CN104932370A - Environment detecting device, human identification method and emergency monitoring system - Google Patents
Environment detecting device, human identification method and emergency monitoring system Download PDFInfo
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Abstract
The invention provides an environment detecting device, an emergency monitoring system and a human identification method based on the environment detecting device. The environment detecting device comprises a hollow spherical casing, a power supply module, a data collection module, a control module, a thermal induction module and a human identification module, wherein the power supply module, the data collection module and the control module are arranged in the casing and connected with one another, the thermal induction module and the human identification module are arranged in the casing, and each of the thermal induction module and the human identification module is connected with both the power supply module and the control module. The thermal induction module obtains a thermal induction image of an object whose surface temperature satisfies a preset temperature range; according to the thermal induction image and environment image information collected by the data collection module, the control module carries out matching analysis to obtain matched thermal image data; and the human identification module obtains human body image data sent from a reception-end monitoring system, and carries out matching analysis according to the human body image data and the matched thermal image data. The environment detecting device improves the detection efficiency, and is multifunctional and intelligent.
Description
Technical field
The present invention relates to environment monitoring techniques field, particularly relate to a kind of environment arrangement for detecting, a kind of emergent supervisory system, and a kind of character recognition method based on environment arrangement for detecting.
Background technology
Current, human society will such as face fire condition rescue trapped personnel in the face of many unexpected incidents caused due to disaster or human factor, run into earthquake disaster carries out field rescue, mine disaster occurs carries out downhole rescuing, performs the attack etc. that hostile takedown task meets with kidnapper.For special circumstances like this, due to on-the-spot concrete condition cannot be understood, carrying out field rescue for entering these hazardous locations that there is a large amount of X factor, causing great life security to threaten can to field rescue personnel.
Existing environment arrangement for detecting, can be applicable in the emergent scene of part, can be not suitable for the collection carrying out the environmental informations such as image, audio frequency, video in the region that people enters, and the data of collection are transferred to outside Surveillance center at small space, closed environment etc.
Existing environment arrangement for detecting function is comparatively single, detect for specific single environment for general, but in fields such as military affairs, rescues, often need to detect target in environment unknown and complicated and changeable, existing environment arrangement for detecting can not satisfy the demands.
Summary of the invention
Based on this, the object of this invention is to provide a kind of environment arrangement for detecting, a kind of emergent supervisory system, and a kind of character recognition method based on environment arrangement for detecting, realize fast search and the identification of detecting target.
For achieving the above object, the content of the embodiment of the present invention is as follows:
A kind of environment arrangement for detecting, comprise hollow ball-shape shell, and be arranged on the interconnective power module of described hollow ball-shape enclosure, data acquisition module and control module, also comprise the thermoinduction detection module, the person recognition module that are arranged on described hollow ball-shape enclosure, described thermoinduction detection module, described person recognition module are all connected with described power module, described control module;
Described thermoinduction detection module meets the thermoinduction image of the object of preset temperature value scope for obtaining surface temperature;
Described control module carries out the matching analysis according to the ambient image information of described thermoinduction image and described data collecting module collected, obtains coupling thermal-image data;
Described person recognition module obtains the human body image data that receiving end supervisory system sends, and carries out the matching analysis according to described human body image data and described coupling thermal-image data.
A kind of emergent supervisory system, comprise above-mentioned environment arrangement for detecting, described environment arrangement for detecting also comprises wireless transport module, and described emergent supervisory system also comprises the receiving end supervisory system with described wireless transport module wireless connections.
Based on a character recognition method for environment arrangement for detecting, described environment arrangement for detecting, comprises hollow ball-shape shell, and is arranged on interconnective power module and the data acquisition module of described hollow ball-shape enclosure; Described character recognition method comprises the steps:
Obtain the thermoinduction image that surface temperature meets the object of preset temperature value scope;
Obtain ambient image information;
Carry out the matching analysis according to described thermoinduction image and described ambient image information, obtain coupling thermal-image data;
Obtain the human body image data that receiving end supervisory system sends, and carry out the matching analysis according to described human body image data and described coupling thermal-image data.
Above-mentioned environment arrangement for detecting, emergent supervisory system and the character recognition method based on environment arrangement for detecting, by the body surface temperature in testing environment, and obtain the thermoinduction image that surface temperature meets the object of preset temperature value scope, the human body image data sent based on this thermoinduction image and receiving end supervisory system carries out the matching analysis, thus realizes the quick identification of detecting target.Invention increases detecting efficiency, achieve the multi-functional and intelligent of environment arrangement for detecting, thus extend the range of application of environment arrangement for detecting.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of environment arrangement for detecting in the embodiment of the present invention one;
Fig. 2 is the structural representation of another kind of environment arrangement for detecting in the embodiment of the present invention one;
Fig. 3 is the structural representation of a kind of emergent supervisory system in the embodiment of the present invention two;
Fig. 4 is the structural representation of receiving end supervisory system in the embodiment of the present invention two;
Fig. 5 is the schematic flow sheet based on the character recognition method of environment arrangement for detecting in the embodiment of the present invention three;
Fig. 6 is another schematic flow sheet based on the character recognition method of environment arrangement for detecting in the embodiment of the present invention three.
Embodiment
Below in conjunction with specific embodiment and accompanying drawing, content of the present invention is elaborated.
Embodiment one
As shown in Figure 1, the structural representation of a kind of environment arrangement for detecting of the present invention in embodiment one, comprise hollow ball-shape shell 10, and be arranged on the interconnective power module 11 of described hollow ball-shape shell 10 inside, data acquisition module 12 and control module 13, wherein, also comprise thermoinduction detection module 14, person recognition module 15, thermoinduction detection module 14, person recognition module 15 are arranged on the inside of hollow ball-shape shell 10, and are all connected with power module 11, control module 13.
Hollow ball-shape shell 10 generally adopts transparent, that visibility is high plastic material.Data acquisition module 12 can be video capture device, image capture device, and control module 13 can start or close data acquisition module 12, and obtains the data of data acquisition module 12 collection, and processes data and transmit.
Thermoinduction detection module 14 meets the thermoinduction image of the object of preset temperature value scope for obtaining surface temperature.The ambient image information that control module 13 gathers according to described thermoinduction image and data acquisition module 12 carries out the matching analysis, obtains coupling thermal-image data.Person recognition module 15 obtains the human body image data that receiving end supervisory system sends, and carries out the matching analysis according to described human body image data and described coupling thermal-image data.
The environment arrangement for detecting of the present embodiment one, thermoinduction detection module 14 can be arranged on data acquisition module 12 around, such thermoinduction detection module 14 can detect the body surface temperature in the environment of data acquisition module 12 surrounding, when the surface temperature of object meets preset temperature value value range, generate the thermoinduction image of this object.Such as, preset temperature value scope is set to 36.26 DEG C ~ 37.74 DEG C, the body temperature of corresponding people, when having people to exist in current environment, thermoinduction detection module 14 detects target, and generates the thermoinduction image of target, now, data acquisition module 12 also gathers ambient image information.
Control module 13 receives the thermoinduction image that thermoinduction detection module 14 sends, and the ambient image information that data acquisition module 12 sends, and by thermoinduction image and ambient image information process the matching analysis, generate coupling thermal-image data and store, for follow-up person recognition.
The thermoinduction detection module 14 of the present embodiment, can comprise infrared temperature sensor and infrared thermography, and infrared temperature sensor and infrared thermography are arranged on hollow ball-shape enclosure, and is arranged on data acquisition module 12 around.Body surface temperature in infrared temperature sensor testing environment, and feed back to control module 13, when detecting that the surface temperature of object meets preset temperature value scope, control module 13 sends instruction and controls the thermoinduction image that infrared thermography generates this object.Control module 13 receives the thermoinduction image that thermal infrared imager sends, and the ambient image information that itself and data acquisition module 12 gather is carried out the matching analysis, generates coupling thermal-image data, be supplied to person recognition module 15 and use after overall treatment.
After person recognition module 15 receives coupling thermal-image data, by its with storage inside and sent by receiving end supervisory system carry out the matching analysis about human body image data detect target, the identification of target is detected in realization.In a kind of embodiment, person recognition module 15 is when carrying out the matching analysis, first can set up each self-corresponding skeleton three-dimensional model according to described human body image data and described coupling thermal-image data respectively, face contour model, face skeleton pattern, namely the skeleton three-dimensional model A of detecting target is set up according to the human body image data of storage inside, face contour Model B, face skeleton pattern C, the skeleton three-dimensional model a of the target of current discovery is set up according to coupling thermal-image data, face contour model b, face skeleton pattern c, again respectively to skeleton three-dimensional model A and a, face contour Model B and b, face skeleton pattern C and c carries out the matching analysis, judge skeleton, whether face contour and face all mate, if so, then person recognition module 15 judges human body image data and mates thermal-image data and mate, and namely shows that the target of the current discovery of environment arrangement for detecting is detecting target.
The environment arrangement for detecting of the present embodiment, there is the low advantage of namely throwing namely of the little cost of volume, tackle in confused situation, highly dangerous, personnel cannot close to and use usual means cannot implement the emergency episode of monitoring time, according to actual conditions by the throwing of one or more environment arrangement for detecting to cannot close to or exist in the environment of potential safety hazard, quick discovery detecting target, and stably gather environmental information by data acquisition module.
Preferably, as shown in Figure 2, the environment arrangement for detecting in the present embodiment also can comprise the driver module (not shown), locating module 16, the photoinduction module 17 that are connected with control module 13.Photoinduction module 17 is connected with locating module 16, power module 11, and locating module 16 is connected with power module 11.
Based on existing light detection technique, photoinduction module 17 can search the light the weakest point of environment arrangement for detecting in preset range.Based on existing wireless location technology, locating module 17 can the positional information of positional information that environmentally arrangement for detecting is current and light the weakest point, determines that environment arrangement for detecting moves to the path of light the weakest point from current location; Control module 13 can generate mobile steering order according to this path and be sent to driver module; Driver module according to this move steering order can drive environment arrangement for detecting, moved to light the weakest point, prevent environment arrangement for detecting from being detected target detection.
In a kind of embodiment, photoinduction module 17 starts after the instruction receiving person recognition module 15 transmission.Person recognition module 15, after judgement coupling thermal-image data mates with thermal man's volumetric image data, is determined to find detecting target, is now needed environment arrangement for detecting to stash, prevent from being detected target detection, therefore, send instruction to photoinduction module 17, make environment arrangement for detecting open stealth mode.After photoinduction module 17 works, in the certain limit of environment arrangement for detecting, (namely in above-mentioned preset range) searches for, induction light the weakest point, and determines the positional information of this light the weakest point in conjunction with locating module 16.The positional information of locating module 16 positional information that environmentally arrangement for detecting is current and light the weakest point generates path environment arrangement for detecting being moved to light the weakest point from current location, and path is fed back to control module 13.After control module 13 receives this path, generate corresponding mobile steering order, driver module moves steering order according to this environment arrangement for detecting is moved towards light the weakest point, finally makes environment arrangement for detecting move to shady place and stashes.
To sum up, environment arrangement for detecting in the present embodiment is by thermoinduction detection module 14 inspected object surface temperature and obtain thermoinduction image, the matching analysis is carried out by person recognition module 15, judge that current whether the searching of environment arrangement for detecting detects target accurately, and can automatically move to shady place and stash after discovery detecting target.Environment arrangement for detecting in the present embodiment can be applicable to the scene complicated and changeable such as military detecting, hostile takedown, for military strategy deployment, the work of execution rescue task dispatching provide strong auxiliary.
Embodiment two
The present invention also provides a kind of emergent supervisory system, as shown in Figure 3, the structural representation of emergent supervisory system in embodiment two, comprise the environment arrangement for detecting in embodiment one, described environment arrangement for detecting also comprises wireless transport module (not shown), and emergent supervisory system also comprises the receiving end supervisory system with described wireless transport module wireless connections.
Emergent supervisory system of the present invention, by professional environment arrangement for detecting can be thrown into and need guarded region, thus it is deeply emergent on-the-spot, environment arrangement for detecting can the information of collection site as required, such as can floor situation photo, gather speech data and other environmental datas etc., then exported the environmental information of above-mentioned collection by wireless transport module to receiving end supervisory system; Receiving end supervisory system receives described environmental information, can determine on-the-spot concrete condition in time, facilitates professional to make rescue decision-making and control measure.The various information such as received image, sound and environment also can be forwarded to command and control center, for the concrete condition of the understanding scene of the accident, command and control center by receiving end supervisory system.
The environment arrangement for detecting of the present embodiment, its hollow ball-shape enclosure, multiple sensors can be set and carry out data acquisition, such as, data acquisition module can be video sensor, audio sensor, also can comprise environment information acquisition sensor, described video sensor, audio sensor are all connected with control module with environment information acquisition sensor; Control module is exported by wireless transport module after the data of above-mentioned video sensor, audio sensor and the collection of environment information acquisition sensor are carried out the process such as compressed encoding; Power module is then each sensor or module for power supply.
Above-mentioned video sensor can be six, be separately positioned on six orthogonal directions, front and back up and down of the described spherical shell centre of sphere, the picture that each video sensor is taken can splice by control module, can ensure comprehensively to photograph the panoramic pictures of detection area without dead angle, also can control device cost preferably.
Above-mentioned environment information acquisition sensor can comprise humidity sensor, objectionable impurities sensor or radiation sensor, for the information such as humidity, harmful substance contents, content of radioactive substance of collection site.
Hollow ball-shape enclosure can have multiple through hole communicated with its inner chamber, and the devices such as described video sensor, audio sensor and environment information acquisition sensor, control module, power module, temperature detecting module can be separately fixed in each through hole; Or hollow ball-shape enclosure also can arrange support component, above-mentioned device can be separately fixed on support component.
The motion of environment arrangement for detecting is then controlled by control module and driver module.Wherein, driver module can comprise the first ball and the second ball, bindiny mechanism and driving mechanism; First ball and the second ball are rollably arranged on the two ends of described bindiny mechanism, and the first ball and the second ball all offset with hollow ball inwall; First ball and the second ball are positioned at through one of the described hollow ball centre of sphere diametrically; It is inner that driving mechanism is fixed on described hollow ball, is connected with described first ball, rolls for driving described first ball.
As shown in Figure 4, be the structural representation of the receiving end supervisory system of the present embodiment, wireless module 1010, uncompressed encoding module 1020, processing module 1030, display module 1040 and directive generation module 1050 can be provided with;
Receiving end supervisory system mainly receives the data of the wireless transport module transmission in environment arrangement for detecting, process, shows, analysis etc., the data that wireless module 1010 reception environment arrangement for detecting sends, uncompressed encoding module 1020 pairs of data carry out uncompressed encoding process, processing module 1030 is shown after the data of uncompressed encoding being processed further by display module 1040, monitor staff is by directive generation module 1050, carry out the triggering of steering order, the control signal that steering order generates is sent to environment arrangement for detecting by wireless network, radio transmitting method can be GSM (Global System for Mobile communication, global system for mobile communications)/GPRS (General Packet Radio Service, general packet radio service technology), CDMA (Code Division Multiple Access, CDMA), WCDMA (WidebandCode Division Multiple Access, Wideband Code Division Multiple Access (WCDMA)), TD-SCDMA (TimeDivision-Synchronous Code Division Multiple Access, TD SDMA), WI-FI (Wireless-Fidelity, Wireless Fidelity) and COFDM (Coded Orthogonal Frequency DivisionMultiplexing, COFDM) etc. one or more of mode.
The emergent supervisory system of the present embodiment, environment arrangement for detecting has that volume is little, cost is low, simple to operate, can be applied in confused situation, highly dangerous, personnel cannot close to and use usual means cannot the region of examinations; Environment arrangement for detecting can replace professional to enter accident generation environment, decreases the possibility of personnel by unexpected injury; Environment arrangement for detecting has mobile feature flexibly, is conveniently applicable to multiple special screne, has extensive use; Environment arrangement for detecting has high integration, can integrated polytype information acquisition unit as required, can the disposable collection completing much information data.
By the simple sensor collaborative work of one group of large redundancy, low cost in environment arrangement for detecting, with more directly, more accurate mode carries out complete detection to environmental information, and then realizes the accurate perception to complex environment or complicated event.Environment arrangement for detecting having high reliability, high survivability, establishing with needing, namely throwing features such as namely using, except being applicable to the scene such as military affairs detecting, hostile takedown described in embodiment one, also be applicable to the burst security incident occasion that multiple personnel cannot directly enter, such as earthquake, nuclear radiation leakage, chemical leakage, stream pollution, fire, mine disaster etc. need outburst disaster event etc. that is quick, flexible deployment.
Embodiment three
As shown in Figure 5, the schematic flow sheet of character recognition method in embodiment three that the present invention is based on environment arrangement for detecting, described environment arrangement for detecting, comprises hollow ball-shape shell, and is arranged on interconnective power module and the data acquisition module of described hollow ball-shape enclosure; Described character recognition method comprises the steps:
S10 obtains the thermoinduction image that surface temperature meets the object of preset temperature value scope;
S20 obtains ambient image information;
S30 carries out the matching analysis according to described thermoinduction image and described ambient image information, obtains coupling thermal-image data;
S40 obtains the human body image data that receiving end supervisory system sends, and carries out the matching analysis according to described human body image data and described coupling thermal-image data.
In a kind of embodiment, described preset temperature value scope is 36.26 DEG C ~ 37.74 DEG C, the body temperature of correspondence and people.
In the present embodiment, by the body surface temperature in infrared temperature sensor testing environment, when detecting that the surface temperature of object meets preset temperature value scope, when having people to exist as detected in environment, generate the thermoinduction image of this target by infrared thermography.Obtain the thermoinduction image of target, and itself and the ambient image information of data collecting module collected are carried out the matching analysis, generate after overall treatment and mate thermal-image data, for follow-up person recognition.
When identifying the target of current discovery, first obtain the human body image data that receiving end supervisory system sends, this human body image data is corresponding with detecting target, contains the much information of detecting target, such as skeleton, face contour, face profile etc.Above-mentioned coupling thermal-image data and the human body image data of detecting target are carried out the matching analysis, just can realize the identification detecting target.In a kind of embodiment, when carrying out the matching analysis, first can set up each self-corresponding skeleton three-dimensional model according to described human body image data and described coupling thermal-image data respectively, face contour model, face skeleton pattern, namely the human body image data about detecting target that has sent according to receiving end supervisory system sets up skeleton three-dimensional model A, face contour Model B, face skeleton pattern C, the skeleton three-dimensional model a of the target of current discovery is set up according to coupling thermal-image data, face contour model b, face skeleton pattern c, again respectively to skeleton three-dimensional model A and a, face contour Model B and b, face skeleton pattern C and c carries out the matching analysis, judge skeleton, whether face contour and face profile all mate, if coupling, then judge human body image data and mate thermal-image data and mate, namely show that the target of the current discovery of environment arrangement for detecting is detecting target.
In a kind of embodiment, as shown in Figure 6, mate after thermal-image data mates at the described human body image data of judgement with described, also comprise the steps:
S61 obtains the positional information of the light the weakest point in described environment arrangement for detecting preset range;
S62 obtains the current positional information of described environment arrangement for detecting;
S63, according to the positional information of described light the weakest point and the current positional information of described environment arrangement for detecting, determines that environment arrangement for detecting moves to the path of described light the weakest point from current location;
S64 moves steering order according to described coordinates measurement, and described mobile steering order is for controlling the driver module in described environment arrangement for detecting.
After judgement coupling thermal-image data mates with thermal man's volumetric image data, determine to find detecting target, environment arrangement for detecting is now needed to stash, prevent from being detected target detection, therefore environment arrangement for detecting is made to open stealth mode, first detect and location technology based on existing light, the positional information of the light the weakest point of search environment arrangement for detecting in preset range, and the positional information that environment arrangement for detecting is current, combining wireless location technology determines path environment arrangement for detecting being moved to light the weakest point from current location.After obtaining this path, by the corresponding mobile steering order of the CMOS macro cell such as central processing unit, micro-control unit, driver module in environment arrangement for detecting moves steering order environment arrangement for detecting can be made to move towards light the weakest point according to this, finally make environment arrangement for detecting move to shady place to stash, prevent environment arrangement for detecting from being detected target detection.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this instructions is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an environment arrangement for detecting, comprise hollow ball-shape shell, and be arranged on the interconnective power module of described hollow ball-shape enclosure, data acquisition module and control module, it is characterized in that, also comprise the thermoinduction detection module, the person recognition module that are arranged on described hollow ball-shape enclosure, described thermoinduction detection module, described person recognition module are all connected with described power module, described control module;
Described thermoinduction detection module meets the thermoinduction image of the object of preset temperature value scope for obtaining surface temperature;
Described control module carries out the matching analysis according to the ambient image information of described thermoinduction image and described data collecting module collected, obtains coupling thermal-image data;
Described person recognition module obtains the human body image data that receiving end supervisory system sends, and carries out the matching analysis according to described human body image data and described coupling thermal-image data.
2. environment arrangement for detecting according to claim 1, is characterized in that, described thermoinduction detection module comprises infrared temperature sensor and infrared thermography.
3. environment arrangement for detecting according to claim 2, it is characterized in that, body surface temperature in described infrared temperature sensor testing environment, when detecting that surface temperature meets the object of preset temperature value scope, described infrared thermography generates the thermoinduction image of this object.
4. the environment arrangement for detecting according to any one of claims 1 to 3, it is characterized in that, described person recognition module is when carrying out the matching analysis according to described human body image data and described coupling thermal-image data, each self-corresponding skeleton three-dimensional model, face contour model, face skeleton pattern is set up respectively according to described human body image data and described coupling thermal-image data, respectively the matching analysis is carried out to described skeleton three-dimensional model, described face contour model, described face skeleton pattern again, judge whether coupling; If so, then described person recognition module judges that described human body image data mates with the described thermal-image data that mates.
5. environment arrangement for detecting according to claim 1, is characterized in that, also comprises the driver module, locating module, the photoinduction module that are all connected with described control module; Described photoinduction module and described locating module, described power module; Described locating module is connected with described power module;
Light the weakest point in environment arrangement for detecting preset range described in described photoinduction block search;
Described locating module to move to the path of described light the weakest point from current location for obtaining environment arrangement for detecting;
Described control module moves steering order according to described coordinates measurement and is sent to driver module;
Described driver module drives described environment arrangement for detecting according to described mobile steering order.
6. an emergent supervisory system, it is characterized in that, comprise the environment arrangement for detecting according to any one of claim 1 to 5, described environment arrangement for detecting also comprises wireless transport module, and described emergent supervisory system also comprises the receiving end supervisory system with described wireless transport module wireless connections.
7. based on a character recognition method for environment arrangement for detecting, described environment arrangement for detecting, comprises hollow ball-shape shell, and is arranged on interconnective power module and the data acquisition module of described hollow ball-shape enclosure; It is characterized in that, described character recognition method comprises the steps:
Obtain the thermoinduction image that surface temperature meets the object of preset temperature value scope;
Obtain ambient image information;
Carry out the matching analysis according to described thermoinduction image and described ambient image information, obtain coupling thermal-image data;
Obtain the human body image data that receiving end supervisory system sends, and carry out the matching analysis according to described human body image data and described coupling thermal-image data.
8. the character recognition method based on environment arrangement for detecting according to claim 7, is characterized in that, described preset temperature value scope is 36.26 DEG C ~ 37.74 DEG C.
9. the character recognition method based on environment arrangement for detecting according to claim 7, is characterized in that, comprises the steps: according to the process that described human body image data and described coupling thermal-image data carry out the matching analysis
Each self-corresponding skeleton three-dimensional model, face contour model, face skeleton pattern is set up respectively according to described human body image data and described coupling thermal-image data;
Respectively the matching analysis is carried out to described skeleton three-dimensional model, described face contour model, described face skeleton pattern, judge whether all to mate;
If so, then judge that described human body image data mates with the described thermal-image data that mates.
10. the character recognition method based on environment arrangement for detecting according to claim 7, is characterized in that, mates after thermal-image data mates, also comprise the steps: at the described human body image data of judgement with described
Obtain the positional information of the light the weakest point in described environment arrangement for detecting preset range;
Obtain the positional information that described environment arrangement for detecting is current;
According to the positional information of described light the weakest point and the current positional information of described environment arrangement for detecting, determine that environment arrangement for detecting moves to the path of described light the weakest point from current location;
Move steering order according to described coordinates measurement, described mobile steering order is for controlling the driver module in described environment arrangement for detecting.
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| 刘海涛: "基于ARM9的视频监控与自动跟踪控制系统研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 王世平: "基于DSP的运动目标检测与跟踪", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425790A (en) * | 2015-11-04 | 2016-03-23 | 广州杰赛科技股份有限公司 | Detection ball |
| CN105425790B (en) * | 2015-11-04 | 2018-07-31 | 广州杰赛科技股份有限公司 | A kind of detecting ball |
| CN107991896A (en) * | 2017-12-11 | 2018-05-04 | 三星电子（中国）研发中心 | For controlling system, the method and apparatus of smart machine |
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