CN108419013B - Image acquisition system and mobile robot - Google Patents
Image acquisition system and mobile robot Download PDFInfo
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- CN108419013B CN108419013B CN201810225274.9A CN201810225274A CN108419013B CN 108419013 B CN108419013 B CN 108419013B CN 201810225274 A CN201810225274 A CN 201810225274A CN 108419013 B CN108419013 B CN 108419013B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10712—Fixed beam scanning
- G06K7/10722—Photodetector array or CCD scanning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/146—Methods for optical code recognition the method including quality enhancement steps
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Abstract
The embodiment of the invention discloses an image acquisition system and a mobile robot.A magnetic component is arranged on an image to be acquired, when the magnetic component is in the sensing range of a magnetic sensor, the magnetic sensor can detect a magnetic signal due to the electromagnetic sensing principle, and the magnetic sensor is connected with a processor and can transmit the detected magnetic signal to the processor; the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received. The timing of image acquisition by the image acquisition device is controlled in an electromagnetic induction mode, the number of images acquired by the image acquisition device is effectively reduced, the acquired images are further ensured to be effective images, the problem that a large number of ineffective images exist in the photographed images when the image acquisition device continuously shoots at high speed in the traditional mode is avoided, and the waste of CPU operation capacity is reduced.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to an image acquisition system and a mobile robot.
Background
In the navigation of mobile robots for indoor applications, it is a basic and very important function to achieve accurate positioning of the robot itself. The robot can reach the target point quickly and accurately only by determining the current position of the robot in real time.
Currently, most mobile robots applied indoors use a two-dimensional code positioning mode, that is, two-dimensional code icons are discretely laid on the ground, a camera is mounted on the mobile robot to shoot the ground, coordinate information of the two-dimensional code icons is obtained by analyzing information of the two-dimensional codes, coordinates of the robot are calculated through the center of the two-dimensional codes and the center of pictures, and direction angles of the robot are calculated through the positions of corner points of the two-dimensional codes.
However, in actual use, the two-dimensional codes are generally laid discretely (mostly separated by 0.5 meter or 1 meter), and the camera must continuously take pictures at a high speed, so that most of the pictures taken by the camera do not contain the two-dimensional codes, that is, the pictures taken by the camera contain a large number of invalid pictures, but since all the pictures need to be analyzed by the two-dimensional codes once, the computing power of a Central Processing Unit (CPU) is wasted.
Therefore, how to reduce the waste of the CPU computing power when collecting and analyzing the image is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
An object of an embodiment of the present invention is to provide an image capturing system and a mobile robot, which can reduce the waste of CPU computation power when capturing and analyzing an image.
In order to solve the above technical problem, an embodiment of the present invention provides an image capturing system, including a processor, a magnetic sensor, an image capturing device, and a magnetic component;
the magnetic component is arranged on an image to be acquired;
the magnetic sensor is connected with the processor, and when the magnetic component is in the sensing range of the magnetic sensor, the magnetic sensor transmits the detected magnetic signal to the processor;
the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received.
Optionally, the magnetic component is a magnetic strip or a magnetic nail.
The embodiment of the invention also provides a mobile robot, which comprises a processor, a magnetic sensor and an image collector;
the magnetic sensor is connected with the processor, and when a magnetic component arranged on an image to be acquired is in the sensing range of the magnetic sensor, the magnetic sensor transmits a detected magnetic signal to the processor;
the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received.
Optionally, the processor is further configured to determine whether the image collected by the image collector is received within a first preset time when the magnetic signal is received; and if not, sending fault information to a control system of the mobile robot.
Optionally, the processor is further configured to determine whether the magnetic signal transmitted by the magnetic sensor is received within a second preset time; and if not, sending fault information to a control system of the mobile robot.
Optionally, the number of the magnetic sensors is 2.
Optionally, the magnetic sensor includes a main magnetic sensor and a standby magnetic sensor;
the processor is further configured to call the standby sensor to operate when the magnetic signal transmitted by the active magnetic sensor is not received within a second preset time.
According to the technical scheme, the magnetic component is arranged on the image to be acquired, when the magnetic component is in the sensing range of the magnetic sensor, the magnetic sensor can detect a magnetic signal due to the electromagnetic sensing principle, and the magnetic sensor is connected with the processor and can transmit the detected magnetic signal to the processor; the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received. The timing of image acquisition by the image acquisition device is controlled in an electromagnetic induction mode, the number of images acquired by the image acquisition device is effectively reduced, the acquired images are further ensured to be effective images, the problem that a large number of ineffective images exist in the photographed images when the image acquisition device continuously shoots at high speed in the traditional mode is avoided, and the waste of CPU operation capacity is reduced.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed 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 that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a schematic structural diagram of an image acquisition system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile robot according to an 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 obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Next, an image capturing system provided by an embodiment of the present invention is described in detail. Fig. 1 is a schematic structural diagram of an image acquisition system according to an embodiment of the present invention, where the system includes: processor 10, magnetic sensor 11, image collector 12 and magnetic component 13.
The magnetic component 13 is a component that can emit a magnetic signal, and in a specific application, the magnetic component 13 can be disposed on an image to be acquired. One or more magnetic elements 13 may be provided on each image to be acquired.
In the embodiment of the present invention, the magnetic member 13 may be a magnetic strip, a magnetic nail, or the like.
The magnetic sensor 11 is connected to the processor 10, and when the distance between the magnetic component 13 and the magnetic sensor 11 is relatively short, that is, the magnetic component 13 is in the sensing range of the magnetic sensor 11, according to the electromagnetic sensing principle, the magnetic sensor 11 detects a corresponding magnetic signal, and at this time, the magnetic sensor 11 may transmit the detected magnetic signal to the processor 10.
The processor 10 is connected to the image collector 12, and when the processor 10 receives the magnetic signal, the image collector 12 is controlled to collect the image.
The photosensitive element of image collector 12 may be a Complementary Metal Oxide Semiconductor (CMOS) or a Charge-coupled Device (CCD).
Taking a mobile robot comprising a processor 10, a magnetic sensor 11 and an image collector 12 as an example, in the embodiment of the present invention, the position relationship between the image to be collected and the mobile robot is detected by using the principle of electromagnetic induction between the magnetic sensor 11 and the magnetic component 13. When the mobile robot passes through the magnetic component 13 arranged on the image during the moving process, the magnetic sensor 11 will detect the corresponding magnetic signal. Since the magnetic component 13 is disposed on the image to be captured, when the magnetic sensor 11 detects the magnetic signal, it indicates that the image to be captured is within the capturing range of the mobile machine, and at this time, the processor 10 can control the image capturing device 12 to capture the image when receiving the magnetic signal transmitted by the magnetic sensor 12.
According to the technical scheme, the magnetic component is arranged on the image to be acquired, when the magnetic component is in the sensing range of the magnetic sensor, the magnetic sensor can detect a magnetic signal due to the electromagnetic sensing principle, and the magnetic sensor is connected with the processor and can transmit the detected magnetic signal to the processor; the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received. The timing of image acquisition by the image acquisition device is controlled in an electromagnetic induction mode, the number of images acquired by the image acquisition device is effectively reduced, the acquired images are further ensured to be effective images, the problem that a large number of ineffective images exist in the photographed images when the image acquisition device continuously shoots at high speed in the traditional mode is avoided, and the waste of CPU operation capacity is reduced.
The image capturing system described above can be applied to a mobile image capturing device, taking a mobile robot as an example, and as shown in fig. 2, the mobile robot according to the embodiment of the present invention includes a processor 10, a magnetic sensor 11, and an image capturing device 12.
The magnetic sensor 11 is connected to the processor 10, and when a magnetic component disposed on an image to be captured is within a sensing range of the magnetic sensor, the magnetic sensor 11 transmits a detected magnetic signal to the processor 10.
The processor 10 is connected to the image collector 12, and is configured to control the image collector 12 to collect the image when receiving the magnetic signal.
Taking the two-dimension code positioning mode adopted by the mobile robot as an example, the mobile robot acquires a two-dimension code image laid on the ground by using the image acquisition device 12, and the coordinate position of the mobile robot is calculated by analyzing the two-dimension code image, so that the robot is accurately positioned. In the embodiment of the present invention, a corresponding magnetic component may be disposed on each two-dimensional code image, and when the mobile robot passes through the magnetic component during the moving process, the magnetic sensor 11 on the mobile robot detects a corresponding magnetic signal, and at this time, the processor 10 may control the image collector 12 to collect an image when receiving the magnetic signal transmitted by the magnetic sensor 12.
The timing of image acquisition by the image acquisition device is controlled in an electromagnetic induction mode, the number of images acquired by the image acquisition device is effectively reduced, the acquired images are further ensured to be effective images, the problem that a large number of ineffective images exist in the photographed images when the image acquisition device continuously shoots at high speed in the traditional mode is avoided, and the waste of CPU operation capacity is reduced.
In practical application, a situation that image collector 12 cannot work normally may occur, and at this time, the mobile robot cannot move accurately, so that a corresponding alarm mechanism may be set in order to facilitate a user to handle the situation in time. Specifically, when receiving the magnetic signal, the processor 10 may determine whether the image acquired by the image acquirer 12 is received within a first preset time; and if not, sending fault information to a control system of the mobile robot.
Normally, image collector 12 will transmit the collected image to processor 10 for subsequent processing of the image by processor 10. When processor 10 does not receive the image acquired by image acquirer 12 within a first preset time, it indicates that image acquirer 12 may be damaged and cannot complete the image acquisition, and at this time, processor 10 may trigger a corresponding alarm mechanism.
The value of the first preset time may be set according to the time taken by image collector 12 to collect the image.
In a particular implementation, the processor 10 may send fault information to a control system of the mobile robot.
In practical application, a magnetic component arranged on an image to be acquired may be damaged, and a magnetic sensor 11 arranged on the mobile robot may also be damaged, and no matter the magnetic component is damaged or the magnetic sensor 11 is damaged, when the mobile robot passes through the image where the magnetic component is located, the magnetic sensor 11 cannot detect a magnetic signal, so that a user can handle the situation in time, and a corresponding alarm mechanism can be arranged. Specifically, the processor may determine whether the magnetic signal transmitted by the magnetic sensor 11 is received within a second preset time; and if not, sending fault information to a control system of the mobile robot.
It should be noted that, in order to distinguish from the fault information sent by processor 10 to the control system of the mobile robot when image collector 12 is damaged in the above description, two different fault identifiers may be set for the two cases, that is, the fault identifiers carried in the fault information are different for different fault types.
In view of cost and space occupied by the magnetic sensors, the number of the magnetic sensors 11 may be set to 2.
One of the magnetic sensors serves as a main magnetic sensor, and the other magnetic sensor serves as a standby magnetic sensor. In a normal working state, only the main magnetic sensor is in a running state; when the processor 10 does not receive the magnetic signal transmitted by the active magnetic sensor within a second preset time, which indicates that the active magnetic sensor may be damaged, the standby sensor is called to replace the active magnetic sensor to operate.
Taking a two-dimension code positioning mode adopted by the mobile robot as an example, a fixed spacing distance is formed between two-dimension code images laid on the ground, so that the time intervals of magnetic signals detected by the magnetic sensors are uniform in the moving process of the mobile robot according to the two-dimension code images, and values of second preset time can be set according to the time intervals in specific implementation.
In the embodiment of the invention, the influence of the damage of the magnetic sensors on the normal work of the mobile robot can be further reduced by arranging the two magnetic sensors, and the smooth image acquisition work of the mobile robot is further ensured.
The image acquisition system and the mobile robot provided by the embodiment of the invention are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Claims (6)
1. An image acquisition system is characterized by comprising a processor, a magnetic sensor, an image collector and a magnetic component;
the magnetic component is arranged on an image to be acquired;
the magnetic sensor is connected with the processor, and when the magnetic component is in the sensing range of the magnetic sensor, the magnetic sensor transmits the detected magnetic signal to the processor;
the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received;
when the processor receives the magnetic signal, whether the image collected by the image collector is received within a first preset time is judged; and if not, sending fault information to a control system of the mobile robot.
2. The system of claim 1, wherein the magnetic component is a magnetic strip or a magnetic nail.
3. A mobile robot is characterized by comprising a processor, a magnetic sensor and an image collector;
the magnetic sensor is connected with the processor, and when a magnetic component arranged on an image to be acquired is in the sensing range of the magnetic sensor, the magnetic sensor transmits a detected magnetic signal to the processor;
the processor is connected with the image collector and used for controlling the image collector to collect the image when the magnetic signal is received;
the processor is further used for judging whether the image collected by the image collector is received within a first preset time when the magnetic signal is received; and if not, sending fault information to a control system of the mobile robot.
4. The mobile robot of claim 3, wherein the processor is further configured to determine whether the magnetic signal transmitted by the magnetic sensor is received within a second preset time; and if not, sending fault information to a control system of the mobile robot.
5. The mobile robot according to any one of claims 3 to 4, wherein the number of the magnetic sensors is 2.
6. The mobile robot of claim 5, wherein the magnetic sensors comprise a primary magnetic sensor and a backup magnetic sensor;
the processor is further configured to call the standby sensor to operate when the magnetic signal transmitted by the active magnetic sensor is not received within a second preset time.
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| CN201810225274.9A CN108419013B (en) | 2018-03-19 | 2018-03-19 | Image acquisition system and mobile robot |
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| CN201810225274.9A CN108419013B (en) | 2018-03-19 | 2018-03-19 | Image acquisition system and mobile robot |
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| CN108419013B true CN108419013B (en) | 2020-07-28 |
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| CN110166708B (en) * | 2019-06-13 | 2021-06-11 | Oppo广东移动通信有限公司 | Night scene image processing method and device, electronic equipment and storage medium |
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