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Industrial vehicle early warning and obstacle avoidance method and system based on binocular camera

A technology of industrial vehicles and binocular cameras, applied in the field of early warning and obstacle avoidance of industrial vehicles based on binocular cameras, can solve the problems of poor early warning and obstacle avoidance effects of industrial vehicles, improve the accuracy of early warning and obstacle avoidance, and improve personnel The effect of the factor of safety

Pending Publication Date: 2022-03-08
浙江建木智能系统有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present application provides a binocular camera-based industrial vehicle early warning and obstacle avoidance method and system to at least solve the problem of poor early warning and obstacle avoidance effects of industrial vehicles in related technologies

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  • Industrial vehicle early warning and obstacle avoidance method and system based on binocular camera
  • Industrial vehicle early warning and obstacle avoidance method and system based on binocular camera
  • Industrial vehicle early warning and obstacle avoidance method and system based on binocular camera

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Embodiment 1

[0083] The embodiment of the present application provides a binocular camera-based industrial vehicle early warning and obstacle avoidance method, including:

[0084] Step 1, camera calibration:

[0085] Due to the characteristics of the optical lens of the camera, there is radial distortion in the imaging; at the same time, due to inevitable errors such as assembly, the camera sensor and the optical lens are not completely parallel, resulting in tangential distortion in the imaging. Therefore, it is necessary to calibrate the binocular camera to obtain the internal reference information of the first camera and the second camera and the relative external reference information between the two.

[0086] It should be noted that the internal parameters of a single camera include the internal parameter matrix and coefficients of the camera, and the relative external parameter information between the two is the rotation matrix and translation vector of the first camera relative to t...

Embodiment 2

[0185] The embodiment of the present application also provides an industrial vehicle early warning and obstacle avoidance system based on a binocular camera, Figure 5 It is a structural block diagram of an industrial vehicle early warning and obstacle avoidance system based on a binocular camera according to an embodiment of the present application, such as Figure 5 As shown, the system includes: on-board controller, CAN communication module, industrial computer, binocular camera, on-board power supply and on-board display, among which;

[0186] The on-board power supply is used to supply power to the power plant of industrial vehicles and other computing devices and communication devices;

[0187] A software program based on a binocular camera-based industrial vehicle early warning and obstacle avoidance method is installed in the industrial computer, which is used to execute the information processing link and output control instructions in the early warning and obstacle a...

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Abstract

The invention relates to an industrial vehicle early warning and obstacle avoidance method based on a binocular camera, and the method comprises the steps: obtaining a binocular image of a weak visual field region of an industrial vehicle through the binocular camera, obtaining the internal parameter information and relative external parameter information of a first camera and a second camera in the binocular camera, correcting the binocular image according to the internal reference information and the relative external reference information to obtain a corrected binocular image; acquiring a pedestrian detection frame in the corrected binocular image through a target detection algorithm, projecting the pedestrian detection frame to the calibrated target ground, and calculating projection distance data from the pedestrian to the industrial vehicle based on a projection result; early warning information is calculated and output according to the projection distance data, the real-time braking distance and the real-time deceleration distance, and real-time obstacle avoidance control is carried out according to the early warning information. According to the invention, the problems of poor early warning effect and poor obstacle avoidance precision of the industrial vehicle in the prior art are solved, the early warning precision and the obstacle avoidance precision are improved, and the personnel safety coefficient is improved.

Description

technical field [0001] The present application relates to the technical field of computer vision, in particular to a binocular camera-based industrial vehicle early warning and obstacle avoidance method and system. Background technique [0002] Due to the special characteristics of industrial vehicles, such as large weak field of vision, high reversing frequency, heavy load, and long braking distance, vicious industrial vehicle accidents such as scratching, collision, rolling, and collision occur from time to time during the operation process, causing great damage. Personal injury and economic loss, the safety of industrial vehicles has become an important issue that the global industrial vehicle industry must face. [0003] In related technologies, binocular cameras combined with traditional machine vision, infrared TOF and video analysis technologies are mainly used to perform early warning and obstacle avoidance according to the relationship between obstacle distance, bra...

Claims

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Application Information

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IPC IPC(8): G06T7/11G06T7/187G06T7/66G06T7/70G06V40/10G06V40/20H04N13/239H04N13/271H04N13/327H04N13/363
CPCG06T7/11G06T7/70G06T7/187G06T7/66H04N13/239H04N13/271H04N13/327H04N13/363G06T2207/10028
Inventor 雷富强任海英张巍
Owner 浙江建木智能系统有限公司
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