Vehicle-mounted monocular photographic head is combined range-measurement system and its distance-finding method with six axle sensorsTechnical field
The invention belongs to automobile technical field, is related to monitoring, pass more particularly, to a kind of vehicle-mounted monocular photographic head and six axlesSensor combines range-measurement system and its distance-finding method.
Background technology
The detection and identification of the targets such as every trade people, vehicle of going forward side by side currently with photographic head shooting present road picture, whileThe distance between Current vehicle and target vehicle are measured using this photographic head, merely can be because of shooting using monocular cam range findingThere is larger error in the problems such as head image quality；Also for example measured between Current vehicle and target vehicle using binocular cameraDistance, and utilize the binocular camera range finding can be than the photographic head range finding many costs of increase, and data processing also can be moreIt is complicated.
For example, Chinese patent literature discloses a kind of vehicle-mounted camera [application number：201380015847.0], vehicle-mounted pick-upHead due to arranging lens in the prominent portion of projecting from above vehicle-mounted camera main body, so with by vehicle-mounted camera main body entiretyCompare when being configured at the lower section of bracket, can be apart from the most short position configuration lens of windshield.
Although such scheme can be by for shooting and monitoring.But, however it remains error is larger etc. that technology is askedTopic.
The content of the invention
The purpose of the present invention is for the problems referred to above, there is provided a kind of reasonable in design, it is possible to increase monocular cam range finding essenceThe vehicle-mounted monocular photographic head of degree is combined range-measurement system with six axle sensors.
It is a further object of the present invention to provide a kind of vehicle-mounted monocular photographic head is combined distance-finding method with six axle sensors.
To reach above-mentioned purpose, following technical proposal is present invention employs：This vehicle-mounted monocular photographic head and six axle sensorsWith reference to range-measurement system, it is arranged on car body, it is characterised in that the system includes monocular cam, six axle sensors and control electricityRoad, described six axle sensor integrated installations are on the instrumental panel of car body and six axle sensors include measuring the pitching of car bodyAngle, inclination angle, the gyroscope of yaw angle and the x-axis directional acceleration vector of car body, y-axis directional acceleration vector, z can be measuredThe accelerometer of direction of principal axis acceleration, x-axis and the height of the carbody direction axis of described accelerometer are parallel to each other, yAxle and width of the carbody direction axis are parallel to each other, z-axis and length over ends of body direction axis are parallel to each other, described monocular shootingHead is installed on the front portion of car body, and described control circuit is connected with monocular cam and six axle sensors respectively, described monocularThe pixel principal point of photographic head is located on the optical center axis of monocular cam.
Combined in range-measurement system with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described monocular cam is at leastCan realize rotating upwardly and downwardly to realize the amendment of upper and lower shooting angle and/or can realize relative to car body left-right rotation relative to car bodyTo realize the amendment of left and right shooting angle.
Combined in range-measurement system with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described monocular cam includesMounting seat and camera lens, described mounting seat is provided with left-right rotation controlling organization and described left-right rotation controlling organization is by firstServomotor drives, and described left-right rotation controlling organization is provided with and rotates upwardly and downwardly controlling organization and described rotate upwardly and downwardly controlMechanism is driven by the second servomotor, and described camera lens is arranged on and rotates upwardly and downwardly on controlling organization.
Combined in range-measurement system with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described monocular cam is installedOn the front windshield of car body and be narrow angle lens camera, being provided between described mounting seat and front windshield to make listThe moving connecting mechanism that mesh photographic head is laterally moved left and right along front windshield, described left-right rotation controlling organization, up and downRotation controling mechanism and moving connecting mechanism are connected with control circuit.
A kind of vehicle-mounted monocular photographic head is combined distance-finding method with six axle sensors, and previous moment accelerometer measures car body and existsThe x-axis directional acceleration vector at this moment is v0x, y-axis directional acceleration vector be v0y, z-axis directional acceleration vector be v0z, topSpiral shell instrument measures the car body angle of pitch at this momentInclination angle is ω1, yaw angle be κ1, and the picture point seat of this moment impact pointIt is designated as (x1,y1)；Later moment in time accelerometer measures car body x-axis directional acceleration vector at this moment for ax, y-axis direction addsVelocity is ay, z-axis directional acceleration vector be az, gyroscope measures the car body angle of pitch at this moment and isInclination angle isω2, yaw angle be κ2, and the picpointed coordinate of this moment impact point is (x2,y2)；The time interval of previous moment and later moment in timeFor t；Previous moment monocular cam place geodetic coordinates is S (X, Y, Z) and later moment in time monocular cam place geodetic coordinatesFor S'(X', Y', Z'), then the spacing calculated by location algorithm between impact point and monocular cam is (Δ X, Δ Y, Δ Z).
Combined in distance-finding method with six axle sensors in above-mentioned vehicle-mounted monocular photographic head, described location algorithm is as follows：Previous moment geodetic coordinates S (X, Y, Z) and later moment in time geodetic coordinates S'(X', Y', Z') the distance between be (BX,BY,BZ),Then：Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') the distance between (BX,BY,BZ) value computing formula it is as follows：
Respectively calculate geodetic coordinates S (X, Y, Z) with geodetic coordinates S'(X', Y', Z') spin matrix R, R', so as to try to achieveGeodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') value, computing formula difference is as follows：
Wherein, f is the focal length of monocular cam；
The computing formula difference of projection coefficient N and N' is as follows：
Then the distance between monocular cam and car body are
Compared with prior art, this vehicle-mounted monocular photographic head is combined range-measurement system and its distance-finding method with six axle sensorsAdvantage be：1st, it is reasonable in design, it is possible to increase monocular cam range accuracy；2nd, while detection performance is improved, reduceManufacturing cost and use cost；3rd, the attitude of real-time monitoring car, corrects the shooting of photographic head in real time according to the attitude angle of carAngle, with the target missing inspection situation for avoiding causing because of vision dead zone, ensures monitoring correctness, safe and reliable.
Description of the drawings
Fig. 1 is the structured flowchart that the present invention is provided.
Fig. 2 is the structural representation that the present invention is provided.
In figure, car body 1, monocular cam 2, six axle sensors 3, control circuit 4, gyroscope 5, accelerometer 6.
Specific embodiment
As shown in Figure 1, 2, this vehicle-mounted monocular photographic head is combined range-measurement system with six axle sensors, is arranged on car body 1, bagInclude monocular cam 2, six axle sensors 3 and control circuit 4, six axle sensors, 3 integrated installation is on the instrumental panel of car body 1 and sixAxle sensor 3 includes measuring the angle of pitch of car body 1, inclination angle, the gyroscope 5 of yaw angle and can measure the x-axis of car body 1Directional acceleration vector, y-axis directional acceleration vector, the accelerometer 6 of z-axis directional acceleration vector, the x-axis of accelerometer 6With 1 short transverse axis of car body be parallel to each other, y-axis and 1 width axis of car body are parallel to each other, 1 length of z-axis and car bodyDirection axis is parallel to each other, and monocular cam 2 is installed on the front portion of car body 1, control circuit 4 respectively with monocular cam 2 andSix axle sensors 3 are connected, and the pixel principal point of monocular cam 2 is located on the optical center axis of monocular cam 2.
In particular, monocular cam 2 can at least be realized rotating upwardly and downwardly to realize upper and lower shooting angle relative to car body 1Amendment and/or can realize relative to 1 left-right rotation of car body to realize the amendment of left and right shooting angle.Automobile will reach slopeThe moment of top/bottom of slope, if photographic head is maintained static, what its field range major part was photographed is sky/above ground portion, slopeThe road surface at top/bottom will become vision dead zone, can't detect front truck image this moment, there is hidden danger, but according to six axle sensors 3Carry out after location sensitive can real-time adjustment camera angle, then can photograph the road surface at slope top/bottom, detect the obstacle of presenceThe targets such as thing, to ensure safety, i.e.,：When going up a slope, when reaching slope top, photographic head is downward-sloping, shooting before can so avoidingThe motionless target missing inspection situation that can only be photographed sky and cause；When turning, if photographic head is maintained static, on bendCar or other target detections less than, produce vision dead zone missing inspection target and cause danger.
When car body 1 will reach the moment on slope top, according to the reality that six axle sensors 1 for being arranged at 1 front portion of car body are collectedWhen attitude data control monocular cam 2 shooting angle relative to the adjustment downwards of car body 1 so that monocular cam 2 is adjusted in timeThe position that road is pushed up on slope can extremely be shot；When car body 1 will reach the moment of bottom of slope, according to six axles for being arranged at 1 front portion of car bodyThe shooting angle of the real-time attitude Data Control monocular cam 2 that sensor 1 is collected is adjusted upward relative to car body 1 so that singleMesh photographic head 2 is adjusted in time to the position that can shoot bottom of slope road；When car body 1 travels on bend, according to being arranged at car body 1The shooting angle of the real-time attitude Data Control monocular cam 2 that six anterior axle sensors 1 are collected is with the bending of bendDirection is relative to 1 or so adjustment of car body so that monocular cam 2 is adjusted in time to the shooting angle that can photograph bend.
When car body 1 will reach the moment of bottom of slope and be in bend, according to six axle sensors for being arranged at 1 front portion of car bodyThe bending direction of 3 six axle sensors 3 of real-time attitude Data Control for collecting relative to car body 1 upwards and with bend or so is adjustedIt is whole so that monocular cam 2 is adjusted in time to the position that can shoot bend bottom of slope road；When car body 1 will reach the wink of bottom of slopeBetween and in bend when, taken the photograph according to the real-time attitude Data Control monocular that six axle sensors 1 for being arranged at 1 front portion of car body are collectedAs 2 bending directions relative to car body 1 upwards and with bend or so adjustment so that monocular cam 2 is adjusted in time to canShoot the position of bend bottom of slope road.
Monocular cam 2 includes mounting seat and camera lens, and mounting seat is provided with left-right rotation controlling organization and left-right rotation controlMechanism processed is driven by the first servomotor, and left-right rotation controlling organization is provided with and rotates upwardly and downwardly controlling organization and rotate upwardly and downwardly controlMechanism is driven by the second servomotor, and camera lens is arranged on and rotates upwardly and downwardly on controlling organization.
Monocular cam 2 is installed on the front windshield of car body 1 and is narrow angle lens camera, mounting seat and front windshieldThe moving connecting mechanism that monocular cam 2 can be made laterally to move left and right along front windshield, left-right rotation are provided between glassControlling organization, rotate upwardly and downwardly controlling organization and moving connecting mechanism is connected with control circuit 4.
Previous moment accelerometer 6 measures the x-axis directional acceleration vector at this moment of car body 1 for v0x, y-axis direction accelerateDegree vector is v0y, z-axis directional acceleration vector be v0z, gyroscope 5 measures the angle of pitch at this moment of car body 1 and isInclination angleFor ω1, yaw angle be κ1, and the picpointed coordinate of this moment impact point is (x1,y1)；Later moment in time accelerometer 6 measures car body 1X-axis directional acceleration vector at this moment is ax, y-axis directional acceleration vector be ay, z-axis directional acceleration vector be az, topSpiral shell instrument 5 measures the angle of pitch at this moment of car body 1Inclination angle is ω2, yaw angle be κ2, and the picture point of this moment impact pointCoordinate is (x2,y2)；Previous moment is t with the time interval of later moment in time；2 place geodetic coordinates of previous moment monocular camIt is S'(X' for S (X, Y, Z) and 2 place geodetic coordinates of later moment in time monocular cam, Y', Z'), then calculated by location algorithmSpacing between impact point and monocular cam 2 is (Δ X, Δ Y, Δ Z).
Location algorithm is as follows：Previous moment geodetic coordinates S (X, Y, Z) and later moment in time geodetic coordinates S'(X', Y', Z') itBetween distance be (BX,BY,BZ), then：Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') the distance between (BX,BY,BZ) value computing formula it is as follows：
Respectively calculate geodetic coordinates S (X, Y, Z) with geodetic coordinates S'(X', Y', Z') spin matrix R, R', so as to try to achieveGeodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') value, computing formula difference is as follows：
Wherein, f is the focal length of monocular cam 2；
The computing formula difference of projection coefficient N and N' is as follows：
Then the distance between monocular cam 2 and car body 1 are
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the inventionThe technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodimentGeneration, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more used herein car body 1, monocular cam 2, six axle sensors 3, control circuit 4, gyroscope 5,6 grade term of accelerometer, but it is not precluded from the probability using other terms.Using these terms just for the sake of more easilyDescribe and explain the essence of the present invention；Being construed as any additional restriction is disagreed with spirit of the present invention's.