Stereoscopic vision system and application thereof to real time monitoring of three-dimensional safety warning area

Abstract

The invention provides a stereoscopic vision system and the application thereof to real time monitoring of a three-dimensional safety warning area. The stereoscopic vision system comprises a computerized binocular stereoscopic vision system designed by imitating human eyes; two groups of binocular cameras are respectively placed outside two orthogonal planes in a stereoscopic space being monitored, namely the three-dimensional safety warning area, so as to observe the same object; two groups of disparity maps are respectively obtained through a stereoscopic matching module; the depth and the position information of the object are computed, namely two groups of space coordinates comprising depth maps are respectively computed in a real time manner; and the application steps comprise the determination of elevation angles of the binocular cameras, the conversion of a coordinate system and the delimitation of the three-dimensional safety warning area. Functions of real-time monitoring of the space coordinates of objects inside and outside the three-dimensional safety warning area, and real-time warning when the object to be monitored exceeds the restriction and the constraint of the area, namely the distances from the point of the object to the planes of the three-dimensional safety warning area are smaller than the safety distance are successfully realized, the limitation existing when three-dimensional space information of the object is detected by a single group of binocular cameras is effectively overcome, and the monitoring effect is remarkably improved.

Description

technical field [0001] The invention relates to a stereo vision system, in particular to a stereo vision system and its application for real-time monitoring of a three-dimensional safety warning area. Background technique [0002] When large and medium-sized construction equipment such as cranes are used for maintenance and replacement of power devices, the peripheral devices are generally in a live running state. At present, only on-site monitoring personnel can use their eyes to judge whether these large and medium-sized construction equipment are separated from the surrounding live devices to ensure safety. The three-dimensional space distance, that is, the three-dimensional safety alert area for live work of large and medium-sized construction equipment can only be roughly delineated with eyes, but the three-dimensional safety alert area for live work of large and medium-sized construction equipment cannot be monitored by technical means. The existing visual judgment met...

AI Technical Summary

Problems solved by technology

However, in the three-dimensional security warning area, since the object itself has a certain depth range, a single group of binocular cameras can only detect the depth information of the side of the object facing the binocular camera, but cannot detect the other side of the object facing away from the binocular camera depth information, and a single group of binocular cameras cannot detect the information of objects in the three-dimensional safety warning area when objects move outside the three-dimensional safety warning area and between the binocular cameras and cause partial occlusion, the probability of false positives is relatively high

Therefore, the existing computer binocular stereo vision system cannot be used for effective real-time monitoring of large and medium-sized construction equipment in the three-dimensional security warning area

So far, there is no stereo vision system that monitors the three-dimensional safety warning area of ​​live work of large and medium-sized construction equipment through technical means.

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