CN104729459A - Driving ranging and collision warning unit based on ARM-Linux system - Google Patents
Driving ranging and collision warning unit based on ARM-Linux system Download PDFInfo
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- CN104729459A CN104729459A CN201510167478.8A CN201510167478A CN104729459A CN 104729459 A CN104729459 A CN 104729459A CN 201510167478 A CN201510167478 A CN 201510167478A CN 104729459 A CN104729459 A CN 104729459A
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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
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Abstract
The invention discloses a driving ranging and collision warning unit based on an ARM-Linux system. An image acquiring module, a displaying and Linux human-machine interaction module and a warning module are separately connected with a control module; a laser emitting module emits laser to the surface of an obstacle, forming laser spots; the image acquiring module is used for acquiring image information of the obstacle; the control module is used for processing the image information of the obstacle to acquire a distance between the image acquiring module and the obstacle; the warning module is controlled by the control module to give a warning signal. The driving ranging and collision warning unit has the advantages of high anti-interference performance, high measurement precision and good timeliness; with the simple structure, the driving ranging and collision warning unit is suitable for popularization in the vehicle driving field.
Description
Technical field
The invention belongs to collision avoidance system field, particularly relate to a kind of driving ranging for preventing collision prior-warning device based on ARM-Linux system.
Background technology
Driving (being also called overhead travelling crane or overhead traveling crane) is industry spot VTOL (vertical take off and landing) or the important plant equipment moving horizontally weight.Along with the development of economic construction, the application of driving is extensive gradually, a lot of large scale industry is on-the-spot more prevalent with the situation of layer multiple stage moving operation, due to operating personnel's hard work task, notice is made to be highly concentrated in lifting and the horizontal level state of suspended object weight for a long time, often ignore the safe distance in adjacent lines workshop, cause collision accident to happen occasionally, particularly bring immeasurable consequence and loss with the collision between inter-bank car to personal safety and device security.For solving the problem collided because of hypotelorism between driving, driving need install collision avoidance system, existing protecting against collision of driving vehicles mode mainly contains mechanical type, infrared ray, laser, ultrasound wave and radar etc., but this several mode has its limitation according to its crashproof principle and feature thereof in driving application.Though wherein the simple cost of mechanical type collision avoidance system structure is lower, but the jitter problem because stretching out angle steel during Installation and Debugging affects the reliability of work; Infrared mode precision is higher, but detecting distance too closely and not requirement of real time; The smoothness requirements of laser mode to optical frames surface is higher; Ultrasound wave and radar are subject to the impact of weather comparatively large, and reliability is poor.
Summary of the invention
The present invention is directed to the problems of the prior art, a kind of driving ranging for preventing collision prior-warning device based on ARM-Linux system is provided, there is good in anti-interference performance, measuring accuracy is high, real-time is good feature, because its structure is simple, be suitable for promoting in driving field.
The technical solution adopted for the present invention to solve the technical problems is: a kind of driving ranging for preventing collision prior-warning device based on ARM-Linux system, comprise laser emitting module, image capture module, display and Linux human-computer interaction module, control module, alarm module, image capture module, display and Linux human-computer interaction module, alarm module are connected with control module respectively; Laser emitting module gives off laser beam and is radiated at blocking surfaces formation laser facula; Image capture module is for gathering barrier image information; Control module is used for processing barrier image information, obtains the distance between image capture module and barrier; Display and Linux human-computer interaction module are for demonstrating the range information between image capture module and blocking surfaces, and alarm module is controlled to send alerting signal by control module.
By technique scheme, image capture module is video camera, laser emitting module to be positioned at directly over video camera or immediately below, the laser beam that laser emitting module sends is parallel to video camera central optical axis.
By technique scheme, control module is using ARM11 chip S3C6410 chip as core processor.Dominant frequency is 533MHz, reaches as high as 667MHz, easily can process image and Linux community's face operation.
By technique scheme, alerting signal comprises the danger alarm signal when voice signal of the distance between voice broadcast image capture module and barrier and barrier reach predetermined threshold value distance.
By technique scheme, described control module processes barrier image information, obtain the distance between image capture module and blocking surfaces, specifically comprise, calculate laser facula on camera focal plane become pixel quantity pfc in image, calculate the radian rpc of each pixel and the value of radian compensation ro, rpc is because the focal plane (imaging surface) of video camera is curved, distributes when making each pixel be on focal plane with certain radian.θ is calculated according to formula θ=pfc*rpc+ro, θ is the angle between the line of laser facula and camera optics imaging system central point and camera optics imaging system optical axis, according to the distance h between the laser emitting module arranged and image capture module, by D=h/tan θ, obtain the distance D of laser emitting module and blocking surfaces.
By technique scheme, described calculating laser facula on camera focal plane become pixel quantity in image, specifically comprise for laser facula on camera focal plane become image to carry out gray processing, smothing filtering and Edge Gradient Feature process, again according to circle fitting process use the principle of least square to justify to approach laser facula on camera focal plane become the profile of image, calculate laser facula on camera focal plane become radius and the coordinate of each pixel in image, by laser facula on camera focal plane become the center pixel point coordinate of the coordinate of each pixel in image and camera focal plane to compare.
The beneficial effect that the present invention produces is: first the present invention's ranging for preventing collision prior-warning device of driving a vehicle is given off laser beam by laser emitting module and be radiated at blocking surfaces and form laser facula, image capture device collection obtains barrier image information, laser facula information is comprised in obstructions chart picture, by these information after treatment, calculate the current distance between image capture module and barrier, and show in display and Linux human-computer interaction module, operating personnel intuitively can arrive distance display, simultaneously control module is according to after current distance is compared with secure threshold distance, danger alarm signal when sending the voice signal of report distance and be positioned at risk distance, driver is reminded to note running distance, contribute to it to judge, and take effective measures.
Driving ranging for preventing collision prior-warning device provided by the invention, collision avoidance system is made to have good in anti-interference performance, measuring accuracy is high, real-time is good feature by the mode adopting image capture module and laser beam to assist, because its structure is simple, be suitable for promoting in driving field.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of embodiment of the present invention driving ranging for preventing collision prior-warning device;
Fig. 2 is the measuring principle schematic diagram of embodiment of the present invention driving ranging for preventing collision prior-warning device.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In the embodiment of the present invention, a kind of driving ranging for preventing collision prior-warning device based on ARM-Linux system is provided, as shown in Figure 1, comprise laser emitting module, image capture module, display and Linux human-computer interaction module, control module, alarm module, image capture module, display and Linux human-computer interaction module, alarm module are connected with control module respectively; Laser emitting module gives off laser beam and is radiated at blocking surfaces formation laser facula; Image capture module is for gathering barrier image information; Control module is used for processing barrier image information, obtains the distance between image capture module and barrier; Display and Linux human-computer interaction module are for demonstrating the range information between image capture module and blocking surfaces, and alarm module is controlled to send alerting signal by control module.Display and Linux human-computer interaction module, except having display current distance information, also have the image of acquisition collection with the function of auxiliary driving.Operating personnel can see distance display from display and Linux human-computer interaction module intuitively, simultaneously control module is according to after current distance is compared with secure threshold distance, danger alarm signal when sending the voice signal of report distance or be positioned at barrier risk distance, reminds driver to note running distance.
Wherein, image capture module is video camera, laser emitting module to be positioned at directly over video camera or immediately below, the laser beam that laser emitting module sends is parallel to video camera central optical axis.
Further, control module is using ARM11 chip S3C6410 chip as core processor.ARM11 chip S3C6410 chip dominant frequency is 533MHz, reaches as high as 667MHz, easily can process image and Linux community's face operation.
Further, alerting signal comprises the danger alarm signal when voice signal of the distance between voice broadcast image capture module and barrier and barrier reach predetermined threshold value distance.Remind driver to note running distance, contribute to it and judge, and take effective measures.
Wherein, described control module processes barrier image information, obtain the distance between image capture module and blocking surfaces, specifically comprise, calculate laser facula on camera focal plane become pixel quantity pfc in image, calculate the radian rpc of each pixel and the value of radian compensation ro, rpc is because the focal plane (imaging surface) of video camera is curved, distributes when making each pixel be on focal plane with certain radian.θ is calculated according to formula θ=pfc*rpc+ro, θ is the angle between the line of laser facula and camera optics imaging system central point and camera optics imaging system optical axis, according to the distance h between the laser emitting module arranged and image capture module, by D=h/tan θ, obtain the distance D of laser emitting module and blocking surfaces.
Further, described calculating laser facula on camera focal plane become pixel quantity in image, specifically comprise for laser facula on camera focal plane become image to carry out gray processing, smothing filtering and Edge Gradient Feature process, again according to circle fitting process use the principle of least square to justify to approach laser facula on camera focal plane become the profile of image, calculate laser facula on camera focal plane become radius and the coordinate of each pixel in image, by laser facula on camera focal plane become the center pixel point coordinate of the coordinate of each pixel in image and camera focal plane to compare.
Wherein, calculate the radian rpc of each pixel and the value of radian compensation ro, specifically comprise, distance h between laser emitting module and image capture module is fixed, the distance D of laser emitting module and blocking surfaces is arranged 2 given values, calculate angle theta, simultaneously when this 2 given value D, respectively to laser facula on camera focal plane become the coordinate of the pixel in image to carry out budget, draw laser facula on camera focal plane become the pixel quantity pfc of image, substitute into respectively in formula θ=pfc*rpc+ro, obtain 2 equations, the value of rpc and ro is obtained according to these 2 Solving Equations.
In the embodiment of the present invention, as in Fig. 2 experimental system, be 31cm and 47cm by actual location 2 known distance value D, image acquisition is carried out respectively in this distance, show after process that corresponding pfc is respectively 57 and 30, and the spacing of laser emitting module and video camera is fixed as h=6.0cm, then substitute into range finding formula and can draw one group of system of equations:
Rpc=0.0023986432 can be obtained, ro=0.055279314 according to this system of equations.Now, when laser emitting module and blocking surfaces distance D are arbitrary value, only need process laser facula in the image that current distance D gathers on camera focal plane become the pixel quantity pfc of image, can θ be calculated, and then obtain current distance value D according to formula D=h/tan θ.
The distance-finding method of apparatus of the present invention is simple, and complexity is low, and image processing process is also relatively simple, also can meet accuracy requirement, be with a wide range of applications while real-time is higher.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (6)
1. the driving ranging for preventing collision prior-warning device based on ARM-Linux system, it is characterized in that, comprise laser emitting module, image capture module, display and Linux human-computer interaction module, control module, alarm module, image capture module, display and Linux human-computer interaction module, alarm module are connected with control module respectively; Laser emitting module gives off laser beam and is radiated at blocking surfaces formation laser facula; Image capture module is for gathering barrier image information; Control module is used for processing barrier image information, obtains the distance between image capture module and barrier; Display and Linux human-computer interaction module are for demonstrating the range information between image capture module and blocking surfaces, and alarm module is controlled to send alerting signal by control module.
2. the driving ranging for preventing collision prior-warning device based on ARM-Linux system according to claim 1, it is characterized in that, image capture module is video camera, laser emitting module to be positioned at directly over video camera or immediately below, the laser beam that laser emitting module sends is parallel to video camera central optical axis.
3. the driving ranging for preventing collision prior-warning device based on ARM-Linux system according to claim 1 and 2, is characterized in that, control module is using ARM11 chip S3C6410 chip as core processor.
4. the driving ranging for preventing collision prior-warning device based on ARM-Linux system according to claim 1 and 2, it is characterized in that, alerting signal comprises the danger alarm signal when voice signal of the distance between voice broadcast image capture module and barrier and barrier reach predetermined threshold value distance.
5. the driving ranging for preventing collision prior-warning device based on ARM-Linux system according to claim 2, it is characterized in that, described control module processes barrier image information, obtain the distance between image capture module and blocking surfaces, specifically comprise, calculate laser facula on camera focal plane become pixel quantity pfc in image, calculate the radian rpc of each pixel and the value of radian compensation ro, θ is calculated according to formula θ=pfc*rpc+ro, θ is the angle between the line at laser facula and camera optics imaging system center and camera optics imaging system optical axis, according to the distance h between the laser emitting module arranged and image capture module, by D=h/tan θ, obtain the distance D of laser emitting module and blocking surfaces.
6. the driving ranging for preventing collision prior-warning device based on ARM-Linux system according to claim 5, it is characterized in that, described calculating laser facula on camera focal plane become pixel quantity in image, specifically comprise for laser facula on camera focal plane become image to carry out gray processing, smothing filtering and Edge Gradient Feature process, again according to circle fitting process use the principle of least square to justify to approach laser facula on camera focal plane become the profile of image, calculate laser facula on camera focal plane become radius and the coordinate of each pixel in image, by laser facula on camera focal plane become the center pixel point coordinate of the coordinate of each pixel in image and camera focal plane to compare.
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| CN106476691A (en) * | 2016-09-30 | 2017-03-08 | 张家港长安大学汽车工程研究院 | 3D scanning collision prevention of vehicle based on line laser and alarm device and alarm method |
| CN112977393A (en) * | 2021-04-22 | 2021-06-18 | 周宇 | Automatic driving anti-collision avoiding device and method thereof |
| CN113460839A (en) * | 2021-07-23 | 2021-10-01 | 深圳市爱深盈通信息技术有限公司 | Elevator door control method and anti-pinch detection module |
| CN113741445A (en) * | 2021-08-27 | 2021-12-03 | 宁波华东核工业工程勘察院 | Obstacle search early warning method and device, safety helmet and storage medium thereof |
| CN116740821A (en) * | 2023-08-16 | 2023-09-12 | 南京迅集科技有限公司 | Intelligent workshop control method and system based on edge calculation |
| CN118565526A (en) * | 2024-08-02 | 2024-08-30 | 福思(杭州)智能科技有限公司 | Range finding compensation method and device under jolt working condition, storage medium and electronic equipment |
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Cited By (11)
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| CN112977393A (en) * | 2021-04-22 | 2021-06-18 | 周宇 | Automatic driving anti-collision avoiding device and method thereof |
| WO2022222159A1 (en) * | 2021-04-22 | 2022-10-27 | 周宇 | Autonomous driving collision avoidance apparatus and method thereof |
| CN112977393B (en) * | 2021-04-22 | 2024-01-12 | 周宇 | Automatic driving anti-collision avoiding device and method thereof |
| CN113460839A (en) * | 2021-07-23 | 2021-10-01 | 深圳市爱深盈通信息技术有限公司 | Elevator door control method and anti-pinch detection module |
| CN113741445A (en) * | 2021-08-27 | 2021-12-03 | 宁波华东核工业工程勘察院 | Obstacle search early warning method and device, safety helmet and storage medium thereof |
| CN116740821A (en) * | 2023-08-16 | 2023-09-12 | 南京迅集科技有限公司 | Intelligent workshop control method and system based on edge calculation |
| CN116740821B (en) * | 2023-08-16 | 2023-10-24 | 南京迅集科技有限公司 | Intelligent workshop control method and system based on edge calculation |
| CN118565526A (en) * | 2024-08-02 | 2024-08-30 | 福思(杭州)智能科技有限公司 | Range finding compensation method and device under jolt working condition, storage medium and electronic equipment |
| CN118565526B (en) * | 2024-08-02 | 2024-10-22 | 福思(杭州)智能科技有限公司 | Range finding compensation method and device under jolt working condition, storage medium and electronic equipment |
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Application publication date: 20150624 |