Barrier detection positioning device and barrier-avoiding system

Abstract

The invention provides a barrier detection positioning device. The barrier detection positioning device comprises an image acquisition unit used for acquiring the scene image of the front part of a barrier in the travelling direction; and an image processing unit used for acquiring a sequence image from the scene image acquired by the image acquisition unit, extracting a light stream from the sequence image, and obtaining the relative distance between the barrier and the image acquisition unit in dependence on the light stream. The image acquisition unit and the image processing unit are both arranged on the position where the scene image is acquired. The invention also provides a barrier-avoiding system. The barrier-avoiding system comprises the above barrier detection positioning device used for acquiring the relative distance between the barrier and the image acquisition unit; and an intelligent agent control module used for acquiring the relative distance between the barrier and the image acquisition unit, and planning a travelling route for avoiding the barrier to achieve the barrier-avoiding function. According to the technical scheme, barrier detection and positioning based on images can be achieved, and acquisition of the image information and extraction of the light stream are carried out on the image acquisition position.

Description

technical field [0001] The invention relates to the technical field of machine vision applications, in particular to an obstacle detection and positioning device and an obstacle avoidance system using the obstacle detection and positioning device. Background technique [0002] Optical flow refers to the movement of brightness or grayscale on the imaging plane in a time-varying image. When animals (especially insects) move, the surrounding environment will form an image sequence on the retina, and the continuous change of the image sequence will cause the "flow" of the brightness on the retina, so it is vividly called the movement of the image brightness on the two-dimensional imaging plane for optical flow. Relative motion is a necessary condition for the generation of optical flow. Biological research results show that insects use optical flow for navigation, flight and landing, which shows that optical flow contains rich three-dimensional motion and scene information. A ...

AI Technical Summary

Problems solved by technology

[0003] In the research and development of the optical flow application algorithm, due to the large amount of calculation of the optical flow extraction algorithm, the sequence images collected by the camera carried by the agent are usually sent back to the ground computer through a wireless link for optical flow calculation. To a certain extent, it limits the engineering transformation of optical flow applications

Moreover, the PX4 optical flow sensor, as an emerging hardware system based on image optical flow applications, can be used together with ultrasonic ranging devices to measure the downward-looking optical flow of micro-aircraft, and assist in the realization of fixed-point flight without GPS , this technology has been applied to the Ar.drone four-rotor aircraft, and the PX4 optical flow sensor can also be used compatible with the open source flight control Pixhawk, but due to the small number of imaging units, the measurement coverage and the distance are also small, it cannot adapt to the long-distance forward vision. Applications of range detection

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