A device and method for monitoring target deflection angle day and night based on binocular vision

Abstract

The present invention relates to a binocular vision-based target deflection angle day and night monitoring device and method, the binocular vision-based target deflection angle day and night monitoring device comprises a target, a power module, a self-calibration module, a binocular vision module, an image processing module, a key module and a display module. The method comprises: calibration, installing the target on the target, the device real-time monitoring and extracting feature points in the monitoring image, and realizing the monitoring function of the target deflection angle. Therefore, the device and method can have the characteristics of all-weather, passive monitoring, real-time monitoring and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent monitoring equipment, and in particular to a binocular vision-based day and night monitoring device and method for target deflection angle. Background Art

[0002] With the development of science and technology, the automatic following technology of unmanned convoys and fleets has become a research hotspot. When a convoy or fleet turns, the following vehicles and ships need to obtain the deflection angle information of the preceding target.

[0003] The technologies currently used include Beidou positioning, lidar, inertial sensors and other technologies. Among them, the accuracy error of Beidou / GPS positioning is large, and the monitoring accuracy cannot be guaranteed in small ranges and short distances; lidar technology belongs to active monitoring, is easily affected by environmental interference, and is not concealed. Secondly, the cost of lidar is high and is not suitable for large-scale promotion; inertial sensors are greatly affected by internal gyroscope drift, and their measurement errors will accumulate over time.

[0004] Compared with the above monitoring methods, the method based on machine vision has many advantages, such as long working distance, high precision, all-weather real-time monitoring, strong concealment and low cost. In machine vision, binocular vision has a ranging function, which can obtain two images of the target and solve the three-dimensional geometric information of the target. Therefore, the monitoring device based on binocular vision can realize the deflection information of the target, which has extremely high application value and huge potential market. Summary of the invention

[0005] In order to solve the above technical problems, a binocular vision-based target deflection angle day and night monitoring device of the present invention comprises a target, a power module, a self-calibration module, a binocular vision module, an image processing module, a button module and a display module;

[0006] The target is composed of two coding targets, namely coding target I and coding target II, which provide characteristic points for calculating the deflection angle;

[0007] The binocular vision module is arranged on one side of the target, and the binocular vision module is composed of two low-light optical systems and two low-light detectors, wherein a single low-light optical system and a single low-light detector constitute a detection component, namely, detection component I and detection component II, detection component I is composed of low-light optical system I and low-light detector I, detection component II is composed of low-light optical system II and low-light detector II, and at the same time, power supply and video communication connections are respectively provided between detection component I and detection component II and image processing module, and the image of the target is obtained by real-time monitoring of the coded target day and night;

[0008] The self-calibration module is composed of a collimating optical system, a laser emitter, a low-light optical system III and a low-light detector III, wherein a power supply and a communication connection are provided between the laser emitter and the image processing module, and a power supply and a video communication connection are provided between the low-light detector III and the image processing module, wherein the self-calibration module transmits the acquired image to the image processing module, and solves the optical axis deviation of the two detection components in the binocular vision module, so as to adjust the parallelism of the two optical axes;

[0009] The image processing module obtains the monitoring image of the binocular vision module, splices the image output by the binocular vision module, then extracts the target distance information in the image, calculates the target deflection angle, and then transmits the image information to the display module, and superimposes the target deflection angle on the video image for display, and supplies power to other modules.

[0010] In one embodiment of the present invention, the coding target is composed of a plurality of black and white blocks.

[0011] In one embodiment of the present invention, the image processing module includes a logic control board, a software algorithm, and a communication interface, wherein the logic control board is communicatively connected with the binocular vision module, the self-calibration module, the display module, and the button module through the communication interface.

[0012] In one embodiment of the present invention, the power module includes a power board, and is connected to a dry battery, a replaceable lithium battery or an external power supply to power the image processing module, and is connected to the self-calibration module, the binocular vision module, and the display module through the logic control board and the communication interface in the image processing module.

[0013] In one embodiment of the present invention, the key module is composed of a rotary encoder, and the signal is input into the image processing module by adjusting the encoder, and driven by the software algorithm therein, the multi-channel video switching function of the display module is realized.

[0014] In one embodiment of the present invention, the display module includes a display screen, wherein the display screen is connected to the logic control board for power supply and video output via a communication interface, so that the device user can monitor the target deflection.

[0015] The present invention also provides a method for monitoring a target deflection angle during the day and night based on binocular vision. The method for monitoring a target deflection angle during the day and night is designed based on a device for monitoring a target deflection angle during the day and night, and comprises the following steps:

[0016] Step S1: Before the device is monitored, the optical axis is calibrated using the self-calibration module; the laser in the self-calibration module passes through the collimation system and is imaged in the low-illuminance detector III after reflection, and is imaged as a light spot in the image;

[0017] Step S2: The low illumination detector III transmits the image to the image processing module, and finally displays it in the display module. The user adjusts the positional relationship of the two detection components based on the image, thereby adjusting the parallelism of the optical axes of the two detection components;

[0018] Step S3: When the image of the laser spot is adjusted to the center of the image, the optical axis correction is completed; after the optical axis correction is completed, the binocular vision module monitors the two targets at the target in real time, and transmits the two monitoring images to the image processing module in real time.

[0019] The above technical solution of the present invention has the following advantages over the prior art: the target deflection angle day and night monitoring device and method described in the present invention can monitor the deflection angle information of the preceding target in real time, and has all-weather, passive monitoring, real-time monitoring, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0021] Figure 1 It is a system block diagram of a target deflection angle day and night monitoring device based on binocular vision;

[0022] Figure 2 It is a schematic diagram of a coded target in the target deflection angle day and night monitoring device of the present invention;

[0023] Figure 3 is a schematic diagram of a display interface in the target deflection angle day and night monitoring device of the present invention;

[0024] Figure 4 It is a schematic diagram of the monitoring principle of the target deflection angle day and night monitoring method of the present invention. DETAILED DESCRIPTION

[0025] like Figure 1 As shown, this embodiment provides a day and night monitoring device for target deflection angle based on binocular vision, including a target, a power module, a self-calibration module, a binocular vision module, an image processing module, a key module and a display module; the target is composed of two coded targets, namely, coded target I and coded target II, which provide feature points for solving the deflection angle;

[0026] The binocular vision module is arranged on one side of the target, and the binocular vision module is composed of two low-light optical systems and two low-light detectors, wherein a single low-light optical system and a single low-light detector constitute a detection component, namely, detection component I and detection component II, detection component I is composed of low-light optical system I and low-light detector I, detection component II is composed of low-light optical system II and low-light detector II, and at the same time, power supply and video communication connections are respectively provided between detection component I and detection component II and image processing module, and the image of the target is obtained by real-time monitoring of the coded target day and night;

[0027] The self-calibration module is composed of a collimating optical system, a laser emitter, a low-light optical system III and a low-light detector III, wherein a power supply and a communication connection are provided between the laser emitter and the image processing module, and a power supply and a video communication connection are provided between the low-light detector III and the image processing module, wherein the self-calibration module transmits the acquired image to the image processing module, and solves the optical axis deviation of the two detection components in the binocular vision module, so as to adjust the parallelism of the two optical axes;

[0028] The image processing module obtains the monitoring image of the binocular vision module, splices the image output by the binocular vision module, then extracts the target distance information in the image, calculates the target deflection angle, and then transmits the image information to the display module, and superimposes the target deflection angle on the video image for display, such as Figure 3 As shown, it also supplies power to other modules.

[0029] Specifically, the target module is composed of two coded targets, including target I and target II, each of which is composed of several black and white blocks, such as Figure 2 shown.

[0030] The image processing module includes a logic control board, a software algorithm, and a communication interface, wherein the logic control board is connected to the binocular vision module, the self-calibration module, the display module, and the key module through the communication interface to splice the images output by the binocular vision module;

[0031] In addition, a voltage conversion is provided in the logic control board and is connected to the power supply between the binocular vision module, the self-calibration module, and the display module.

[0032] The power module includes a power board, and is connected to a dry battery, a replaceable lithium battery or an external power supply to power the image processing module, and is connected to the self-calibration module, the binocular vision module, and the display module through a logic control board and a communication interface in the image processing module.

[0033] The key module is composed of a rotary encoder. By adjusting the encoder, the signal is input into the image processing module, and driven by the software algorithm therein, the multi-channel video switching function of the display module is realized.

[0034] The display module includes a display screen, wherein the display screen is connected to the logic control board for power supply and video output via a communication interface, so that the device user can monitor the target deflection situation.

[0035] The present invention also provides a method for monitoring a target deflection angle during the day and night based on binocular vision. The method for monitoring a target deflection angle during the day and night is designed based on a device for monitoring a target deflection angle during the day and night, and comprises the following steps:

[0036] Step S1: Before the device is monitored, the optical axis is calibrated using the self-calibration module; the laser in the self-calibration module passes through the collimation system and is imaged in the low-illuminance detector III after reflection, and is imaged as a light spot in the image;

[0037] Step S2: The low illumination detector III transmits the image to the image processing module, and finally displays it in the display module. The user adjusts the positional relationship of the two detection components based on the image, thereby adjusting the parallelism of the optical axes of the two detection components;

[0038] Step S3: When the image of the laser spot is adjusted to the center of the image, the optical axis correction is completed; after the optical axis correction is completed, the binocular vision module monitors the two targets at the target in real time, and transmits the two monitoring images to the image processing module in real time.

[0039] like Figure 4 As shown, the image processing module extracts the feature points of the target in the image according to the software algorithm, calculates the longitudinal straight-line distance between the two coded targets according to formula (1) and formula (2), and then calculates the target deflection angle through the trigonometric function relationship of formula (3).

[0040]

[0041] Where L1 is the longitudinal straight-line distance of the characteristic circle in target 1, f1 is the focal length of the low-light lens in detection component 1, d is the baseline length in binocular vision, and x1-x2 is the parallax of the center point of target 1 in the binocular stereo vision component.

[0042]

[0043] L2 is the longitudinal straight-line distance of the characteristic circle in target 2, f2 is the focal length of the low-light lens in detection component 2, d is the baseline length in binocular vision, and x1-x2 is the parallax of the center point of target 2 in the binocular stereo vision component.

[0044] Thus, the longitudinal straight-line distance between target 1 and target 2 and the monitoring device can be calculated, and then the target deflection angle can be further calculated according to formula (3).

[0045]

[0046] θ is the target deflection angle, and D is the horizontal installation distance between target I and target II, which is used to calculate the target deflection angle.

[0047] The image processing module splices the two monitoring images, and after processing, transmits them to the display module for display, and displays the target deflection angle in the display interface. The key module is used to switch the video, such as splicing the field of view video, the detection component I monitoring video, and the detection component II monitoring video.

[0048] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A day and night monitoring device for target deflection angle based on binocular vision, characterized in that: It includes a target, a power module, a self-calibration module, a binocular vision module, an image processing module, a button module and a display module; The target is composed of two coding targets, namely coding target I and coding target II, which provide characteristic points for solving the deflection angle; The binocular vision module is arranged on one side of the target, and the binocular vision module is composed of two low-light optical systems and two low-light detectors, wherein a single low-light optical system and a single low-light detector constitute a detection component, namely, detection component I and detection component II, detection component I is composed of low-light optical system I and low-light detector I, detection component II is composed of low-light optical system II and low-light detector II, and at the same time, power supply and video communication connections are respectively provided between detection component I and detection component II and image processing module, and the image of the target is obtained by real-time monitoring of the coded target day and night; The self-calibration module is composed of a collimating optical system, a laser emitter, a low-light optical system III and a low-light detector III, wherein a power supply and a communication connection are provided between the laser emitter and the image processing module, and a power supply and a video communication connection are provided between the low-light detector III and the image processing module, wherein the self-calibration module transmits the acquired image to the image processing module, and solves the optical axis deviation of the two detection components in the binocular vision module, so as to adjust the parallelism of the two optical axes; The image processing module obtains the monitoring image of the binocular vision module, splices the image output by the binocular vision module, then extracts the target distance information in the image, calculates the target deflection angle, and then transmits the image information to the display module, and superimposes the target deflection angle on the video image for display, and supplies power to other modules; Set the longitudinal straight line distance of the characteristic circle in the coded target I to L 1: in f 1 is the focal length of the low-light lens in detection component I, d is the baseline length in binocular vision, x 1- x 2 is the disparity of the central dot of the coding target I in the binocular stereo vision component; The longitudinal straight-line distance of the characteristic circle in the coding target II is also set to L 2: in f 2 is the focal length of the low light lens in the detection component II, d is the baseline length in binocular vision, x 1- x 2 is the disparity of the central dot of the coded target II in the binocular stereo vision component; And finally the target deflection angle θ is calculated: Where D is the installation horizontal distance between target I and target II.

2. The target deflection angle day and night monitoring device according to claim 1, characterized in that: The coded target is composed of several black and white blocks.

3. The target deflection angle day and night monitoring device according to claim 1, characterized in that: The image processing module comprises a logic control board, a software algorithm, and a communication interface, wherein the logic control board is communicatively connected with the binocular vision module, the self-calibration module, the display module, and the key module through the communication interface.

4. The target deflection angle day and night monitoring device according to claim 1, characterized in that: The power module includes a power board, and is connected to a dry battery, a replaceable lithium battery or an external power supply to power the image processing module, and is connected to the self-calibration module, the binocular vision module, and the display module through a logic control board and a communication interface in the image processing module.

5. The target deflection angle day and night monitoring device according to claim 1, characterized in that: The key module is composed of a rotary encoder. By adjusting the encoder, the signal is input into the image processing module, and driven by the software algorithm therein, the multi-channel video switching function of the display module is realized.

6. The target deflection angle day and night monitoring device according to claim 1, characterized in that: The display module includes a display screen, wherein the display screen is connected to the logic control board for power supply and video output via a communication interface, so that the device user can monitor the target deflection situation.

7. A method for monitoring target deflection angle day and night based on binocular vision, the method for monitoring target deflection angle day and night is based on the design of any target deflection angle day and night monitoring device according to any one of claims 1 to 6, characterized in that: The steps include: Step S1: Before the device is monitored, the optical axis is calibrated using the self-calibration module; the laser in the self-calibration module passes through the collimation system and is imaged in the low-illuminance detector III after reflection, and is imaged as a light spot in the image; Step S2: The low illumination detector III transmits the image to the image processing module, and finally displays it in the display module. The user adjusts the positional relationship of the two detection components based on the image, thereby adjusting the parallelism of the optical axes of the two detection components; Step S3: When the image of the laser spot is adjusted to the center of the image, the optical axis correction is completed; after the optical axis correction is completed, the binocular vision module monitors the two targets at the target in real time, and transmits the two monitoring images to the image processing module in real time.

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