The invention provides a panoramic around-looking system of a two-section articulated vehicle. The system comprises fisheye cameras, an angle sensor structure and a data acquisition processor, and thepanoramic around-looking system processes video images collected by three fisheye cameras which are installed on a vehicle head or a carriage respectively and have orientation field angles of at least 180 DEG and angle information collected by a hinge disc angle sensor through a data collection processor to obtain a panoramic around-looking image of a peripheral area of the hinge engineering vehicle, wherein for two articulated vehicles, the three fisheye cameras are arranged on the front vehicle head and the rear carriage. Through the design of an angle sensor mounting structure, the effectthat the angle sensor is not affected by vehicle bumping is achieved. The installation position design of the fisheye cameras and the design of a calibration method can generate a panoramic around-looking image covering the periphery of the articulated engineering vehicle.
本发明提供了一种用于两节铰接车辆的全景环视系统,其包括鱼眼摄像头、角度传感器结构和数据采集处理器,全景环视系统利用分别安装在车头或车厢上的方位视场角至少为180度的三颗鱼眼摄像头采集的视频画面及铰接盘角度传感器采集的角度信息经数据采集处理器进行处理得到铰接工程车辆周界区域的全景环视图像;其中:针对两节铰接车辆,所述鱼眼摄像头布置在前车头和后车厢上,且各自布置3颗鱼眼摄像头。本发明通过角度传感器安装结构的设计,达到了角度传感器不受车辆颠簸影响的效果。鱼眼摄像头的安装位置设计和标定方法的设计可以生成覆盖铰接工程车辆四周的全景环视图像。
Implementation method for variable-angle panoramic around-looking system of articulated engineering vehicle
一种用于铰接工程车辆变角度全景环视系统的实现方法
2020-07-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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