CN109143167A - A kind of complaint message acquisition device and method - Google Patents
A kind of complaint message acquisition device and method Download PDFInfo
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- CN109143167A CN109143167A CN201710509194.1A CN201710509194A CN109143167A CN 109143167 A CN109143167 A CN 109143167A CN 201710509194 A CN201710509194 A CN 201710509194A CN 109143167 A CN109143167 A CN 109143167A
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- laser
- position information
- target image
- barrier
- image
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention provides a kind of complaint message acquisition device and methods, wherein complaint message acquisition device includes: laser, for emitting line laser；Image capture device, for acquiring target image, which includes the imaging of line laser irradiation area on barrier, and has fixed relative positional relationship between the image capture device and laser；Module is obtained, for imaging position information in the target image to be imaged from the laser rays for obtaining line laser irradiation area on barrier in target image；Determining module, for determining the actual position information of barrier according to imaging position information.The complaint message acquisition device and method provided through the embodiment of the present invention, can be improved the accuracy of determining Obstacle Position.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of complaint message acquisition device and method.
Background technique
With the continuous development of artificial intelligence, electronic communication technology etc., robot has been increasingly becoming a kind of emerging heat
Door studying technological domain, is widely applied in multiple industries such as military, civilian.And robot is during its advance, usually
Some barriers can be encountered, such as the pillar of some fixations, some robots temporarily stored are difficult to obstacle crossed over etc..Machine
When people is moved to another location from a certain position, it is necessary to avoid colliding with these barriers, it is therefore desirable to detour.How to allow
It is robot autonomous to realize avoidance without collision, wherein determining that the position of barrier is important precondition.
Determine Obstacle Position aiming at the problem that, it is known that a solution be using infrared sensor obtain barrier
Position.Specifically, the distance obtained on barrier at any is emitted according to infrared sensor, determines the position of barrier.But
Only by the range information at certain point, the positional accuracy of the barrier of acquisition is lower.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of complaint message acquisition device and method, to improve determining barrier
The accuracy of position.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention provides a kind of complaint message acquisition device, comprising:
Laser, for emitting line laser；
Image capture device, for acquiring target image, which includes that the line laser irradiates on barrier
The imaging in region, and there is fixed relative positional relationship between the image capture device and the laser；
Module is obtained, for obtaining the laser rays of line laser irradiation area on barrier from the target image
The imaging position information being imaged in the target image；
Determining module, for determining the actual position information of the barrier according to the imaging position information.
Optionally, the acquisition module, where being imaged in the target image specifically for the determination laser rays
Region, and obtain imaging position information of multiple pixels in the target image in the region；
The determining module, specifically for according to pixels multiple on the laser rays in the target image described in
Imaging position information determines the actual position information of the barrier.
Optionally, the determining module is specifically used for according to pixels multiple on the laser rays in the target image
In imaging position information and described image acquisition equipment parameter preset, determine multiple pixels pair on the laser rays
The sight equation answered；It is flat according to the laser of the corresponding sight equation of pixels multiple on the laser rays and the laser
Optic plane equations of the face under the corresponding coordinate system of image capture device, determine the actual position information of the barrier.
Optionally, the optical axis of described image acquisition equipment and the laser plane of the laser intersect at described image acquisition
The front region of equipment.
Optionally, described image acquisition equipment be located at the laser directly vertically below or normal position；
Alternatively, there are predetermined deviations with the laser vertical direction for described image acquisition equipment, wherein described default inclined
The poor angle of departure with the laser is positively correlated.
Optionally, the laser and described image acquisition equipment are installed in robot.
Optionally, the direction of the emitted line laser of the laser is consistent with the direction of motion of the robot；Alternatively,
Described image acquire equipment level place, described image acquire equipment pickup area be the robot just before
Square region.
Second aspect, the embodiment of the invention also provides a kind of complaint message acquisition methods, are applied to complaint message and obtain
Device, the complaint message acquisition device includes: laser and image capture device；Wherein, described image acquisition equipment and institute
Stating has fixed relative positional relationship between laser；The described method includes:
Acquire target image, line laser of the target image comprising laser transmitting irradiation area on barrier
Imaging；
Line laser laser rays of irradiation area on barrier is obtained from the target image is imaged on the mesh
Imaging position information in logo image；
According to the imaging position information, the actual position information of the barrier is determined.
Optionally, the laser rays that line laser irradiation area on barrier is obtained from the target image at
As the step of imaging position information in the target image includes:
Determine that the laser rays is imaged on region shared in the target image；
Obtain imaging position information of multiple pixels in the target image in the region；
It is described according to the imaging position information, the step of determining the actual position information of the barrier includes:
According to imaging position information of the pixels multiple on the laser rays in the target image, the obstacle is determined
The actual position information of object.
Optionally, the imaging position information according to pixels multiple on the laser rays in the target image,
The step of determining the actual position information of the barrier include:
According to imaging position information and described image acquisition equipment of the multiple pixel in the target image
Parameter preset, determine the corresponding sight equation of multiple pixels on the laser rays；
According to the laser plane of the sight equation and the laser in the corresponding coordinate of described image acquisition equipment
Optic plane equations under system, determine the actual position information of the barrier.
Optionally, the optical axis of described image acquisition equipment and the laser plane of the laser intersect at described image acquisition
The front region of equipment.
Optionally, described image acquisition equipment be placed in the laser directly vertically below or normal position；
Alternatively, described image acquisition equipment is vertical with the laser, there are predetermined deviation placements, wherein described default inclined
The poor angle of departure with the laser is positively correlated.
Optionally, the laser and described image acquisition equipment are installed in robot.
Optionally, the direction of the emitted line laser of the laser is consistent with the direction of motion of the robot；Alternatively,
Described image acquire equipment level place, described image acquire equipment pickup area be the robot just before
Square region.
Complaint message acquisition device provided in an embodiment of the present invention and method can acquire target by image capture device
Image, the target image include the imaging of line laser irradiation area on barrier；Line laser is obtained from target image to hinder
Hinder the imaging position information of the laser rays imaging of irradiation area on object in the target image；And then according to imaging position information, really
Determine the actual position information of barrier.As can be seen that determining barrier by the distance at certain point known to being compared to
Location information, complaint message acquisition device provided in an embodiment of the present invention and method, can be imaged on target figure according to laser rays
Imaging position information as in finally determines the actual position information of barrier, and in the target image by laser rays imaging
The actual position information for the barrier that imaging position information is determined is compared to the corresponding location information determined in certain point more
It is accurate to add.So determining Obstacle Position can be improved in the complaint message acquisition device and method that provide through the embodiment of the present invention
Accuracy.And then it can also realize robot accurately avoidance during traveling.Certainly, it implements any of the products of the present invention
Or method must be not necessarily required to reach all the above advantage simultaneously.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of complaint message acquisition device provided in an embodiment of the present invention；
Fig. 2 (a) is a kind of position view that laser rays is imaged on target image in the embodiment of the present invention；
Fig. 2 (b) is another position view that laser rays is imaged on target image in the embodiment of the present invention；
Fig. 2 (c) is another position view that laser rays is imaged on target image in the embodiment of the present invention；
Fig. 2 (d) is another position view that laser rays is imaged on target image in the embodiment of the present invention；
Fig. 3 is the position view of multi-stripe laser line imaging in the target image in the embodiment of the present invention；
Fig. 4 is the flow chart for extracting image connectivity region process；
Fig. 5 (a) is that image capture device and laser are bowed in complaint message acquisition device provided in an embodiment of the present invention
Depending on structural schematic diagram；
Fig. 5 (b) is the side of image capture device and laser in complaint message acquisition device provided in an embodiment of the present invention
Depending on structural schematic diagram；
Fig. 6 is the structural schematic diagram for the lower left that image capture device is located at laser in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram directly vertically below that image capture device is located at laser in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram for the lower right that image capture device is located at laser in the embodiment of the present invention；
Fig. 9 is a kind of mounting means of complaint message acquisition device provided in an embodiment of the present invention；
Figure 10 is another mounting means of complaint message acquisition device provided in an embodiment of the present invention；
Figure 11 is another mounting means of complaint message acquisition device provided in an embodiment of the present invention；
Figure 12 is another mounting means of complaint message acquisition device provided in an embodiment of the present invention；
Figure 13 is the flow chart of complaint message acquisition methods provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
During complaint message acquisition device provided in an embodiment of the present invention can be applied to robot obstacle-avoiding.In order to make
Robot accurately can be important condition in avoidance, the position for accurately determining barrier.Barrier provided in an embodiment of the present invention
Hinder information acquisition device that can accurately determine the location information of barrier, describes more detail below.
Fig. 1 is the structural schematic diagram of complaint message acquisition device provided in an embodiment of the present invention, referring to Fig.1 to of the invention real
The complaint message acquisition device for applying example offer is described in detail, comprising:
Laser 101, for emitting line laser.
Image capture device 102, for acquiring target image, which includes line laser irradiated region on barrier
The imaging in domain.It should be noted that laser 101 and image are adopted in complaint message acquisition device provided in an embodiment of the present invention
The relative positional relationship of collection equipment 102 is fixed and invariable.
Module 103 is obtained, for the laser line imaging from acquisition line laser irradiation area on barrier in target image
Imaging position information in the target image.
Determining module 104, for determining the actual position information of barrier according to imaging position information.
It should be noted that the actual position information of barrier generally refers to barrier relative to camera or relative to sharp
The distance of light device.
Fig. 2 (a), Fig. 2 (b), Fig. 2 (c) and Fig. 2 (d) show in the embodiment of the present invention different laser rays and are imaged on target
The different location schematic diagram of image, wherein Fig. 2 (a) show the line laser of the generation of laser 101 at robot 30cm
Barrier on irradiation area laser rays imaging imaging position schematic diagram in the target image；Fig. 2 (b) show laser
The laser rays of the 101 line laser irradiation areas on the barrier at robot 90cm generated is imaged in the target image
Imaging position schematic diagram；Fig. 2 (c) show the line laser of the generation of laser 101 on the barrier at robot 150cm
The position view of the laser rays imaging of irradiation area in the target image；The line that Fig. 2 (d) show the generation of laser 101 swashs
The position view of the laser rays imaging of light irradiation area on the barrier at robot 210cm in the target image.
From Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), Fig. 2 (d) as can be seen that laser 101 generate line laser be radiated at away from
When on the barrier from robot different location, image capture device 102 collects line laser irradiation area on barrier
The imaging position information of laser rays imaging in the target image is different.It should be noted that in actual application, laser rays at
As imaging position information in the target image is in addition to correlation, the also ginseng with complaint message acquisition device at a distance from barrier
Number, such as image capture device 102 are related with the angle of laser 101.Therefore hindered according to the line laser that laser 101 emits
Hinder the different imaging position informations of the laser rays imaging of irradiation area on object in the target image, can determine apart from robot not
The actual position information of the barrier of same distance.
Emit line laser using laser 101 in complaint message acquisition device provided in an embodiment of the present invention, and then after being
The difference of the laser rays imaging of the continuous line laser irradiation area on barrier emitted according to laser 101 in the target image
Imaging position information determines that the actual position information of different barriers is prepared.
The line laser that laser 101 emits in the embodiment of the present invention is radiated at the barrier encountered in robot traveling process
On；The acquisition of image capture device 102 includes the target image of line laser imaging of irradiation area on barrier, Image Acquisition
There is laser rays in the collected target image of equipment 102, indicate that there are barrier, there are several to swash in collected target image
Light indicates that there are several barriers.
Image capture device 102 can acquire the target image of line laser imaging of irradiation area on barrier, after being
It is continuous to determine that the actual position information of barrier provides condition by the imaging position information of laser rays imaging in the target image.It needs
It is noted that image capture device mentioned here can be camera, video camera etc., any one can acquire image
Equipment.
After collecting target image, it can determine that line laser laser rays of irradiation area on barrier is imaged on target figure
Imaging position information as in.For example, the region where laser rays imaging in the target image can be determined first, then determine
The imaging position information of multiple pixels in the target image on laser rays in region, pixels multiple on laser rays are existed
Imaging position information of the imaging position information as the laser rays in target image.And then existed by the multiple pixels of laser rays
Imaging position information in target image determines the actual position information of barrier.
It should be noted that image capture device acquisition includes the target of line laser imaging of irradiation area on barrier
After image, the processing function that can have by its own determines the laser line imaging of line laser irradiation area on barrier
Imaging position information in the target image, and then determine the actual position information of barrier.It can also be by independently of image
The processor of acquisition equipment handles the collected target image of image capture device, i.e., is determined by obtaining module 103
The imaging position information of laser rays imaging in the target image, and then the imaging position by laser rays imaging in the target image
Information determines the actual position information of barrier.
As can be seen that being imaged on target figure according to laser rays in complaint message acquisition device provided in an embodiment of the present invention
The actual position information for the barrier that imaging position information as in finally determines, is existed according to pixels multiple on laser rays
The actual position information of the barrier for multiple location informations composition that imaging position information in target image is determined, multiple pictures
It is more accurate that the corresponding location information determined of vegetarian refreshments is compared to the corresponding location information determined in certain point.So passing through this
The accuracy of determining obstacle position information can be improved in the complaint message acquisition device that inventive embodiments provide.
In addition, imaging position information in the target image is imaged using the line laser of laser transmitting in the embodiment of the present invention
The final actual position information for determining barrier, being compared to the costs such as laser radar reduces very much, and is compared to binocular
The influence of the environmental factors such as illumination is not susceptible to for the avoidance method for sensing of vision, it is more stable, and then the embodiment of the present invention
The complaint message acquisition device of offer may be implemented to meet simultaneously that determining Obstacle Position is accurate, stability is good, at low cost wants
It asks.
Fig. 3 is the position view of multi-stripe laser line imaging in the target image in the embodiment of the present invention, target figure in Fig. 3
The position where white strip line as in is the position of laser rays imaging in the target image.Referring to Fig. 3 to of the invention real
Imaging position information of the image capture device 102 by laser rays imaging in the target image in example is applied, finally determines barrier
The process of actual position information be described in detail.Specifically:
The first step determines region shared by laser rays imaging in the target image.
As long as occurring laser rays in target image, illustrate that there are barriers, otherwise target image is completely black.Also,
In robot traveling process, the barrier encountered may be one, it is also possible to be multiple.By true in the embodiment of the present invention
The connected region to set the goal in image determines that laser rays is imaged on the region in target image.There are several connections in target image
Then determination has several barriers in region.
Specifically, the connected region in target image can be extracted using the method for marking connected region based on region growing
Domain, as shown in Figure 4.Image to be marked i.e. target image is inputted, the label matrix of one with input picture same size are initialized,
One queue and blip counting；Then, the image to be marked of sequential scan from left to right, from top to bottom, when scanning is to one
Not when labeled foreground pixel p, blip counting adds 1, and (value of respective point is assigned to label meter to label p in blip counting
Number), meanwhile, the eight neighborhood point of p is scanned, the foreground pixel not being labeled if it exists is then marked in label matrix, and puts
Seed in enqueue, as region growing；When queue is not sky, a growth seed point p1, scanning are taken out from queue
The eight neighborhood point of p1, the foreground pixel not being labeled if it exists, then be marked, and be put into queue in image to be marked
In, and queue is repeated up to as sky, a connected region label is completed.According to above-mentioned same step, until entire image all by
It is scanned, obtain the number of label matrix and connected region.
Second step determines the imaging position information of multiple pixels in the target image in region, multiple pixels is existed
Imaging position information in the target image is imaged as laser rays in imaging position information in target image.
Understandable to be, the connected region determined is made of multiple pixels, and multiple pixels are in target figure
Imaging position information as in, the i.e. coordinate position of pixel in the target image.The imaging position information group of these pixels
It is together as the imaging position information of laser rays imaging in the target image.
Third step determines barrier according to the imaging position information of pixels multiple on laser rays in the target image
Actual position information.
After determining the imaging position information of laser rays imaging in the target image, target can be imaged on according to laser rays
Imaging position information in image determines the actual position information of barrier, i.e., according to pixels multiple on laser rays in target
Imaging position information in image determines the actual position information of barrier.
Specifically, it can be adopted according to pixels multiple on laser rays in the imaging position information and image of target image
The parameter preset for collecting equipment 102 determines the corresponding sight equation of multiple pixels on laser rays；And then according to multiple on laser rays
The optic plane equations of the corresponding sight equation of pixel and laser plane under the corresponding coordinate system of image capture device 102,
Determine the actual position information of barrier.Below step to by multiple pixels on laser rays in the target image at image position
Confidence, which ceases, determines that the actual position information of barrier is described in detail.Here image capture device 102 uses common phase
Machine.
Assuming that the image coordinate (u, v) of any pixel in the target image on laser rays, it is known that the internal reference (camera of camera
The focal length f in the direction x and yxAnd fyAnd picture centre (u0,v0)), then sight equation are as follows:
Wherein (0 0 0) O=TIt is the origin of camera coordinates system, λ is direction vector.
Equation of the known laser plane under camera coordinates system are as follows:
AX+BY+Z+C=O
Wherein, A, B, C are respectively equation parameter, according to the actual situation depending on.
Seek the intersection point of sight equation and optic plane equations are as follows:
When the direction of motion of robot is horizontally forward, if camera is horizontally forward, XCThe as position of barrier.If swashing
When the direction of the emitted line laser of light device 101 is horizontally forward, and the outer ginseng of known camera, i.e., camera coordinates system is relative to laser
The intersection point, then can be transformed under optical plane coordinate system by the rotation R and translation t of the corresponding optical plane coordinate system of plane:
Xw=RXC+ t,
Then calculated XwThe as position of barrier.
It should be noted that can determine an X according to each pixel is corresponding according to the description of above-mentioned stepsC
Or Xw, the embodiment of the present invention determines barrier by the imaging position information of pixels multiple on laser rays in the target image
Actual position information, the actual position information of finally determining barrier is multiple XCOr multiple XwThe location information of composition.
That is, finally the actual position information of determining barrier is it can be appreciated that the location information that " point cloud " forms.
As a kind of embodiment of the embodiment of the present invention, swash to guarantee that image capture device can be collected comprising line
The target image of light imaging of irradiation area on barrier, image capture device and laser may exist certain angle.
Specific angle can be adjusted according to the distance range of the barrier of actual measurement, and angle is bigger, be measured apart from smaller；Instead
It, angle is smaller, and measurement distance is bigger.
Fig. 5 (a) is that image capture device and laser are bowed in complaint message acquisition device provided in an embodiment of the present invention
Depending on structural schematic diagram；Fig. 5 (b) is image capture device and laser in complaint message acquisition device provided in an embodiment of the present invention
Side structure schematic view.As shown in Fig. 5 (a) and Fig. 5 (b), scheme in complaint message acquisition device provided in an embodiment of the present invention
As the optical axis of acquisition equipment 102 and the laser plane of the laser 101 intersect at the front area of the image capture device 102
Domain.Specifically, the distance range that can according to need the barrier of measurement determines image capture device 102 and laser 101
Angle.Wherein, pass through ZCIndicate the optical axis of image capture device 102, ZCAnd YCThe coordinate system for forming image capture device, passes through
Xw、YwAnd ZwThe coordinate system of formation indicates the laser plane that laser 101 generates.
The laser plane of the optical axis of image capture device 102 and the laser 101 intersects at the image capture device 102
Front region, it is ensured that image capture device 102 can collect the imaging of line laser irradiation area on barrier
Target image, and then emitted by laser 101 line laser, the laser rays of irradiation area is imaged on target on barrier
Imaging position information in image, the final actual position information for determining barrier.
In addition, the embodiment of the present invention does not limit image capture device 102 and the position in 101 vertical direction of laser
It is fixed, image capture device 102 can be located at laser 101 directly vertically below or normal position；Alternatively, Image Acquisition is set
Standby 102 can there are predetermined deviations to be all allowed with 101 vertical direction of laser, wherein predetermined deviation and laser 101
The angle of departure is positively correlated.
For example, image capture device 102 can be located at the lower left of laser 101, lower right or it is vertical just under
Side etc..Fig. 6 is the structural schematic diagram for the lower left that image capture device is located at laser in the embodiment of the present invention；Fig. 7 is this hair
Image capture device is located at the structural schematic diagram directly vertically below of laser in bright embodiment；Fig. 8 is in the embodiment of the present invention
Image capture device is located at the structural schematic diagram of the lower right of laser, it should be noted that image capture device 102 and laser
Device 101 can be installed in robot 104 according to above-mentioned positional relationship.
Complaint message acquisition device provided in an embodiment of the present invention can be applied in the environment of robot obstacle-avoiding, so should
Complaint message acquisition device can be installed in robot.Specifically, laser and image capture device can be installed separately to
In robot；Or: laser and image capture device can integrate to be installed in robot after entirety.
There is the different direction of motion in robot kinematics, in complaint message acquisition device provided in an embodiment of the present invention
Image capture device or laser can have different positional relationships from the robot in different motion direction.
When installing complaint message acquisition device provided in an embodiment of the present invention to robot, laser institute emission lines
It the direction of laser can be consistent with the direction of motion of robot；Alternatively, image capture device can be horizontally arranged, Image Acquisition is set
Standby pickup area is the front region of robot.Specifically, the direction of the emitted line laser of laser can be with robot
The direction of motion it is consistent and the laser plane of the laser and the optical axis of image capture device intersect at the image capture device
Front region, the normal position positioned at image capture device, upper left side, upper right side, directly vertically below, lower left or the right side
Lower section etc.；Alternatively, image capture device can be horizontally arranged, the pickup area of image capture device is the front area of robot
The laser plane of the optical axis and laser of domain and the image capture device intersects at the front region of the image capture device,
Positioned at the normal position of laser, upper left side, upper right side, directly vertically below, lower left or lower right etc..
For example, Fig. 9 is a kind of mounting means of complaint message acquisition device provided in an embodiment of the present invention；Figure 10 is
Another mounting means of complaint message acquisition device provided in an embodiment of the present invention；Figure 11 is barrier provided in an embodiment of the present invention
Hinder another mounting means of information acquisition device；Figure 12 is the another of complaint message acquisition device provided in an embodiment of the present invention
Kind mounting means.Laser 101 and image capture device 102 can be installed on robot according to above-mentioned any mounting means
On 104, wherein the direction of motion of robot 104 is as shown in arrow 105 in figure in Fig. 9, Figure 10, Figure 11 and Figure 12, laser
The 101 corresponding laser planes of line laser generated are as shown in straight line 106 in figure.
The embodiment of the invention also provides a kind of complaint message acquisition methods, which is applied to obstacle
Information acquisition device.The complaint message acquisition device includes: laser and image capture device；Wherein, the image capture device
There is fixed relative positional relationship between the laser.Figure 13 is complaint message acquisition methods provided in an embodiment of the present invention
Flow chart, 3 pairs of complaint message acquisition methods provided in an embodiment of the present invention are described in detail referring to Fig.1, comprising:
Step 1301, target image is acquired, which includes that the line laser of laser transmitting irradiates on barrier
The imaging in region.
Complaint message acquisition methods provided in an embodiment of the present invention can be applied to include complaint message acquisition device, image
Acquire equipment, processor etc..
In embodiments of the present invention, image capture device can acquire comprising line laser on barrier irradiation area at
The target image of picture, for the reality for subsequently determining barrier by the imaging position information of laser rays imaging in the target image
Location information provides condition.It should be noted that image capture device mentioned here can be camera, video camera etc. arbitrarily
A kind of equipment that can acquire image.
Step 1302, target figure is imaged on from acquisition line laser laser rays of irradiation area on barrier in target image
Imaging position information as in.
After collecting target image, the imaging position information of laser rays imaging in the target image can be determined.Because swashing
What image formation by rays was made of multiple pixels in the target image, so by determining that multiple pixels are in target on laser rays
Imaging position information in image determines the actual position information of barrier.
Specifically, determining the imaging position of the laser rays imaging of line laser irradiation area on barrier in the target image
The step of information may include: region shared by determining laser rays imaging in the target image；Determine multiple pixels in region
Imaging position information in the target image, and using the imaging position information of multiple pixels in the target image as laser rays
The location information of imaging in the target image.
Step 1303, the imaging position information according to laser rays imaging in the target image, determines the actual bit of barrier
Confidence breath.
When the line laser that laser generates is radiated on the barrier apart from robot different location, image capture device is adopted
Collect that laser rays imaging imaging position in the target image is different, therefore irradiation area swashs on barrier according to line laser
The different imaging position informations of image formation by rays in the target image, can determine the position of the barrier apart from robot different distance
Confidence breath.
For example, the region where laser rays imaging in the target image can be determined first, then determine in region
The imaging position information of multiple pixels in the target image on laser rays, in the target image by pixels multiple on laser rays
Imaging position information of the imaging position information as the laser rays.And then by multiple pixels on laser rays in target image
In imaging position information, determine the actual position information of barrier.
Complaint message acquisition methods provided in an embodiment of the present invention, by determine laser rays imaging in the target image at
Image position information determines the actual position information of barrier.It can be seen that complaint message acquisition side provided in an embodiment of the present invention
The information for the barrier that method finally determines is imaging position information in the target image according to pixels multiple on laser rays
The actual position information of the barrier for the multiple location informations composition determined, the corresponding location information determined of multiple pixels
It is more accurate to be compared to the corresponding location information determined in certain point.So the complaint message provided through the embodiment of the present invention
The accuracy of determining obstacle position information can be improved in acquisition methods.
It collects and after the target image of the imaging of irradiation area, determines that line laser is imaged on barrier comprising line laser
Imaging position information in target image.In a kind of achievable mode of the embodiment of the present invention, by determining that laser rays is imaged on mesh
Region where in logo image, and then determine the imaging position information of multiple pixels in the target image in region；Last root
According to the imaging position information of pixels multiple on laser rays in the target image, the actual position information of barrier is determined.Specifically
Ground step includes:
The first step determines region shared by laser rays imaging in the target image.
As long as occurring laser rays in target image, illustrate that there are barriers, otherwise target image is completely black.Also,
In robot traveling process, the barrier encountered may be one, it is also possible to be multiple.By true in the embodiment of the present invention
The connected region in image that sets the goal determines the region of laser rays imaging in the target image.There are several connected regions in target image
Then determination has several barriers in domain.The method of connected region is specifically extracted in the embodiment of above-mentioned complaint message acquisition device
It has been carried out and describes in detail, just repeat no more here.
Second step determines imaging position information of multiple pixels in the target image in region, by multiple pixels
Imaging position information in the target image is imaged as laser rays for location information in the target image.
Understandable to be, the connected region determined is made of multiple pixels, and multiple pixels are in target figure
Imaging position information as in, the i.e. coordinate position of pixel in the target image.The imaging position information group of these pixels
It is together as the imaging position information of laser rays imaging in the target image.
Third step determines barrier according to the imaging position information of pixels multiple on laser rays in the target image
Actual position information.
After determining the imaging position information of laser rays imaging in the target image, target can be imaged on according to laser rays
Imaging position information in image determines the actual position information of barrier, i.e., according to pixels multiple on laser rays in target
Imaging position information in image determines the actual position information of barrier.
It specifically, can be according to the imaging position information and image of pixels multiple on laser rays in the target image
The parameter preset for acquiring equipment determines the corresponding sight equation of multiple pixels on laser rays；And then according to multiple on laser rays
Optical plane of the laser plane of the corresponding sight equation of pixel and laser under the corresponding coordinate system of image capture device
Equation determines the actual position information of barrier.Specifically according to the imaging of pixels multiple on laser rays in the target image
Location information, determine the process of the actual position information of barrier in the embodiment of above-mentioned complaint message acquisition device into
It has gone and has described in detail, just repeated no more here.
Optionally, the optical axis of image capture device and the laser plane of laser intersect at the front of image capture device
Region.
Optionally, image capture device is placed in the directly vertically below or vertical of laser in the complaint message acquisition device
Right above straight；Alternatively, image capture device is vertical with laser, there are predetermined deviation placements, wherein predetermined deviation and laser
The angle of departure be positively correlated.
Optionally, laser and image capture device are installed in robot.
Optionally, the direction of the emitted line laser of laser is consistent with the direction of motion of robot；Alternatively, Image Acquisition is set
Standby horizontal positioned, the pickup area of image capture device is the front region of robot.
It should be noted that complaint message acquisition methods provided in an embodiment of the present invention are applied to complaint message acquisition device
In, all embodiments of above-mentioned complaint message acquisition device are suitable for the complaint message acquisition methods, and can reach identical
Or similar beneficial effect.
In addition, the embodiment of the invention also provides a kind of computer readable storage medium, the computer readable storage medium
The step of being inside stored with computer program, above-mentioned complaint message acquisition methods realized when computer program is executed by processor.
In the embodiment of the present invention, can be acquired by image capture device includes line laser irradiation area on barrier
The target image of imaging then by determining the imaging position information of laser rays imaging in the target image, and then determines obstacle
The actual position information of object.As can be seen that being compared to the known actual bit for determining barrier by the distance at certain point
Confidence breath, the imaging position information that the embodiment of the present invention can be imaged in the target image according to laser rays finally determine barrier
Actual position information, and laser rays includes multiple pixels, and the corresponding location information determined of multiple pixels is compared to
The corresponding location information determined in certain point is more accurate.So determining Obstacle Position can be improved through the embodiment of the present invention
Accuracy.And then it can also realize robot accurately avoidance during traveling.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (14)
1. a kind of complaint message acquisition device characterized by comprising
Laser, for emitting line laser；
Image capture device, for acquiring target image, which includes line laser irradiation area on barrier
Imaging, and there is fixed relative positional relationship between the image capture device and the laser；
Module is obtained, for obtaining the laser line imaging of line laser irradiation area on barrier from the target image
Imaging position information in the target image；
Determining module, for determining the actual position information of the barrier according to the imaging position information.
2. the apparatus according to claim 1, which is characterized in that the acquisition module is specifically used for determining the laser rays
Region where being imaged in the target image, and obtain multiple pixels in the region in the target image at
Image position information；
The determining module, specifically for the imaging position according to pixels multiple on the laser rays in the target image
Information determines the actual position information of the barrier.
3. the apparatus of claim 2, which is characterized in that the determining module is specifically used for according to the laser rays
The parameter preset of imaging position information and described image acquisition equipment of the upper multiple pixels in the target image, really
The corresponding sight equation of multiple pixels on the fixed laser rays；According to the corresponding sight side of pixels multiple on the laser rays
Optic plane equations of the laser plane of journey and the laser under the corresponding coordinate system of image capture device, determine described in
The actual position information of barrier.
4. device as claimed in any of claims 1 to 3, which is characterized in that the optical axis of described image acquisition equipment
The front region of described image acquisition equipment is intersected at the laser plane of the laser.
5. device according to claim 4, which is characterized in that described image acquisition equipment is located at the vertical of the laser
Underface or normal position；
Alternatively, described image acquisition equipment there are predetermined deviations with the laser vertical direction, wherein the predetermined deviation and
The angle of departure of the laser is positively correlated.
6. device according to claim 5, which is characterized in that the laser and described image acquisition equipment are installed on machine
On device people.
7. device according to claim 6, which is characterized in that the direction of the emitted line laser of laser and the machine
The direction of motion of device people is consistent；Alternatively,
Described image acquires equipment level and places, and the pickup area that described image acquires equipment is the front area of the robot
Domain.
8. a kind of complaint message acquisition methods, which is characterized in that be applied to complaint message acquisition device, the complaint message obtains
Device includes: laser and image capture device；Wherein, there is fixation between described image acquisition equipment and the laser
Relative positional relationship；The described method includes:
Acquire target image, the target image include the laser transmitting line laser on barrier irradiation area at
Picture；
Line laser laser rays of irradiation area on barrier is obtained from the target image is imaged on the target figure
Imaging position information as in；
According to the imaging position information, the actual position information of the barrier is determined.
9. according to the method described in claim 8, it is characterized in that, described obtain the line laser from the target image and exist
The step of imaging position information that the laser rays of irradiation area is imaged in the target image on barrier includes:
Determine that the laser rays is imaged on region shared in the target image；
Obtain imaging position information of multiple pixels in the target image in the region；
It is described according to the imaging position information, the step of determining the actual position information of the barrier includes:
According to imaging position information of the pixels multiple on the laser rays in the target image, the barrier is determined
Actual position information.
10. according to the method described in claim 9, it is characterized in that, it is described according to pixels multiple on the laser rays in institute
The step of stating the imaging position information in target image, determining the actual position information of the barrier include:
According to the pre- of imaging position information of the multiple pixel in the target image and described image acquisition equipment
Setting parameter determines the corresponding sight equation of multiple pixels on the laser rays；
According to the laser plane of the sight equation and the laser under the corresponding coordinate system of described image acquisition equipment
Optic plane equations, determine the actual position information of the barrier.
11. according to the method described in claim 8, it is characterized in that, the optical axis and the laser of described image acquisition equipment
Laser plane intersect at described image acquisition equipment front region.
12. according to the method for claim 11, which is characterized in that described image acquisition equipment is placed in the laser
Directly vertically below or normal position；
Alternatively, vertical with the laser there are predetermined deviation placements for described image acquisition equipment, wherein the predetermined deviation and
The angle of departure of the laser is positively correlated.
13. according to the method for claim 12, which is characterized in that the laser is installed on described image acquisition equipment
In robot.
14. according to the method for claim 13, which is characterized in that the direction of the emitted line laser of laser with it is described
The direction of motion of robot is consistent；Alternatively,
Described image acquires equipment level and places, and the pickup area that described image acquires equipment is the front area of the robot
Domain.
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| CN201710509194.1A CN109143167B (en) | 2017-06-28 | 2017-06-28 | Obstacle information acquisition device and method |
| PCT/CN2018/078034 WO2019001001A1 (en) | 2017-06-28 | 2018-03-05 | Obstacle information acquisition apparatus and method |
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| CN201710509194.1A CN109143167B (en) | 2017-06-28 | 2017-06-28 | Obstacle information acquisition device and method |
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| WO2019001001A1 (en) | 2019-01-03 |
| CN109143167B (en) | 2021-07-23 |
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