The content of the invention
The present invention overcomes the shortcomings of the prior art, and technical problem to be solved is：Standard can be identified by providing one kindThe general laser spots recognition methods of the fast indoor and outdoor of exactness height, recognition speed and device.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of general laser spots of indoor and outdoor are knownOther method, including：S101, receive the hot spot that laser emitter is sent；S102, show hot spot by vision camera into row setShow, form visual pattern；S103, processing visual pattern；Visual pattern after processing, be transmitted by S104.
Preferably, it is provided with the housing：Target generation unit：The hot spot sent for receiving laser emitter；Depending onFeel collecting unit：For hot spot to be shown by vision camera into row set, visual pattern is formed；Image processing unit：ForHandle visual pattern；Transmission unit：For the visual pattern after processing to be transmitted.
Preferably, described image processing unit includes X86-based platform, ROS operating system platforms and operation visual patternProcessing platform.
Preferably, the transmission unit includes image outputting standard interface and image input standard interface.
Preferably, the vision camera includes adjustable zoom lens.
Preferably, the spot size is >=2cm.
Preferably, the visual pattern collection illumination scope of application is 0-50000lux.
Preferably, the visual pattern acquisition frame rate is >=25fps.
Preferably, the visual pattern collection target range is >=15m.
The present invention has the advantages that compared with prior art：
A kind of general laser spots recognition methods of indoor and outdoor provided by the invention and device, are sent out by receiving laser emitterThe hot spot gone out, hot spot is shown by vision camera into row set, forms visual pattern, and the visual pattern after processing is carried outTransmission；The occasions such as the present invention can be efficiently applied to dynamic target tracking, dynamic object guides, and can be carried out with target deviceRapid Combination, assembling, during failure can quick-replaceable advantage, while there is preferable reliability, maintainability, guaranteeProperty, testability, security and applicability, equipmentization degree are high, applied widely, of low cost, and easy to operate, installation sideJust, indicator is succinct, applied widely.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present inventionIn attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment isThe part of the embodiment of the present invention, instead of all the embodiments；Based on the embodiments of the present invention, ordinary skill peopleMember's all other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
Fig. 1 is a kind of flow diagram of the general laser spots recognition methods of indoor and outdoor of the offer of the embodiment of the present invention one,As shown in Figure 1, the laser spots recognition methods that a kind of indoor and outdoor is general, including：
S101, receive the hot spot that laser emitter is sent；
S102, show hot spot by vision camera into row set, forms visual pattern；
S103, processing visual pattern；
Visual pattern after processing, be transmitted by S104.
Fig. 2 is a kind of structure diagram of the general laser spots identification device of indoor and outdoor of the offer of the embodiment of the present invention one,Fig. 3 is a kind of internal structure schematic diagram of the general laser spots identification device of indoor and outdoor of the offer of the embodiment of the present invention one, is such as schemed2nd, shown in Fig. 3, a kind of general laser spots identification device of indoor and outdoor, including housing 1, is provided with the housing 1：
Target generation unit 101：The hot spot sent for receiving laser emitter, the laser emitter are to refer toThe mini-plant of a hot spot is formed on target object, which can be static or dynamic, the spot sizeFor >=2cm.；
Vision collecting unit 102：For hot spot to be shown by vision camera 2 into row set, visual pattern is formed, it is describedThe visual pattern collection illumination scope of application is 0-50000lux；The visual pattern acquisition frame rate is >=25fps；The vision figureAs gathering target range as >=15m, the vision camera 2 is the camera for referring to support rgb format Image Acquisition, equipped with long distanceFrom adjustable zoom lens, the clarity of Image Acquisition can be adjusted, the vision camera 2 includes adjustable zoom lens 7, can be on daytimeOr night carries out visual pattern collection, can realize the bright dark degree of Image Acquisition by adjusting aperture, realize to not sharing the same lightAccording to the collection of degree image；
Image processing unit 103：For handling visual pattern, 103 module of described image processing unit, being primarily referred to as canProcessing hardware and software platform is carried out to visual pattern, includes the hardware processing platform of required vision processing algorithm, X86-basedDeng；
Transmission unit 104：For the visual pattern after processing to be transmitted, the transmission unit 104 includes can be intoThe data-interface of row standard data delivery, can be according to modular actual needs, by vision collecting unit 102, image procossingUnit 103 and result of calculation output etc. are exported by data-interface, can easily be obtained so as to fulfill external equipmentThe result of calculation of modularization output, the transmission unit 104 include image outputting standard interface 3,4 and of image input standard interfaceDeviation data outputting standard interface 5, is passed between image outputting standard interface 3 and image input standard interface 4 by normal dataDefeated line 6 is transmitted, and transmission follows custom protocol, and the mode of connection is carried out using standard plug.
Specifically, the present invention is got to laser facula on target object by laser emitter, and vision collecting unit 102 is completeThe collection of paired target image, by the image transmitting mode of standard, the visual pattern that vision collecting unit 102 is collected passesImage processing unit 103 is transported to, by vision processing algorithm, the target laser point information in visual pattern is analyzed, to vision figureAs being handled, runout information of the generation target in visual pattern, and actual bias data is stored in a standardized mannerIn buffering area, wait calling module to access and call, and guide mobile platform or intelligent robot moving direction；External equipment can be withBy the serial ports of standard, using the transport protocol of standard, request module, obtains position of the target hot spot again in image.
Fig. 4 is a kind of function operational flow diagram of the general laser spots identification device of indoor and outdoor provided by the invention, such as Fig. 4Shown, after bringing into operation, vision collecting unit 102 forms visual pattern, and judges whether target occurs, if so, will collectVisual pattern be sent to image processing unit 103, otherwise, return to vision collecting unit 102 and continue to gather, image processing unitVisual pattern after processing, if processing is completed, is transmitted by 103 processing visual patterns by data-interface, otherwise, is returnedImage processing unit 103 continues with.
Fig. 5 is a kind of system architecture diagram of the general laser spots identification device of indoor and outdoor provided by the invention, and Fig. 6 is this hairThe process chart of image processing unit 103 in a kind of general laser spots identification device of indoor and outdoor of bright offer, such as Fig. 5, Fig. 6Shown, it is flat that described image processing unit 103 includes X86-based platform, ROS operating system platforms and operation visual pattern processingPlatform, graphical analysis, processing to collecting, generates deviation data, and the mode of standard interface is exported, image procossing listCPU frequency >=1.6GHz in member 103, memory >=4G, the communication between modules follow RS-232, RS-485, EthernetStandard.
Specifically, it is described in detail in terms of hardware platform, software frame, application program module three：The present invention carriesThe general laser spots recognition methods of a kind of indoor and outdoor supplied and device, including：
Hardware platform：Using the X86-based platform of Basler industrial cameras, laser pen and standard, X86-based platform includesThe X86-based platform of Basler industrial cameras and standard, is encapsulated as rationally distributed small pattern by 64 Linux system industrial control boardsBlock, the deviation information of external outputting standard；
Software platform：Installation, configuration ROS development environments, install suitable Basler industrial cameras driving journey on linuxSequence, installation OpenCV visual processes frame, configuration activation bit of the Basler cameras based on ROS；
Application program module：When industrial personal computer starts, ROS services three modules below deactivation by Laser.1. image processing unit 103：After being started by Laser services, PylonCameraNode obtains camera configuration parameter first, utilizesThe parameter of acquisition is gone to open industrial camera and is initialized, and secondly, calls the grabImage methods of PylonCamera to go notDisconnected capture lens image is simultaneously published to/pylon_camera_nod/image_raw themes；2. laser spots offset obtains mouldBlock：The unit is used for subscribing to/image_raw themes, is put into back function after image information is obtained and utilizes machine visionAlgorithm obtain image laser spots position in the picture, further calculate laser spots to central point offset and issue/Position_info themes are to ROS systems.3. offset serial ports output module：Just initialized after the unit starting and start stringMouthful monitor function, while remove subscription/position_info themes, will subscribe to once the request command for getting serial portsOffset is write in serial ports by serial port drive, as standard output.
A kind of general laser spots recognition methods of indoor and outdoor provided by the invention and device, are sent out by receiving laser emitterThe hot spot gone out, hot spot is shown by vision camera into row set, forms visual pattern, and the visual pattern after processing is carried outTransmission；The occasions such as the present invention can be efficiently applied to dynamic target tracking, dynamic object guides, and can be carried out with target deviceRapid Combination, assembling, during failure can quick-replaceable advantage, while there is preferable reliability, maintainability, guaranteeProperty, testability, security and applicability, equipmentization degree are high, applied widely, of low cost, and easy to operate, installation sideJust, indicator is succinct, applied widely；The present invention expands existing figure in view of the concrete application scope limitation of actual vision systemAs the application range of collection, according to the specific requirements set under new opplication scene, invention can not only obtain preferably indoorsEffect, it can equally resist the interference of sunlight, realize the room based on laser aiming technology in outdoor visual identityInside and outside generalization.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extentPipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according toCan so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic intoRow equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technologyThe scope of scheme.