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CN-121383950-B - Panoramic vision ranging and positioning system and method based on double-layer looking-around binocular array

CN121383950BCN 121383950 BCN121383950 BCN 121383950BCN-121383950-B

Abstract

The invention discloses a panoramic vision ranging and positioning system and method based on a double-layer looking-around binocular array, which aim to solve the problems of limited view field, poor earthquake resistance and corrosion resistance, difficult maintenance and insufficient instantaneity of the traditional system; the system comprises a support base plate, a central support upright post, an upper annular camera mounting arm, a lower annular camera mounting arm, six groups of binocular industrial camera modules, an outer protective cover and a central control cabin, wherein the central support upright post is prepared by adopting carbon fibers and aluminum alloy, the layer spacing is adjustable through an annular frame lifting adjusting knob, the camera angle is finely adjusted through the front and rear adjusting knob, the protection reaches the IP67 level, the central control cabin integrates FPGA microsecond synchronous triggering and JetsonOrinNX parallel processing, the method realizes closed loop optimization through closed loop control of sensing, computing, fusing and outputting, and combines vibration and temperature monitoring, the single frame processing time is less than 0.5s, the 360-degree panorama coverage and millimeter ranging are realized, the environmental adaptability is strong, the maintenance is easy, and the system is suitable for navigation obstacle avoidance under the complex environment of inland ships.

Inventors

  • WEI HANDI
  • Xu Qinmao
  • XIAO LONGFEI
  • ZHAO GUOCHENG
  • ZHANG BAIYUAN

Assignees

  • 上海交通大学三亚崖州湾深海科技研究院
  • 上海交通大学

Dates

Publication Date
20260512
Application Date
20251224

Claims (9)

  1. 1. The panoramic vision ranging and positioning system based on the double-layer looking-around binocular array is characterized by comprising a bracket bottom plate (1), a fixed bracket (2), a central supporting upright post (3), an upper annular camera mounting arm, a lower annular camera mounting arm, six groups of binocular industrial camera modules (12), an outer protective cover (11) and a central control cabin; The central support upright post (3) is vertically arranged on the support bottom plate (1) and is connected with the fixed support (2) through a flange connecting plate and a fastening screw, an end cover (4) and a mounting platform are arranged at the top of the central support upright post (3), and a cavity structure is arranged in the central support upright post; The upper and lower annular camera mounting arms are arranged around the central support upright post (3), interlayer spacing is adjustable through a telescopic guide rail and an annular frame lifting adjusting knob (6), three groups of binocular industrial camera modules (12) are uniformly distributed on each layer of mounting arms, six groups of upper and lower layers are formed to form 360-degree panorama coverage arrangement, each group of binocular industrial camera modules (12) is fixed on a U-shaped camera support plate (13), the U-shaped camera support plate (13) is connected with an adjusting knob chute (15) of a camera support plate (5) through a front adjusting knob (7) and a rear adjusting knob, the outer protective cover (11) is of a transparent structure and is in screw sealing connection with a support base plate (1), a transparent optical window (8) is arranged in the outer protective cover, the central control cabin is integrated in a cavity structure of the central support upright post (3), the central support upright post (3) comprises an FPGA module, a power supply module and a control circuit module, the central support upright post (3) adopts a carbon fiber and aluminum alloy composite structure, and a connection part of the outer protective cover (11) and the central support upright post (3) adopts an IP67 waterproof sealing design; The mounting structure of the binocular industrial camera module (12) comprises a camera support plate (5), a front-back adjusting knob (7), a silica gel shock pad and a shockproof rubber ring, wherein the camera support plate (5) is connected with the U-shaped camera support plate (13), fine adjustment of a visual angle within a range of +/-30 degrees of the binocular industrial camera module (12) is achieved through the front-back adjusting knob (7), and the silica gel shock pad and the shockproof rubber ring are arranged at the bottom of the U-shaped camera support plate (13) and used for isolating vibration of a ship body.
  2. 2. The panoramic vision ranging and positioning system based on the double-layer looking-around binocular array, which is disclosed by claim 1, is characterized in that a built-in wiring groove is arranged in a cavity structure of the central support upright post (3), a power supply and a signal cable of each binocular industrial camera module (12) are intensively wired through the built-in wiring groove, an upright post mounting groove (14) is arranged on the central support upright post (3), the cable is connected with a control circuit module of a central control cabin through a magnetic waterproof plug, and an air circulation channel and an aluminum alloy radiating fin are arranged in a top end cover (4) of the central support upright post (3) in a sealing design.
  3. 3. The panoramic vision ranging and positioning system based on the double-layer circular binocular array according to claim 2 is characterized in that the outer protective cover (11) comprises a transparent optical window (8) and a protective shell, the transparent optical window (8) is made of toughened optical glass and has high light transmittance and shock resistance, a sealing gasket is arranged on the connecting surface of the protective shell and the support base plate (1), compression sealing is achieved through screws, and a nano anti-corrosion coating is coated on the surface of the protective shell.
  4. 4. The panoramic vision ranging and positioning system based on the double-layer looking-around binocular array according to claim 3, wherein the central control cabin further comprises a signal synchronization unit and a data processing module, the FPGA module is used for achieving microsecond synchronous exposure triggering of six groups of binocular industrial camera modules (12), the data processing module is constructed based on a JetsonOrinNX embedded platform and supports multi-thread parallel processing, and an electromagnetic shielding layer is arranged in a built-in wiring groove of the central supporting upright post (3) and used for reducing cable signal transmission interference.
  5. 5. The panoramic vision ranging and positioning system based on the double-layer looking-around binocular array, which is disclosed by claim 4, is characterized in that telescopic guide rails of the upper annular camera mounting arm and the lower annular camera mounting arm are positioned by adopting a locking mechanism, fine adjustment of the layer spacing within the range of 0-15cm is realized through an annular frame lifting adjusting knob (6), and a scale ring structure is arranged at the connecting part of the annular camera mounting arm and the central supporting upright post (3) and used for assisting in calibrating the geometric position of the camera array.
  6. 6. The panoramic vision ranging and positioning system based on the double-layer circular binocular array according to claim 5, wherein the upper layer of the binocular industrial camera modules (12) is used for ranging long-distance targets, the lower layer of the binocular industrial camera modules (12) is used for short-distance stereoscopic perception, six groups of the binocular industrial camera modules (12) are uniformly distributed along the same angle of the annular camera mounting arm, and the overlapping rate of the fields of view of two adjacent groups of camera modules is not lower than 15%.
  7. 7. A panoramic vision ranging and positioning closed-loop control method based on the system of claim 6, comprising the steps of: The method comprises the following steps of 1, in a sensing stage, triggering six groups of binocular industrial camera modules (12) to synchronously expose by an FPGA module of a central control cabin, and collecting 360-degree panoramic multi-view images, adjusting the layer spacing of an upper annular camera mounting arm and a lower annular camera mounting arm through an annular frame lifting adjusting knob (6), and fine adjusting the pitching angle of the binocular industrial camera modules (12) through a front adjusting knob and a rear adjusting knob (7) to adapt to the current ranging scene; Step 2, calculating, namely correcting the posture of the acquired image based on the mechanical datum point and the scale ring structure of the central support upright post (3), and establishing a unified global coordinate system through checkerboard calibration and BundleAdjustment beam adjustment optimization; Step 3, a fusion stage, namely converting a depth map generated by each binocular industrial camera module (12) into a local point cloud set, carrying out point cloud alignment by adopting an ICP iterative nearest point algorithm, and eliminating abnormal matching points by adopting a RANSAC random consistent sampling algorithm to realize high-precision fusion of multi-viewpoint point clouds; And 4, outputting the fused three-dimensional point cloud and pose information to a shipborne navigation system to form a real-time three-dimensional environment model, and continuously monitoring the vibration, temperature and protection state of the bracket by a central control cabin, dynamically adjusting the interlayer spacing or the camera angle according to the environment change, and realizing closed-loop optimization and stable output.
  8. 8. The panoramic vision ranging and positioning closed-loop control method according to claim 7 is characterized in that in the step 1, the synchronous exposure triggering precision of the binocular industrial camera module (12) is not lower than 1 microsecond, the interlayer spacing is adjusted in a self-adaptive mode based on a target ranging range, the interlayer spacing is adjusted to be 3-5cm in a near ranging mode, the interlayer spacing is adjusted to be 10-15cm in a long-distance ranging mode, and a silica gel shock pad and a shock-proof rubber ring at the bottom of a U-shaped camera support plate (13) isolate ship body high-frequency vibration in real time, so that image acquisition stability is guaranteed.
  9. 9. The panoramic vision ranging and positioning closed-loop control method according to claim 7, wherein in step 2, the ORB feature point sparse auxiliary matching is performed by the formula: , And Is the bits of the descriptor vector, in step 3, the ICP algorithm works by minimizing the error function: , Is a point in the source point cloud; Is the target point in the cloud The corresponding point(s) of the image, Representing rotation and translation parameters; The computing process of the step 2-3 adopts a multithreading parallel processing architecture, and a computing model is used for evaluation: , wherein, For the time of image acquisition, For the stereo matching and depth calculation time, For the point cloud fusion and three-dimensional reconstruction time, In order to accelerate the compensation time in parallel, After optimization, the average processing time of each frame of data is controlled to be The intelligent ship has the advantages that the real-time ranging requirement of the intelligent ship is met.

Description

Panoramic vision ranging and positioning system and method based on double-layer looking-around binocular array Technical Field The invention belongs to the technical field of autonomous ship intelligent perception and visual ranging, and particularly relates to a panoramic visual ranging and positioning system and method based on a double-layer looking-around binocular array. Background In the navigation process of the inland ship, the inland ship needs to face complex scenes such as a narrow channel meet, port berthing, low light reflection, water surface fluctuation and the like, and extremely high requirements on the panoramic coverage capacity, the ranging precision and the environmental adaptability of a visual perception system are provided. The traditional ship visual perception system mostly adopts a monocular camera or a fixed layout binocular camera, and has the following key problems: (1) The field coverage limitation is that the conventional binocular cameras are arranged horizontally in a single layer, and can only cover local fields of view, so that a large number of perception dead zones exist around the ship, the 360-degree panoramic ranging requirement cannot be met, and collision risks are easy to cause in the narrow channel steering or harbor complex environments. (2) The integral type bracket is lack of a modularized quick-dismantling structure, and the integral type bracket needs to be integrally disassembled and assembled during calibration, replacement or maintenance of the camera, is complex in operation and interrupts system operation, and seriously affects the operation efficiency of the ship. (3) The environment adaptability is insufficient, the common metal bracket is limited in corrosion resistance and water resistance, is easy to rust and deform in high-humidity and salt fog environments for a long time, camera cables are mostly exposed, centralized protection and electromagnetic shielding are lacked, data transmission is easy to interfere, the robustness of the traditional stereo matching algorithm (such as BM and SGM basic edition) is insufficient under the condition of strong water surface reflection and low illumination, and the depth estimation error is obviously increased. (4) The system integration and the real-time performance are deficient, namely the synchronous triggering precision of the multi-camera data is low (millisecond level), so that images at different visual angles are poor in time consistency, the point cloud splicing is easy to generate dislocation, and the data processing adopts a serial architecture and cannot meet the requirement of ship dynamic obstacle avoidance on the real-time performance. In recent years, panoramic vision ranging technology is gradually applied to the field of intelligent ships, but the conventional scheme multi-focus algorithm optimization has insufficient structural layout, anti-seismic and anti-corrosion design, modularized integration and multi-camera synchronous control consideration of a hardware system, and is difficult to stably operate for a long time in a complex inland river environment. Therefore, an integrated system with panorama coverage, high-precision ranging, strong environmental adaptability and convenient maintenance needs to be designed to solve the above technical problems. Disclosure of Invention The invention aims to overcome the defects of the existing ship panoramic vision ranging system in the aspects of visual field coverage, structural stability, environmental adaptability and real-time, and provides a panoramic vision ranging and positioning system and method based on a double-layer looking-around binocular array. In order to achieve the above purpose, the present invention adopts the following technical scheme: A panoramic vision ranging and positioning system based on a double-layer looking-around binocular array comprises a bracket bottom plate (1), a fixed bracket (2), a central supporting upright post (3), an upper annular camera mounting arm, a lower annular camera mounting arm, a binocular industrial camera module (12), an outer protective cover (11) and a central control cabin; The central support upright post (3) is vertically arranged on the support bottom plate (1) and is connected with the fixed support (2) through a flange connecting plate and a fastening screw, an end cover (4) and a mounting platform are arranged at the top of the central support upright post (3), and a cavity structure is arranged in the central support upright post; The three-layer adjustable type environment-friendly solar energy central support comprises a central support column (3), an upper layer of annular camera mounting arms and a lower layer of annular camera mounting arms, wherein the interlayer spacing is adjustable through a telescopic guide rail and an annular frame lifting adjusting knob (6), three groups of binocular industrial camera modules (12) are uniformly distributed on each layer of mounting arms