CN103777204A - Range finding device and range finding method based on target tracking and recognizing by photoelectric intelligent sensing platform - Google Patents
Range finding device and range finding method based on target tracking and recognizing by photoelectric intelligent sensing platform Download PDFInfo
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- CN103777204A CN103777204A CN201410009893.6A CN201410009893A CN103777204A CN 103777204 A CN103777204 A CN 103777204A CN 201410009893 A CN201410009893 A CN 201410009893A CN 103777204 A CN103777204 A CN 103777204A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
- G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices
Abstract
The invention relates to the range finding technology based on target tracking and recognizing and particularly relates to a range finding device and a range finding method based on target tracking and recognizing by a photoelectric intelligent sensing platform. The technical problem that target lock-on is difficult when a dynamic target is range-found to cause inaccurate measurement at present is solved. The range finding device based on target tracking and recognizing by a photoelectric intelligent sensing platform comprises a photoelectric intelligent sensing platform, an image acquisition module and a central processor. The photoelectric intelligent sensing platform includes a tripod head with a built-in CPU, and a laser range finder arranged on the tripod head; the image acquisition module is also arranged on the tripod head; signal output ends of the tripod head, the image acquisition module and the laser range finder are connected with signal input ends of the central processor; and signal input ends of the tripod head, the image acquisition module and the laser range finder are connected with signal output ends of the central processor. The device and the method of the invention have strong effectiveness and high real-time performance in target tracking and locating.
Description
Technical field
The present invention relates to the ranging technology of based target Tracking Recognition, belong to automatic control technology field, be specially a kind of distance measuring equipment and method based on photoelectric intelligent aware platform target following identification.
Background technology
At present in ranging technology field, range finding for fixed target is very ripe, but tracking and range finding for dynamic object are still technological difficulties, be in particular in target to be measured can not be effectively, lock accurately, cause the range finding of target not complete accurately; Even the target after locking, because target location is all the time among dynamic change, follow-up locking and range finding still can not complete accurately.
The present invention proposes a kind of device and method that can realize the distance Accurate Determining to dynamic object under this background.
Summary of the invention
The present invention solves target lock-on difficulty while range finding for dynamic object at present to cause measuring not accurate enough technical matters, and a kind of distance measuring equipment and method based on photoelectric intelligent aware platform target following identification is provided.
Distance measuring equipment based on photoelectric intelligent aware platform target following identification of the present invention is realized by the following technical solutions: a kind of distance measuring equipment based on photoelectric intelligent aware platform target following identification, comprises photoelectric intelligent aware platform, image capture module and a central processing unit; Described photoelectric intelligent aware platform comprises to be established the The Cloud Terrace of CPU and is arranged on the laser range finder on The Cloud Terrace in one; Described image capture module is also arranged on The Cloud Terrace; The laser axis of described laser range finder is parallel with the image axle of image capture module; The signal output part of described The Cloud Terrace, image capture module and laser range finder is all connected with the signal input part of central processing unit; The signal input part of The Cloud Terrace, image capture module and laser range finder is connected with the signal output part of central processing unit.
In The Cloud Terrace, be provided with CPU, central processing unit can be inputted corresponding instruction to the CPU establishing in The Cloud Terrace, to control the rotation of The Cloud Terrace; The rotation of The Cloud Terrace has two degree of freedom, wherein rotatable 0 °～350 ° of level (being crab angle scope), and vertical rotary angle is+90 ° (being the angle of pitch).Image capture module can adopt various imaging devices.The Cloud Terrace is can buy on market.
Further, described image capture module comprises thermal infrared imager and display; The signal output part of described thermal infrared imager is connected with the signal input part of central processing unit; The signal output part of central processing unit is connected with the signal input part of display.
Thermal infrared imager can be realized night, smog and a little image information collecting blocking etc. under specific condition.Application is wider.
Distance-finding method based on photoelectric intelligent aware platform target following identification of the present invention is realized by the following technical solutions: a kind of method that distance measuring equipment based on photoelectric intelligent aware platform target following identification is found range, comprise the following steps: (a) gather the image of target to be measured by thermal infrared imager, make the area of target in display interface keep fixed proportion; The center of the electro-optical system that central processing unit is made up of image capture module and laser range finder take display interface center under the support of corresponding software is initial point, sets up the coordinate system XOY in this moment at display interface; (b) establishing the coordinate of target's center in this coordinate system is A[x
0, y
0], determine according to the distance of target's center and initial point the angle of pitch and the crab angle that The Cloud Terrace moves, central processing unit control The Cloud Terrace is servo-actuated, and the middle mind-set target's center position of electro-optical system is moved; (c) the center elapsed time interval of delta t of electro-optical system moves to [x
a, y
a]; Described Δ t is the time interval of twice collection signal of thermal infrared imager; Now with the center [x of electro-optical system
a, y
a] set up new coordinate system X for initial point
aoY
a, the coordinate of target's center in this coordinate system is A
1[x
1, y
1]; Set a threshold value Δ r, if the spacing at the center of target's center and electro-optical system is less than or equal to Δ r, think that the center of electro-optical system overlaps with target's center, now electro-optical system is by aim target; If the spacing at the center of target's center and electro-optical system is greater than Δ r, think that the center of electro-optical system does not overlap with target's center, central processing unit continues mobile according to the distance values control The Cloud Terrace of initial point on display interface and target's center, and sets up new coordinate system and judge whether the center of electro-optical system overlaps with target's center after a Δ t of experience; Constantly repeat said process, until the center superposition of target's center and electro-optical system; (d) after the center of electro-optical system overlaps with target's center, central processing unit sends the instruction of measuring distance to laser range finder, and laser range finder sends laser to target, and the distance value recording transfers to central processing unit and stores.
Image capture module image axle (being the image axle of thermal infrared imager) is parallel with the laser axis of laser range finder, can guarantee for remote target, the center of the electro-optical system that image capture module and laser range finder form and the center of image capture module can be regarded as coincidence.
The target that thermal infrared imager collects is presented on display interface, can make target in display interface, keep fixing ratio, so that the measuring and calculating of the center of electro-optical system and target's center's distance value by the focal length that regulates thermal infrared imager; After the center of thermal infrared imager display interface aims at the mark, just can think that target has been aimed at the center of whole electro-optical system; Target on display interface imaging and size fixing after, central processing unit starts to handle The Cloud Terrace to be followed the tracks of.The signal pattern including echo signal that central processing unit collects according to the thermal infrared imager receiving, on thermal infrared imager display interface, set up the coordinate system of a center take this moment electro-optical system as initial point, and calculate the coordinate figure of target's center in this coordinate system, and then calculate the angle that The Cloud Terrace need to rotate with vertical direction in the horizontal direction, and send instruction control The Cloud Terrace and rotate to target's center; But because target is among dynamic change, may move to next position at The Cloud Terrace to target in target's center's moving process; The center that is located at electro-optical system after Δ t is that center, interface has moved to [x
a, y
a], central processing unit is with the center [x of this moment electro-optical system
a, y
a] set up new coordinate system for initial point, in new coordinate system, the coordinate of target's center has just become A
1[x
1, y
1]; Preset the foundation whether a threshold value Δ r overlaps with target's center as the center that judges electro-optical system, central processing unit judges according to the signal receiving whether the center of electro-optical system coincides with target initial point; If overlapped, central processing unit sends instruction to laser range finder, and laser range finder is sent to central processing unit by the distance value recording and stores; If target's center does not overlap with the center of electro-optical system, (center and the target's center's spacing that are electro-optical system are greater than Δ r), central processing unit control The Cloud Terrace continues to move to target's center, and founding new coordinate system through follow-up continuing of Δ t period, analyze the angle that The Cloud Terrace need to rotate, control cloud platform rotation, constantly like this repeat this process, until the center of electro-optical system and target's center coincide.
Central processing unit according to the signal that receives set up coordinate system, calculate the distance of target's center and true origin, the work such as rotational angle that distance value is converted into The Cloud Terrace is all to realize under the support of corresponding software, central processing unit sends command signal control laser range finder and finds range, and is also to complete under the support of corresponding software; The rotational angle that the distance value of target's center and true origin is converted into The Cloud Terrace is existing common practise, has several different methods available; The unit type that those skilled in the art can adopt according to reality and the suitable computing method of correlation parameter choose reasonable are to meet the requirement of measuring accuracy; Described threshold value Δ r can set according to the measuring accuracy of the slewing rate of the signal acquisition rate of equipment, The Cloud Terrace and laser range finder; Those skilled in the art, having read after method of the present invention, can write out corresponding software easily.
Further, also comprise step (e): after the central shaft of electro-optical system overlaps for the first time and finds range with target's center, now central processing unit is set up coordinate system X ' O ' Y ' using target's center as true origin, under new coordinate system, determine the position of target's center after the Δ t time interval and to handle The Cloud Terrace servo-actuated, after the central shaft of electro-optical system overlaps again with target's center, find range; Constantly repeat above-mentioned steps, can obtain the real-time distance of target.
Central processing unit is realized the coincidence again to target by controlling cloud platform rotation; Constantly repeat this step, realized the accurate tracking range finding to target.
Beneficial effect of the present invention is: introduce Target Recognition, utilize thermal infrared imager to realize the identification to dynamic object; First determine that target, in the position of display interface, then overlaps with target by the servo-actuated center of electro-optical system that makes of corresponding software control The Cloud Terrace according to the position of target on display interface, send instruction and find range, realize dynamic object is identified to location automatically.This system is to the tracking of target is strong with location validity, real-time is high.
Accompanying drawing explanation
Fig. 1 is the electrical connection schematic diagram of device of the present invention.
Fig. 2 is the one-piece construction block diagram of the range measurement system based on photoelectric intelligent aware platform target following identification of the present invention.
Fig. 3 is the range finding process flow diagram of range measurement system of the present invention.
Fig. 4 is the initial coordinate system of setting up.
Fig. 5 is coordinate system when initial coordinate is and electro-optical system center overlaps with target's center.
Fig. 6 is the movement locus schematic diagram of target.
Fig. 7 is the schematic diagram that constantly upgrades coordinate system in target travel process.
1-The Cloud Terrace, 2-image capture module, 3-laser range finder, 4-central processing unit.
Embodiment
Based on a distance measuring equipment for photoelectric intelligent aware platform target following identification, comprise a photoelectric intelligent aware platform, image capture module 2 and central processing unit 4; Described photoelectric intelligent aware platform comprises to be established the The Cloud Terrace 1 of CPU and is arranged on the laser range finder 3 on The Cloud Terrace 1 in one; Described image capture module 2 is also arranged on The Cloud Terrace 1; The laser axis of described laser range finder 3 is parallel with the image axle of image capture module 2; The signal output part of described The Cloud Terrace 1, image capture module 2 and laser range finder 3 is all connected with the signal input part of central processing unit 4; The signal input part of The Cloud Terrace 1, image capture module 2 and laser range finder 3 is connected with the signal output part of central processing unit 4.
The display that described image capture module 2 comprises thermal infrared imager and is connected with thermal infrared imager signal output part; The signal output part of described thermal infrared imager is connected with the signal input part of central processing unit 4; The signal output part of central processing unit 4 is connected with the signal input part of display.
Described central processing unit 4 adopts DSP microprocessor.
The method that distance measuring equipment based on photoelectric intelligent aware platform target following identification is found range, comprises the following steps: (a) gather the image of target to be measured by thermal infrared imager, make the area of target in display interface keep fixed proportion; The coordinate system XOY in this moment, as initial point, is set up in the center of the electro-optical system that central processing unit 4 is made up of image capture module 2 and laser range finder 3 take display interface center under the support of corresponding software at display interface; (b) establishing the coordinate of target's center in this coordinate system is A[x
0, y
0], determine according to the distance of target's center and initial point the angle of pitch and the crab angle that The Cloud Terrace 1 moves, it is servo-actuated that central processing unit 4 is controlled The Cloud Terrace 1, and the middle mind-set target's center position of electro-optical system is moved; (c) the center elapsed time interval of delta t of electro-optical system moves to [x
a, y
a]; Described Δ t is the time interval of twice collection signal of thermal infrared imager; Now with the center [x of electro-optical system
a, y
a] set up new coordinate system X for initial point
aoY
a, the coordinate of target's center in this coordinate system is A
1[x
1, y
1]; Set a threshold value Δ r, if the spacing at the center of target's center and electro-optical system is less than or equal to Δ r, think that the center of electro-optical system overlaps with target's center, now electro-optical system is by aim target; If the spacing at the center of target's center and electro-optical system is greater than Δ r, think that the center of electro-optical system does not overlap with target's center, central processing unit 4 continues mobile according to the distance values control The Cloud Terrace 1 of initial point on display interface and target's center, and sets up new coordinate system and judge whether the center of electro-optical system overlaps with target's center after a Δ t of experience; Constantly repeat said process, until the center superposition of target's center and electro-optical system; (d) after the center of electro-optical system overlaps with target's center, central processing unit 4 sends the instruction of measuring distance to laser range finder 3, and laser range finder 3 sends laser to target, and the distance value recording transfers to central processing unit 4 and stores.
Also comprise step (e): after the center of electro-optical system overlaps for the first time and finds range with target's center, now central processing unit 4 is set up coordinate system X ' O ' Y ' using target's center as true origin, under new coordinate system, determine the position of target's center after the Δ t time interval and to handle The Cloud Terrace 1 servo-actuated, after the center of electro-optical system overlaps again with target's center, find range; Constantly repeat above-mentioned steps, can obtain the real-time distance of target.
When in step (b), manipulation The Cloud Terrace 1 is servo-actuated, be first to move along X-axis, then move along y-axis shift.
When in step (b), manipulation The Cloud Terrace 1 is servo-actuated, be first moving along y-axis shift, then move along X-axis.
As shown in Figure 1, photoelectric integrated and intelligent aware platform comprises three parts: laser range finder 3, thermal infrared imager and The Cloud Terrace 1.Thermal infrared imager part can solve hidden, block, problem that the condition hypograph such as night and smog gathers; Laser range finder solves the problem of the range determination to the target tracing into; Servo-actuated according to the motion control The Cloud Terrace of target, realize the real-time follow-up to target.Thermal infrared imager both realize target image acquisition that combines with laser range finder, can measure again the distance of target, simultaneously the servomechanism real-time follow-up target by The Cloud Terrace obtain the distance of each period in target travel process.Central processing unit 4 can connect a main control module, and instruction be controlled and be sent to main control module can to central processing unit 4.
As shown in Figure 2, distance measuring equipment of the present invention is mainly made up of two parts, i.e. image capture module and range cells part.Wherein range cells is mainly set up module, spacing module, servomechanism module, range finder module by coordinate and is formed.What image capture module adopted is the thermal infrared imager based on photoelectric integrated and intelligent aware platform, and it can realize night, smog and a little image information collecting blocking etc. under specific condition.In range cells, the main task that coordinate is set up module is to set up coordinate system at thermal infrared imager display interface to go out the coordinate figure of target at display interface with mapping; The main task of spacing module is to obtain target and picture centre is also the distance at electro-optical system center by the coordinate figure on display interface; The main task of servo-actuated control module is according to the pitching driftage of distance value uses algorithm instruction control The Cloud Terrace, the center of electro-optical system to be overlapped with target; The main task of range finder module is the distance that sends distance measuring instruction mensuration target.Image capture module and range cells have formed range measurement system jointly.In addition, in decision package, the main task of data transmission module is by the main control module of the passing to real-time measurement result of target recognition and tracking result and distance; The main task of main control module is that the result of data is analyzed, and provides next step action indication.Target recognition and tracking module main task is according to automatic Target Recognition, the target detecting to be identified, and uses Moving Target Tracking Algorithm to carry out real-time follow-up to target, for range cells of the present invention is prepared.
As shown in Figure 3, the flow process of finding range in the present invention is as follows: after the selected target of target recognition and tracking module, range measurement system starts, and makes the area of target in picture keep certain proportion by Zoom control.As shown in Figure 4, set up coordinate system XOY at display interface, true origin O (0,0) is the center of electro-optical system, and the coordinate of hypothetical target in interface coordinate system is A (x
0, y
0), according to the distance at the center of target's center and electro-optical system, determine direction and the amplitude of The Cloud Terrace motion.Servo-actuated by serial ports transmission algorithm instruction control The Cloud Terrace, because target is moved, so need the constantly positional information to target to upgrade in this process, by the distance at revise goal and electro-optical system center constantly, realize the parameter of adjusting in real time the servo-actuated control of The Cloud Terrace.After the center of electro-optical system overlaps with target, i.e. after the center run-home of electro-optical system, control system sends the instruction of measuring distance according to the communications protocol of laser range finder, and the value of returning is the distance value of target.Finally, the distance value of target will be reached main control module, wait for the assigning of order of next step action.
As shown in Figure 5, fasten in initial coordinate the point that true origin is the place, center of electro-optical system, in target travel process, constantly upgrade the coordinate system of display interface, and coordinate figure to target and the coordinate figure of electro-optical system central point upgrade, revise, finally reach electro-optical system center and overlap completely with target, realize range finding; After target is found range, proceed the renewal correction of coordinate, now, target (target's center overlaps with picture centre) becomes true origin, new coordinate system X ' O ' Y ' lower determine the position of next moment target and control The Cloud Terrace servo-actuated, range finding once on carrying out after the center of electro-optical system overlaps again with target.In target travel process, whole process servo-actuated, that aim at is constantly upgraded and revises, and makes the range finding of target more accurate.
As shown in Figure 6, if there is no The Cloud Terrace servomechanism for system in figure, image capturing system be under static state target at the possible track of display interface.Fig. 7 is in target travel process, and by constantly upgrading coordinate system, The Cloud Terrace servomechanism is constantly adjusted the process that orientation and amplitude experience, can find out, in target from A
0to A
3process in, the distance of electro-optical system central shaft (being true origin) and target is more and more approaching, until overlap.
The judgement that the center of electro-optical system overlaps with target: for pedestrian, the center of electro-optical system (being picture centre) overlaps with people's upper position (being that waist is with upper part) can (the threshold value Δ that the center of electro-optical system and the above position of human body waist spacing are less than setting r); For vehicle, because vehicle body exists inclined-plane can make laser pulse signal be difficult to be reflected back toward reception mirror, thereby cause the failure of range finding, therefore the center of the electro-optical system in the present invention overlaps with vehicle and refers to the center of electro-optical system and the lower middle portion of vehicle overlaps that (the threshold value Δ that the center of electro-optical system and vehicle lower middle portion spacing are less than setting r).
Claims (9)
1. the distance measuring equipment based on photoelectric intelligent aware platform target following identification, is characterized in that, comprises a photoelectric intelligent aware platform, image capture module (2) and central processing unit (4); Described photoelectric intelligent aware platform comprises the The Cloud Terrace (1) of establishing CPU in one and is arranged on the laser range finder (3) on The Cloud Terrace (1); Described image capture module (2) is also arranged on The Cloud Terrace (1); The laser axis of described laser range finder (3) is parallel with the image axle of image capture module (2); The signal output part of described The Cloud Terrace (1), image capture module (2) and laser range finder (3) is all connected with the signal input part of central processing unit (4); The signal input part of The Cloud Terrace (1), image capture module (2) and laser range finder (3) is connected with the signal output part of central processing unit (4).
2. the distance measuring equipment based on photoelectric intelligent aware platform target following identification as claimed in claim 1, is characterized in that, described image capture module (2) comprises thermal infrared imager and display; The signal output part of described thermal infrared imager is connected with the signal input part of central processing unit (4); The signal output part of central processing unit (4) is connected with the signal input part of display.
3. the distance measuring equipment based on photoelectric intelligent aware platform target following identification as claimed in claim 1 or 2, is characterized in that, described central processing unit (4) adopts DSP microprocessor.
4. a method that uses the distance measuring equipment based on photoelectric intelligent aware platform target following identification as claimed in claim 2 to find range, it is characterized in that, comprise the following steps: (a) gather the image of target to be measured by thermal infrared imager, make the area of target in display interface keep fixed proportion; The coordinate system XOY in this moment, as initial point, is set up in the center of the electro-optical system that central processing unit (4) is made up of image capture module (2) and laser range finder (3) take display interface center under the support of corresponding software at display interface; (b) establishing the coordinate of target's center in this coordinate system is A[x
0, y
0], determine according to the distance of target's center and initial point the angle of pitch and the crab angle that The Cloud Terrace (1) moves, it is servo-actuated that central processing unit (4) is controlled The Cloud Terrace (1), and the middle mind-set target's center position of electro-optical system is moved; (c) the center elapsed time interval of delta t of electro-optical system moves to [x
a, y
a]; Described Δ t is the time interval of twice collection signal of thermal infrared imager; Now with the center [x of electro-optical system
a, y
a] set up new coordinate system X for initial point
aoY
a, the coordinate of target's center in this coordinate system is A
1[x
1, y
1]; Set a threshold value Δ r, if the spacing at the center of target's center and electro-optical system is less than or equal to Δ r, think that the center of electro-optical system overlaps with target's center, now electro-optical system is by aim target; If the spacing at the center of target's center and electro-optical system is greater than Δ r, think that the center of electro-optical system does not overlap with target's center, central processing unit (4) continues mobile according to the distance values control The Cloud Terrace (1) of initial point on display interface and target's center, and sets up new coordinate system and judge whether the center of electro-optical system overlaps with target's center after a Δ t of experience; Constantly repeat said process, until the center superposition of target's center and electro-optical system; (d) after the center of electro-optical system overlaps with target's center, central processing unit (4) sends the instruction of measuring distance to laser range finder (3), and laser range finder (3) sends laser to target, and the distance value recording transfers to central processing unit (4) and stores.
5. the distance-finding method based on photoelectric intelligent aware platform target following identification as claimed in claim 4, it is characterized in that, also comprise step (e): after the center of electro-optical system overlaps for the first time and finds range with target's center, now central processing unit (4) is set up coordinate system X ' O ' Y ' using target's center as true origin, under new coordinate system, determine the position of target's center after the Δ t time interval and to handle The Cloud Terrace (1) servo-actuated, after the center of electro-optical system overlaps again with target's center, find range; Constantly repeat above-mentioned steps, can obtain the real-time distance of target.
6. the distance-finding method based on photoelectric intelligent aware platform target following identification as described in claim 4 or 5, is characterized in that, when in step (b), manipulation The Cloud Terrace (1) is servo-actuated, is first to move along X-axis, then move along y-axis shift.
7. the distance-finding method based on photoelectric intelligent aware platform target following identification as claimed in claim 5, is characterized in that, when in step (e), manipulation The Cloud Terrace (1) is servo-actuated, is first to move along X-axis, then move along y-axis shift.
8. the distance-finding method based on photoelectric intelligent aware platform target following identification as described in claim 4 or 5, is characterized in that, when in step (b), manipulation The Cloud Terrace (1) is servo-actuated, is first moving along y-axis shift, then move along X-axis.
9. the distance-finding method based on photoelectric intelligent aware platform target following identification as claimed in claim 5, is characterized in that, when in step (e), manipulation The Cloud Terrace (1) is servo-actuated, is first moving along y-axis shift, then move along X-axis.
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| CN113031660A (en) * | 2021-04-02 | 2021-06-25 | 中北大学 | Aircraft directional antenna tracking and positioning device |
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