A long-distance obstacle perception sensor based on line structured light

Abstract

The invention discloses a long-distance obstacle perception sensor based on line structured light. The long-distance obstacle perception sensor based on the line structured light comprises a laser transmitter, a laser range finder, a CCD imaging system and a computer, wherein the laser transmitter is used for transmitting the line structured light to a measured target area under the control of the computer; the laser range finder is used for measuring the distance from the laser transmitter to a transmitted line structured light bar; the CCD imaging system is used for capturing part of scattered light of the measured target area and sending the scattered light to the computer; the computer obtains the intensity of reflection laser of a detected object through measuring the amplitude of a received laser pulse, the distance of the detected object is obtained through the laser range finder, then an obtained line structured light image is processed through an image processing system, and target information is obtained. By means of the long-distance obstacle perception sensor based on the line structured light, for meeting the detection and recognition requirement of an automated vehicle on obstacles under an off-road condition, a novel line structured light visual sensor is adopted, and water hazards and concave and convex obstacles hectometer farthest away from the front of the vehicle are detected and recognized all day long.

Description

Technical field [0001] The invention relates to a long-distance obstacle sensing sensor based on line structured light. Background technique [0002] The structured light vision measurement method is developed from the optical triangulation measurement principle, and is currently a vision measurement method widely used in the industrial field. The structured light vision sensor is mainly composed of a laser projector and a camera. The laser is projected into a certain form of structured light through an optical lens and directed to the object to be measured as required. The camera is used to capture the light stripe image formed on the surface of the object to be measured, and then uses optics. Triangulation method obtains three-dimensional information on the surface of an object. The current structured light method is mainly focused on the reconstruction of three-dimensional entities, the measurement of object surface contours, the seam tracking detection and the research of th...

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Problems solved by technology

[0004] However, the test distance of the existing line structured light sensor system is relatively short, only within a few centimeters or a few meters, which cannot meet the requirements of the existing unmanned vehicles in terms of test distance and test speed. Therefore, there is an urgent need for a long-distance obstacle perception sensor based on line structured light

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