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WO2019001001A1 - 一种障碍信息获取装置及方法 - Google Patents

一种障碍信息获取装置及方法 Download PDF

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Publication number
WO2019001001A1
WO2019001001A1 PCT/CN2018/078034 CN2018078034W WO2019001001A1 WO 2019001001 A1 WO2019001001 A1 WO 2019001001A1 CN 2018078034 W CN2018078034 W CN 2018078034W WO 2019001001 A1 WO2019001001 A1 WO 2019001001A1
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WIPO (PCT)
Prior art keywords
laser
obstacle
position information
image
target image
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/078034
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English (en)
French (fr)
Inventor
孙元栋
何品将
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Hangzhou Hikrobot Technology Co Ltd
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Hangzhou Hikrobot Technology Co Ltd
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Publication of WO2019001001A1 publication Critical patent/WO2019001001A1/zh
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders

Definitions

  • the present application relates to the field of robot control technologies, and in particular, to an obstacle information acquisition device and method.
  • robots have gradually become an emerging hot research technology field, and are widely used in military, civilian and other industries. While the robot is moving forward, it often encounters obstacles, such as some fixed pillars, obstacles that are difficult to cross by some temporarily stored robots, and so on. When the robot moves from one position to another, it must avoid collision with these obstacles, so it needs to be bypassed. How to make the robot autonomously achieve obstacle-free obstacle avoidance, and determining the position of the obstacle is an important prerequisite.
  • One known solution to the problem of determining the position of an obstacle is to obtain an obstacle position using an infrared sensor. Specifically, the position of the obstacle is determined according to the distance of the point on the obstacle from the robot by the infrared sensor. However, only by the distance information at a certain point, the positional accuracy of the obtained obstacle is low.
  • An object of the embodiments of the present application is to provide an obstacle information acquiring apparatus and method to improve the accuracy of determining an obstacle position.
  • the specific technical solutions are as follows:
  • an obstacle information acquiring apparatus including:
  • An image acquisition device configured to acquire a target image, the target image includes imaging of an area illuminated by the line laser on the obstacle, and the image acquisition device and the laser have a fixed relative positional relationship;
  • An acquiring module configured to acquire, from the target image, imaging position information of the laser line of the line laser on the obstacle to image the imaging position in the target image;
  • a determining module configured to determine actual location information of the obstacle according to the imaging location information.
  • the acquiring module is specifically configured to determine an area where the laser line is imaged in the target image, and acquire imaging position information of a plurality of pixel points in the target image in the area;
  • the determining module is specifically configured to determine actual location information of the obstacle according to the imaging location information of the plurality of pixel points in the target image on the laser line.
  • the determining module is configured to determine the laser line according to imaging position information of the plurality of pixel points in the target image on the laser line and preset parameters of the image capturing device. a line-of-sight equation corresponding to the plurality of pixel points; determining the obstacle according to a line-of-sight equation corresponding to the plurality of pixel points on the laser line, and a light plane equation of the laser plane of the laser in a coordinate system corresponding to the image acquisition device Actual location information.
  • an optical axis of the image acquisition device intersects a laser plane of the laser in a front area of the image acquisition device.
  • the image acquisition device is located directly below the vertical or vertically above the laser;
  • the image acquisition device has a preset deviation from a vertical direction of the laser, wherein the preset deviation is positively correlated with an emission angle of the laser.
  • the laser and the image acquisition device are mounted on the robot.
  • the direction of the laser beam emitted by the laser is consistent with the moving direction of the robot;
  • the image capturing device is horizontally placed, and the collection area of the image capturing device is a front area of the robot.
  • the embodiment of the present application further provides a method for acquiring an obstacle information, which is applied to an image capturing device, wherein the image capturing device and the laser have a fixed relative positional relationship; the method includes:
  • the target image comprising imaging of a region of the line laser emitted by the laser on the obstacle;
  • the step of acquiring, from the target image, the laser line of the line laser on the obstacle area to image the imaging position information in the target image comprises:
  • the determining the actual location information of the obstacle according to the imaging location information includes:
  • the step of determining the actual location information of the obstacle according to the imaging location information of the plurality of pixel points in the target image on the laser line comprises:
  • an optical axis of the image acquisition device intersects a laser plane of the laser in a front area of the image acquisition device.
  • the image acquisition device is placed directly below the vertical or vertically above the laser;
  • the image acquisition device is placed with a preset deviation perpendicular to the laser, wherein the preset deviation is positively correlated with an emission angle of the laser.
  • the laser and the image acquisition device are mounted on the robot.
  • the direction of the laser beam emitted by the laser is consistent with the moving direction of the robot;
  • the image capturing device is horizontally placed, and the collection area of the image capturing device is a front area of the robot.
  • the embodiment of the present application further provides an obstacle information acquiring device, including: a processor and a memory;
  • the memory for storing executable program code
  • the processor is configured to execute a program corresponding to the executable program code by reading the executable program code stored in the memory to execute the obstacle information acquiring method according to the second aspect.
  • the embodiment of the present application further provides a storage medium, where the executable code is used to execute the obstacle information acquiring method described in the second aspect above at runtime.
  • the embodiment of the present application further provides an application, where the method for acquiring the obstacle information described in the second aspect is executed at runtime.
  • the obstacle information acquiring apparatus and method provided by the embodiments of the present application may acquire a target image by using an image capturing device, where the target image includes imaging of a line laser irradiated on an obstacle; and acquiring a line laser from the target image to irradiate the area on the obstacle
  • the laser line images the imaging position information in the target image; and further determines the actual position information of the obstacle according to the imaging position information. It can be seen that the obstacle information acquiring apparatus and method provided by the embodiments of the present application can image the imaging position information in the target image according to the laser line image, as compared with the known position information of the obstacle determined by the distance at a certain point.
  • the actual position information of the obstacle is determined, and the actual position information of the obstacle determined by the imaging position information in the target image by the laser line imaging is more accurate than the position information corresponding to the determined point. Therefore, the obstacle information acquiring apparatus and method provided by the embodiments of the present application can improve the accuracy of determining the position of the obstacle. In turn, it is also possible to accurately avoid obstacles during the traveling of the robot.
  • implementing any of the products or methods of the present application necessarily does not necessarily require all of the advantages described above to be achieved at the same time.
  • FIG. 1 is a schematic structural diagram of an apparatus for acquiring an obstacle information according to an embodiment of the present application
  • FIG. 2(a) is a schematic view showing a position of a laser line image in a target image in the embodiment of the present application
  • 2(b) is a schematic view showing another position of laser line imaging in a target image in the embodiment of the present application;
  • 2(c) is a schematic view showing another position of the laser line imaging in the target image in the embodiment of the present application.
  • 2(d) is a schematic view showing another position of laser line imaging in a target image in the embodiment of the present application;
  • FIG. 3 is a schematic view showing the position of a plurality of laser lines in a target image in the embodiment of the present application
  • FIG. 5(a) is a schematic top plan view of an image acquisition device and a laser in an obstacle information acquisition apparatus according to an embodiment of the present application;
  • FIG. 5(b) is a schematic side view showing the structure of an image capturing device and a laser in the obstacle information acquiring device according to the embodiment of the present application;
  • FIG. 6 is a schematic structural diagram of an image collection device located at a lower left side of a laser according to an embodiment of the present application
  • FIG. 7 is a schematic structural diagram of an image collection device located directly below a laser in an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an image collection device located at a lower right side of a laser according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of an installation manner of an obstacle information acquiring apparatus according to an embodiment of the present application.
  • FIG. 10 is another installation manner of the obstacle information acquiring apparatus according to the embodiment of the present application.
  • FIG. 11 is another installation manner of the obstacle information acquiring apparatus according to the embodiment of the present application.
  • FIG. 12 is another installation manner of the obstacle information acquiring apparatus according to the embodiment of the present application.
  • FIG. 13 is a flowchart of a method for acquiring obstacle information according to an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of an obstacle information acquiring apparatus according to an embodiment of the present disclosure.
  • the obstacle information acquiring device provided by the embodiment of the present application can be applied to a process of robot obstacle avoidance. In order for the robot to accurately avoid obstacles, accurately determining the position of the obstacle is an important condition.
  • the obstacle information acquiring apparatus provided in the embodiment of the present application can accurately determine the position information of the obstacle, which will be described in detail below.
  • FIG. 1 is a schematic structural diagram of an apparatus for acquiring an obstacle information according to an embodiment of the present disclosure.
  • the obstacle information acquiring apparatus provided by the embodiment of the present application is described in detail with reference to FIG.
  • a laser 101 for emitting a line laser is provided.
  • the image acquisition device 102 is configured to acquire a target image, where the target image includes imaging of a region where the line laser is irradiated on the obstacle. It should be noted that, in the obstacle information acquiring apparatus provided in the embodiment of the present application, the relative positional relationship between the laser 101 and the image capturing device 102 is fixed.
  • the obtaining module 103 is configured to acquire, from the target image, imaging position information of the laser line of the line laser on the obstacle to image the image in the target image.
  • the determining module 104 is configured to determine actual location information of the obstacle according to the imaging location information.
  • the actual position information of the obstacle generally refers to the distance of the obstacle relative to the camera or relative to the laser.
  • FIG. 2(a), 2(b), 2(c), and 2(d) are schematic diagrams showing different laser lines imaged at different positions of a target image in the embodiment of the present application, wherein FIG. 2(a) Shown is a schematic diagram of the imaging position of the laser line generated by the laser 101 at the illumination area of the obstacle at 30 cm from the robot imaged in the target image; FIG. 2(b) shows the line laser generated by the laser 101 at the distance robot The laser line image of the illumination area on the obstacle at 90 cm is imaged in the target image; FIG. 2(c) shows the laser line imaging of the line laser generated by the laser 101 on the obstacle on the obstacle 150 cm away from the robot.
  • a schematic diagram of the position in the target image; FIG. 2(d) is a schematic view showing the position of the laser line imaged by the laser beam generated by the laser 101 in the target image in the area irradiated on the obstacle at 210 cm from the robot.
  • the image capturing device is used when the line laser generated by the laser 101 is irradiated on an obstacle from a different position of the robot.
  • the laser line image acquired by the line laser on the obstacle area is different in imaging position information in the target image.
  • the imaging position information of the laser line imaging in the target image is related to the parameters of the obstacle information acquiring device, such as the angle between the image capturing device 102 and the laser 101, in addition to the distance from the obstacle. related. Therefore, according to the different imaging position information of the laser line irradiated by the laser 101 on the obstacle on the obstacle to image the different imaging position information in the target image, the actual position information of the obstacle at different distances from the robot can be determined.
  • the obstacle information acquiring device uses the laser 101 to emit a line laser, and further determines different imaging position information in the target image by laser line imaging of the line laser light emitted from the laser 101 on the obstacle. Prepare the actual location information for different obstacles.
  • the line laser light emitted by the laser 101 is irradiated on an obstacle encountered during the traveling of the robot; the image capturing device 102 collects an image of the target image including the area illuminated by the line laser on the obstacle, and the image collecting device 102 collects There is a laser line in the target image, which indicates that there is an obstacle. There are several laser lines in the captured target image to indicate that there are several obstacles.
  • the image acquisition device 102 can acquire an imaged target image of the line laser illuminated area on the obstacle, and provide conditions for subsequently determining the actual position information of the obstacle by the imaging position information in the target image by laser line imaging.
  • the image capturing device mentioned herein may be any device that can capture images, such as a camera or a video camera.
  • the imaging position information of the laser line imaged by the line laser on the obstacle on the target image can be determined.
  • the area where the laser line is imaged in the target image may be first determined, and then the imaging position information of the plurality of pixel points on the laser line in the target image in the region may be determined, and the plurality of pixels on the laser line are in the target image.
  • the imaging position information is used as imaging position information of the laser line.
  • the actual position information of the obstacle is determined by the imaging position information of the plurality of pixel points of the laser line in the target image.
  • the laser beam can be imaged in the target image by the processing function of the line laser on the obstacle.
  • the imaging position information in the middle, thereby determining the actual position information of the obstacle.
  • the target image acquired by the image acquisition device can also be processed by the processor independent of the image acquisition device, that is, the imaging position information of the laser line imaging in the target image is determined by the acquisition module 103, and then imaged in the target image by the laser line.
  • the imaging position information determines the actual position information of the obstacle.
  • the actual position information of the obstacle finally determined according to the imaging position information of the laser line imaging in the target image is based on the plurality of pixel points on the laser line.
  • the imaging position information in the image determines the actual position information of the obstacle composed of the plurality of position information, and the position information corresponding to the plurality of pixel points is more accurate than the position information determined corresponding to the certain point. Therefore, the obstacle information acquiring apparatus provided by the embodiment of the present application can improve the accuracy of determining the obstacle position information.
  • the embodiment of the present application uses the line laser image emitted by the laser to image the position information in the target image to finally determine the actual position information of the obstacle, which is much lower than the cost of the laser radar, and is compared with the avoidance of binocular vision.
  • the obstacle sensing method is not easy to be affected by environmental factors such as illumination, and is more stable.
  • the obstacle information acquiring device provided by the embodiment of the present application can simultaneously meet the requirements of determining the position of the obstacle, the stability, the low cost, and the low cost.
  • FIG. 3 is a schematic view showing the position of a plurality of laser lines in the target image in the embodiment of the present application, and the position of the white strip line in the target image in FIG. 3 is the position of the laser line imaging in the target image.
  • the process of imaging the position information in the target image by the laser line imaging and finally determining the actual position information of the obstacle in the embodiment of the present application will be described in detail with reference to FIG. specifically:
  • the area occupied by the laser line imaging in the target image is determined.
  • the obstacles encountered may be one or more than one.
  • an area in which the laser line is imaged in the target image is determined by determining a connected region in the target image. There are several connected areas in the target image to determine that there are several obstacles.
  • the connected region in the target image may be extracted using the region-based connected region labeling method, as shown in FIG.
  • Enter the image to be marked that is, the target image, initialize a marker matrix of the same size as the input image, a queue and the marker count; then, scan the image to be marked from left to right and top to bottom, when scanning to an unmarked
  • the mark count is incremented by 1
  • the mark p is marked in the mark count (the value of the corresponding point is assigned as the mark count)
  • the eight neighborhood points of p are scanned, and if there are unmarked foreground pixels, then Marking in the tag matrix and placing it in the queue as a seed for region growth; when the queue is not empty, a growing seed point p1 is taken from the queue, and the eight neighborhood points of p1 are scanned, if there is an unmarked
  • the foreground pixels are marked in the image to be marked and placed in the queue, and are repeated until the queue is empty, and
  • the imaging position information of the plurality of pixel points in the target image in the region is determined, and the imaging position information of the plurality of pixel points in the target image is used as the imaging position information of the laser line in the target image.
  • the determined connected region is composed of a plurality of pixel points, and the imaging position information of the plurality of pixel points in the target image, that is, the coordinate position of the pixel point in the target image.
  • the imaging position information of these pixels is combined as imaging position information of the laser line imaged in the target image.
  • the actual position information of the obstacle is determined according to the imaging position information of the plurality of pixel points on the laser line in the target image.
  • the actual position information of the obstacle may be determined according to the imaging position information of the laser line imaging in the target image, that is, according to the plurality of pixel points on the laser line in the target image.
  • the imaging position information determines the actual position information of the obstacle.
  • the line of sight equation corresponding to the plurality of pixel points on the laser line may be determined according to the imaging position information of the plurality of pixel points on the laser line and the preset parameters of the image capturing device 102;
  • the line-of-sight equation corresponding to the pixel and the light plane equation of the laser plane in the coordinate system corresponding to the image acquisition device 102 determine the actual position information of the obstacle.
  • the following steps detail the actual position information of the obstacle determined by the imaging position information of the plurality of pixels on the laser line in the target image.
  • the image capture device 102 herein employs a conventional camera.
  • T is the origin of the camera coordinate system
  • ⁇ is the direction vector
  • A, B, and C are the equation parameters, respectively, depending on the actual situation.
  • X c is the position of the obstacle. If the direction of the laser beam emitted by the laser 101 is horizontally forward, and the external parameter of the camera is known, that is, the rotation R and the translation t of the camera coordinate system relative to the optical plane coordinate system corresponding to the laser plane, the intersection can be converted.
  • the external parameter of the camera that is, the rotation R and the translation t of the camera coordinate system relative to the optical plane coordinate system corresponding to the laser plane
  • an X c or X w may be determined according to each pixel point, and the embodiment of the present application determines an obstacle by imaging position information of a plurality of pixel points in the target image on the laser line.
  • the actual position information of the object, and the actual position information of the finally determined obstacle is position information composed of a plurality of X c or a plurality of X w . That is to say, the actual location information of the finally determined obstacle can also be understood as the location information composed of the "point cloud”.
  • the image capturing device and the laser may exist at a certain angle in order to ensure that the image capturing device can acquire the imaged target image including the line laser on the obstacle.
  • the specific angle can be adjusted according to the distance range of the actually measured obstacle. The larger the angle, the smaller the measurement distance; conversely, the smaller the angle, the larger the measurement distance.
  • FIG. 5( a ) is a schematic top view of an image acquisition device and a laser in an obstacle information acquisition device according to an embodiment of the present disclosure
  • FIG. 5( b ) is an image acquisition device and a laser in the obstacle information acquisition device provided by the embodiment of the present application
  • Schematic diagram of the side view structure As shown in FIG. 5(a) and FIG. 5(b), the optical axis of the image capturing device 102 and the laser plane of the laser 101 intersect with the laser plane of the image capturing device 102 in the obstacle information acquiring device provided by the embodiment of the present application. .
  • the angle of the image capturing device 102 and the laser 101 can be determined according to the distance range of the obstacle to be measured.
  • the optical axis of the image acquisition device 102 is represented by Z C , Z C and Y C form a coordinate system of the image acquisition device, and the coordinate system formed by X w , Y w and Z w represents the laser plane generated by the laser 101 .
  • the optical axis of the image capture device 102 intersects the laser plane of the laser 101 in the front area of the image capture device 102, which ensures that the image capture device 102 can acquire the imaged target image of the line laser on the obstacle illuminated area, and then pass The line laser emitted by the laser 101 and the laser line irradiated on the obstacle image the imaging position information in the target image, and finally determine the actual position information of the obstacle.
  • the embodiment of the present application does not define the position in the vertical direction of the image capturing device 102 and the laser 101, and the image capturing device 102 may be located directly below or vertically above the laser 101; or, the image capturing device 102 may be perpendicular to the laser 101. Pre-set deviations are allowed in the direction, wherein the preset deviation is positively correlated with the emission angle of the laser 101.
  • the image capture device 102 can be located at the lower left, lower right, or directly below the laser 101, and the like.
  • FIG. 6 is a schematic structural diagram of an image collecting device located at a lower left side of a laser according to an embodiment of the present invention
  • FIG. 7 is a schematic structural view of an image collecting device directly below a laser in the embodiment of the present application
  • FIG. 8 is an image of an embodiment of the present application
  • the acquisition device is located on the lower right side of the laser. It should be noted that the image acquisition device 102 and the laser 101 can be mounted on the robot 104 according to the above positional relationship.
  • the obstacle information acquiring apparatus provided in the embodiment of the present application can be applied to an obstacle avoidance environment of the robot, so the obstacle information acquiring apparatus can be installed on the robot.
  • the laser and the image capturing device can be separately mounted to the robot; or the laser and the image capturing device can be integrated as a whole and then mounted on the robot.
  • the image acquisition device or the laser in the obstacle information acquisition device provided by the embodiment of the present application may have different positional relationships with the robots in different motion directions.
  • the direction of the laser light emitted by the laser may be consistent with the moving direction of the robot; or the image capturing device may be horizontally placed, and the collecting region of the image capturing device is the robot. In front of the area.
  • the direction of the laser light emitted by the laser may be consistent with the moving direction of the robot, and the laser plane of the laser intersects the optical axis of the image capturing device in the front area of the image capturing device, directly above the vertical direction of the image capturing device.
  • the image acquisition device can be placed horizontally, the collection area of the image acquisition device is the front area of the robot, and the optical axis and laser of the image acquisition device The laser plane intersects in the front area of the image acquisition device, directly above the vertical direction of the laser, upper left, upper right, vertically below, lower left or lower right.
  • FIG. 9 is an installation manner of the obstacle information acquiring device provided by the embodiment of the present application
  • FIG. 10 is another installation manner of the obstacle information acquiring device provided by the embodiment of the present application
  • FIG. 12 is another installation manner of the obstacle information acquisition device provided by the embodiment of the present application.
  • the laser 101 and the image capture device 102 can be mounted on the robot 104 in any of the mounting manners described above, wherein the direction of motion of the robot 104 in Figures 9, 10, 11, and 12 is as indicated by the arrow 105 in the figure, and the laser 101 is generated.
  • the laser plane corresponding to the line laser is as shown by line 106 in the figure.
  • the embodiment of the present application further provides a method for acquiring obstacle information, which is applied to an image capturing device; wherein the image capturing device and the laser have a fixed relative positional relationship.
  • FIG. 13 is a flowchart of a method for acquiring obstacle information according to an embodiment of the present disclosure. The method for acquiring obstacle information provided by the embodiment of the present application is described in detail with reference to FIG.
  • Step 1301 Acquire a target image, which includes imaging of a region where the laser beam emitted by the laser is irradiated on the obstacle.
  • the obstacle information acquisition method provided by the embodiment of the present application can be applied to an obstacle information acquisition device, an image acquisition device, a processor, and the like.
  • the image acquisition device may acquire an image of the target image including the area where the line laser is irradiated on the obstacle, and provide the actual position information of the obstacle for subsequent imaging position information in the target image by laser line imaging. condition.
  • the image capturing device mentioned herein may be any device that can capture images, such as a camera or a video camera.
  • Step 1302 Acquire image position information of the laser line irradiated on the obstacle from the target image to image the image in the target image.
  • the imaging position information of the laser line imaging in the target image can be determined. Since the laser line imaging is composed of a plurality of pixel points in the target image, the actual position information of the obstacle is determined by determining imaging position information of a plurality of pixel points on the laser line in the target image.
  • the step of determining the imaging position information of the laser line of the line laser on the illumination area of the obstacle image in the target image may include: determining an area occupied by the laser line imaging in the target image; determining that a plurality of pixel points in the area are Imaging position information in the target image, and imaging position information of the plurality of pixel points in the target image as position information of the laser line in the target image.
  • Step 1303 determining actual position information of the obstacle according to the imaging position information of the laser line imaging in the target image.
  • the image capturing device collects the imaging position of the laser line image in the target image, and therefore the laser line image is irradiated on the obstacle according to the line laser.
  • Different imaging position information in the image can determine the position information of obstacles at different distances from the robot.
  • the area where the laser line is imaged in the target image may be first determined, and then the imaging position information of the plurality of pixel points on the laser line in the target image in the region may be determined, and the plurality of pixels on the laser line are in the target image.
  • the imaging position information is used as imaging position information of the laser line.
  • the actual position information of the obstacle is determined by the imaging position information of the plurality of pixel points on the laser line in the target image.
  • the obstacle information acquiring method provided by the embodiment of the present application determines the actual position information of the obstacle by determining the imaging position information of the laser line imaging in the target image. It can be seen that the information of the obstacle finally determined by the obstacle information acquiring method provided by the embodiment of the present application is an obstacle composed of multiple pieces of position information determined according to the imaging position information of the plurality of pixel points on the laser line in the target image. The actual position information of the object, the position information corresponding to the plurality of pixel points is more accurate than the position information determined corresponding to a certain point. Therefore, the obstacle information acquisition method provided by the embodiment of the present application can improve the accuracy of determining the obstacle position information.
  • the imaging position information of the line laser imaging in the target image is determined.
  • the imaging position information of the plurality of pixel points in the target image in the area is determined; and finally, according to the plurality of pixel points on the laser line
  • the imaging position information in the target image determines the actual position information of the obstacle.
  • the area occupied by the laser line imaging in the target image is determined.
  • the obstacles encountered may be one or more than one.
  • the region in which the laser line is imaged in the target image is determined by determining the connected region in the target image. There are several connected areas in the target image to determine that there are several obstacles. The method of specifically extracting the connected area has been described in detail in the embodiment of the above-described obstacle information acquiring apparatus, and will not be described herein.
  • the imaging position information of the plurality of pixel points in the target image in the region is determined, and the position information of the plurality of pixel points in the target image is used as the imaging position information of the laser line in the target image.
  • the determined connected region is composed of a plurality of pixel points, and the imaging position information of the plurality of pixel points in the target image, that is, the coordinate position of the pixel point in the target image.
  • the imaging position information of these pixels is combined as imaging position information of the laser line imaged in the target image.
  • the actual position information of the obstacle is determined according to the imaging position information of the plurality of pixel points on the laser line in the target image.
  • the actual position information of the obstacle may be determined according to the imaging position information of the laser line imaging in the target image, that is, according to the plurality of pixel points on the laser line in the target image.
  • the imaging position information determines the actual position information of the obstacle.
  • the line of sight equation corresponding to the plurality of pixel points on the laser line may be determined according to the imaging position information of the plurality of pixel points on the laser line in the target image and the preset parameters of the image capturing device;
  • the line of sight equation corresponding to the pixel and the optical plane equation of the laser plane of the laser in the coordinate system corresponding to the image acquisition device determine the actual position information of the obstacle.
  • the process of determining the actual position information of the obstacle according to the imaging position information of the plurality of pixel points on the laser line in the target image has been described in detail in the embodiment of the above-described obstacle information acquiring device, and will not be described herein. .
  • the optical axis of the image acquisition device intersects the laser plane of the laser in a region directly in front of the image acquisition device.
  • the image acquiring device in the obstacle information acquiring device is placed directly below the vertical or vertically above the laser; or, the image capturing device is placed with a preset deviation perpendicular to the laser, wherein the preset deviation and the laser's emission angle are positive Related.
  • the laser and image acquisition device are mounted on the robot.
  • the direction of the laser beam emitted by the laser is consistent with the moving direction of the robot; or the image capturing device is horizontally placed, and the collecting area of the image capturing device is the front area of the robot.
  • the method for acquiring the obstacle information provided in the embodiment of the present application is applied to the obstacle information acquiring device, and all the embodiments of the foregoing obstacle information acquiring device are applicable to the method for acquiring the obstacle information, and all of the same or similar benefits can be achieved. effect.
  • the embodiment of the present application further provides an obstacle information acquiring device, as shown in FIG. 14, comprising: a processor 1401 and a memory 1402;
  • a memory 1402 configured to store executable program code
  • the processor 1401 is configured to execute a program corresponding to the executable program code by reading the executable program code stored in the memory 1402 to execute the foregoing obstacle information acquiring method. Specifically, the following steps are performed:
  • a target image is acquired that includes imaging of the area illuminated by the line laser emitted by the laser on the obstacle.
  • determining an area occupied by the laser line imaging in the target image determining an area occupied by the laser line imaging in the target image; acquiring imaging position information of the plurality of pixel points in the target image in the area.
  • the actual position information of the obstacle is determined according to the imaging position information of the plurality of pixel points on the laser line in the target image.
  • determining line-of-sight equations corresponding to multiple pixel points on the laser line according to imaging position information of the plurality of pixel points in the target image and preset parameters of the image capturing device;
  • the actual position information of the obstacle is determined according to the line of sight equation and the light plane equation of the laser plane of the laser in the coordinate system corresponding to the image acquisition device.
  • the actual position information of the obstacle finally determined according to the imaging position information in the target image by the laser line imaging is determined according to the imaging position information of the plurality of pixel points in the target image on the laser line.
  • the actual position information of the obstacles composed of the position information, and the position information corresponding to the plurality of pixel points is more accurate than the position information determined corresponding to a certain point.
  • the obstacle information acquiring device provided by the embodiment of the present application can improve the accuracy of determining the obstacle position information.
  • the embodiment of the present application further provides a storage medium for storing executable code for executing the foregoing obstacle information acquisition method at runtime, specifically, performing the following steps:
  • a target image is acquired that includes imaging of the area illuminated by the line laser emitted by the laser on the obstacle.
  • determining an area occupied by the laser line imaging in the target image determining an area occupied by the laser line imaging in the target image; acquiring imaging position information of the plurality of pixel points in the target image in the area.
  • the actual position information of the obstacle is determined according to the imaging position information of the plurality of pixel points on the laser line in the target image.
  • determining line-of-sight equations corresponding to multiple pixel points on the laser line according to imaging position information of the plurality of pixel points in the target image and preset parameters of the image capturing device;
  • the actual position information of the obstacle is determined according to the line of sight equation and the light plane equation of the laser plane of the laser in the coordinate system corresponding to the image acquisition device.
  • the actual position information of the obstacle finally determined according to the imaging position information in the target image by the laser line imaging is determined according to the imaging position information of the plurality of pixel points in the target image on the laser line.
  • the actual position information of the obstacles composed of the position information, and the position information corresponding to the plurality of pixel points is more accurate than the position information determined corresponding to a certain point.
  • the storage medium provided by the embodiment of the present application can improve the accuracy of determining the position information of the obstacle.
  • the embodiment of the present application further provides an application program for executing the foregoing obstacle information acquisition method at runtime, specifically, performing the following steps:
  • a target image is acquired that includes imaging of the area illuminated by the line laser emitted by the laser on the obstacle.
  • determining an area occupied by the laser line imaging in the target image determining an area occupied by the laser line imaging in the target image; acquiring imaging position information of the plurality of pixel points in the target image in the area.
  • the actual position information of the obstacle is determined according to the imaging position information of the plurality of pixel points on the laser line in the target image.
  • determining line-of-sight equations corresponding to multiple pixel points on the laser line according to imaging position information of the plurality of pixel points in the target image and preset parameters of the image capturing device;
  • the actual position information of the obstacle is determined according to the line of sight equation and the light plane equation of the laser plane of the laser in the coordinate system corresponding to the image acquisition device.
  • the actual position information of the obstacle finally determined according to the imaging position information in the target image by the laser line imaging is determined according to the imaging position information of the plurality of pixel points in the target image on the laser line.
  • the actual position information of the obstacles composed of the position information, and the position information corresponding to the plurality of pixel points is more accurate than the position information determined corresponding to a certain point.
  • the application program provided by the embodiment of the present application can improve the accuracy of determining the position information of the obstacle.
  • the various embodiments in the present specification are described in a related manner, and the same or similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
  • the description is relatively simple, and the relevant portions can be referred to the description of the device embodiment.

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Abstract

一种障碍信息获取装置及方法，其中，障碍信息获取装置包括：激光器（101），用于发射线激光；图像采集设备（102），用于采集目标图像，目标图像包含线激光在障碍物上照射区域的成像（1301），且图像采集设备（102）与激光器（101）之间具有固定的相对位置关系；获取模块（103），用于从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息（1302）；确定模块（104），用于根据成像位置信息，确定障碍物的实际位置信息（1303）。通过障碍信息获取装置及方法，能够提高确定障碍物位置的准确度。

Description

一种障碍信息获取装置及方法
本申请要求于2017年6月28日提交中国专利局、申请号为201710509194.1发明名称为“一种障碍信息获取装置及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人控制技术领域，特别是涉及一种障碍信息获取装置及方法。
背景技术
随着人工智能、电子通讯技术等的不断发展，机器人已经逐渐成为一种新兴的热门研究技术领域，被广泛应用到军事、民用等多个行业中。而机器人在其前进过程中，常常会碰到一些障碍物，如一些固定的支柱，一些临时存放的机器人难以跨越的障碍等等。机器人从某一位置移动到另一位置时，必须避免与这些障碍物发生碰撞，因此需要绕行。如何让机器人自主实现无碰撞地避障，其中确定障碍物的位置是重要的前提条件。
针对确定障碍物位置的问题，已知的一种解决方案是利用红外传感器获取障碍物位置。具体地，根据红外传感器获取障碍物上一点与机器人的距离，确定障碍物的位置。但是，仅仅通过某一点处的距离信息，获得的障碍物的位置准确性较低。
发明内容
本申请实施例的目的在于提供一种障碍信息获取装置及方法，以提高确定障碍物位置的准确度。具体技术方案如下：
第一方面，本申请实施例提供了一种障碍信息获取装置，包括：
激光器，用于发射线激光；
图像采集设备，用于采集目标图像，该目标图像包含所述线激光在障碍物上照射区域的成像，且该图像采集设备与所述激光器之间具有固定的相对位置关系；
获取模块，用于从所述目标图像中获取所述线激光在障碍物上照射区域的激光线成像在所述目标图像中的成像位置信息；
确定模块，用于根据所述成像位置信息，确定所述障碍物的实际位置信息。
可选的，所述获取模块，具体用于确定所述激光线成像在所述目标图像中所在的区域，并获取所述区域中多个像素点在所述目标图像中的成像位置信息；
所述确定模块，具体用于根据所述激光线上多个像素点在所述目标图像中的所述成像位置信息，确定所述障碍物的实际位置信息。
可选的，所述确定模块，具体用于根据所述激光线上多个像素点在所述目标图像中的成像位置信息、以及所述图像采集设备的预设参数，确定所述激光线上多个像素点对应的视线方程；根据所述激光线上多个像素点对应的视线方程、以及所述激光器的激光平面在图像采集设备对应的坐标系下的光平面方程，确定所述障碍物的实际位置信息。
可选的，所述图像采集设备的光轴与所述激光器的激光平面相交于所述图像采集设备的正前方区域。
可选的，所述图像采集设备位于所述激光器的垂直正下方或者垂直正上方；
或者，所述图像采集设备与所述激光器垂直方向存在预设偏差，其中，所述预设偏差与所述激光器的发射角正相关。
可选的，所述激光器与所述图像采集设备安装于机器人上。
可选的，所述激光器所发射线激光的方向与所述机器人的运动方向一致；或者，
所述图像采集设备水平放置，所述图像采集设备的采集区域为所述机器人的正前方区域。
第二方面，本申请实施例还提供了一种障碍信息获取方法，应用于图像采集设备；其中，所述图像采集设备与激光器之间具有固定的相对位置关系； 所述方法包括：
采集目标图像，该目标图像包含所述激光器发射的线激光在障碍物上照射区域的成像；
从所述目标图像中获取所述线激光在障碍物上照射区域的激光线成像在所述目标图像中的成像位置信息；
根据所述成像位置信息，确定所述障碍物的实际位置信息。
可选的，所述从所述目标图像中获取所述线激光在障碍物上照射区域的激光线成像在所述目标图像中的成像位置信息的步骤包括：
确定所述激光线成像在所述目标图像中所占的区域；
获取所述区域中多个像素点在所述目标图像中的成像位置信息；
所述根据所述成像位置信息，确定所述障碍物的实际位置信息的步骤包括：
根据所述激光线上多个像素点在所述目标图像中的成像位置信息，确定所述障碍物的实际位置信息。
可选的，所述根据所述激光线上多个像素点在所述目标图像中的成像位置信息，确定所述障碍物的实际位置信息的步骤包括：
根据所述多个像素点在所述目标图像中的成像位置信息，以及所述图像采集设备的预设参数，确定所述激光线上多个像素点对应的视线方程；
根据所述视线方程、以及所述激光器的激光平面在所述图像采集设备对应的坐标系下的光平面方程，确定所述障碍物的实际位置信息。
可选的，所述图像采集设备的光轴与所述激光器的激光平面相交于所述图像采集设备的正前方区域。
可选的，所述图像采集设备放置于所述激光器的垂直正下方或者垂直正上方；
或者，所述图像采集设备与所述激光器垂直存在预设偏差放置，其中，所述预设偏差与所述激光器的发射角正相关。
可选的，所述激光器与所述图像采集设备安装于机器人上。
可选的，所述激光器所发射线激光的方向与所述机器人的运动方向一致；或者，
所述图像采集设备水平放置，所述图像采集设备的采集区域为所述机器人的正前方区域。
第三方面，本申请实施例还提供一种障碍信息获取设备，包括：处理器和存储器；
所述存储器，用于存储可执行程序代码；
所述处理器，用于通过读取所述存储器中存储的所述可执行程序代码来运行与所述可执行程序代码对应的程序，以执行上述第二方面所述的障碍信息获取方法。
第四方面，本申请实施例还提供一种存储介质，用于存储可执行代码，所述可执行代码用于在运行时执行上述第二方面所述的障碍信息获取方法。
第五方面，本申请实施例还提供一种应用程序，用于在运行时执行上述第二方面所述的障碍信息获取方法。
本申请实施例提供的障碍信息获取装置及方法，可以通过图像采集设备采集目标图像，该目标图像包含线激光在障碍物上照射区域的成像；从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息；进而根据成像位置信息，确定障碍物的实际位置信息。可以看出，相比较于已知的通过某一点处的距离确定障碍物的位置信息，本申请实施例提供的障碍信息获取装置及方法，能够根据激光线成像在目标图像中的成像位置信息最终确定障碍物的实际位置信息，而通过激光线成像在目标图像中的成像位置信息确定出的障碍物的实际位置信息相比较于某一点对应确定出的位置信息更加准确。所以通过本申请实施例提供的障碍信息获取装置及方法可以提高确定障碍物位置的准确度。进而还可以实现机器人在行进过程中准确地避障。当然，实施本申请的任一产品或方法必不一定需要同时达到以上所述的所有优点。
附图说明
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的障碍信息获取装置的结构示意图；
图2(a)为本申请实施例中激光线成像在目标图像的一种位置示意图；
图2(b)为本申请实施例中激光线成像在目标图像的另一种位置示意图；
图2(c)为本申请实施例中激光线成像在目标图像的另一种位置示意图；
图2(d)为本申请实施例中激光线成像在目标图像的另一种位置示意图；
图3为本申请实施例中多条激光线成像在目标图像中的位置示意图；
图4为提取图像连通区域过程的流程图；
图5(a)为本申请实施例提供的障碍信息获取装置中图像采集设备与激光器的俯视结构示意图；
图5(b)为本申请实施例提供的障碍信息获取装置中图像采集设备与激光器的侧视结构示意图；
图6为本申请实施例中图像采集设备位于激光器的左下方的结构示意图；
图7为本申请实施例中图像采集设备位于激光器的垂直正下方的结构示意图；
图8为本申请实施例中图像采集设备位于激光器的右下方的结构示意图；
图9为本申请实施例提供的障碍信息获取装置的一种安装方式；
图10为本申请实施例提供的障碍信息获取装置的另一种安装方式；
图11为本申请实施例提供的障碍信息获取装置的另一种安装方式；
图12为本申请实施例提供的障碍信息获取装置的另一种安装方式；
图13为本申请实施例提供的障碍信息获取方法的流程图；
图14为本申请实施例提供的障碍信息获取设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的障碍信息获取装置可以应用于机器人避障的过程中。为了使机器人可以准确地避障，准确地确定障碍物的位置是重要的条件。本申请实施例提供的障碍信息获取装置可以准确地确定障碍物的位置信息，下面进行详细地描述。
图1为本申请实施例提供的障碍信息获取装置的结构示意图，参照图1对本申请实施例提供的障碍信息获取装置进行详细说明，包括：
激光器101，用于发射线激光。
图像采集设备102，用于采集目标图像，该目标图像包含线激光在障碍物上照射区域的成像。需要说明的是，本申请实施例提供的障碍信息获取装置中，激光器101和图像采集设备102的相对位置关系是固定不变的。
获取模块103，用于从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息。
确定模块104，用于根据成像位置信息，确定障碍物的实际位置信息。
需要说明的是，障碍物的实际位置信息一般是指障碍物相对于相机或者相对于激光器的距离。
图2(a)、图2(b)、图2(c)和图2(d)所示为本申请实施例中不同激光线成像在目标图像的不同位置示意图，其中，图2(a)所示为激光器101产生的线激光在距离机器人30cm处的障碍物上照射区域的激光线成像在目标图像中的成像位置示意图；图2(b)所示为激光器101产生的线激光在距离机器人90cm处的障碍物上照射区域的激光线成像在目标图像中的成像位置示意图；图2(c)所示为激光器101产生的线激光在距离机器人150cm处的障碍物上照射区域的激光线成像在目标图像中的位置示意图；图2(d)所示为激光器101 产生的线激光在距离机器人210cm处的障碍物上照射区域的激光线成像在目标图像中的位置示意图。
从图2(a)、图2(b)、图2(c)、图2(d)中可以看出，激光器101产生的线激光照射在距离机器人不同位置的障碍物上时，图像采集设备102采集到线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息不同。需要说明的是，实际应用过程中，激光线成像在目标图像中的成像位置信息除了与障碍物的距离相关，还与障碍信息获取装置的参数，如图像采集设备102和激光器101的夹角等有关。因此根据激光器101发射的线激光在障碍物上照射区域的激光线成像在目标图像中的不同成像位置信息，可以确定距离机器人不同距离的障碍物的实际位置信息。
本申请实施例提供的障碍信息获取装置中利用激光器101发射线激光，进而为后续的根据激光器101发射的线激光在障碍物上照射区域的激光线成像在目标图像中的不同成像位置信息，确定不同的障碍物的实际位置信息作准备。
本申请实施例中激光器101发射的线激光照射在机器人行进过程中碰到的障碍物上；图像采集设备102采集包含该线激光在障碍物上照射区域的成像的目标图像，图像采集设备102采集到的目标图像中有激光线，就表明存在障碍物，采集到的目标图像中有几条激光线就表明存在几个障碍物。
图像采集设备102可以采集线激光在障碍物上照射区域的成像的目标图像，为后续通过激光线成像在目标图像中的成像位置信息确定障碍物的实际位置信息提供条件。需要说明的是，这里所说的图像采集设备可以是照相机、摄像机等任意一种可以采集图像的设备。
采集到目标图像后，可以确定线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息。例如，可以首先确定激光线成像在目标图像中所在的区域，然后确定所在区域中激光线上多个像素点在目标图像中的成像位置信息，将激光线上多个像素点在目标图像中的成像位置信息作为该激光线的成像位置信息。进而通过激光线多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
需要说明的是，图像采集设备采集包含线激光在障碍物上照射区域的成 像的目标图像后，可以通过其自身所具备的处理功能确定线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息，进而确定障碍物的实际位置信息。也可以通过独立于图像采集设备的处理器对图像采集设备采集到的目标图像进行处理，即通过获取模块103确定激光线成像在目标图像中的成像位置信息，进而通过激光线成像在目标图像中的成像位置信息确定障碍物的实际位置信息。
可以看出，本申请实施例提供的障碍信息获取装置中，根据激光线成像在目标图像中的成像位置信息最终确定出的障碍物的实际位置信息，是根据激光线上多个像素点在目标图像中的成像位置信息确定出的多个位置信息组成的障碍物的实际位置信息，多个像素点对应确定出的位置信息相比较于某一点对应确定出的位置信息更加准确。所以通过本申请实施例提供的障碍信息获取装置可以提高确定障碍物位置信息的准确度。
另外，本申请实施例利用激光器发射的线激光成像在目标图像中的成像位置信息最终确定障碍物的实际位置信息，相比较于激光雷达等成本降低了很多，且相比较于双目视觉的避障传感方法来讲不容易受光照等环境因素的影响，更加稳定，进而本申请实施例提供的障碍信息获取装置可以实现同时满足确定障碍物位置准确、稳定性好、成本低的要求。
图3为本申请实施例中多条激光线成像在目标图像中的位置示意图，图3中目标图像中的白色带状线所在的位置即为激光线成像在目标图像中的位置。参照图3对本申请实施例中图像采集设备102通过激光线成像在目标图像中的成像位置信息，最终确定障碍物的实际位置信息的过程进行详细说明。具体地：
第一步，确定激光线成像在目标图像中所占的区域。
目标图像中只要出现激光线，就说明存在障碍物，否则目标图像是全黑的。并且，在机器人行进过程中，遇到的障碍物可能是一个，也有可能是多个。本申请实施例中通过确定目标图像中的连通区域确定激光线成像在目标图像的中的区域。目标图像中有几个连通区域则确定有几个障碍物。
具体地，可以采用基于区域生长的连通区域标记方法提取目标图像中的连通区域，如图4所示。输入待标记图像即目标图像，初始化一个与输入图像 同样尺寸的标记矩阵，一个队列以及标记计数；然后，从左至右、从上至下的顺序扫描待标记图像，当扫描到一个未被标记的前景像素p时，标记计数加1，并在标记计数中标记p(相应点的值赋为标记计数)，同时，扫描p的八邻域点，若存在未被标记的前景像素，则在标记矩阵中进行标记，并放入队列中，作为区域生长的种子；当队列不为空时，从队列中取出一个生长种子点p1，扫描p1的八邻域点，若存在未被标记过的前景像素，则在待标记图像中进行标记，并放入队列中，并重复直至队列为空，一个连通区标记完成。按照上述同样的步骤，直至整幅图像都被扫描完毕，得到标记矩阵和连通区域的个数。
第二步，确定区域中多个像素点在目标图像中的成像位置信息，将多个像素点在目标图像中的成像位置信息作为激光线成像在目标图像中的成像位置信息。
不难理解的是，确定出的连通区域是由多个像素点组成的，多个像素点在目标图像中的成像位置信息，即像素点在目标图像中的坐标位置。这些像素点的成像位置信息组合起来作为激光线成像在目标图像中的成像位置信息。
第三步，根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
确定出激光线成像在目标图像中的成像位置信息后，可以根据激光线成像在目标图像中的成像位置信息，确定障碍物的实际位置信息，即根据激光线上多个像素点在目标图像中的成像位置信息确定障碍物的实际位置信息。
具体地，可以根据激光线上多个像素点在目标图像的成像位置信息，以及图像采集设备102的预设参数，确定激光线上多个像素点对应的视线方程；进而根据激光线上多个像素点对应的视线方程、以及激光平面在图像采集设备102对应的坐标系下的光平面方程，确定障碍物的实际位置信息。下面步骤对通过激光线上多个像素点在目标图像中的成像位置信息确定障碍物的实际位置信息进行详细说明。这里的图像采集设备102采用常用的相机。
假设激光线上任一像素点在目标图像中的图像坐标(u,v)，已知相机的内参(相机x和y方向的焦距f x和f y，以及图像中心(u 0,v 0))，则视线方程为：
Figure PCTCN2018078034-appb-000001
其中0＝(0 0 0) T是相机坐标系的原点，λ为方向向量。
已知激光平面在相机坐标系下的方程为：
AX+BY+Z+C＝0
其中，A、B、C分别为方程参数，根据实际情况而定。
求取视线方程与光平面方程的交点为：
Figure PCTCN2018078034-appb-000002
机器人的运动方向为水平向前时，若相机水平向前，则X c即为障碍物的位置。若激光器101所发射线激光的方向为水平向前时，且已知相机的外参，即相机坐标系相对于激光平面对应的光平面坐标系的旋转R和平移t，则可将该交点转换到光平面坐标系下：
X w＝RX c+t，
则计算出的X w即为障碍物的位置。
需要说明的是，根据上述步骤的描述，根据每个像素点对应的都可以确定一个X c或者X w，本申请实施例通过激光线上多个像素点在目标图像中的成像位置信息确定障碍物的实际位置信息，最后确定的障碍物的实际位置信息是多个X c或者多个X w组成的位置信息。也就是说，最终确定的障碍物的实际位置信息也可以理解为“点云”组成的位置信息。
作为本申请实施例的一种实施方式，为了保证图像采集设备可以采集到包含线激光在障碍物上照射区域的成像的目标图像，图像采集设备和激光器可以存在一定的角度。具体的角度可以根据实际测量的障碍物的距离范围进行调整，角度越大，测量距离越小；反之，角度越小，测量距离越大。
图5(a)为本申请实施例提供的障碍信息获取装置中图像采集设备与激光器的俯视结构示意图；图5(b)为本申请实施例提供的障碍信息获取装置中图像采集设备与激光器的侧视结构示意图。如图5(a)和图5(b)所示，本申请实施例提供的障碍信息获取装置中图像采集设备102的光轴与激光器101的激光平面相交于该图像采集设备102的正前方区域。具体的，可以根据需要测量的障碍物的距离范围确定图像采集设备102与激光器101的角度。其中，通过Z C表示图像采集设备102的光轴，Z C和Y C形成图像采集设备的坐标系，通过X w、Y w和Z w形成的坐标系表示激光器101产生的激光平面。
图像采集设备102的光轴与激光器101的激光平面相交于该图像采集设备102的正前方区域，可以保证图像采集设备102能够采集到线激光在障碍物上照射区域的成像的目标图像，进而通过激光器101发射的线激光、在障碍物上照射区域的激光线成像在目标图像中的成像位置信息，最终确定障碍物的实际位置信息。
另外，本申请实施例不对图像采集设备102与激光器101垂直方向上的位置进行限定，图像采集设备102可以位于激光器101的垂直正下方或者垂直正上方；或者，图像采集设备102可以与激光器101垂直方向存在预设偏差都是允许的，其中，预设偏差与激光器101的发射角正相关。
举例说明，图像采集设备102可以位于激光器101的左下方、右下方或者垂直正下方等。图6为本申请实施例中图像采集设备位于激光器的左下方的结构示意图；图7为本申请实施例中图像采集设备位于激光器的垂直正下方的结构示意图；图8为本申请实施例中图像采集设备位于激光器的右下方的结构示意图，需要说明的是，图像采集设备102与激光器101可以按照上述的位置关系安装于机器人104上。
本申请实施例提供的障碍信息获取装置可以应用于机器人避障的环境中，所以该障碍信息获取装置可以安装于机器人上。具体地，激光器与图像采集 设备可以分开安装至机器人上；或者：激光器与图像采集设备可以集成为整体后安装于机器人上。
机器人运动过程中有不同的运动方向，本申请实施例提供的障碍信息获取装置中图像采集设备或者激光器与不同运动方向的机器人可以有不同的位置关系。
在将本申请实施例提供的障碍信息获取装置安装至机器人上时，激光器所发射线激光的方向可以与机器人的运动方向一致；或者，图像采集设备可以水平放置，图像采集设备的采集区域为机器人的正前方区域。具体地，激光器所发射线激光的方向可以与机器人的运动方向一致、且该激光器的激光平面与图像采集设备的光轴相交于该图像采集设备的正前方区域、位于图像采集设备的垂直正上方、左上方、右上方、垂直正下方、左下方或者右下方等；或者，图像采集设备可以水平放置，图像采集设备的采集区域为机器人的正前方区域、且该图像采集设备的光轴与激光器的激光平面相交于该图像采集设备的正前方区域，位于激光器的垂直正上方、左上方、右上方、垂直正下方、左下方或者右下方等。
举例说明，图9为本申请实施例提供的障碍信息获取装置的一种安装方式；图10为本申请实施例提供的障碍信息获取装置的另一种安装方式；图11为本申请实施例提供的障碍信息获取装置的另一种安装方式；图12为本申请实施例提供的障碍信息获取装置的另一种安装方式。激光器101和图像采集设备102可以按照上述的任意安装方式安装于机器人104上，其中，图9、图10、图11和图12中机器人104的运动方向如图中箭头105所示，激光器101产生的线激光对应的激光平面如图中直线106所示。
本申请实施例还提供了一种障碍信息获取方法，该障碍信息获取方法应用于图像采集设备；其中，该图像采集设备与激光器之间具有固定的相对位置关系。图13为本申请实施例提供的障碍信息获取方法的流程图，参照图13对本申请实施例提供的障碍信息获取方法进行详细说明，包括：
步骤1301，采集目标图像，该目标图像包含激光器发射的线激光在障碍物上照射区域的成像。
本申请实施例提供的障碍信息获取方法可以应用于障碍信息获取装置、图像采集设备、处理器等。
在本申请实施例中，图像采集设备可以采集包含线激光在障碍物上照射区域的成像的目标图像，为后续地通过激光线成像在目标图像中的成像位置信息确定障碍物的实际位置信息提供条件。需要说明的是，这里所说的图像采集设备可以是照相机、摄像机等任意一种可以采集图像的设备。
步骤1302，从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息。
采集到目标图像后，可以确定激光线成像在目标图像中的成像位置信息。因为激光线成像在目标图像中是由多个像素点组成的，所以通过确定激光线上多个像素点在目标图像中的成像位置信息确定障碍物的实际位置信息。
具体的，确定线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息的步骤可以包括：确定激光线成像在目标图像中所占的区域；确定区域中多个像素点在目标图像中的成像位置信息，并将多个像素点在目标图像中的成像位置信息作为激光线成像在目标图像中的位置信息。
步骤1303，根据激光线成像在目标图像中的成像位置信息，确定障碍物的实际位置信息。
激光器产生的线激光照射在距离机器人不同位置的障碍物上时，图像采集设备采集到激光线成像在目标图像中的成像位置不同，因此根据线激光在障碍物上照射区域的激光线成像在目标图像中的不同成像位置信息，可以确定距离机器人不同距离的障碍物的位置信息。
例如，可以首先确定激光线成像在目标图像中所在的区域，然后确定所在区域中激光线上多个像素点在目标图像中的成像位置信息，将激光线上多个像素点在目标图像中的成像位置信息作为该激光线的成像位置信息。进而通过激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
本申请实施例提供的障碍信息获取方法，通过确定激光线成像在目标图像中的成像位置信息，确定障碍物的实际位置信息。可以看出，本申请实施 例提供的障碍信息获取方法最终确定出的障碍物的信息，是根据激光线上多个像素点在目标图像中的成像位置信息确定出的多个位置信息组成的障碍物的实际位置信息，多个像素点对应确定出的位置信息相比较于某一点对应确定出的位置信息更加准确。所以通过本申请实施例提供的障碍信息获取方法可以提高确定障碍物位置信息的准确度。
采集到包含线激光在障碍物上照射区域的成像的目标图像后，确定线激光成像在目标图像中的成像位置信息。本申请实施例一种可实现方式中，通过确定激光线成像在目标图像中所在的区域，进而确定区域中多个像素点在目标图像中的成像位置信息；最后根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。具体地步骤包括：
第一步，确定激光线成像在目标图像中所占的区域。
目标图像中只要出现激光线，就说明存在障碍物，否则目标图像是全黑的。并且，在机器人行进过程中，遇到的障碍物可能是一个，也有可能是多个。本申请实施例中通过确定目标图像中的连通区域确定激光线成像在目标图像中的区域。目标图像中有几个连通区域则确定有几个障碍物。具体地提取连通区域的方法在上述障碍信息获取装置的实施例中已经进行了详细地描述，这里就不再赘述。
第二步，确定区域中多个像素点在该目标图像中的成像位置信息，将多个像素点在目标图像中的位置信息作为激光线成像在目标图像中的成像位置信息。
不难理解的是，确定出的连通区域是由多个像素点组成的，多个像素点在目标图像中的成像位置信息，即像素点在目标图像中的坐标位置。这些像素点的成像位置信息组合起来作为激光线成像在目标图像中的成像位置信息。
第三步，根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
确定出激光线成像在目标图像中的成像位置信息后，可以根据激光线成像在目标图像中的成像位置信息，确定障碍物的实际位置信息，即根据激光线上多个像素点在目标图像中的成像位置信息确定障碍物的实际位置信息。
具体地，可以根据激光线上多个像素点在目标图像中的成像位置信息，以及图像采集设备的预设参数，确定激光线上多个像素点对应的视线方程；进而根据激光线上多个像素点对应的视线方程、以及激光器的激光平面在图像采集设备对应的坐标系下的光平面方程，确定障碍物的实际位置信息。具体地根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息的过程在上述障碍信息获取装置的实施例中已经进行了详细地描述，这里就不再赘述。
可选的，图像采集设备的光轴与激光器的激光平面相交于图像采集设备的正前方区域。
可选的，该障碍信息获取装置中图像采集设备放置于激光器的垂直正下方或者垂直正上方；或者，图像采集设备与激光器垂直存在预设偏差放置，其中，预设偏差与激光器的发射角正相关。
可选的，激光器与图像采集设备安装于机器人上。
可选的，激光器所发射线激光的方向与机器人的运动方向一致；或者，图像采集设备水平放置，图像采集设备的采集区域为机器人的正前方区域。
需要说明的是，本申请实施例提供的障碍信息获取方法应用于障碍信息获取装置中，上述障碍信息获取装置的所有实施例均适用于该障碍信息获取方法，且均能达到相同或相似的有益效果。
本申请实施例还提供了一种障碍信息获取设备，如图14所示，包括：处理器1401和存储器1402；
存储器1402，用于存储可执行程序代码；
处理器1401，用于通过读取存储器1402中存储的可执行程序代码来运行与可执行程序代码对应的程序，以执行上述障碍信息获取方法，具体地，执行如下步骤：
采集目标图像，该目标图像包含激光器发射的线激光在障碍物上照射区域的成像。
从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息；
可选的，确定激光线成像在目标图像中所占的区域；获取区域中多个像素点在目标图像中的成像位置信息。
根据成像位置信息，确定障碍物的实际位置信息；
可选的，根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
可选的，根据多个像素点在目标图像中的成像位置信息，以及图像采集设备的预设参数，确定激光线上多个像素点对应的视线方程；
根据视线方程、以及激光器的激光平面在图像采集设备对应的坐标系下的光平面方程，确定障碍物的实际位置信息。
本申请实施例中，根据激光线成像在目标图像中的成像位置信息最终确定出的障碍物的实际位置信息，是根据激光线上多个像素点在目标图像中的成像位置信息确定出的多个位置信息组成的障碍物的实际位置信息，多个像素点对应确定出的位置信息相比较于某一点对应确定出的位置信息更加准确。如此通过本申请实施例提供的障碍信息获取设备，能够提高确定障碍物位置信息的准确度。
本申请实施例还提供了一种存储介质，用于存储可执行代码，可执行代码用于在运行时执行上述障碍信息获取方法，具体地，执行如下步骤：
采集目标图像，该目标图像包含激光器发射的线激光在障碍物上照射区域的成像。
从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息；
可选的，确定激光线成像在目标图像中所占的区域；获取区域中多个像素点在目标图像中的成像位置信息。
根据成像位置信息，确定障碍物的实际位置信息；
可选的，根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
可选的，根据多个像素点在目标图像中的成像位置信息，以及图像采集设备的预设参数，确定激光线上多个像素点对应的视线方程；
根据视线方程、以及激光器的激光平面在图像采集设备对应的坐标系下的光平面方程，确定障碍物的实际位置信息。
本申请实施例中，根据激光线成像在目标图像中的成像位置信息最终确定出的障碍物的实际位置信息，是根据激光线上多个像素点在目标图像中的成像位置信息确定出的多个位置信息组成的障碍物的实际位置信息，多个像素点对应确定出的位置信息相比较于某一点对应确定出的位置信息更加准确。如此通过本申请实施例提供的存储介质，能够提高确定障碍物位置信息的准确度。
本申请实施例还提供一种应用程序，用于在运行时执行上述障碍信息获取方法，具体地，执行如下步骤：
采集目标图像，该目标图像包含激光器发射的线激光在障碍物上照射区域的成像。
从目标图像中获取线激光在障碍物上照射区域的激光线成像在目标图像中的成像位置信息；
可选的，确定激光线成像在目标图像中所占的区域；获取区域中多个像素点在目标图像中的成像位置信息。
根据成像位置信息，确定障碍物的实际位置信息；
可选的，根据激光线上多个像素点在目标图像中的成像位置信息，确定障碍物的实际位置信息。
可选的，根据多个像素点在目标图像中的成像位置信息，以及图像采集设备的预设参数，确定激光线上多个像素点对应的视线方程；
根据视线方程、以及激光器的激光平面在图像采集设备对应的坐标系下 的光平面方程，确定障碍物的实际位置信息。
本申请实施例中，根据激光线成像在目标图像中的成像位置信息最终确定出的障碍物的实际位置信息，是根据激光线上多个像素点在目标图像中的成像位置信息确定出的多个位置信息组成的障碍物的实际位置信息，多个像素点对应确定出的位置信息相比较于某一点对应确定出的位置信息更加准确。如此通过本申请实施例提供的应用程序，能够提高确定障碍物位置信息的准确度。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于方法、障碍信息获取设备、存储介质以及应用程序实施例而言，由于其基本相似于装置实施例，所以描述的比较简单，相关之处参见装置实施例的部分说明即可。
以上所述仅为本申请的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本申请的保护范围内。

Claims (17)

  1. 一种障碍信息获取装置，其特征在于，包括：
    激光器，用于发射线激光；
    图像采集设备，用于采集目标图像，该目标图像包含所述线激光在障碍物上照射区域的成像，且该图像采集设备与所述激光器之间具有固定的相对位置关系；
    获取模块，用于从所述目标图像中获取所述线激光在障碍物上照射区域的激光线成像在所述目标图像中的成像位置信息；
    确定模块，用于根据所述成像位置信息，确定所述障碍物的实际位置信息。
  2. 根据权利要求1所述的装置，其特征在于，所述获取模块，具体用于确定所述激光线成像在所述目标图像中所在的区域，并获取所述区域中多个像素点在所述目标图像中的成像位置信息；
    所述确定模块，具体用于根据所述激光线上多个像素点在所述目标图像中的成像位置信息，确定所述障碍物的实际位置信息。
  3. 根据权利要求2所述的装置，其特征在于，所述确定模块，具体用于根据所述激光线上多个像素点在所述目标图像中的成像位置信息、以及所述图像采集设备的预设参数，确定所述激光线上多个像素点对应的视线方程；根据所述激光线上多个像素点对应的视线方程、以及所述激光器的激光平面在图像采集设备对应的坐标系下的光平面方程，确定所述障碍物的实际位置信息。
  4. 根据权利要求1至3中任意一项所述的装置，其特征在于，所述图像采集设备的光轴与所述激光器的激光平面相交于所述图像采集设备的正前方区域。
  5. 根据权利要求4所述的装置，其特征在于，所述图像采集设备位于所述激光器的垂直正下方或者垂直正上方；
    或者，所述图像采集设备与所述激光器垂直方向存在预设偏差，其中， 所述预设偏差与所述激光器的发射角正相关。
  6. 根据权利要求5所述的装置，其特征在于，所述激光器与所述图像采集设备安装于机器人上。
  7. 根据权利要求6所述的装置，其特征在于，所述激光器所发射线激光的方向与所述机器人的运动方向一致；或者，
    所述图像采集设备水平放置，所述图像采集设备的采集区域为所述机器人的正前方区域。
  8. 一种障碍信息获取方法，其特征在于，应用于图像采集设备；其中，所述图像采集设备与激光器之间具有固定的相对位置关系；所述方法包括：
    采集目标图像，该目标图像包含所述激光器发射的线激光在障碍物上照射区域的成像；
    从所述目标图像中获取所述线激光在障碍物上照射区域的激光线成像在所述目标图像中的成像位置信息；
    根据所述成像位置信息，确定所述障碍物的实际位置信息。
  9. 根据权利要求8所述的方法，其特征在于，所述从所述目标图像中获取所述线激光在障碍物上照射区域的激光线成像在所述目标图像中的成像位置信息的步骤包括：
    确定所述激光线成像在所述目标图像中所占的区域；
    获取所述区域中多个像素点在所述目标图像中的成像位置信息；
    所述根据所述成像位置信息，确定所述障碍物的实际位置信息的步骤包括：
    根据所述激光线上多个像素点在所述目标图像中的成像位置信息，确定所述障碍物的实际位置信息。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述激光线上多个像素点在所述目标图像中的成像位置信息，确定所述障碍物的实际位置信息的步骤包括：
    根据所述多个像素点在所述目标图像中的成像位置信息，以及所述图像采集设备的预设参数，确定所述激光线上多个像素点对应的视线方程；
    根据所述视线方程、以及所述激光器的激光平面在所述图像采集设备对应的坐标系下的光平面方程，确定所述障碍物的实际位置信息。
  11. 根据权利要求8所述的方法，其特征在于，所述图像采集设备的光轴与所述激光器的激光平面相交于所述图像采集设备的正前方区域。
  12. 根据权利要求11所述的方法，其特征在于，所述图像采集设备放置于所述激光器的垂直正下方或者垂直正上方；
    或者，所述图像采集设备与所述激光器垂直存在预设偏差放置，其中，所述预设偏差与所述激光器的发射角正相关。
  13. 根据权利要求12所述的方法，其特征在于，所述激光器与所述图像采集设备安装于机器人上。
  14. 根据权利要求13所述的方法，其特征在于，所述激光器所发射线激光的方向与所述机器人的运动方向一致；或者，
    所述图像采集设备水平放置，所述图像采集设备的采集区域为所述机器人的正前方区域。
  15. 一种障碍信息获取设备，其特征在于，包括：处理器和存储器；
    所述存储器，用于存储可执行程序代码；
    所述处理器，用于通过读取所述存储器中存储的所述可执行程序代码来运行与所述可执行程序代码对应的程序，以执行：权利要求8-14任一项所述的障碍信息获取方法。
  16. 一种存储介质，其特征在于，用于存储可执行代码，所述可执行代码用于在运行时执行：权利要求8-14任一项所述的障碍信息获取方法。
  17. 一种应用程序，其特征在于，用于在运行时执行：权利要求8-14任一项所述的障碍信息获取方法。
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