CN106054256A - Method for detecting moving speed and moving direction of mobile charge source - Google Patents
Method for detecting moving speed and moving direction of mobile charge source Download PDFInfo
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Abstract
The invention discloses a method for tracking and detecting a mobile charge source in a noncontact manner, wherein the method belongs to the field of static detection. The method comprises the following steps of arranging a multiple-pole-plate detecting array which can detect a static signal of the movable charge source; acquiring the static signal in a monitored environment; comparing the electric potential value of an acquired static induction signal with a preset criteria; recording the amplitude of the static induction signal which is generated on each pole plate, converting the amplitude of the static induction voltage signal to an induction current signal and performing integration, obtaining the induction charge amount of each induction pole plate, performing charge source position detection according to a constraint scanning method, obtaining the position of the mobile charge source, processing a real-time position through Kalman filtering for improving position precision, and obtaining an objective moving speed and moving direction through adjacent position calculation. The method of the invention can be used for performing real-time detection on the moving speed and the moving direction of the mobile charge source through five pole plates which are arranged in a three-dimensional manner. The method has advantages of high concealness, low calculation amount, high real-time performance and relatively high calculation accuracy.
Description
Technical field
The present invention relates to a kind of contactless method following the tracks of detection dislocation charge source, particularly relate to one and can be used for following the tracks of
Various Electrostatic Target, particularly human body and human hands movement velocity and the Non-contact electrostatic detection method in direction, belong to quiet
Electricity field of detecting.
Background technology
The developing direction of the human body monitoring technology being applied to the fields such as anti-terrorism scouting, safety monitoring, medical treatment and nursing at present is
Research has good in anti-interference performance, false alarm rate is low, working angle district is little, logical algorithm simple and system lays the newest body
Detection Techniques processed.Human body detection technology has important application widely in anti-terrorism monitoring field, exists as grasped solitary personnel at any time
The active state of residential location.Infrared acquisition and image pattern recognition obtain in human body detection field widely should at present
With.
Infrared detection technique utilizes the infrared radiation signal of human body to carry out the existence of perception human body target, but owing to indoor are deposited
Launch the equipment of infrared signal in heating, illumination etc., in outdoor environment, there is the sources of infrared radiation such as illumination so that this skill simultaneously
The false alarm rate of art is higher.Additionally infrared detection technique can only detect whether human body target exists, and the appearance of None-identified target
State action；Image pattern recognition be usually used in identify human body attitude action, but photographic head video dead angle area without
Method plays a role, and in addition in order to get rid of the interference of non-human target, image pattern recognition needs to use complicated logic to calculate
Method designs.
Electrostatic detection technology utilizes the electrostatic that in motion, object is carried to realize the detection identification to target.
“Triboelectrification of houseflies(Musca domestic L.)walking on synthetic
dielectric surfaces”Mcgonigle D F,Jackson C W and Davidson J L
The method proposing first in 2002J.Electrostat.54167-177 the insecticide in creeping is carried out electrostatic detection.Opened by this
Send out, " Electrification of human body by walking " Ficker T 2006J.Electrostat.64
The change of people's bulk potential in motion is studied by 10-16 by the electrometer being arranged on the person.Owing to all move
Object all can bring electrostatic, be therefore applied to electrostatic detection method identify that human body is feasible, do not connect non-
Touch electrostatic detection method is applied to human bioequivalence.
“An adaptive Kalman-based Bayes estimation technique to classify
locomotor activities in young and elderly adults through accelerometers”
R.Muscillo,M.Schmid,S.Conforto and T.D’Alessio,Med.Eng.Phys.32,849-859(2010)、
“Detection of pedestrians in far-infrared automotive night vision using
region-growing and clothing distortion compensation”R.O’Malley,E.Jonesa,and
M.Glavin,Infrared.Phys.Techn.53,439-449(2010)、“Human detection using a mobile
platform and novel features derived from a visual saliency mechanism”
Respectively by human body hands in S.Montabone, and A.Soto, Image.Vision.Comput.28,391-402 (2010)
Portion installs sensor, infrared detection technique and image pattern recognition and realizes the tracking to human hand motion trajectory.But
Owing to the equipment of infrared signal is launched in indoor existence heating, illumination etc., in outdoor environment, there is the infra-red radiations such as illumination simultaneously
Source so that the error rate being applied to follow the tracks of the infrared detection technique of human hand motion trajectory is higher.Image pattern recognition
It is usually used in the tracking to human body motion track, but cannot play a role, in addition in order to arrange at the video dead angle area of photographic head
Unless the interference of human hands target, image pattern recognition needs to use complicated logical algorithm design；Wearable senses
Device network can follow the tracks of the movement locus of human hands effectively, but owing to detector is arranged on human hands by needs, deposits
In-convenience in use defect, the kinestate of human hands will be impacted simultaneously.
Summary of the invention
The technical problem to be solved in the present invention is the motion utilizing Non-contact electrostatic detection method to follow the tracks of dislocation charge source
Speed and direction (as a example by human hands), the working angle district simultaneously solving the existence of human hands motion detection technology greatly and is visited
The problem that examining system is complicated with logical algorithm design.The invention discloses a kind of for following the tracks of dislocation charge source real time kinematics speed
With the Non-contact electrostatic detection method in direction, Non-contact electrostatic detection technology can be applied to transport human hands by the method
In dynamic track following, the working angle district of human hands tracking measurement technology can be reduced, reduce the detection of human hands motion tracking
The design complexity of system.
Disclosed by the invention a kind of for following the tracks of dislocation charge source movement speed and the Non-contact electrostatic detection side in direction
The goal of the invention of method is to be achieved through the following technical solutions:
Disclosed by the invention a kind of for following the tracks of dislocation charge source movement speed and the Non-contact electrostatic detection side in direction
It is as follows that method implements step:
Step one: lay the multi-electrode detection array that dislocation charge source movement electrostatic signal can be detected, described detection battle array
Row are made up of five pole plates, and five pole plates are divided into two groups, one of which 4, are laid in centered by initial point O, 2l is as the length of side
On foursquare 4 summits, coordinate is respectively S1(l,l,0)、S2(l,-l,0)、S3(l,l,0)、S4(-l, l, 0), another group 1
Individual, it is laid on Z axis, coordinate is (0,0 ,-h)；
Step 2: gather the electrostatic signal in monitoring of environmental, described electrostatic signal is that each moment detection system obtains
Electrostatic induction signal voltage value；
Step 3: the electrostatic induction signal voltage value this collected (can be set to full scale with preset contrast
5%), if this electrostatic induction signal is identical with this preset, then it is assumed that detect the existence of Charge Source motion；
Step 4: the Charge Source motion detected in recording step two produced electrostatic induction signal on each pole plate
Amplitude, electrostatic induction voltage signal amplitude is converted to sensor current signal and integration, obtains the sensing of each sensing pole plate
Quantity of electric charge Q1-Q5, use about beam-scanning method to carry out Charge Source position sensing, i.e. can get the physical location in dislocation charge source.
Step 5: use Kalman filtering that Charge Source movement locus is tracked, obtain the Charge Source position-order smoothed
Row, then use following formula acquisition Charge Source movement velocity and direction:
Charge Source movement velocity:
The Charge Source direction of motion with x-axis angle theta is:
The Charge Source direction of motion with y-axis angle β is:
The Charge Source direction of motion with z-axis angle γ is:
In above-mentioned formula, t is the time difference between twice Charge Source position measurement, when coordinate figure subscript T (n) represents current
The coordinate figure carved, coordinate figure subscript T (n-1) represents the coordinate figure of previous moment.
About beam-scanning method described in step 4 is:
The charge inducing amount of each pole plate is compared, eliminates source quantities of charge, it can be deduced that:
By above formula understand withFor the centre of sphere, withFor owning on the sphere of radius
Point T meets formulaWith pointFor the centre of sphere, withSphere for radius
On had a T the most satisfiedWith pointFor the centre of sphere, withFor radius
Sphere on had a T the most satisfiedThree spheres with A, B, C as the centre of sphere can be sent on a circle mutually.
A T can be carried out further justify constraint, will Charge Source position constraint be a radius be r0, the center of circle is the circle of W.Due to circle
Heart W is on straight line AB, then center of circle W is on XOY plane, can set W coordinate as (x0, y0, 0).x0、y0And r0Occurrence can be by
AB point coordinates, r1And r2Be given by triangle geometry relation.
From mathematical angle analysis, Charge Source can be tied on a circle, but be by two spheres with A, B as the centre of sphere
Unite actually used in, owing to there is systematic error, the position of the centre of sphere A, B there may be deviation, in order to improve circle constraint precision, can
Further by A, B, C tri-point coordinates fitting a straight line carry out justifying constraint.
By A, 3 fitting a straight lines of B, C:
Y=ax+b
According to A, 3 positions of B, C and r1,r2,r3May determine that T point is positioned at a radius is r0, center of circle W is [x0,y0,
0], on circle, this circle place plane vertical of straight line shown in y=ax+b also crosses center of circle W.
By polar coordinate representation Charge Source T, if TW line and plane XOY angle are θ, scan θ value so that T point is along circular motion
Time, if 0≤θ < 2 π (, TW is projected as straight line y=a in plane XOY1x+b1,A is that formula y=ax+b cathetus is oblique
Rate, then T point (x, y, z) Coordinate Conversion is that polar coordinate are:
According to a fixed step size at (0,2 π) range scans θ so that:
Wherein (x1,y1,z1), (x5,y5,z5) it is pole plate 1 and the position of pole plate 5, (x in the present system1,y1,z1) be (-
L ,-l, 0), (x5,y5,z5) be (0,0, h).
θ value now is set to θ0, then Charge Source position can be given by:
Beneficial effect:
1, a kind of dislocation charge source real time position detection method of the present invention can be by three-dimensional 5 pole plates laid to shifting
Galvanic electricity lotus source position carries out real-time detection, can be applicable to the real-time of airbound target, vehicle target, human body target and human hands
Position sensing.
2, a kind of dislocation charge source real time position detection method of the present invention, owing to make use of, electrostatic induction signal is more difficult to disappear
The feature removed, can be passive dislocation charge source target is carried out position sensing, there is the feature of good concealment.
3, Charge Source position is entered by a kind of dislocation charge source real time position detection method of the present invention by about beam-scanning method
Row detection, has operand little, and real-time is good, the accurate feature of position calculation.
Accompanying drawing explanation
Fig. 1 is that probe unit lays schematic diagram；
Fig. 2 is the about circle constraint schematic diagram in beam-scanning method；
Fig. 3 is the about scanning schematic diagram in beam-scanning method.
Detailed description of the invention
Describe the detailed description of the invention of the present invention below in conjunction with the accompanying drawings in detail.
Embodiment:
Step one: lay the multi-electrode detection array that dislocation charge source movement electrostatic signal can be detected, described detection battle array
Row are made up of five pole plates as shown in Figure 1, and five pole plates are divided into two groups, one of which 4, be laid in centered by initial point O,
2l is that on foursquare 4 summits of the length of side, coordinate is respectively S1(l,l,0)、S2(l,-l,0)、S3(l,l,0)、S4(-l,l,
0), another group 1, it is laid on Z axis, coordinate is (0,0 ,-h)；
Step 2: gather the electrostatic signal in monitoring of environmental, described electrostatic signal is that each moment detection system obtains
Electrostatic induction signal voltage value；
Step 3: the electrostatic induction signal voltage value this collected (can be set to full scale with preset contrast
5%), if this electrostatic induction signal is identical with this preset, then it is assumed that detect the existence in moving charge source；
Step 4: the Charge Source motion detected in recording step two produced electrostatic induction signal on each pole plate
Amplitude, electrostatic induction voltage signal amplitude is converted to sensor current signal and integration, obtains the sensing of each sensing pole plate
Quantity of electric charge Q1-Q5, use about beam-scanning method to carry out Charge Source position sensing, i.e. can get the physical location in dislocation charge source.
Step 5: use Kalman filtering that Charge Source movement locus is tracked, obtain the Charge Source position-order smoothed
Row, then use following formula acquisition Charge Source movement velocity and direction:
Charge Source movement velocity:
The Charge Source direction of motion with x-axis angle theta is:
The Charge Source direction of motion with y-axis angle β is:
The Charge Source direction of motion with z-axis angle γ is:
In above-mentioned formula, t is the time difference between twice Charge Source position measurement, when coordinate figure subscript T (n) represents current
The coordinate figure carved, coordinate figure subscript T (n-1) represents the coordinate figure of previous moment.
About beam-scanning method described in step 4 is:
The charge inducing amount of each pole plate is compared, eliminates source quantities of charge, it can be deduced that:
By above formula understand withFor the centre of sphere, withFor owning on the sphere of radius
Point T meets formulaWith pointFor the centre of sphere, withSphere for radius
On had a T the most satisfiedWith pointFor the centre of sphere, withFor radius
There is a T the most satisfied on sphereThree spheres with A, B, C as the centre of sphere can be sent on a circle mutually.I.e.
A T can be carried out further justify constraint, will Charge Source position constraint be a radius be r0, the center of circle is the circle of W.Due to the center of circle
W is on straight line AB, then center of circle W is on XOY plane, can set W coordinate as (x0, y0, 0).x0、y0And r0Occurrence can be by AB
Point coordinates, r1And r2Be given by triangle geometry relation shown in accompanying drawing 2.
From mathematical angle analysis, Charge Source can be tied on a circle, but be by two spheres with A, B as the centre of sphere
Unite actually used in, owing to there is systematic error, the position of the centre of sphere A, B there may be deviation, in order to improve circle constraint precision, can
Further by A, B, C tri-point coordinates fitting a straight line carry out justifying constraint.
By A, 3 fitting a straight lines of B, C:
Y=ax+b
According to A, 3 positions of B, C and r1,r2,r3May determine that T point is positioned at a radius is r0, center of circle W is [x0,y0,
0], on circle, this circle place plane vertical of straight line shown in y=ax+b also crosses center of circle W.
Shown in accompanying drawing 3, use polar coordinate representation Charge Source T, if TW line and plane XOY angle are θ, scan θ value, make
T point along circular motion time, if 0≤θ < 2 π (, TW is projected as straight line y=a in plane XOY1x+b1,A is formula y=
Ax+b cathetus slope, then T point (x, y, z) Coordinate Conversion is that polar coordinate are:
According to a fixed step size at (0,2 π) range scans θ so that:
Wherein (x1,y1,z1), (x5,y5,z5) it is pole plate 1 and the position of pole plate 5, (x in the present system1,y1,z1) be (-
L ,-l, 0), (x5,y5,z5) be (0,0, h).
θ value now is set to θ0, then Charge Source position can be given by:
Scope is not only limited to above-described embodiment, and above-described embodiment is used for explaining the present invention, all with this
Bright same principle and design under the conditions of change or amendment all within protection domain disclosed by the invention.
Claims (2)
1. one kind for following the tracks of the Non-contact electrostatic detection method of dislocation charge source real time position, it is characterised in that include as
Lower step:
Step one: lay and the multi-electrode detection array of dislocation charge source movement electrostatic signal can be detected, described detection array by
Five pole plates composition, five pole plates are divided into two groups, one of which 4, are laid in centered by initial point O, the 2l pros as the length of side
On 4 summits of shape, coordinate is respectively S1(l,l,0)、S2(l,-l,0)、S3(l,l,0)、S4(-l, l, 0), another group 1, cloth
Being located on Z axis, coordinate is (0,0 ,-h)；
Step 2: gather the electrostatic signal in monitoring of environmental, described electrostatic signal is the quiet of each moment detection system acquisition
Electric induction signal voltage value；
Step 3: the electrostatic induction signal voltage value this collected contrasts (can be set to the 5% of full scale) with preset, as
Really this electrostatic induction signal is identical with this preset, then it is assumed that detect the existence of Charge Source motion；
Step 4: the Charge Source motion detected in recording step two width of produced electrostatic induction signal on each pole plate
Value, is converted to sensor current signal and integration by electrostatic induction voltage signal amplitude, obtains the charge inducing of each sensing pole plate
Amount Q1-Q5, use about beam-scanning method to carry out Charge Source position sensing, i.e. can get the physical location in dislocation charge source.
A kind of Non-contact electrostatic detection side for following the tracks of dislocation charge source real time position the most according to claim 1
Method, it is characterised in that:
About beam-scanning method described in step 4 is:
The charge inducing amount of each pole plate is compared, eliminates source quantities of charge, it can be deduced that:
By above formula understand withFor the centre of sphere, withBy being had a T all on the sphere of radius
Meet formulaWith pointFor the centre of sphere, withFor the institute on the sphere of radius
There is a T the most satisfiedWith pointFor the centre of sphere, withFor on the sphere of radius
Had a T the most satisfiedThree spheres with A, B, C as the centre of sphere can be sent on a circle mutually.Can point
T carries out justifying constraint further, will Charge Source position constraint be a radius be r0, the center of circle is the circle of W.Owing to center of circle W is in
On straight line AB, then center of circle W is on XOY plane, can set W coordinate as (x0, y0, 0).x0、y0And r0Occurrence can be sat by AB point
Mark, r1And r2Be given by triangle geometry relation.
From mathematical angle analysis, Charge Source can be tied on a circle by two spheres with A, B as the centre of sphere, but real in system
During border uses, owing to there is systematic error, the position of the centre of sphere A, B there may be deviation, in order to improve circle constraint precision, can enter one
Walk by A, B, C tri-point coordinates fitting a straight line carry out justifying constraint.
By A, 3 fitting a straight lines of B, C:
Y=ax+b
According to A, 3 positions of B, C and r1,r2,r3May determine that T point is positioned at a radius is r0, center of circle W is [x0,y0, 0]
On circle, this circle place plane vertical of straight line shown in y=ax+b also crosses center of circle W.
By polar coordinate representation Charge Source T, if TW line and plane XOY angle are θ, scan θ value so that when T point is along circular motion, if
0≤θ < 2 π (, TW is projected as straight line y=a in plane XOY1x+b1,A is formula y=ax+b cathetus slope, then T
Point (x, y, z) Coordinate Conversion is that polar coordinate are:
According to a fixed step size at (0,2 π) range scans θ so that:
Wherein (x1,y1,z1), (x5,y5,z5) it is pole plate 1 and the position of pole plate 5, (x in the present system1,y1,z1) be (-l ,-l,
0), (x5,y5,z5) be (0,0, h).
θ value now is set to θ0, then Charge Source position can be given by:
。
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| CN106125146A (en) * | 2016-07-04 | 2016-11-16 | 北京理工大学 | A kind of dislocation charge source real time position detection method |
| CN107329005A (en) * | 2016-12-02 | 2017-11-07 | 北京理工大学 | A kind of the orientation detection device and its detection method of the mobile electrical body based on electret effect |
| CN111580640A (en) * | 2019-02-18 | 2020-08-25 | 张丽敏 | Two-direction gesture tracking device and method based on charge induction |
| CN112415607A (en) * | 2019-08-23 | 2021-02-26 | 南京大学 | Electric field detection method for space debris |
| CN112698409A (en) * | 2019-10-22 | 2021-04-23 | 张丽敏 | Indoor moving target positioning and tracking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125146A (en) * | 2016-07-04 | 2016-11-16 | 北京理工大学 | A kind of dislocation charge source real time position detection method |
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| CN111580640B (en) * | 2019-02-18 | 2023-12-22 | 张丽敏 | Two-direction gesture tracking device and method based on charge induction |
| CN112415607A (en) * | 2019-08-23 | 2021-02-26 | 南京大学 | Electric field detection method for space debris |
| CN112698409A (en) * | 2019-10-22 | 2021-04-23 | 张丽敏 | Indoor moving target positioning and tracking method |
| CN112698409B (en) * | 2019-10-22 | 2024-01-30 | 张丽敏 | Indoor moving target positioning and tracking method |
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