CN105866779A - Wearable barrier avoiding apparatus and barrier avoiding method based on binocular camera and millimeter-wave radar - Google Patents
Wearable barrier avoiding apparatus and barrier avoiding method based on binocular camera and millimeter-wave radar Download PDFInfo
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- CN105866779A CN105866779A CN201610212637.6A CN201610212637A CN105866779A CN 105866779 A CN105866779 A CN 105866779A CN 201610212637 A CN201610212637 A CN 201610212637A CN 105866779 A CN105866779 A CN 105866779A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention relates to a wearable barrier avoiding apparatus and barrier avoiding method based on a binocular camera and a millimeter-wave radar, belongs to the field of wearable equipment, and is mainly applied to helping visually impaired people or sports equipment and the like to avoid barriers. The method comprises the following steps: step one, calibrating the binocular camera so as to satisfy a basic condition for obtaining a depth image; step two, performing data acquisition respectively by use of the millimeter-wave radar and the binocular camera; step three, respectively processing the data acquired by the millimeter-wave radar and the binocular camera to obtain such information as distances between the barriers and pedestrians or equipment, speeds, directions and the like; and step four, integrating data processing results of the millimeter-wave radar and the binocular camera, and giving a result after the two devices verify each other. According to the invention, the information of the millimeter-wave radar and the binocular camera is integrated, the problems of unreliable measurement result of a single device and the like can be solved, the measurement precision and reliability are improved, and the apparatus and the method can help the visually impaired people or the sports equipment to avoid the existing barriers.
Description
Technical field
The present invention relates to wearable device field, particularly relate to a kind of based on binocular camera and millimetre-wave radar
Wearable fault avoidnig device and barrier-avoiding method, relate to binocular camera and millimetre-wave radar technology, is to merge
The depth image of binocular camera and millimetre-wave radar information, help visual disorder personage or sports equipment, hide
The apparatus and method of barrier.
Background technology
Eyes are the organs that the mankind obtain that external information is most, there is the people of visual disorder, are difficult to reply daily
The barrier often occurred in life.The help that simple blind man's stick provides is limited, the feelings of missing inspection often occurs
Condition；Seeing-eye dog then needs the professional training up to the several years, and does not allows access in the occasion having；Bionic eye
Implant and human body is had wound, and high expense, be not appropriate for Normal visual impedient people and use.And pass
System electronic visual aid mainly include binocular vision aid system, active light depth camera aid system,
LDMS etc..
Vision ancillary technique based on binocular camera can provide a range of depth image, hinders for vision
Hinder personage's avoiding barrier can provide certain help, but single set binocular camera system, for image
Being furnished with the highest requirement, place inapparent for texture easily causes missing inspection, and the matching algorithm needed
Complexity, needs computationally intensive, easily cause result and postpone.
Active light depth camera is compared binocular camera advantage and is can obtain dense exact depth image in real time,
But affected by daylight in outdoor relatively big, cause barrier at a distance accurately to detect.And camera has
The fixing angle of visual field, it is impossible to the accurately environmental aspect beyond detective field of view angle.And laser ranging or ultrasound wave
Range-measurement system can only be found range for single-point object, it is impossible to the overall pattern of limited detecting obstacles thing, is also easy to
Cause the erroneous judgement of barrier and fail to judge.
Along with the development of electronic technology, the millimetre-wave radar system of miniaturization low-power consumption has occurred, and has started
Large-scale application.Detection range is more than 10m, and power consumption has only had the millimetre-wave radar antenna of about 200mW
Occur, be extremely suitable for use in wearable device field, help visual disorder personage to hide the barrier of existence.
The feature of small volume low watt consumption also makes its sports equipment field focusing on volume and power consumption at unmanned plane etc. have wide
Application.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of based on binocular camera and millimetre-wave radar can
Dress fault avoidnig device and barrier-avoiding method.
To achieve these goals, the present invention adopts the following technical scheme that and is solved: a kind of based on binocular phase
The barrier-avoiding method of the wearable fault avoidnig device of machine and millimetre-wave radar, specifically includes following step:
Step 1, binocular camera is demarcated, obtain binocular camera parameter, correct binocular camera picture, and
Carry out images match, to obtain the depth image in viewing field of camera；
Step 2, unlatching binocular camera and millimetre-wave radar, accept the data of binocular camera and millimetre-wave radar；
Step 3, data result to binocular camera carry out Treatment Analysis, obtain barrier on motion path
Distance and direction,
Step 4, data to millimetre-wave radar carry out Treatment Analysis, get rid of false target, obtain motion path
On the distance of barrier, direction and movement velocity；
Step 5, the data processed result of binocular camera and millimetre-wave radar of obtaining according to step 3 and step 4,
Provide the result after two kinds of equipment are mutually authenticated, and inform user by interactive module, help it to hide and deposit
Barrier.
Further, described step 3 particularly as follows:
Step 3.1, obtain the RGB image in field range and infrared image with binocular camera；
Step 3.2, coupling by two monocular images of binocular camera, calculate deep image information；
Step 3.2, the positions and dimensions of the deep image information disturbance in judgement thing obtained according to step 3.2；
Step 3.3, obtain movement velocity and the direction of motion of moving object according to fore-and-aft survey multiple image.
Further, described step 4 particularly as follows:
Step 4.1, millimetre-wave radar use FMCW pattern, and triangular wave is input to millimetre-wave radar antenna
VCO port；
The outside radiated electromagnetic wave of step 4.2, antenna, this electromagnetic wave is running into pedestrian, driving or other barrier
Time, return signal；
Step 4.3, to return signal successively be amplified process, AD convert and digital time domain filtering；
Step 4.4, the signal obtaining step 4.3 carry out windowing process, to prevent from carrying out Fourier transformation
When occur that data breakpoint or data are unsmooth；
Step 4.5, order to the data after windowing process carry out change in location；
Step 4.6, the data after step 4.5 change in location are carried out fast Fourier transform；
Step 4.7, by the data after step 4.6 fast Fourier transform frequency domain again to its be filtered place
Reason；
Step 4.8, computing formula according to triangular modulation calculate the movement velocity of barrier and equipment is worn
Distance between wearer and angle information.
Further, the computing formula of described triangular modulation calculates the movement velocity of barrier, with equipment
Range information between wearer, specific as follows:
Wherein c0For the light velocity, fupFor transmitted wave first half cycle and second half in one cycle when triangular modulation
The frequency-splitting of phase and fdownFor accepting ripple first half cycle and later half cycle in one cycle when triangular modulation
Frequency-splitting, Δ f is frequency modulation width, and T is the modulated signal cycle, f0For radar transmitter frequency, v is object
Movement velocity, R is the distance between barrier and radar.
Further, described step 5 specifically includes following steps:
Step 5.1, compare result of calculation that binocular camera provides and the result of calculation that millimetre-wave radar provides, as
Really two results are identical, then directly by interactive module, this result is informed user；
If two results of step 5.2 are more or less the same, then two results are averaged, then by meansigma methods
User is informed by interactive module；
If two results of step 5.3 differ greatly, then this result is got rid of, wait result of calculation next time.
A kind of wearable fault avoidnig device based on binocular camera Yu millimetre-wave radar, including binocular camera, millimeter
Ripple radar, processing module and interactive module；Described binocular camera, millimetre-wave radar and interactive module all with place
Reason module is connected；Described binocular camera obtains depth image by the method for binocular ranging；Described millimeter wave thunder
Reach the back scattering electromagnetic wave for detecting barrier；Described processing module receives binocular camera and millimeter wave thunder
The data reached, and these data are calculated, get rid of deceptive information, carry out data and test mutually, the place of fusion
Reason；The barrier movement velocity that processing module will be handled well, and the distance between equipment wearer and direction number
Mutual according to carrying out information with user in real time by interactive module.
Further, described millimetre-wave radar is the novel millimeter wave radar that the lowest volume of a kind of power consumption is the least.
Further, described interactive module includes the voice operation demonstrator of synthesis voice and touching of vibrating motor composition
Sense sensor.
The invention has the beneficial effects as follows: the present invention has merged the information of millimetre-wave radar and binocular camera, it is possible to
Solve the problems such as single equipment measurement result is unreliable, improve the precision and reliability measured, help vision barrier
Personage or sports equipment is hindered to hide the barrier of existence.
Accompanying drawing explanation
Fig. 1 is present system flow chart；
Fig. 2 is the MMW RADAR SIGNAL USING process chart of the present invention；
Fig. 3 is the FMCW millimetre-wave radar triangular modulation computational methods schematic diagram of the present invention.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the accompanying drawings.
The present invention proposes a kind of wearable fault avoidnig device based on binocular camera Yu millimetre-wave radar, it is intended to side
Visual disorder personage or sports equipment is helped to hide the barrier of existence.By binocular camera system and low-power consumption millimeter
Wave radar system combines, to improve stability and the robustness of whole system.This device includes double
Mesh camera, millimetre-wave radar, processing module and interactive module；Described binocular camera, millimetre-wave radar and friendship
Module is all connected with processing module mutually；Described binocular camera obtains depth image by the method for binocular ranging；
Described millimetre-wave radar is for detecting the back scattering electromagnetic wave of barrier；Described processing module receives binocular phase
Machine and the data of millimetre-wave radar, and these data are calculated, get rid of deceptive information, carry out data mutual
Test, the process of fusion；The barrier movement velocity that processing module will be handled well, and between equipment wearer
It is mutual that distance and bearing data carry out information with user in real time by interactive module
As it is shown in figure 1, the barrier-avoiding method of wearable fault avoidnig device comprises the following steps:
Step 1, binocular camera is demarcated, with the primary condition of satisfied acquisition depth image；Use binocular phase
The gridiron pattern of standard is taken a picture by machine, and the two width RGB image producing binocular camera carry out images match,
Obtain binocular camera parameter, obtain the depth image in visual field；
Step 2, wear the visual disorder personage of this wearable fault avoidnig device, or sports equipment, in walking (fortune
Dynamic) during open binocular camera and millimetre-wave radar, accept binocular camera and the number of millimetre-wave radar system
According to；
Step 3, data result binocular camera in step 2 being detected carry out Treatment Analysis, obtain motion road
The distance of the barrier on footpath and direction, specifically include following steps:
Step 3.1, obtain the RGB image in field range and infrared image with binocular camera；
Step 3.2, coupling by two monocular images of binocular camera, calculate deep image information；
Step 3.2, the positions and dimensions of the deep image information disturbance in judgement thing obtained according to step 3.2；
Step 3.3, obtain movement velocity and the direction of motion of moving object according to fore-and-aft survey multiple image；
Step 4, data millimetre-wave radar in step 2 being detected carry out Treatment Analysis, get rid of false target,
Obtain the distance of barrier, direction and the movement velocity on motion path, as in figure 2 it is shown, specifically include with
Lower step:
Step 4.1, millimetre-wave radar use FMCW pattern, and use triangular modulation, system MCU
DAC produce the certain triangular wave of frequency, or use alternate manner to produce the triangular wave of frequency stable, input
VCO port to antenna；
The outside radiated electromagnetic wave of step 4.2, antenna, this electromagnetic wave is running into pedestrian, driving or other barrier
Time, return signal；
Step 4.3, due to this signal the faintest, need low-noise preamplifier to amplify, and by it
Carry out AD conversion, become digital signal, then carry out digital time domain filtering, to eliminate the dry of other signal
Disturb；
After the filtering of step 4.4, digital time domain, this signal is carried out windowing process, to prevent from carrying out Fourier
Occur the when of conversion that data breakpoint or data are unsmooth；
Step 4.5, owing to fast Fourier transform is based on butterfly computation, so the data after windowing process
Order need to carry out according to demand change in location, carry out fast Fourier transform to facilitate；
Step 4.6, the data after step 4.5 change in location are carried out fast Fourier transform；
Step 4.7, by the data after step 4.6 fast Fourier transform frequency domain again to its be filtered place
Reason；
Step 4.8, computing formula according to triangular modulation calculate the movement velocity of barrier, wear with equipment
The information such as the distance between wearer；
The computing formula of triangular modulation millimetre-wave radar is following (Fig. 3 is shown in by schematic diagram):
Wherein c0For the light velocity, fupFor transmitted wave first half cycle and later half cycle in one cycle when triangular modulation
Frequency-splitting and fdownFor accepting ripple first half cycle and later half cycle in one cycle when triangular modulation
Frequency-splitting, Δ f is frequency modulation width, and T is the modulated signal cycle, f0For radar transmitter frequency, v is object fortune
Dynamic speed, R is the distance between barrier and radar；
Step 5, the data processed result of binocular camera and millimetre-wave radar of obtaining according to step 3 and step 4,
Provide the result after two kinds of equipment are mutually authenticated, and inform user by interactive module, help it to hide and deposit
Barrier；Specifically include following steps:
Step 5.1, compare result of calculation that binocular camera provides and the result of calculation that millimetre-wave radar provides,
If two results are identical, then directly this result is informed user by interactive module；
If two results of step 5.2 are more or less the same, then two results are averaged, then will be average
Value informs user by interactive module；
If two results of step 5.3 differ greatly, then this result is got rid of, wait result of calculation next time；
Step 5.4, interactive module include that the sense of touch that the voice operation demonstrator synthesizing voice and vibrating motor are constituted passes
Sensor.
Claims (8)
1. a barrier-avoiding method based on binocular camera Yu the wearable fault avoidnig device of millimetre-wave radar, its feature
It is, specifically includes following step:
Step 1, binocular camera is demarcated, obtain binocular camera parameter, correct binocular camera picture, and
Carry out images match, to obtain the depth image in viewing field of camera；
Step 2, unlatching binocular camera and millimetre-wave radar, accept the data of binocular camera and millimetre-wave radar；
Step 3, data result to binocular camera carry out Treatment Analysis, obtain barrier on motion path
Distance and direction,
Step 4, data to millimetre-wave radar carry out Treatment Analysis, get rid of false target, obtain motion path
On the distance of barrier, direction and movement velocity；
Step 5, the data processed result of binocular camera and millimetre-wave radar of obtaining according to step 3 and step 4,
Provide the result after two kinds of equipment are mutually authenticated, and inform user by interactive module, help it to hide and deposit
Barrier.
Wearable fault avoidnig device based on binocular camera and millimetre-wave radar the most according to claim 1
Barrier-avoiding method, it is characterised in that described step 3 particularly as follows:
Step 3.1, obtain the RGB image in field range and infrared image with binocular camera；
Step 3.2, coupling by two monocular images of binocular camera, calculate deep image information；
Step 3.2, the positions and dimensions of the deep image information disturbance in judgement thing obtained according to step 3.2；
Step 3.3, obtain movement velocity and the direction of motion of moving object according to fore-and-aft survey multiple image.
Wearable fault avoidnig device based on binocular camera and millimetre-wave radar the most according to claim 1
Barrier-avoiding method, it is characterised in that described step 4 particularly as follows:
Step 4.1, millimetre-wave radar use FMCW pattern, and triangular wave is input to millimetre-wave radar antenna
VCO port；
The outside radiated electromagnetic wave of step 4.2, antenna, this electromagnetic wave is running into pedestrian, driving or other barrier
Time, return signal；
Step 4.3, to return signal successively be amplified process, AD convert and digital time domain filtering；
Step 4.4, the signal obtaining step 4.3 carry out windowing process, to prevent from carrying out Fourier transformation
When occur that data breakpoint or data are unsmooth；
Step 4.5, order to the data after windowing process carry out change in location；
Step 4.6, the data after step 4.5 change in location are carried out fast Fourier transform；
Step 4.7, by the data after step 4.6 fast Fourier transform frequency domain again to its be filtered place
Reason；
Step 4.8, computing formula according to triangular modulation calculate the movement velocity of barrier and equipment is worn
Distance between wearer and angle information.
Wearable fault avoidnig device based on binocular camera and millimetre-wave radar the most according to claim 3
Barrier-avoiding method, it is characterised in that the computing formula of described triangular modulation calculates the movement velocity of barrier,
And the range information between equipment wearer, specific as follows:
Wherein c0For the light velocity, fupFor transmitted wave first half cycle and second half in one cycle when triangular modulation
The frequency-splitting of phase and fdownFor accepting ripple first half cycle and later half cycle in one cycle when triangular modulation
Frequency-splitting, Δ f is frequency modulation width, and T is the modulated signal cycle, f0For radar transmitter frequency, v is object
Movement velocity, R is the distance between barrier and radar.
Wearable fault avoidnig device based on binocular camera and millimetre-wave radar the most according to claim 1
Barrier-avoiding method, it is characterised in that described step 5 specifically includes following steps:
Step 5.1, compare result of calculation that binocular camera provides and the result of calculation that millimetre-wave radar provides, as
Really two results are identical, then directly by interactive module, this result is informed user；
If two results of step 5.2 are more or less the same, then two results are averaged, then by meansigma methods
User is informed by interactive module；
If two results of step 5.3 differ greatly, then this result is got rid of, wait result of calculation next time.
6. a wearable fault avoidnig device based on binocular camera Yu millimetre-wave radar, it is characterised in that include
Binocular camera, millimetre-wave radar, processing module and interactive module；Described binocular camera, millimetre-wave radar and
Interactive module is all connected with processing module；Described binocular camera obtains depth image by the method for binocular ranging；
Described millimetre-wave radar is for detecting the back scattering electromagnetic wave of barrier；Described processing module receives binocular phase
Machine and the data of millimetre-wave radar, and these data are calculated, get rid of deceptive information, carry out data mutual
Test, the process of fusion；The barrier movement velocity that processing module will be handled well, and between equipment wearer
It is mutual that distance and bearing data carry out information with user in real time by interactive module.
Wearable fault avoidnig device based on binocular camera Yu millimetre-wave radar the most according to claim 6,
It is characterized in that, described millimetre-wave radar is the novel millimeter wave radar that the lowest volume of a kind of power consumption is the least.
Wearable fault avoidnig device based on binocular camera Yu millimetre-wave radar the most according to claim 6,
It is characterized in that, described interactive module includes the sense of touch that the voice operation demonstrator synthesizing voice and vibrating motor are constituted
Sensor.
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