CN108445874A - The method, apparatus and system of pavement state are detected using depth camera - Google Patents
The method, apparatus and system of pavement state are detected using depth camera Download PDFInfo
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- CN108445874A CN108445874A CN201711310464.2A CN201711310464A CN108445874A CN 108445874 A CN108445874 A CN 108445874A CN 201711310464 A CN201711310464 A CN 201711310464A CN 108445874 A CN108445874 A CN 108445874A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims abstract description 31
- 238000000605 extraction Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009790 rate-determining step (RDS) Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the method, apparatus and system that detect pavement state using depth camera, this method obtains the position data and range data of all objects in field range by the depth camera in robot；Depth image is generated according to the position data of all objects in field range and range data；Pavement state data are extracted from depth image；The pavement state data include pavement state and its position data.The present invention can utilize the position data and range data of all objects within the scope of depth camera scanning field of view, generate depth image, smooth-riding surface, concave-convex road surface or the road surface for having barrier are identified by algorithm, rationally assess whether pavement state encounters the concave-convex road surface state that can not be crossed over for use as robot and need the foundation avoided or stopped.Compared with the mode of laser ranging spot measurement, the present invention can more fully scan pavement state, find that road surface is concave-convex or has the case where barrier in time, and it is lower to detect cost.
Description
Technical field
The present invention relates to road surface detection technical field, more particularly to using depth camera detection pavement state method,
Apparatus and system.
Background technology
Robot in the process of walking, can be translated into because the raised too high or pit on ground is too deep, may when serious
Robot can be caused to damage, therefore robot needs to detect pavement state in the process of walking.
Current robot avoidance relies primarily on dot laser range finder module to detect the protrusion and pit on ground, and this method lacks
Point is the state that can only detect ground a single point, is likely to occur in practical application on road surface and there is concave-convex but lucky sensing point not
The case where leading to detection failure in position.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide detect pavement state using depth camera
Method, apparatus and system, it is intended to solve the prior art in such a way that robot obstacle-avoiding is realized in dot laser ranging due to sensing point
The problem of not leading to detection failure comprehensively.
The purpose of the present invention is realized using following technical scheme：
A method of pavement state being detected using depth camera, including：
Scanning step obtains the position data of all objects in field range by the depth camera in robot
And range data；
Generation step generates depth image according to the position data of all objects in field range and range data；
Extraction step extracts pavement state data from depth image；The pavement state data include pavement state and
Its position data.
On the basis of the above embodiments, it is preferred that the pavement state includes smooth, raised, be recessed and has a barrier.
On the basis of the above embodiments, it is preferred that further include rate-determining steps：
When there is protrusion in field range, being recessed or have the pavement state of barrier, control instruction is generated, and will control
Instruction is sent to robot, the pavement state that control robot avoids protrusion, is recessed or has barrier.
A kind of device detecting pavement state using depth camera, including：
Scan module, the position for obtaining all objects in field range by the depth camera in robot
Data and range data；
Generation module, for generating depth image according to the position data and range data of all objects in field range；
Extraction module, for extracting pavement state data from depth image；The pavement state data include road surface shape
State and its position data.
On the basis of the above embodiments, it is preferred that the pavement state includes smooth, raised, be recessed and has a barrier.
On the basis of the above embodiments, it is preferred that further include control module, be used for：
When there is protrusion in field range, being recessed or have the pavement state of barrier, control instruction is generated, and will control
Instruction is sent to robot, the pavement state that control robot avoids protrusion, is recessed or has barrier.
A kind of system detecting pavement state using depth camera, including：
The device that pavement state is detected using depth camera in any of the above-described embodiment；
Depth camera is mounted in robot, and depth camera is used to obtain the position data of all objects in field range
And range data；
Robot, the pavement state for avoiding protrusion according to control instruction, being recessed or have barrier.
On the basis of the above embodiments, it is preferred that the robot is additionally operable to when traveling encounters problems to the dress
Set transmission warning message.
On the basis of the above embodiments, it is preferred that described device generates control instruction and is sent to robot, robot
It is advanced according to control instruction.
Or, it is preferred that the mode that the robot sends warning message is that WiFi is sent or passed through by ZigBee
It sends.
Compared with prior art, the beneficial effects of the present invention are：
The invention discloses the method, apparatus and system that detect pavement state using depth camera, this method passes through installation
Depth camera in robot obtains the position data and range data of all objects in field range；According in field range
The position data and range data of all objects generate depth image；Pavement state data are extracted from depth image；The road
Surface state data include pavement state and its position data.The present invention can utilize property within the scope of depth camera scanning field of view
The position data and range data of body generate depth image, identify smooth-riding surface, concave-convex road surface by algorithm or have barrier
Road surface, rationally assess pavement state the concave-convex road surface state that can not be crossed over whether is encountered for use as robot and need to avoid or
The foundation stopped avoids robot from occurring colliding with and causing to damage in the process of moving.With laser ranging spot measurement
Mode is compared, and the present invention can more fully scan pavement state, finds that road surface is concave-convex or has the case where barrier in time, and visit
It is lower to survey cost.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows that a kind of flow of method being detected pavement state using depth camera provided in an embodiment of the present invention is shown
It is intended to；
Fig. 2 shows a kind of structures of device using depth camera detection pavement state provided in an embodiment of the present invention to show
It is intended to；
Fig. 3 shows that a kind of structure of system being detected pavement state using depth camera provided in an embodiment of the present invention is shown
It is intended to.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Specific embodiment one
As shown in Figure 1, an embodiment of the present invention provides a kind of methods detecting pavement state using depth camera, including：
Scanning step S101 obtains the position of all objects in field range by the depth camera in robot
Data and range data；
Generation step S102 generates depth image according to the position data of all objects in field range and range data；
Extraction step S103 extracts pavement state data from depth image；The pavement state data include road surface shape
State and its position data.
Satisfy the need division type, the title of surface state of the embodiment of the present invention does not limit, it is preferred that the pavement state can be with
Including it is smooth, raised, be recessed and have a barrier.In the surface state that satisfies the need carries out partition process, it is preferred that the pavement state is also
May include approximate smooth.I.e., it is possible to which the protrusion and recess that robot can cross over are divided into approximate smooth pavement state.
The advantage of doing so is that the scope of activities of robot can be made to maximize.
The embodiment of the present invention can be using the position data of all objects within the scope of depth camera scanning field of view and apart from number
According to generation depth image identifies smooth-riding surface, concave-convex road surface or the road surface for having barrier by algorithm, rationally assesses road surface
Whether state encounters the concave-convex road surface state that can not be crossed over for use as robot and needs the foundation avoided or stopped.With swash
The mode of ligh-ranging spot measurement is compared, and the embodiment of the present invention can more fully scan pavement state, finds that road surface is concave-convex in time
Or have the case where barrier, and it is lower to detect cost.
Preferably, the embodiment of the present invention can also include rate-determining steps S104：When in field range exist protrusion, recess or
When having the pavement state of barrier, control instruction is generated, and control instruction is sent to robot, control robot avoids convex
The pavement state for rising, being recessed or having barrier.The advantage of doing so is that robot can be controlled, accurately avoid being likely to occur
The region of traveling problem.
In above-mentioned specific embodiment one, the method for detecting pavement state using depth camera is provided, in contrast
It answers, the application also provides the device using depth camera detection pavement state.Since device embodiment is substantially similar to method
Embodiment, so describing fairly simple, the relevent part can refer to the partial explaination of embodiments of method.Device described below
Embodiment is only schematical.
Specific embodiment two
As shown in Fig. 2, an embodiment of the present invention provides a kind of devices detecting pavement state using depth camera, including：
Scan module 201, for obtaining all objects in field range by the depth camera in robot
Position data and range data；
Generation module 202, for generating depth map according to the position data and range data of all objects in field range
Picture；
Extraction module 203, for extracting pavement state data from depth image；The pavement state data include road surface
State and its position data.
Preferably, the pavement state may include smooth, raised, the pavement state that is recessed and has barrier.
Preferably, the embodiment of the present invention can also include control module 204, be used for：It is raised, recessed when existing in field range
When falling into or having the pavement state of barrier, control instruction is generated, and control instruction is sent to robot, control robot avoids
Protrusion, the pavement state for being recessed or having barrier.
The embodiment of the present invention can be using the position data of all objects within the scope of depth camera scanning field of view and apart from number
According to generation depth image identifies smooth-riding surface, concave-convex road surface or the road surface for having barrier by algorithm, rationally assesses road surface
Whether state encounters the concave-convex road surface state that can not be crossed over for use as robot and needs the foundation avoided or stopped.With swash
The mode of ligh-ranging spot measurement is compared, and the embodiment of the present invention can more fully scan pavement state, finds that road surface is concave-convex in time
Or have the case where barrier, and it is lower to detect cost.
Specific embodiment three
As shown in figure 3, an embodiment of the present invention provides a kind of systems detecting pavement state using depth camera, including：
The device 301 that pavement state is detected using depth camera in specific embodiment two；
Depth camera 302 is mounted in robot 303, and depth camera 302 is for obtaining all objects in field range
Position data and range data；
Robot 303, the pavement state for avoiding protrusion according to control instruction, being recessed or have barrier.
Preferably, the robot 303 can be also used for sending alarm signal to described device 301 when traveling encounters problems
Breath.The advantage of doing so is that the scanning process in depth camera 302 goes wrong or the algorithm of described device 301 is asked
, can also be by conventional alarm mode when topic causes the traveling of robot 303 to encounter problems, the traveling of report robot 303, which encounters, asks
The case where topic.
After the warning message for receiving the transmission of robot 303, system can control machine by 301 remote operation of device
The traveling of people 303 acts, and the current location that can also rush to robot 303 manually controls the traveling action of machine people.Preferably,
Described device 301 can generate control instruction and be sent to robot 303, and robot 303 advances according to control instruction.It does so
Benefit be, can be long-range by device 301 when the traveling problem that robot 303 encounters can be solved by remote control
The traveling action for controlling robot 303 reduces staff's on the way used time, reduces cost of labor.
The mode that the embodiment of the present invention sends robot 303 warning message does not limit, it is preferred that the robot
The mode of 303 transmission warning messages can be to be sent by ZigBee or sent by WiFi.
The embodiment of the present invention does not limit described device 301, it is preferred that it can be computer or server.
The embodiment of the present invention can be using the position data of all objects within the scope of depth camera scanning field of view and apart from number
According to generation depth image identifies smooth-riding surface, concave-convex road surface or the road surface for having barrier by algorithm, rationally assesses road surface
Whether state encounters the concave-convex road surface state that can not be crossed over for use as robot and needs the foundation avoided or stopped.With swash
The mode of ligh-ranging spot measurement is compared, and the embodiment of the present invention can more fully scan pavement state, finds that road surface is concave-convex in time
Or have the case where barrier, and it is lower to detect cost.
The present invention is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality progress having
Property, oneself meets the function that Patent Law emphasized and promotes and use important document, the explanation more than present invention and attached drawing, only of the invention
Preferred embodiment and oneself, the present invention is not limited to this, therefore, it is all constructed with the present invention, device such as waits levying at approximations, the thunder
With, i.e., all according to equivalent replacement or modification etc. made by present patent application range, the patent application that should all belong to the present invention is protected
Within the scope of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Although present invention has been a degree of descriptions, it will be apparent that, in the item for not departing from the spirit and scope of the present invention
Under part, the appropriate variation of each condition can be carried out.It is appreciated that the present invention is not limited to the embodiments, and it is attributed to right and wants
The range asked comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that can be as described above
Various other corresponding changes and deformation are made in technical solution and design, and all these change and deformation is all answered
This belongs within the protection domain of the claims in the present invention.
Claims (10)
1. a kind of method detecting pavement state using depth camera, which is characterized in that including：
Scanning step, by depth camera in robot obtain in field range the position data of all objects and away from
From data；
Generation step generates depth image according to the position data of all objects in field range and range data；
Extraction step extracts pavement state data from depth image；The pavement state data include pavement state and its position
Set data.
2. the method according to claim 1 for detecting pavement state using depth camera, which is characterized in that the road surface shape
State includes smooth, raised, be recessed and has a barrier.
3. the method according to claim 2 for detecting pavement state using depth camera, which is characterized in that further include control
Step：
When there is protrusion in field range, being recessed or have the pavement state of barrier, control instruction is generated, and by control instruction
It is sent to robot, the pavement state that control robot avoids protrusion, is recessed or has barrier.
4. a kind of device detecting pavement state using depth camera, which is characterized in that including：
Scan module, the position data for obtaining all objects in field range by the depth camera in robot
And range data；
Generation module, for generating depth image according to the position data and range data of all objects in field range；
Extraction module, for extracting pavement state data from depth image；The pavement state data include pavement state and
Its position data.
5. the device according to claim 4 for detecting pavement state using depth camera, which is characterized in that the road surface shape
State includes smooth, raised, be recessed and has a barrier.
6. the device according to claim 5 for detecting pavement state using depth camera, which is characterized in that further include control
Module is used for：
When there is protrusion in field range, being recessed or have the pavement state of barrier, control instruction is generated, and by control instruction
It is sent to robot, the pavement state that control robot avoids protrusion, is recessed or has barrier.
7. a kind of system detecting pavement state using depth camera, which is characterized in that including：
Claim 4-6 any one of them detects the device of pavement state using depth camera；
Depth camera is mounted in robot, depth camera for obtain in field range the position data of all objects and away from
From data；
Robot, the pavement state for avoiding protrusion according to control instruction, being recessed or have barrier.
8. the system according to claim 7 for detecting pavement state using depth camera, which is characterized in that the robot
It is additionally operable to send warning message to described device when traveling encounters problems.
9. the system according to claim 8 for detecting pavement state using depth camera, which is characterized in that described device is given birth to
At control instruction and it is sent to robot, robot advances according to control instruction.
10. the system according to claim 8 for detecting pavement state using depth camera, which is characterized in that the machine
It is to be sent by ZigBee or sent by WiFi that human hair, which send the mode of warning message,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310464.2A CN108445874A (en) | 2017-12-11 | 2017-12-11 | The method, apparatus and system of pavement state are detected using depth camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310464.2A CN108445874A (en) | 2017-12-11 | 2017-12-11 | The method, apparatus and system of pavement state are detected using depth camera |
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| Publication Number | Publication Date |
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| CN108445874A true CN108445874A (en) | 2018-08-24 |
Family
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| CN201711310464.2A Pending CN108445874A (en) | 2017-12-11 | 2017-12-11 | The method, apparatus and system of pavement state are detected using depth camera |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110222557A (en) * | 2019-04-22 | 2019-09-10 | 北京旷视科技有限公司 | Real-time detection method, device, system and the storage medium of road conditions |
| CN111366098A (en) * | 2020-03-25 | 2020-07-03 | 东南大学 | Three-dimensional information sensing system for highway pavement diseases |
| CN113011255A (en) * | 2021-02-05 | 2021-06-22 | 北京中科慧眼科技有限公司 | Road surface detection method and system based on RGB image and intelligent terminal |
| CN113189612A (en) * | 2021-05-17 | 2021-07-30 | 长安大学 | Gravel seal quality detection device based on depth camera |
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| CN110222557B (en) * | 2019-04-22 | 2021-09-21 | 北京旷视科技有限公司 | Real-time road condition detection method, device and system and storage medium |
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| CN111366098B (en) * | 2020-03-25 | 2021-10-19 | 东南大学 | Three-dimensional information sensing system for highway pavement diseases |
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| CN113011255B (en) * | 2021-02-05 | 2024-01-16 | 北京中科慧眼科技有限公司 | Road surface detection method and system based on RGB image and intelligent terminal |
| CN113189612A (en) * | 2021-05-17 | 2021-07-30 | 长安大学 | Gravel seal quality detection device based on depth camera |
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