, infrared transmitting tube and camera, and infrared transmitting tube and camera are in angle each other
Ground is set on the load carrier, and there are two the infrared transmitting tubes, and each infrared transmitting tube has altogether with camera center line
The same crosspoint；
Described image processing module, the image for the camera to be received to barrier reflection infrared light are instructed as sample
Practice, recycles trained grader to go to judge the position of the barrier in front of the obstacle avoidance apparatus, and according to judging result control
Obstacle avoidance apparatus processed executes corresponding avoidance action；
Wherein, the barrier is in the visual angle model of the camera and each infrared transmitting tube in front of the obstacle avoidance apparatus
In enclosing.
Further, there are one the realizations in common crosspoint with the camera center line for each infrared transmitting tube
Mode is：It is arranged that each infrared transmitting tube is identical as the angle of the camera and/or horizontal distance is identical.
Further, the camera is set on the sensing position center line of the load carrier；The infrared transmitting tube
Including the first infrared transmitting tube and the second infrared transmitting tube, first infrared transmitting tube is set to the sensing position center line
Left side, second infrared transmitting tube are set to the right side of the sensing position center line.
Further, first infrared transmitting tube and second infrared transmitting tube respectively with sensing position center line
Angle at an acute angle.
Further, the barrier reflection that described image processing module first acquires on the left of the sensing position center line is red
The image of outer light as the first positive sample, make by the image that infrared light is reflected in sensing position center line left side without the barrier
For the first negative sample, it is trained to obtain the first grader；
The image that described image processing module acquires the barrier reflection infrared light on the right side of the sensing position center line again is made
For the second positive sample, the image of infrared light is reflected as the second negative sample in sensing position center line right side without the barrier
This, is trained to obtain the second grader；
First grader and second grader are combined into an assembled classifier according to default weight, for judging
The Obstacle Position in the scene sensed, wherein the figure for the infrared light that the default weight is reflected according to the barrier
Image brightness feature determines.
A kind of control method based on the obstacle avoidance apparatus, including：
Step 1, the keying that first infrared transmitting tube and second infrared transmitting tube are controlled by the controlling cycle repeated
The pulse signal of output phase complementation, and the sampling frame per second of the camera is adjusted, the pulse sequence of each controlling cycle is such as
Under：
（1）Before the instant t 0, it controls first infrared transmitting tube and second infrared transmitting tube is closed, camera is not opened
Beginning is sampled with the sampling frame per second；
（2）At the t0 moment, after first infrared transmitting tube is opened in control, the camera captures the barrier reflection and comes from
The image of the infrared light of first infrared transmitting tube, as first frame image；
（3）At the t1 moment, first infrared transmitting tube is closed in control, and opens second infrared transmitting tube, the camera
Second frame image is switched to by first frame image；
（4）T2 moment, the camera capture the infrared light of the barrier reflection from second infrared transmitting tube
Image is then turned off first infrared transmitting tube and second infrared transmitting tube, as the second frame image；
（5）At the t3 moment, into next controlling cycle, the camera starts to capture third frame image；
Wherein, the controlling cycle is all t3-t0, and wherein t3-t2 is dead time section, and the sampling frame per second is the camera
Sample the time of each frame image；
Step 2 regard the image of the infrared light of the left and right sides barrier reflection of the sensing position center line as sample, logical
It crosses training sample to be trained grader, obtains two of the left and right sides barrier of the corresponding sensing position center line
Grader, then one assembled classifier is combined into according to default weight to the two graders, for judging sensed scene
In the Obstacle Position, wherein the image brightness properties for the infrared light that the default weight is reflected according to the barrier are determined
It is fixed；
Step 3, when determining on the left of the center line of the sensing position there are when the barrier, drive the obstacle avoidance apparatus to institute
State the right side rotation of sensing position center line；When determining on the right side of the center line of the sensing position there are when the barrier, drive
Left pivot movement of the obstacle avoidance apparatus to the sensing position center line.
Further, in the step 2, the figure of the barrier reflection infrared light on the left of the sensing position center line
As being used as the first positive sample, the image for reflecting infrared light on the left of the sensing position center line without the barrier negative as first
Sample is selected and is extracted to the brightness of the image in the sampling frame per second, got in return to initial data become
To the feature that can most reflect classification essence, and then training obtains the first grader；
The image of barrier reflection infrared light on the right side of the sensing position center line is as the second positive sample, the sensing position
The image of infrared light is reflected on the right side of center line without the barrier as the second negative sample, to the image in the sampling frame per second
Brightness selected and extracted, to initial data is converted to obtain can most reflect classification essence feature, into
And training obtains the second grader.
Further, infrared light is reflected when the camera captures the barrier on the left of the sensing position center line
When image, the t0 moment of the controlling cycle controls after opening first infrared transmitting tube, the figure that the camera captures
Image brightness is I10；At the t1 moment of the controlling cycle, first infrared transmitting tube is closed in control, while being controlled described in unlatching
Second infrared transmitting tube, the brightness of image that the camera captures are I11；Wherein I10>I11.
Further, infrared light is reflected when the camera captures the barrier on the right side of the sensing position center line
When image, the t0 moment of the controlling cycle controls after opening first infrared transmitting tube, the figure that the camera captures
Image brightness is I20；The t2 moment of the controlling cycle, the brightness of image that the camera captures are I21；Wherein I20<I21.
Further, the position judgment of the barrier is carried out using the assembled classifier：With a scanning child window
Constantly the brightness in calculation window region is slided in displacement in image to be detected, and passes through the trained combination
Grader screens this feature, finally obtains desired classification results.
Beneficial effects of the present invention：Compared with the existing technology, the infrared component that low cost is combined with camera, passes through control
The phase difference of the 180 degree of the pulse signal of different direction barrier reflected light and the frame per second and camera for modulating its pulse signal
It is equal to sample frame per second, is advantageously implemented the barrier and comes from two by camera capture in a determining orientation
The transmitting signal intensity difference of the infraluminescence pipe of different distance and bring image brightness properties variation positioned, to disappear
Except the influence of different reflectings surface, and then avoidance operation is executed, improves the accuracy described to environmental characteristic.
Description of the drawings
Fig. 1 is the structural schematic diagram of a kind of infrared and visual signature obstacle avoidance apparatus provided in an embodiment of the present invention；
Fig. 2 is the organigram of detection module in the obstacle avoidance apparatus provided in an embodiment of the present invention；
Fig. 3 is the control sequential figure of the obstacle avoidance apparatus provided in an embodiment of the present invention；
Fig. 4 is the embodiment that barrier on the left of sensing center line position in front of the obstacle avoidance apparatus is detected in the present invention, the institute provided
State the brightness change sequence diagram of the camera capture images of detection module；
Fig. 5 is the embodiment that barrier on the right side of sensing center line position in front of the obstacle avoidance apparatus is detected in the present invention, the institute provided
State the brightness change sequence diagram of the camera capture images of detection module；
Fig. 6 is the flow chart of the control method of a kind of infrared and visual signature obstacle avoidance apparatus provided in an embodiment of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
It should be noted that herein, relational terms such as first and second and the like be used merely to an entity or
Person operates to be distinguished with another entity or operation, is appointed without necessarily requiring or implying existing between these entities or operation
What this actual relationship or sequence.
In the description of invention, it is to be understood that term "center", "front", "rear", "left", "right", " hard straight ", " water
It is flat ", "top", "bottom", "inner", the instructions such as "outside" orientation or positional relationship be to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of description invention and simplifies description, rather than indicate or imply that signified device or element must have specific side
Position, with specific azimuth configuration and operation, therefore should not be understood as the limitation to invention.
A kind of infrared and visual signature obstacle avoidance apparatus in the embodiment of the present invention can be come in a manner of mobile robot
Implement, including sweeping robot, AGV etc. mobile robot.The obstacle avoidance apparatus is assumed below to be installed on sweeping robot.
However it will be appreciated by those skilled in the art that other than being used in particular for mobile robot, according to the embodiment of the present invention
Construction energy expanded application in mobile terminal.
A kind of infrared and visual signature obstacle avoidance apparatus, including detection module and image processing module；As shown in Figure 1, institute
It includes load carrier 106, the first infrared transmitting tube E1, the second infrared transmitting tube E2 and camera D to state detection module, and first is infrared
Transmitting tube E1 and the second infrared transmitting tube E2 is respectively arranged at the both sides of camera D, and is set to described hold at an angle each other
On mounted mechanism 106, each infrared transmitting tube has common crosspoint O with camera center line.Wherein, load carrier 106 is used for
Fixed and two infrared transmitting tubes of isolation and camera D.
Described image processing module, for using D images for receiving barrier reflection infrared light of the camera shooting as sample
It is trained, recycles trained grader to go to judge the position of the barrier in front of the obstacle avoidance apparatus, and according to judgement
Output control obstacle avoidance apparatus executes corresponding avoidance action；Wherein, the barrier is in described in obstacle avoidance apparatus front and takes the photograph
As in the angular field of view of head D and each infrared transmitting tube.As shown in Figure 1, the visual angle of the first infrared transmitting tube E1 is labeled as
The visual angle of 104, the second infrared transmitting tube E2 are labeled as 103, and the visual angle of camera D is labeled as 105.
In the embodiment of the present invention, the first infrared transmitting tube E1 and the second infrared transmitting tube E2 respectively with the camera center
Line（The sensing position center line 107 of the load carrier 106）It is there are one the realization method of common crosspoint O：Such as Fig. 1 institutes
Show, the angle of the first infrared transmitting tube E1 and the camera D center lines 107 are labeled as 102, second infrared emission
Pipe E2 and the angle of the camera D center lines 107 are labeled as 101, and angle 102 and angle 101 are equal；The load carrier
On 106, the hole of the hole of the first infrared transmitting tube E1 position and the second infrared transmitting tube E2 respectively with the camera D
Hole position horizontal distance it is equal.
Specifically, the camera D is set on the sensing position center line 107 of the load carrier；The infrared emission
Pipe includes that the first infrared transmitting tube E1 and the second infrared transmitting tube E2, the first infrared transmitting tube E1 are set to the sensing position
The left side of center line 107, second infrared transmitting tube set the right side that E2 is placed in the sensing position center line 107.It is two infrared
The transmission power of transmitting tube is made relatively.
As shown in Fig. 2, when barrier is located at the position A in the left side of the sensing position center line 107, position A and described the
The distance of one infraluminescence pipe E1 is less than position A with the second infraluminescence pipe E2 at a distance from, therefore barrier reception described the
The second infraluminescence pipe E2's is strong described in the beam intensity ratio of one infraluminescence pipe E1, and the vertical direction where corresponding position A is put down
The light intensity situation received on face is also the same, is turned left from the right side, at the visual angle 104 and described second of the first infrared transmitting tube E1
It is described as the barrier is more and more far away from sensing position center line 107 in 103 range of visual angle of infrared transmitting tube E2
The infrared signal for the E1 transmittings that barrier receives is stronger than the infrared signal that E2 emits always.When barrier is located at the sensing position
It is red that the position B on the right side of center line 107, position B are more than position B and described second at a distance from the first infraluminescence pipe E1
The distance of outer luminous tube E2, therefore barrier receives the second infraluminescence pipe E2 described in the beam intensity ratio of the first infraluminescence pipe E1
It is weak, the light intensity situation received in the plane of the vertical direction where corresponding position B is also the same, from left to right, described
In 103 range of visual angle of the visual angle 104 of first infrared transmitting tube E1 and the second infrared transmitting tube E2, with the barrier
More and more far away from sensing position center line 107, the infrared signal for the E2 transmittings that the barrier receives emits than E1 always
Infrared signal it is strong；The intensity for reflecting signal simultaneously also can be by the visual angle 104 of E1, the visual angle 103 of E2 and the camera D
The influence of the intersecting ranges at visual angle is received, the reflection signal visual angle of the barrier and the intersecting area of the intersecting ranges are got over
Greatly, the brightness of image of the camera D captures is bigger.
The center line crosspoint O of the camera D and each infrared transmitting tube are located on sensing position center line 107,
Point O is that the camera D receives the most strong point of light, and barrier reflection in this position is stronger；Sensing position center line
107 corresponding planes are to receive and reflect most strong plane, since the left and right sides of the sensing position center line 107, by
Proximal and distal, from crosspoint O to position A, or from crosspoint O to position B, further away from crosspoint O, barrier is reflected back described take the photograph
As the intensity value of the light of head is smaller.Wherein position A and position B is in the range of receiving at the visual angle 105 of the camera D,
And the visual angle 103 at the visual angle 104 and the second infrared transmitting tube E2 without departing from the first infrared transmitting tube E1.Because institute
State the different reflectings surface of barrier there is same distance receiving intensity different problems, so implementing to provide using the present invention
The obstacle avoidance apparatus in different direction the barrier receive the intensity difference of the infrared signal that E1 and E2 emit, be conducive to
Realize that the barrier captures the infraluminescence from two different distances in a determining orientation by the camera
The transmitting signal intensity difference of pipe and bring image brightness properties variation positioned, to eliminate the shadow of different reflectings surface
It rings.
Further, in application process, it needs that robot is avoided to be too near to barrier, meanwhile, different barriers is anti-
Penetrate infrared intensity difference, when application the barrier with the obstacle avoidance apparatus at a distance from more than anticollision distance.
Further, described image processing module controls the infrared light pulse signal that the infrared transmitting tube sends out modulation,
The optical signal for the sampling frame per second that barrier is reflected back is received by the imaging sensor on camera with sampling frame per second, at described image
Between the reflection signal for the two continuous frames image that reason module is received by calculating transmitting optical signal and each pixel of imaging sensor
Time difference or phase difference（That is the parallax of correlated characteristic point）, the depth information of barrier is obtained in conjunction with principle of triangulation.
As a kind of mode that the present invention is implemented, described image processing module is by the left and right two for sensing position center line
The brightness correspondence of the image of barrier reflection infrared light marks off two class image feature datas described in side and then training is corresponding
Grader.The image of the barrier reflection infrared light on the left of the sensing position center line is acquired first as the first positive sample
This, is trained without the image of barrier reflection infrared light as the first negative sample on the left of the sensing position center line
Obtain the first grader；The barrier reflection that described image processing module is acquired again on the right side of the sensing position center line is infrared
The image of light reflects the image conduct of infrared light without the barrier as the second positive sample, sensing position center line right side
Second negative sample is trained to obtain the second grader.Left and right sides barrier is emitted the figure of infrared light by the embodiment of the present invention
As extracting discrepant training sample, then the corresponding base grader of training generation on each training sample, then to each base point
The distribution of class device presets weight and is combined into an assembled classifier, for judging the Obstacle Position in sensed scene,
The performance and nicety of grading of grader are provided.The wherein described default weight is bright according to the image for the infrared light that the barrier reflects
Feature is spent to determine.
In order to realize the function of how infrared auxiliary camera disturbance in judgement object, need to do corresponding sequential control method, such as
The sequential of the camera D and the control of two infrared transmitting tubes are drawn shown in Fig. 3, in figure, upper part signal is the camera D
Control sampling frame signal, middle section signal is the output pulse signal of the first infrared transmitting tube E1 control, lower part
Sub-signal is the output pulse signal of the second infrared transmitting tube E2 controls.Controlling cycle in the step 1 by repeating
The pulse signal of the keying output phase complementation of the first infrared transmitting tube E1 and the second infrared transmitting tube E2 is controlled, and
The sampling frame per second of the camera D is adjusted, the pulse sequence of each controlling cycle is as follows：
（1）Before the instant t 0, it controls the first infrared transmitting tube E1 and the second infrared transmitting tube E2 to close, camera
Do not start to be sampled with the sampling frame per second；
（2）At the t0 moment, after the first infrared transmitting tube E1 is opened in control, the camera, which captures the barrier reflection, to be come
From the image of the infrared light of the first infrared transmitting tube E1, as first frame image（First high level letter in sample frame
Number）, wherein the image that the camera captures ignores the intensity effect of ambient light signal；
（3）At the t1 moment, the first infrared transmitting tube E1 is closed in control, and opens the second infrared transmitting tube E2, described to take the photograph
As head D is switched to by first frame image the time interval of the second frame image, i.e., in the sampling frame signal of the described camera D controls
Low level intervals residing for the t1 moment；
（4）T2 moment, the camera catch D and receive the infrared light of the barrier reflection from the second infrared transmitting tube E2
Image, the first infrared transmitting tube E1 and the second infrared transmitting tube E2 are then turned off, as the second frame image（Sampling
Second high level signal in frame）；
（5）At the t3 moment, into next controlling cycle, the camera starts to capture third frame image；
Wherein, the controlling cycle is all t3-t0, and wherein t3-t2 is dead time section, the first infrared transmitting tube E1 and institute
The second infrared transmitting tube E2 output pulse signal phases difference 180 degree is stated, accordingly the camera D is received on imaging plane
Effective brightness value it is also equal, the sampling frame per second is time that the camera D samples each frame image.Described in step 1
The complementary pulse signal of first infrared transmitting tube E1 and the second infrared transmitting tube E2 modulation outputs is conducive in subsequent step
Barrier judgment at left and right sides of the sensing position center line.
Specifically, the emissive porwer of infrared light-emitting diode is different because of the direction of the launch.When the smaller i.e. representative element of orientation angle
The directive property of part is sensitiveer.Generally infrared light-emitting diode is used to have lens, keeps its directive property sensitiveer.Infraluminescence
The radiation intensity of pipe, becomes according to the distance on optical axis, also becomes with the difference of photo detector.Substantially luminance is with distance
It square is inversely proportional, and different with photo detector characteristic related.When transmitting infrared ray goes to control corresponding controlled device, radiation
Intensity exponentially decays with transmitting propagation distance.Camera samples the image that infraluminescence pipe emits light for convenience simultaneously
Brightness change, infraluminescence pipe work in pulse condition, the sampling frame per second one of the modulating frequency of pulsed light and the camera D
Sample；The barrier reflects infrared light at left and right sides of the sensing position center line captured to assist the camera to distinguish
Variation of the brightness of image in sequential, the duty of the first infrared transmitting tube E1 and the second infrared transmitting tube E2
Than identical and complementary, i.e. the phase of the two output modulation waveform differs 180 degree.
Preferably, when the camera captures the figure that the barrier on the left of the sensing position center line reflects infrared light
When picture, as shown in figure 4, top is divided into the sampling frame signal of the camera D controls, lower part is divided into what the camera D was received
Brightness of image variable signal, the t0 moment of the controlling cycle, after the first infrared transmitting tube E1 is opened in control, the camera shooting
The brightness of image that head D is captured is I10, which is continued until that t1 moment, time span are the camera D by first
Frame image is switched to the time interval of the second frame image；The first infrared hair is closed in the t1 moment of the controlling cycle, control
Pipe E1 is penetrated, while controlling and opening the second infrared transmitting tube E2, the brightness of image that the camera captures is I11.At this
In inventive embodiments, as shown in Fig. 2, when barrier is located at the position A in the left side of the sensing position center line 107, position A and institute
The distance for stating the first infraluminescence pipe E1 is less than position A at a distance from the second infraluminescence pipe E2, therefore barrier receives institute
The strong of the second infraluminescence pipe E2 described in the beam intensity ratio of the first infraluminescence pipe E1 is stated, the barrier reflects the first infraluminescence
The second infraluminescence pipe E2's is strong described in the beam intensity ratio of pipe E1, therefore in a controlling cycle, the camera D is in t0 ~ t1
Between section capture brightness of image I10 ratios and capture that brightness of image I11 is big in t1 ~ t2 periods, wherein camera D captures
Brightness of image is the light of light intensity and the second infraluminescence pipe E2 that the barrier reflects the first infraluminescence pipe E1
The intensity value being superimposed by force, this can generate the difference of brightness in sequential due to the position of the barrier, will be used as subsequent control
The sample characteristics selection gist of training first grader in method.
Preferably, when the camera captures the figure that the barrier on the right side of the sensing position center line reflects infrared light
When picture, as shown in figure 5, top is divided into the sampling frame signal of the camera D controls, lower part is divided into what the camera D was received
Brightness of image variable signal, the t0 moment of the controlling cycle, after the first infrared transmitting tube E1 is opened in control, the camera shooting
The brightness of image that head D is captured is I20, which is continued until that t1 moment, time span are the camera D by first
Frame image is switched to the time interval of the second frame image；The first infrared hair is closed in the t1 moment of the controlling cycle, control
Pipe E1 is penetrated, while controlling and opening the second infrared transmitting tube E2, the brightness of image that the camera captures is I21.At this
In inventive embodiments, as shown in Fig. 2, when barrier is located at the position B on the right side of the sensing position center line 107, position B and institute
The distance for stating the first infraluminescence pipe E1 is more than position B at a distance from the second infraluminescence pipe E2, therefore barrier receives institute
The weak of the second infraluminescence pipe E2 described in the beam intensity ratio of the first infraluminescence pipe E1 is stated, so barrier reflection first is infrared
The second infraluminescence pipe E2's is weak described in the beam intensity ratio of luminous tube E1, therefore in a controlling cycle, the camera D t0 ~
The t1 periods capture brightness of image I20 ratios, and in t1 ~ t2 periods to capture brightness of image I21 small, wherein the camera D is caught
The brightness of image obtained is that the barrier reflects the light intensity of the first infraluminescence pipe E1 and the second infraluminescence pipe E2
Light intensity superposition intensity value, this can generate the difference of brightness in sequential due to the position of the barrier, will be used as follow-up
The sample characteristics selection gist of training second grader in control method.
Preferably, it when the barrier appears on the center line of the sensing position, is sent out as two infrared transmitting tubes
Light intersect most strong region, the brightness of the image for the barrier reflection infrared light that the camera captures is described
The pulse signal of the phase complements of first infrared transmitting tube E1 and the second infrared transmitting tube E2 outputs so that the camera
The brightness of image of capture keeps the constant luminance value in certain sequential.
Implement one of which embodiment as the present invention, in the step 2, described image processing module relies on the sense
It is special that the brightness correspondence of the image of the left and right sides barrier reflection infrared light of Positioning Center line marks off two class images
Levy data and then the corresponding grader of training.It is as follows for the processing method of the sample of camera acquisition：
The image of barrier reflection infrared light on the left of the sensing position center line is as the first positive sample, the sensing position
Without the image of barrier reflection infrared light as the first negative sample on the left of center line, all samples pictures are all by normalizing
Turn to same size；Since the data volume that image or waveform are obtained is sizable, in order to effectively realize Classification and Identification,
The brightness to the image in the sampling frame per second is needed to be selected and extracted, to be converted to obtain to initial data
It can most reflect the feature of classification essence, and then training obtains first grader.
The image of barrier reflection infrared light on the right side of the sensing position center line is as the second positive sample, the sense
Without the image of barrier reflection infrared light as the second negative sample on the right side of Positioning Center line, all samples pictures all by
It is normalized to same size；Since the data volume that image or waveform are obtained is sizable, in order to effectively realize classification
Identification needs the brightness to the image in the sampling frame per second to be selected and extracted, to become to initial data
The feature of classification essence can most be reflected by getting in return, and then training obtains second grader.
The image zooming-out that left and right sides barrier is emitted infrared light by the embodiment of the present invention goes out discrepant training sample, then
Training generates corresponding base grader on each training sample, and then distributing default weight to each base grader is combined into a group
It closes grader and provides the performance and nicety of grading of grader for judging the Obstacle Position in sensed scene.Its
Described in preset the image brightness properties decision of the infrared light that weight reflect according to the barrier.
As a kind of mode for implementing of the present invention, using according to the good assembled classifier of the default weight training to described
The method of the position judgment of barrier:With a scanning child window, constantly displacement is slided in image to be detected first, son
The every position of window, will calculate the feature in the region；Secondly this feature is screened with the assembled classifier,
Judge whether the region is target；Then because of target samples pictures for using when the size of image may be with training grader
It is in different size, so the child window to this scanning is just needed to become larger either become smaller (or image becomes smaller), then in image
Middle sliding, then match one time；Finally obtain classification results.
Above example be only it is fully open is not intended to limit the present invention, all creation purports based on the present invention, without creating
Property labour equivalence techniques feature replacement, should be considered as the application exposure range.
Claims (10)
1. a kind of infrared and visual signature obstacle avoidance apparatus, which is characterized in that including detection module and image processing module；
The detection module includes load carrier, infrared transmitting tube and camera, and infrared transmitting tube and camera are in angle each other
Ground is set on the load carrier, and there are two the infrared transmitting tubes, and each infrared transmitting tube has altogether with camera center line
The same crosspoint；
Described image processing module, the image for the camera to be received to barrier reflection infrared light are instructed as sample
Practice, recycles trained grader to go to judge the position of the barrier in front of the obstacle avoidance apparatus, and according to judging result control
Obstacle avoidance apparatus processed executes corresponding avoidance action；
Wherein, the barrier is in the visual angle model of the camera and each infrared transmitting tube in front of the obstacle avoidance apparatus
In enclosing.
2. obstacle avoidance apparatus according to claim 1, which is characterized in that in each infrared transmitting tube and the camera
Heart line is there are one the realization method in common crosspoint：The angle phase of each infrared transmitting tube and the camera is set
With and/or horizontal distance it is identical.
3. obstacle avoidance apparatus according to claim 2, which is characterized in that the camera is set to the sense of the load carrier
On Positioning Center line；The infrared transmitting tube includes the first infrared transmitting tube and the second infrared transmitting tube, the first infrared hair
The left side that pipe is set to the sensing position center line is penetrated, second infrared transmitting tube is set to the right side of the sensing position center line
Side.
4. obstacle avoidance apparatus according to claim 1, which is characterized in that first infrared transmitting tube and described second infrared
Transmitting tube respectively with sensing position center line angle at an acute angle.
5. obstacle avoidance apparatus according to claim 1, which is characterized in that described image processing module first acquires the sensing position
As the first positive sample, center line left side in the sensing position does not have the image of barrier reflection infrared light on the left of center line
The image of the barrier reflection infrared light is trained to obtain the first grader as the first negative sample；
The image that described image processing module acquires the barrier reflection infrared light on the right side of the sensing position center line again is made
For the second positive sample, the image of infrared light is reflected as the second negative sample in sensing position center line right side without the barrier
This, is trained to obtain the second grader；
First grader and second grader are combined into an assembled classifier according to default weight, for judging
The Obstacle Position in the scene sensed, wherein the figure for the infrared light that the default weight is reflected according to the barrier
Image brightness feature determines.
6. a kind of control method based on obstacle avoidance apparatus described in claim 1 to 5, which is characterized in that including：
Step 1, the keying that first infrared transmitting tube and second infrared transmitting tube are controlled by the controlling cycle repeated
The pulse signal of output phase complementation, and the sampling frame per second of the camera is adjusted, the pulse sequence of each controlling cycle is such as
Under：
（1）Before the instant t 0, it controls first infrared transmitting tube and second infrared transmitting tube is closed, camera is not opened
Beginning is sampled with the sampling frame per second；
（2）At the t0 moment, after first infrared transmitting tube is opened in control, the camera captures the barrier reflection and comes from
The image of the infrared light of first infrared transmitting tube, as first frame image；
（3）At the t1 moment, first infrared transmitting tube is closed in control, and opens second infrared transmitting tube, the camera
Second frame image is switched to by first frame image；
（4）T2 moment, the camera capture the infrared light of the barrier reflection from second infrared transmitting tube
Image is then turned off first infrared transmitting tube and second infrared transmitting tube, as the second frame image；
（5）At the t3 moment, into next controlling cycle, the camera starts to capture third frame image；
Wherein, the controlling cycle is all t3-t0, and wherein t3-t2 is dead time section, and the sampling frame per second is the camera
Sample the time of each frame image；
Step 2 regard the image of the infrared light of the left and right sides barrier reflection of the sensing position center line as sample, logical
It crosses training sample to be trained grader, obtains two of the left and right sides barrier of the corresponding sensing position center line
Grader, then one assembled classifier is combined into according to default weight to the two graders, for judging sensed scene
In the Obstacle Position, wherein the image brightness properties for the infrared light that the default weight is reflected according to the barrier are determined
It is fixed；
Step 3, when determining on the left of the center line of the sensing position there are when the barrier, drive the obstacle avoidance apparatus to institute
State the right side rotation of sensing position center line；When determining on the right side of the center line of the sensing position there are when the barrier, drive
Left pivot movement of the obstacle avoidance apparatus to the sensing position center line.
7. control method according to claim 6, which is characterized in that in the step 2, on the left of the center line of the sensing position
Barrier reflection infrared light image as the first positive sample, there is no the barrier on the left of the center line of the sensing position
The image of infrared light is reflected as the first negative sample, and the brightness of the image in the sampling frame per second is selected and carried
It takes, to be converted to obtain the feature that can most reflect classification essence to initial data, and then training obtains the first grader；
The image of barrier reflection infrared light on the right side of the sensing position center line is as the second positive sample, the sensing position
The image of infrared light is reflected on the right side of center line without the barrier as the second negative sample, to the image in the sampling frame per second
Brightness selected and extracted, to initial data is converted to obtain can most reflect classification essence feature, into
And training obtains the second grader.
8. control method according to claim 7, which is characterized in that when the camera captures sensing position center line
When the image of the left side barrier reflection infrared light, the first infrared hair is opened in the t0 moment of the controlling cycle, control
After penetrating pipe, the brightness of image that the camera captures is I10；The t1 moment of the controlling cycle, control close described first
Infrared transmitting tube, while controlling and opening second infrared transmitting tube, the brightness of image that the camera captures is I11；Its
Middle I10>I11.
9. control method according to claim 7, which is characterized in that when the camera captures sensing position center line
When the image of the right side barrier reflection infrared light, the first infrared hair is opened in the t0 moment of the controlling cycle, control
After penetrating pipe, the brightness of image that the camera captures is I20；The t2 moment of the controlling cycle, the camera capture
Brightness of image be I21；Wherein I20<I21.
10. control method according to claim 6, which is characterized in that carry out the barrier using the assembled classifier
Position judgment：With a scanning child window, constantly the brightness in displacement sliding calculation window region is special in image to be detected
Sign, and this feature is screened by the trained assembled classifier, finally obtain desired classification results.
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