CN103777204B - Based on distance measuring equipment and the method for photoelectric intelligent aware platform target following identification - Google Patents

Based on distance measuring equipment and the method for photoelectric intelligent aware platform target following identification Download PDF

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Publication number
CN103777204B
CN103777204B CN201410009893.6A CN201410009893A CN103777204B CN 103777204 B CN103777204 B CN 103777204B CN 201410009893 A CN201410009893 A CN 201410009893A CN 103777204 B CN103777204 B CN 103777204B
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China
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target
center
electro
optical
cloud terrace
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CN103777204A (en
Inventor
杨卫
张文栋
熊继军
白晓方
金晓会
刘前进
徐胜
赵迪
侯爽
王宝祥
王淑平
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North University of China
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North University of China
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50Systems of measurement based on relative movement of target
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback
    • G05D3/20Control of position or direction using feedback using a digital comparing device
    • G05D3/203Control of position or direction using feedback using a digital comparing device using fine or coarse devices

Abstract

The present invention relates to the ranging technology of based target Tracking Recognition, be specially a kind of distance measuring equipment based on photoelectric intelligent aware platform target following identification and method.Solve target lock-on difficulty when at present dynamic object being found range to cause measuring not accurate enough technical matters.Based on a distance measuring equipment for photoelectric intelligent aware platform target following identification, comprise photoelectric intelligent aware platform, image capture module and a central processing unit; Described photoelectric intelligent aware platform comprises in one the laser range finder established the The Cloud Terrace of CPU and be arranged on The Cloud Terrace; Described image capture module is also arranged on The Cloud Terrace; 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.Apparatus of the present invention and method to the tracking of target be positioned with that validity is strong, real-time is high.

Description

Based on distance measuring equipment and the method for photoelectric intelligent aware platform target following identification
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 based on photoelectric intelligent aware platform target following identification and method.
Background technology
At present in ranging technology field, range finding for fixed target is very ripe, but technological difficulties are still for the tracking of dynamic object and range finding, are in particular in that target to be measured can not effectively, accurately lock, cause can not completing accurately the range finding of target; Even the target after locking, because target location is among dynamic change all the time, follow-up locking and range finding still can not complete accurately.
The present invention proposes a kind ofly can realize device to the distance Accurate Determining of dynamic object and method in this context.
Summary of the invention
The present invention solves target lock-on difficulty when finding range for dynamic object at present to cause measuring not accurate enough technical matters, provides a kind of distance measuring equipment based on photoelectric intelligent aware platform target following identification and method.
Distance measuring equipment based on photoelectric intelligent aware platform target following identification of the present invention realizes 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 in one the laser range finder established the The Cloud Terrace of CPU and be arranged on The Cloud Terrace; 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.
Be provided with CPU in The Cloud Terrace, the CPU that central processing unit can be established in The Cloud Terrace inputs corresponding instruction, to control the rotation of The Cloud Terrace; The rotation of The Cloud Terrace has two degree of freedom, wherein level rotatable 0 ° ~ 350 ° (i.e. crab angle scopes), and vertical rotation angle is+90 ° (i.e. angles of pitch).Image capture module can adopt various imaging device.The Cloud Terrace is that market can buy.
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 realize night, smog and a little image information collecting blocked etc. under specific condition.Application is wider.
Distance-finding method based on photoelectric intelligent aware platform target following identification of the present invention realizes by the following technical solutions: a kind of distance measuring equipment based on photoelectric intelligent aware platform target following identification carries out the method for finding range, comprise the following steps: (a) gathers 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, for initial point, is set up in the center of the electro-optical system that namely central processing unit is made up of image capture module and laser range finder with display interface center under the support of corresponding software at display interface; B () sets the coordinate of target's center in this coordinate system as A [x 0, y 0], the angle of pitch moved according to the distance determination The Cloud Terrace of target's center and initial point and crab angle, it is servo-actuated that central processing unit controls The Cloud Terrace, and the center of electro-optical system is moved to target's center position; 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 thermal infrared imager twice collection signal; 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, then 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, then think that the center of electro-optical system does not overlap with target's center, central processing unit controls The Cloud Terrace according to the distance values of initial point on display interface and target's center and continues mobile, and after experience Δ t, sets up new coordinate system and judge whether the center of electro-optical system overlaps with target's center; Continuous repetition said process, until the center superposition of target's center and electro-optical system; D the center of () electro-optical system overlaps with target's center after, 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 recorded transfers to central processing unit and stores.
Image capture module image axle (i.e. the image axle of thermal infrared imager) is parallel with the laser axis of laser range finder, can ensure 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, by the ratio regulating the focal length of thermal infrared imager that target can be made in display interface to keep fixing, so that the measuring and calculating of the center of electro-optical system and target's center's distance value; After the center of thermal infrared imager display interface aims at the mark, just can think that the center of whole electro-optical system targeted by target; After target imaging and size on display interface is fixing, central processing unit starts to handle The Cloud Terrace to be followed the tracks of.The signal pattern comprising echo signal that central processing unit collects according to the thermal infrared imager received, thermal infrared imager display interface is set up the coordinate system that is initial point with the center of this moment electro-optical system, and calculate the coordinate figure of target's center in this coordinate system, and then calculate The Cloud Terrace in the horizontal direction with vertical direction need rotate angle, and send instruction control The Cloud Terrace rotate to target's center; But because target is among dynamic change, may be moved to next position at The Cloud Terrace to target in target's center's moving process; The center and the center, interface that are located at electro-optical system after Δ t are 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 a threshold value Δ r as judging the foundation whether center of electro-optical system overlaps with target's center, according to the signal received, central processing unit judges whether the center of electro-optical system coincides with target point; If overlapped, then central processing unit sends instruction to laser range finder, and the distance value recorded is sent to central processing unit and stores by laser range finder; If target's center does not overlap with the center of electro-optical system (namely the center of electro-optical system and target's center's spacing are greater than Δ r), central processing unit controls The Cloud Terrace to be continued to move to target's center, and follow-uply continuing vertical new coordinate system through the Δ t period, analyze the angle that The Cloud Terrace needs 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 is set up coordinate system according to the signal received, calculated the distance of target's center and true origin, distance value is converted into the work such as the rotational angle of The Cloud Terrace is all realize under the support of corresponding software, central processing unit sends command signal control laser range finder and finds range, and is also complete under the support of corresponding software; Be existing common practise by the rotational angle that the distance value of target's center and true origin is converted into The Cloud Terrace, have multiple method 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, after having read method of the present invention, can write out corresponding software easily.
Further, also comprise step (e): after central shaft and the target's center of electro-optical system overlap and find range first time, now coordinate system X ' O ' Y ' set up by central processing unit 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, find range after the central shaft of electro-optical system overlaps again with target's center; Continuous repetition above-mentioned steps, can obtain the real-time distance of target.
Central processing unit is by controlling the again coincidence of cloud platform rotation realization to target; Constantly repeat this step, achieve and the accurate tracking of target is found range.
Beneficial effect of the present invention is: introduce Target Recognition, utilizes the identification of thermal infrared imager realization to dynamic object; First determine the position of target at display interface, then control the servo-actuated center of electro-optical system that makes of The Cloud Terrace according to the position of target on display interface by corresponding software and overlap with target, send instruction and find range, realize automatically identifying location to dynamic object.This system to the tracking of target be positioned with that validity is strong, 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 set up.
Fig. 5 is initial coordinate system and electro-optical system center coordinate system when overlapping with target's center.
Fig. 6 is the movement locus schematic diagram of target.
Fig. 7 is the schematic diagram constantly upgrading 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 the laser range finder 3 established the The Cloud Terrace 1 of CPU in and be arranged 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.
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.
Distance measuring equipment based on photoelectric intelligent aware platform target following identification carries out a method of finding range, and comprises the following steps: (a) gathers the image of target to be measured by thermal infrared imager, makes the area of target in display interface keep fixed proportion; The coordinate system XOY in this moment, for initial point, is set up in the center of the electro-optical system that namely central processing unit 4 is made up of image capture module 2 and laser range finder 3 with display interface center under the support of corresponding software at display interface; B () sets the coordinate of target's center in this coordinate system as A [x 0, y 0], the angle of pitch moved according to the distance determination The Cloud Terrace 1 of target's center and initial point and crab angle, it is servo-actuated that central processing unit 4 controls The Cloud Terrace 1, and the center of electro-optical system is moved to target's center position; 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 thermal infrared imager twice collection signal; 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, then 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, then think that the center of electro-optical system does not overlap with target's center, central processing unit 4 controls The Cloud Terrace 1 according to the distance values of initial point on display interface and target's center and continues mobile, and after experience Δ t, sets up new coordinate system and judge whether the center of electro-optical system overlaps with target's center; Continuous repetition said process, until the center superposition of target's center and electro-optical system; D the center of () electro-optical system overlaps with target's center after, 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 recorded transfers to central processing unit 4 and stores.
Also comprise step (e): after the center of electro-optical system and target's center overlap and find range first time, now coordinate system X ' O ' Y ' set up by central processing unit 4 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, find range after the center of electro-optical system overlaps again with target's center; Continuous repetition above-mentioned steps, can obtain the real-time distance of target.
Handle in step (b) The Cloud Terrace 1 servo-actuated time, be first move along X-axis, then along Y-axis movement.
Handle in step (b) The Cloud Terrace 1 servo-actuated time, be first move along Y-axis, then along X-axis movement.
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 to the range determination of the target traced into; Servo-actuated according to the motion control The Cloud Terrace of target, realize the real-time follow-up to target.Thermal infrared imager combines with laser range finder both realize target image acquisition, can measure again the distance of target, obtains the distance of each period in target travel process by the servomechanism real-time follow-up target of The Cloud Terrace simultaneously.Central processing unit 4 can connect a main control module, and main control module can control central processing unit 4 and send instruction.
As shown in Figure 2, distance measuring equipment of the present invention forms primarily of two parts, i.e. image capture module and range cells part.Wherein range cells sets up module, spacing module, servomechanism module, range finder module composition primarily of coordinate.What image capture module adopted is thermal infrared imager based on photoelectric integrated and intelligent aware platform, and it can realize night, smog and a little image information collecting blocked etc. under specific condition.In range cells, the main task that coordinate sets up module sets 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 the distance being obtained target and picture centre also i.e. electro-optical system center by the coordinate figure on display interface; The main task of servo antrol module is that the pitching driftage of using algorithm instruction to control The Cloud Terrace according to distance value makes the center of electro-optical system overlap with target; The main task of range finder module sends the distance that distance measuring instruction measures target.Image capture module and range cells constitute range measurement system jointly.In addition, in decision package, the main task of data transmission module is that real-time for the measurement result of target recognition and tracking result and distance is passed to main control module; The main task of main control module analyzes the result of data, provides next step action instruction.Target recognition and tracking module main task identifies the target detected according to automatic Target Recognition, 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, flow process of finding range in the present invention is as follows: after the selected target of target recognition and tracking module, and 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 the direction that The Cloud Terrace moves and amplitude.The Cloud Terrace is controlled servo-actuated by the instruction of serial ports transmission algorithm, because target is motion, so need in this process constantly to upgrade the positional information of target, by the distance at constantly revise goal and electro-optical system center, realize the parameter adjusting The Cloud Terrace servo antrol in real time.After the center of electro-optical system overlaps with target, namely control system is according to the instruction of the communications protocol transmission measuring distance of laser range finder later in the center run-home of electro-optical system, and the value returned is the distance value of target.Finally, the distance value of target will be reached main control module, wait for assigning of the order of next step action.
As shown in Figure 5, the point that true origin is the place, center of electro-optical system is fastened in initial coordinate, in target travel process, constantly upgrade the coordinate system of display interface, and the coordinate figure of target and the coordinate figure of electro-optical system central point are upgraded, revised, finally reach electro-optical system center to 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, the position of subsequent time target is determined and to control The Cloud Terrace servo-actuated, range finding once on carrying out after the center of electro-optical system overlaps again with target under new coordinate system X ' O ' Y '.In target travel process, whole process that is servo-actuated, that aim at constantly is carried out upgrading and revises, and makes the range finding of target more accurate.
As shown in Figure 6, if do not have The Cloud Terrace servomechanism for system in figure, under the state that image capturing system is static, target is at the possible track of display interface.Fig. 7 is in target travel process, and by constantly upgrading coordinate system, The Cloud Terrace servomechanism constantly adjusts the process that orientation and amplitude experience, and can find out, in target from A 0to A 3process in, the distance of electro-optical system central shaft (i.e. true origin) and target is more and more close, until overlap.
The judgement that the center of electro-optical system overlaps with target: for pedestrian, the center (i.e. picture centre) of electro-optical system overlaps with the upper position (i.e. the above position of waist) of people can (center of electro-optical system and human body waist above position spacing be less than the threshold value Δ r of setting); For vehicle, laser pulse signal can be made to be difficult to be reflected back toward reception mirror because vehicle body exists inclined-plane, thus causing the failure of finding range, overlap with the vehicle lower middle portion at the center and vehicle that refer to electro-optical system of the center of the electro-optical system therefore in the present invention overlaps (the threshold value Δ r that the center of electro-optical system and vehicle lower middle portion spacing are less than setting).

Claims (6)

1. based on a distance-finding method for photoelectric intelligent aware platform target following identification, it is characterized in that, the device adopted comprises photoelectric intelligent aware platform, image capture module (2) and central processing unit (4); Establish the The Cloud Terrace of CPU (1) in described photoelectric intelligent aware platform comprises and be 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); 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; Said method comprising the steps of: (a) gathers 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, for initial point, is set up in the center of the electro-optical system that central processing unit (4) is namely made up of image capture module (2) and laser range finder (3) with display interface center under the support of corresponding software at display interface; This moment described refers to that thermal infrared imager gathers the moment of target image to be measured; B () sets the coordinate of target's center in this coordinate system as A [x 0, y 0], the angle of pitch moved according to the distance determination The Cloud Terrace (1) of target's center and initial point and crab angle, it is servo-actuated that central processing unit (4) controls The Cloud Terrace (1), and the center of electro-optical system is moved to target's center position; 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 thermal infrared imager twice collection signal; 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, then 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, then think that the center of electro-optical system does not overlap with target's center, central processing unit (4) controls The Cloud Terrace (1) according to the distance values of initial point on display interface and target's center and continues mobile, and after experience Δ t, sets up new coordinate system and judge whether the center of electro-optical system overlaps with target's center; Continuous repetition said process, until the center superposition of target's center and electro-optical system; D the center of () electro-optical system overlaps with target's center after, 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 recorded transfers to central processing unit (4) and stores.
2. as claimed in claim 1 based on the distance-finding method of photoelectric intelligent aware platform target following identification, it is characterized in that, also comprise step (e): after the center of electro-optical system and target's center overlap and find range first time, now coordinate system X ' O ' Y ' set up by central processing unit (4) 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, find range after the center of electro-optical system overlaps again with target's center; Constantly repeat this step, the real-time distance of target can be obtained.
3., as claimed in claim 1 or 2 based on the distance-finding method of photoelectric intelligent aware platform target following identification, it is characterized in that, handle in step (b) The Cloud Terrace (1) servo-actuated time, be first move along X-axis, then along Y-axis movement.
4., as claimed in claim 3 based on the distance-finding method of photoelectric intelligent aware platform target following identification, it is characterized in that, handle in step (e) The Cloud Terrace (1) servo-actuated time, be first move along X-axis, then along Y-axis movement.
5., as claimed in claim 1 or 2 based on the distance-finding method of photoelectric intelligent aware platform target following identification, it is characterized in that, handle in step (b) The Cloud Terrace (1) servo-actuated time, be first move along Y-axis, then along X-axis movement.
6., as claimed in claim 3 based on the distance-finding method of photoelectric intelligent aware platform target following identification, it is characterized in that, handle in step (e) The Cloud Terrace (1) servo-actuated time, be first move along Y-axis, then along X-axis movement.
CN201410009893.6A 2014-01-09 2014-01-09 Based on distance measuring equipment and the method for photoelectric intelligent aware platform target following identification Expired - Fee Related CN103777204B (en)

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