Binocular camera distance measurement method and device, electronic equipment and storage medium

Abstract

The invention provides a binocular camera distance measurement method and device, electronic equipment and a storage medium, and relates to the technical field of data processing, and the binocular camera distance measurement method comprises the steps: obtaining the environment data of an underground coal mine, and determining the target exposure time according to the environment data; performing parameter adjustment on the binocular camera according to the target exposure time to obtain a target binocular camera; performing image acquisition on an underground coal mine environment based on the target binocular camera to obtain at least two initial images; and feature point extraction and feature point matching are carried out on the initial image to obtain a depth image including the distance, and the technical problem that the distance measurement effect is poor due to environmental data such as dust, humidity and temperature in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a binocular camera ranging method, device, electronic device and storage medium. Background Art

[0002] The uses and benefits of underground coal mine inspection robots include but are not limited to safety inspections, real-time monitoring, data collection and improved efficiency in coal mines. In order to ensure that underground coal mine inspection robots can work safely, distance measurement is required to ensure that the robots can perceive surrounding obstacles, pedestrians or other potential dangers in real time, reduce the risk of collision with other objects, and thus improve safety during the inspection process. Distance measurement can also accurately assess changes in the ground surface, perceive the width of the channel and the height of the tunnel, etc., detect abnormal situations in a timely manner, and ensure the safety of miners. Environmental maps can also be constructed to achieve autonomous positioning and path planning.

[0003] Currently, commonly used robot ranging methods include laser ranging, ultrasonic ranging, infrared ranging, structured light and stereo vision ranging and binocular camera ranging. Among them, binocular camera ranging has high precision, real-time performance, environmental adaptability, low cost, and the ability to perform three-dimensional reconstruction and multi-view measurement. It is of great significance to enhance the autonomy, safety and efficiency of robots in complex and dangerous environments. However, the underground environment of coal mines is dim, and the dust and smoke generated during coal mine work will affect the image clarity and accuracy of the binocular camera, affect the parallax calculation, and the ranging effect is poor. Summary of the invention

[0004] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, the first purpose of this application is to propose a binocular camera ranging method to achieve accurate distance measurement in scenes such as coal mines.

[0006] The second objective of the present application is to provide a binocular camera ranging device.

[0007] The third objective of the present application is to provide an electronic device.

[0008] A fourth objective of the present application is to provide a computer-readable storage medium.

[0009] A fifth object of the present application is to provide a computer program product.

[0010] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a binocular camera ranging method, comprising:

[0011] Acquire environmental data of the coal mine underground, and determine the target exposure time according to the environmental data, wherein the environmental data at least includes dust concentration, temperature and humidity;

[0012] Adjusting the parameters of the binocular camera according to the target exposure time to obtain a target binocular camera;

[0013] Based on the target binocular camera, images of the underground environment of the coal mine are collected to obtain at least two initial images;

[0014] Feature point extraction and feature point matching are performed on the initial image to obtain a depth image including a distance.

[0015] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a binocular camera ranging device, comprising:

[0016] Environmental perception module, image acquisition module and data processing module;

[0017] The environmental sensing module is used to obtain environmental data in the coal mine and transmit the environmental data to the data processing module, wherein the environmental data at least includes dust concentration, temperature and humidity;

[0018] The data processing module is used to determine the target exposure time according to the environmental data, and transmit the target exposure time to the image acquisition module;

[0019] The image acquisition module is used to adjust the parameters of the binocular camera according to the target exposure time to obtain a target binocular camera, and to acquire images of the underground environment of the coal mine based on the target binocular camera to obtain at least two initial images, and transmit the initial images to the data processing module;

[0020] The data processing module performs feature point extraction and feature point matching on the initial image to obtain a depth image including a distance.

[0021] To achieve the above-mentioned purpose, the third aspect of the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0022] The memory stores computer-executable instructions;

[0023] The processor executes the computer-executable instructions stored in the memory to implement the method described in the embodiment of the first aspect.

[0024] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a computer-readable storage medium, in which computer-readable storage medium is stored computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method described in the first aspect embodiment.

[0025] To achieve the above-mentioned purpose, the fifth aspect of the present application proposes a computer program product, including a computer program, which implements the method described in the first aspect when executed by a processor.

[0026] The binocular camera ranging method, device, electronic device and storage medium provided in the present application obtain environmental data of the underground coal mine to determine the target exposure time, reduce the impact of the underground coal mine environment on the binocular camera imaging, ensure that the target binocular camera acquires the image with the optimal exposure time to obtain the initial image, and obtains the depth image including the distance by extracting and matching the feature points of the initial image, thereby solving the problem of the impact of low light, high dust concentration, humidity change and other coal mine environments on image quality and ranging accuracy, and realizing high-precision distance measurement.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0029] Figure 1 A schematic diagram of a flow chart of a binocular camera ranging method provided in an embodiment of the present application;

[0030] Figure 2 A schematic diagram of a process for determining a target exposure time according to the environmental data provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of a flow chart of another binocular camera ranging method provided in an embodiment of the present application;

[0032] Figure 4 A logic flow chart of binocular camera measurement proposed in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of the structure of a binocular camera ranging device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes a binocular camera ranging method, device, electronic device, and storage medium according to an embodiment of the present application with reference to the accompanying drawings.

[0036] Figure 1 The flowchart of a binocular camera distance measurement method provided in the embodiment of the present application is shown in FIG. Figure 1 As shown, the binocular camera ranging method includes the following steps:

[0037] S101, obtaining environmental data of the coal mine underground, and determining a target exposure time according to the environmental data.

[0038] It is understandable that coal mines will produce dust, smoke and other particulate matter during operation, which will cause light scattering and affect the imaging clarity of the binocular camera. At the same time, when the humidity inside the coal mine is too high or the temperature changes greatly, it is easy to cause the lens to fog up, resulting in blurred imaging, which is not conducive to the binocular camera to measure the distance. Therefore, the environmental data of the coal mine underground is obtained, and the environmental data at least includes dust concentration, temperature and humidity.

[0039] Optionally, one or more dust sensors, humidity sensors and temperature sensors may be arranged on the binocular camera or inside the coal mine, and the dust sensors, humidity sensors and temperature sensors may collect and analyze the surrounding environment data in real time.

[0040] It is understandable that in a high dust concentration environment, light scattering will cause more light to be scattered and lost, thus affecting the quality of the image acquired by the camera; in order to maintain the same exposure under unchanged lighting conditions, the exposure time needs to be inversely proportional to the light intensity. When the dust concentration increases, the effective transmission of light is reduced, so the effective light intensity decreases, and the camera needs to increase the exposure time to compensate for the loss of light.

[0041] In some implementations, a mapping relationship between dust concentration and effective illumination can be obtained, and the mapping relationship can be queried to determine the effective illumination under the current dust concentration, and further based on the negative correlation between the effective illumination and the exposure time, the first exposure time under the current effective illumination can be determined.

[0042] Ambient temperature and humidity may affect the performance of the camera, such as noise, dynamic range, color reproduction, etc., thereby affecting the optimal exposure time; an increase in temperature usually leads to an increase in the thermal noise of the sensor. Thermal noise is random. As the temperature rises, the amplitude and frequency of thermal noise will increase. In a relatively high temperature environment, the camera requires a longer exposure time to offset the noise and achieve the required signal strength; humidity affects the propagation of light. A high humidity environment may cause condensation or fogging on the optical components, thereby affecting the transmission of light and the response of the sensor. In this case, increasing the exposure time can compensate for the reduced efficiency of light transmission. Under small changes in lighting or environmental changes, the relationship between the output of the sensor and the light intensity is usually linear. Therefore, under fixed changes in lighting conditions, such as due to changes in temperature or humidity, the required exposure time will also change linearly to keep the sensor output signal within a reasonable range.

[0043] Optionally, the linear relationships between the temperature and humidity and the exposure time may be respectively obtained, and the second exposure time and the third exposure time at the current temperature and humidity may be determined according to the linear relationships.

[0044] Optionally, the first exposure time, the second exposure time and the third exposure time may be summed to obtain a target exposure time with the best current effect.

[0045] S102, adjusting parameters of the binocular camera according to the target exposure time to obtain a target binocular camera.

[0046] The exposure time parameter of the binocular camera is modified to the target exposure time to obtain the target binocular camera; it can be understood that the binocular camera will be initialized and configured before use, and the basic configuration parameters of the target binocular camera, such as focal length, aperture, calibration parameters, image resolution and frame rate, etc., are configured before work and kept unchanged as much as possible. In this embodiment, only the exposure time is adaptively adjusted to ensure the stability and reliability of imaging in practical applications.

[0047] S103, collecting images of the underground environment of the coal mine based on the target binocular camera to obtain at least two initial images.

[0048] The left and right cameras of the target binocular camera simultaneously capture images, thereby obtaining at least two initial images of the underground environment of the coal mine.

[0049] S104, extracting and matching feature points on the initial image to obtain a depth image including a distance.

[0050] In some implementations, feature points may be extracted based on Harris corner detection or a scale-invariant feature transform (SIFT) algorithm to obtain feature points in the two initial images.

[0051] In some implementations, descriptors of the extracted feature points may be calculated, and based on the descriptors, a Brute Force (BF) algorithm or a Fast Library for Approximate Nearest Neighbors (FLANN) algorithm may be used to match the feature points in the left and right images, thereby obtaining pairs of feature points that are successfully matched in the two initial images.

[0052] Furthermore, a disparity map can be generated based on the position difference of the feature point pairs. The depth information of each feature point can be calculated using triangulation based on the disparity map and camera parameters, such as focal length and baseline length, to obtain a depth image, thereby completing the binocular camera ranging process, improving the clarity of the binocular camera imaging, and improving the accuracy and precision of the binocular camera ranging.

[0053] In this embodiment, the target exposure time is determined by acquiring environmental data underground in the coal mine to reduce the impact of the underground environment of the coal mine on the imaging of the binocular camera, ensuring that the target binocular camera performs image acquisition with the optimal exposure time to obtain an initial image, and extracting and matching feature points on the initial image to obtain a depth image including distance, thereby improving the shooting performance of the binocular camera, overcoming the impact of low light, high dust concentration, humidity changes and other coal mine environments on image quality and ranging accuracy, thereby achieving high-precision distance measurement.

[0054] Based on the above embodiments, Figure 2 A schematic diagram of a process for determining a target exposure time according to the environmental data provided in an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0055] S201, determining whether the environmental data is within the target range.

[0056] In some implementations, a dust concentration threshold, a temperature threshold, and a humidity threshold can be obtained, and corresponding target intervals can be constructed based on the dust concentration threshold, the temperature threshold, and the humidity threshold; for example, the target interval of dust concentration is an interval less than or equal to the dust concentration threshold, the target interval of temperature is an interval less than or equal to the temperature threshold, and the target interval of humidity is an interval less than or equal to the humidity threshold.

[0057] In response to the dust concentration being greater than the dust concentration threshold, and / or the temperature being greater than the temperature threshold, and / or the humidity being greater than the humidity threshold, it is determined that the environmental data exceeds the target range, that is, whether the dust concentration is too high, whether the temperature is too high, and whether the humidity is too high. When any one of the conditions of high dust concentration, high temperature, and high humidity is met, it is determined that the environmental data exceeds the target range.

[0058] S202: In response to any data in the environmental data exceeding the target interval, determine a first characteristic value according to the dust concentration.

[0059] Optionally, a functional relationship between dust concentration and effective illumination can be obtained; according to the functional relationship and the dust concentration in the environmental data, the current effective illumination is determined; as the dust concentration increases, the effective illumination in the environment I effective If the dust concentration threshold is set to P0 and the illumination under the corresponding conditions is set to I0, the relationship between dust concentration and effective illumination can be expressed by the following functional relationship:

[0060] I effective =I0·e -kp

[0061] Among them, e is a natural constant, p is the dust concentration in the environmental data, and k is an attenuation coefficient related to environmental conditions and dust characteristics.

[0062] The relationship between exposure time and effective illumination is usually inversely proportional. When the exposure is kept the same, the relationship between exposure time T0 and effective illumination can be expressed as:

[0063]

[0064] Among them, K is a constant related to the characteristics of the camera; the current effective illumination is substituted into the above exposure time formula, so as to determine the first eigenvalue T1 according to the current effective illumination. The first eigenvalue is also the exposure time, which is expressed as:

[0065]

[0066] Based on the characterization formula of the first eigenvalue mentioned above, it can be known that as the dust concentration P increases, T will increase exponentially, indicating that a longer exposure time is required to compensate for light loss under high dust concentration. In this embodiment, K and I0 are both constants, which can be determined through testing in actual environments. k is a characteristic coefficient that describes the effect of dust concentration on light attenuation, which can be obtained through experiments.

[0067] In some implementations, if the data in the environmental data does not exceed the target range, the target exposure time is the initially set exposure time and does not need to be adjusted.

[0068] S203: Determine a second characteristic value according to the temperature and humidity.

[0069] Optionally, the influence coefficients corresponding to the temperature and humidity may be obtained; the second characteristic value may be determined according to the temperature, humidity and their corresponding influence coefficients; in this embodiment, the second characteristic value is the exposure time determined based on the temperature and humidity, and the second characteristic value may be expressed as:

[0070] T2=k1C+k2H+k3CH

[0071] Among them, T2 is the second eigenvalue; C is the temperature in the environmental data; H is the humidity in the environmental data; k1 and k2 represent the influence coefficients corresponding to temperature and humidity respectively; CH is the interaction term between temperature and humidity to consider the mutual influence between temperature and humidity, and k3 is the corresponding influence coefficient.

[0072] It is understandable that as the temperature increases, the exposure time needs to be increased to obtain the desired image quality, which can be achieved by setting k1>0; the increase in relative humidity requires a longer exposure time, which can be achieved by setting k2>0; optionally, k l The specific values ​​of k, k2 and k3 can be determined through experiments and data analysis to adapt to different shooting environments and equipment characteristics.

[0073] S204: Determine a target exposure time based on the first eigenvalue and the second eigenvalue.

[0074] Optionally, the sum of the first eigenvalue and the second eigenvalue may be obtained as the target exposure time; the target exposure time may be expressed as:

[0075]

[0076] Among them, T3 is the target exposure time.

[0077] In this embodiment, it is first determined whether the dust concentration, temperature and humidity in the environmental data are within the target range. Combined with the feedback from the dust, temperature and humidity sensors, the environmental information can be acquired in real time to determine whether the current initial exposure time is suitable for the current environment. After any environmental data exceeds the target range, the current effective illumination is determined according to the relationship between the dust concentration and the effective illumination, and the first eigenvalue is determined according to the inverse proportional relationship between the current effective illumination and the exposure time. Further, based on the influence of temperature and humidity on the exposure time, the second eigenvalue is determined, and the sum of the first eigenvalue and the second eigenvalue is used as the target exposure time. The target exposure time is more in line with the current environmental conditions, can achieve optimal image acquisition, and improve the performance of the camera system.

[0078] Based on the above embodiments, Figure 3This is a flow chart of another binocular camera ranging method provided in an embodiment of the present application. Figure 3 As shown, the method comprises the following steps:

[0079] S301, obtaining environmental data of the coal mine underground, and determining whether the environmental data is within a target range.

[0080] In the embodiment of the present application, the implementation method of step S301 can be implemented by any of the methods in the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0081] S302: In response to any data in the environmental data exceeding the target interval, determine a first characteristic value according to the dust concentration.

[0082] In the embodiment of the present application, the implementation method of step S302 can be implemented by any of the methods in the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0083] S303: Determine a second characteristic value according to the temperature and humidity.

[0084] In the embodiment of the present application, the implementation method of step S303 can be implemented by any of the methods in the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0085] S304: Determine a target exposure time based on the first eigenvalue and the second eigenvalue.

[0086] In the embodiment of the present application, the implementation method of step S304 can be implemented by any of the methods in the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0087] S305, adjusting parameters of the binocular camera according to the target exposure time to obtain a target binocular camera.

[0088] In the embodiment of the present application, the implementation method of step S305 can be implemented by any of the methods in the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0089] S306, collecting images of the underground environment of the coal mine based on the target binocular camera to obtain at least two initial images.

[0090] In the embodiment of the present application, the implementation method of step S306 can be implemented by any of the methods in the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0091] S307, extracting and matching feature points on the initial image to obtain a depth image including a distance.

[0092] In some implementations, the binocular camera may also be calibrated to obtain the intrinsic and extrinsic parameters and the unit matrix of the camera; the initial image may be corrected according to the calibration result, and the corrected initial images may be located in the same plane and parallel to each other.

[0093] In some implementations, feature points may be extracted from the initial images, and the feature points between the initial images may be matched to obtain matching point pairs; alternatively, feature points may be extracted using Harris corner detection or a SIFT algorithm, descriptors may be calculated for the extracted feature points, and feature points may be matched based on the descriptors using a BF or FLANN algorithm, thereby obtaining matching point pairs between the two initial images.

[0094] Furthermore, based on the matching point pairs between the initial images, the position differences between the corresponding feature points are determined to obtain a disparity map between the initial images, that is, the position differences between the corresponding feature points in the two initial images are calculated to generate a disparity map; based on the disparity map and the attribute parameters of the target binocular camera, the depth information of each feature point is determined; optionally, the attribute information of the binocular camera may be focal length, baseline length, etc., and the depth information of each feature point may be determined by triangulation, thereby generating a corresponding depth image based on the depth information of each feature point.

[0095] Optionally, the depth information may be calculated as follows:

[0096]

[0097] Among them, depth is the depth information of the feature point; f is the focal length of the camera; baseline is the baseline length, that is, the distance between the two cameras; disparity is the disparity, the difference in pixel position of the same object in two images from different perspectives.

[0098] In this embodiment, it is judged whether the dust concentration, temperature and humidity in the environmental data are in the target range. Combined with the feedback of the dust, temperature and humidity sensors, the environmental information can be obtained in real time. After any environmental data exceeds the target range, the first eigenvalue is determined according to the dust concentration, and the second eigenvalue is determined based on the temperature and humidity. The sum of the first eigenvalue and the second eigenvalue is used as the target exposure time. The target exposure time is more in line with the current environmental conditions, ensuring that the target binocular camera performs image acquisition with the optimal exposure time to obtain an initial image. By extracting and matching feature points of the initial image, a depth image including the distance is obtained, thereby improving the shooting performance of the binocular camera and achieving high-precision distance measurement.

[0099] Based on the above embodiments, Figure 4 A logic flow chart of binocular camera measurement proposed in the embodiment of the present application, such as Figure 4As shown, firstly, the binocular camera system is initialized and configured, and environmental data is collected through dust sensors, temperature sensors and humidity sensors and transmitted to the analysis unit for data analysis, and the environmental state of the environmental data is judged. When the environmental parameter data exceeds the threshold, the target exposure time is obtained to adjust the camera configuration. When it does not exceed the threshold, no adjustment is required. Image acquisition, image preprocessing, feature extraction, feature matching, parallax calculation and depth calculation are performed based on the target binocular camera to obtain a depth image, which is stored or output for display to achieve high-precision distance measurement.

[0100] In order to implement the above embodiments, the present application also proposes a binocular camera ranging device.

[0101] Figure 5 This is a schematic diagram of the structure of a binocular camera distance measurement device provided in an embodiment of the present application. Figure 5 As shown, the binocular camera distance measurement device includes: an environment perception module, an image acquisition module and a data processing module;

[0102] The environmental sensing module is used to obtain environmental data in the coal mine and transmit the environmental data to the data processing module, where the environmental data at least includes dust concentration, temperature and humidity;

[0103] The data processing module is used to determine the target exposure time according to the environmental data, and transmit the target exposure time to the image acquisition module;

[0104] The image acquisition module is used to adjust the parameters of the binocular camera according to the target exposure time to obtain the target binocular camera, and to acquire images of the underground environment of the coal mine based on the target binocular camera to obtain at least two initial images, and transmit the initial images to the data processing module;

[0105] The data processing module extracts and matches feature points on the initial image to obtain a depth image including distance.

[0106] In some implementations, after the power module begins to power up, the device is marked as turned on.

[0107] In some implementations, the environmental perception module transmits the collected environmental data to the data processing module through a data interface. The data interface can be an integrated circuit bus (Inter-Integrated Circuit, I2C), a serial peripheral interface (Serial Peripheral Interface, SPI) and a universal asynchronous receiver and transmitter (UART), and a state machine is used to manage the timing of sensor collection.

[0108] In some implementations, the camera used by the image acquisition module may be an infrared camera, a black and white camera, a complementary metal oxide semiconductor (CMOS) camera, and a charge coupled device (CCD) camera, etc.; the image acquisition module may transmit the acquired initial image to the data processing module through a data interface, and the data interface may be a universal serial bus (USB), a digital video port (DVP), and a mobile industry processor interface (MIPI).

[0109] In some implementations, the data processing module can be executed by a Field-Programmable Gate Array (FPGA) development board, which can realize the functions of data transmission, data analysis, data decision and feedback. After receiving the environmental data, the data processing module transmits the environmental data to the internal data analysis part, and performs real-time analysis and evaluation on the environmental data. The data decision part compares the environmental data through a comparator to determine whether the environmental data exceeds a set threshold, thereby giving a decision result, and the decision result is given to the feedback part. The feedback part uses combinational logic or a state machine to generate different camera configuration outputs according to different environmental data, that is, the target exposure time, and transmits the exposure time to the image acquisition module for adjusting the exposure time of the camera in the image acquisition module.

[0110] Furthermore, after the camera configuration of the image acquisition module is completed, initial image acquisition is performed, and the initial image is transmitted to the data processing module. The computing unit of the data processing module preprocesses the image, extracts feature points, matches feature points, and calculates depth, etc., to obtain a depth image including depth information and transmits it to the output module for display or storage; optionally, the output module may output via Ethernet or High Definition Multimedia Interface (HDMI).

[0111] It should be noted that the above explanation of the embodiment of the binocular camera ranging method is also applicable to the binocular camera ranging device of this embodiment, and will not be repeated here.

[0112] In an embodiment of the present application, the target exposure time is determined by acquiring environmental data underground in a coal mine to reduce the impact of the underground environment of the coal mine on the imaging of the binocular camera. By performing feature point extraction and feature point matching on the initial image, a depth image including distance is obtained, thereby overcoming the impact of low light, high dust concentration, humidity changes and other conditions in the coal mine environment on image quality and ranging accuracy, thereby achieving high-precision distance measurement.

[0113] In order to implement the above embodiments, the present application also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.

[0114] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0115] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0116] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0117] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0118] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.

[0119] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0120] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0121] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0122] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0123] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0124] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0125] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0126] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A binocular camera ranging method, characterized in that: The method comprises: Acquire environmental data of the coal mine underground, and determine the target exposure time according to the environmental data, wherein the environmental data at least includes dust concentration, temperature and humidity; Adjusting the parameters of the binocular camera according to the target exposure time to obtain a target binocular camera; Based on the target binocular camera, images of the underground environment of the coal mine are collected to obtain at least two initial images; Feature point extraction and feature point matching are performed on the initial image to obtain a depth image including a distance.

2. The method according to claim 1, characterized in that The determining the target exposure time according to the environmental data includes: Determining whether the environmental data is within a target range; In response to any data in the environmental data exceeding the target interval, determining a first characteristic value according to the dust concentration; determining a second characteristic value according to the temperature and the humidity; A target exposure time is determined based on the first eigenvalue and the second eigenvalue.

3. The method according to claim 2, characterized in that The determining of the first characteristic value according to the dust concentration includes: Obtain the functional relationship between dust concentration and effective illumination; Determine the current effective illumination according to the functional relationship and the dust concentration in the environmental data; A first characteristic value is determined according to the current effective illuminance.

4. The method according to claim 2, characterized in that: The determining a second characteristic value according to the temperature and the humidity includes: Obtaining influence coefficients corresponding to the temperature and the humidity; The second eigenvalue is determined according to the temperature, the humidity, and their corresponding influence coefficients.

5. The method according to claim 2, characterized in that: The determining whether the environmental data is within a target range includes: Obtaining a dust concentration threshold, a temperature threshold, and a humidity threshold, and constructing a corresponding target interval according to the dust concentration threshold, the temperature threshold, and the humidity threshold; In response to the dust concentration being greater than the dust concentration threshold, and / or the temperature being greater than the temperature threshold, and / or the humidity being greater than the humidity threshold, it is determined that the environmental data exceeds the target interval.

6. The method according to any one of claims 2 to 5, characterized in that: The determining the target exposure time according to the first characteristic value and the second characteristic value includes: A sum of the first eigenvalue and the second eigenvalue is obtained as the target exposure time.

7. The method according to claim 1, characterized in that The extracting and matching feature points of the initial image to obtain a depth image includes: Extracting feature points from the initial images, and matching the feature points between the initial images to obtain matching point pairs; Determine the position difference between the corresponding feature points according to the matching point pairs between the initial images to obtain a disparity map between the initial images; Determining depth information of each of the feature points based on the disparity map and the attribute parameters of the target binocular camera; Based on the depth information of each feature point, a corresponding depth image is generated.

8. A binocular camera distance measuring device, characterized in that: include: Environmental perception module, image acquisition module and data processing module; The environmental sensing module is used to obtain environmental data in the coal mine and transmit the environmental data to the data processing module, wherein the environmental data at least includes dust concentration, temperature and humidity; The data processing module is used to determine the target exposure time according to the environmental data, and transmit the target exposure time to the image acquisition module; The image acquisition module is used to adjust the parameters of the binocular camera according to the target exposure time to obtain a target binocular camera, and to acquire images of the underground environment of the coal mine based on the target binocular camera to obtain at least two initial images, and transmit the initial images to the data processing module; The data processing module performs feature point extraction and feature point matching on the initial image to obtain a depth image including a distance.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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