CN106933355A - The quick method for obtaining moving object information in real time in augmented reality - Google Patents
The quick method for obtaining moving object information in real time in augmented reality Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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Abstract
The invention discloses a kind of quick method for obtaining moving object information in real time in augmented reality, methods described is included on background map and sets the site that multiple includes site information, and moving object is placed on background map；Corresponding window image at moving object position is obtained, the terminal control module being transferred on display terminal after site information is extracted；Terminal control module loci information is processed, and information of the moving object on background map is determined by site information.Site packet includes the positional information in site in the present invention, and real world is associated with the positional information in augmented reality by site information, can quickly, in real time, exactly obtain information of the moving object in real world, completes the positioning on display terminal.
Description
Technical field
It is quick in more particularly to a kind of augmented reality to obtain moving object information in real time the present invention relates to augmented reality field
Method.
Background technology
Augmented reality (Augmented Reality, AR), is in virtual reality (Virtual Reality, VR) technology base
The new technology grown up on plinth, it passes through computer graphical and visualization technique, multimedia technology, interaction technique by computer
Or intelligent terminal calculates the virtual objects (figure, image, word, sound etc.) being rendered to, what is held water is added to
In the true and real world that user can directly perceive, both combine together, so as to play so-called " enhancing " effect.Mesh
Before, the augmented reality system based on video realizes that augmented reality generally requires four steps：The IMAQ of real scene；In real time
Tracking and registration；Dummy object is drawn and is rendered；The fusion display of actual situation scene.This mode obtains true first with video camera
Real scene video, scene location information is obtained using the mark in video flowing, then calculates virtual by graphic system
Object coordinates draw dummy object by transition matrix to the coordinate transform between camera view plane on view plane, will be virtual
Object is registered in the real scene of user's perception, and the scene of virtual reality fusion is finally shown on an output device.
Augmented reality is described as one of research field most popular in recent years, and it sets in medical field, military field, industry
The aspect such as meter and public entertainment field has potential application, wherein, using augmented reality play can become and network
The game mode that game compares favourably, the attraction (dazzling cruel visual effect) that it had both retained online game can promote player again
Social activities (because augmented reality has to rely on actual object) is participated in, the dependence to online game is reduced.No matter above-mentioned
The application in which kind of field, people are gradually not content with currently to stationary object or the augmented reality of scene, to moving object or field
The demand of scape augmented reality increasingly increases.
However, at present there is certain delayed, main cause in augmented reality to the Tracing Registration aspect of moving object
It is there is time delay to the determination of moving object information.The time delay reason for causing moving object information is：(1) in one kind
In mode, a range of image around current moving object and moving object position is continuously acquired by camera, so
Adjacent two field picture is contrasted afterwards to obtain the information of mobile object, the algorithm that this kind of mode is related to is complicated, reduces and obtains
Take the promptness of moving object information；Or, (2) in a further mode of operation, the fortune of mobile object are obtained using multiple sensors
Dynamic information, but because some sensors itself have time delay characteristic long so that the data of acquisition have certain time delay.
Therefore, the present inventor furthers investigate to the system for obtaining moving object information, a kind of quick, real to provide
When, the method for accuracy acquisition moving object information high, syncretizing effect of the enhancing virtual information in reality scene.
The content of the invention
In order to solve the above problems, present inventor has performed studying with keen determination, as a result find：Moving object is placed on and is provided with
On the background map in site, and image capture module, data decoder module and first communication module are installed in moving object, lead to
The image capture module and data decoder module crossed in moving object carry out the collection of moving object information, extract, logical through first
On information transfer to the terminal control module of display terminal that letter module etc. will be collected, using site information by real world with
Positional information in augmented reality is associated, and realizes the acquisition of information and the positioning on display terminal of moving object, so that
Complete the present invention.
It is an object of the invention to provide following technical scheme：
1st, a kind of quick method for obtaining moving object information in real time in augmented reality, the described method comprises the following steps：
1) site 110 that multiple includes recognizable site information is set on background map 100, moving object is placed in
On background map；
2) corresponding regarding comprising multiple sites 110 at moving object position is obtained by image capture module 200
Window image, the site information to be can recognize that in window image is extracted, and transmits terminal of the site information to display terminal
Control module 400；
3) the loci information of terminal control module 400 is processed, and determines the information of moving object.
According to the quick method for obtaining moving object information in real time in a kind of augmented reality that the present invention is provided, with following
Beneficial effect：
(1) present invention is carried out really based on position of the background map to moving object, speed and the directional information for carrying site
Fixed, this mode is totally different from the prior art by way of image comparison or sensor determine moving object information, is solved
Be present hysteresis quality in the acquisition present in prior art to moving object information, can obtain quickly, in real time, exactly
The information of moving object, syncretizing effect of the enhancing virtual information in reality scene；
(2) site in the present invention on background map is arranged in coordinate points form, is easy to the identification to moving object position；
Meanwhile, safe range delimited on background map, when in the window image for obtaining comprising site is reminded, terminal control module is aobvious
Show and pointed out in terminal, be easy to manipulation of the user to moving object, can also avoid that moving object cannot be obtained on display terminal
The situation of information；
(3) image capture module may include the first camera head and the second camera head in the present invention, and two camera heads exist
The installation of diverse location in moving object, is easy to the acquisition to moving object positional information, velocity information and directional information；
(4) first communication module and second communication module can be bluetooth communication in the present invention, meet information reception
Meanwhile, energy consumption is small, low cost；
(5) system conversion high is carried out to the site information for transmitting using data decoder module in the present invention, is effectively reduced
The transmission time of site information, is more beneficial for realizing the promptness that moving object information is obtained；
(6) system that moving object information is obtained in the present invention can be processed the fuzzy situation of window image, occurred
During blurred picture, the determination of moving object information and the effectively and reasonably positioning in display terminal are can effectively ensure that.
Brief description of the drawings
Fig. 1 shows the flow chart of the method for acquisition moving object information in the present invention；
Fig. 2 shows the schematic diagram of background map in a kind of preferred embodiment of the invention；
Fig. 3 shows the module diagram being arranged in moving object in the present invention.
Drawing reference numeral explanation：
100- background maps；
110- sites；
200- image capture modules；
The camera heads of 210- first；
The camera heads of 220- second；
310- first communication modules；
320- second communication modules；
400- terminal control modules；
500- data decoder modules.
Specific embodiment
Below by the present invention is described in detail, the features and advantages of the invention will become more with these explanations
For clear, clear and definite.
As shown in figure 1, the invention provides a kind of quick method for obtaining moving object information in real time in augmented reality, should
Method comprises the following steps：
1) site 110 that multiple includes recognizable site information is set on background map 100, moving object is placed in
On background map；
2) corresponding regarding comprising multiple sites 110 at moving object position is obtained by image capture module 200
Window image, the site information to be can recognize that in window image is extracted and is transmitted terminal control of the site information to display terminal
Molding block 400；
3) the loci information of terminal control module 400 is processed, and determines the information of moving object.
Step 1) in, as shown in Fig. 2 the site 110 on the background map 100 is regular on two dimensional surface with what is set
Arrangement, preferred sites 110 are arranged in the form of coordinate points, and spacing is equal between each site 110.For example, in background map 100
An XY axis coordinate system is set on two dimensional surface, the positive direction of X-axis is defined as to the right, the positive direction of Y-axis, origin are defined as upwards
Coordinate is (0,0).Site density is set according to precision requirement, such as 1,000,000 groups of sites are set on the map of 1m × 1m
110, i.e. site density are 100 myriabit points/m2, then first point in X-axis positive direction is just represented (1mm, 0), and Y-axis is square
Upward first point represents (0,1mm), and by that analogy, so each site 110 just can be true in the position of background map 100
It is fixed.Preferably, site density is not less than 6 myriabit points/m2。
The background map 100 is made up of paper material or high molecular film material.The site 110 is invisible for naked eyes
Microcosmos area, recognizable site information is provided with by modes such as printing, spraying or etchings in site 110.
In a preferred embodiment, the site information in site 110 includes the coordinate data in site 110, coordinate
Data are used to represent the positional information of the site 110 in background map 100.The site information is representing binary-coded character
The sequential combination of the painted patterns with two or more intensity of reflected light of (1,0) represents, wherein, the shape of painted patterns
Shape can be with identical, it is also possible to different, and intensity of reflected light difference is larger (i.e. easily recognizable, differentiation).For example, the site information with
The circular expression of the two or more intensities of reflected light of binary-coded character is represented, wherein, with anti-higher than a certain setting intensity
Circle correspondence character 1 (or 0) of luminous intensity is penetrated, with the circle correspondence character with the intensity of reflected light less than a certain setting intensity
0 (or 1).
In another preferred embodiment, the site information is two or more that represent binary-coded character
The sequential combination of the microcosmos pattern of shape.It is two kinds of microcosmos patterns of shape for representing binary-coded character in the site information
During sequential combination, with the microcosmos pattern correspondence character 1 of a certain shape, the microcosmos pattern correspondence character 0 of another shape；In institute's rheme
When point information is the sequential combination of microcosmos pattern of the two or more shapes for representing binary-coded character, wherein with the micro- of a certain shape
Figure correspondence character 1 (or 0) is seen, other microcosmos patterns correspond to character 0 (or 1).
The region area of length and site 110 in view of site information, site information is in site 110 preferably with many
The form of row multiple row is set.
In further preferred embodiment, size according to moving object away from the setting of background map frontside edge away from
From interior delimitation safe range, wherein, the peripheral site 110 nearest with the edge of safe range is prompting site in safe range,
When in the window image for obtaining comprising site is reminded, terminal control module 400 is pointed out on display terminal, grasps user
Control moving object is moved in safe range.If moving object deviates safe range, there is greater risk to deviate background map
100, may cause in window image without site information, the information of moving object cannot be obtained on display terminal.
Step 2) in, as shown in figure 3, in order to obtain window image, complete the extraction of site information and transmit site information
To terminal control module 400, image capture module 200, the communication mould of data decoder module 500 and first are installed in moving object
Block 310.Image capture module 200 obtains the corresponding window image comprising multiple sites 110 at moving object position, will
Window image is transferred to data decoder module 500, and data decoder module 500 is identified to the site information in window image,
And string of binary characters (extracting) is translated into, then transmit site information to first communication module 310.
In a preferred embodiment, described image acquisition module 200 can include a camera head, shooting dress
The camera put obtains corresponding at moving object position towards background map 100 by modes such as capture images/photos
Window image comprising multiple sites 110.The camera head is arranged in moving object, is preferably fixed to moving object bottom
Centre position.In the present embodiment, according to the window image that the single camera head current time obtains, it may be determined that motion
The positional information of object, according to the window image that last moment or more at some moment and current time obtain, it may be determined that motion
The velocity information and directional information of object.
In another preferred embodiment, as shown in figure 3, described image acquisition module 200 may also include two taking the photograph
As device, i.e. the first camera head 210 and the second camera head 220, the camera of two camera heads towards background map 100 with
Obtain the corresponding window image comprising multiple sites 110 at moving object position.By the first camera head 210 and second
Camera head 220 is arranged on the axle of moving object, preferably symmetry axis, the direction of the axle and the moving direction of moving object
Unanimously.Preferably, the first camera head 210 is fixed on the centre position of moving object axle, it obtains and determines moving object
The window image of positional information and velocity information；Second camera head 220 is fixed on position forward on moving object axle, is led to
The combination for crossing the window image of two camera heads acquisition determines the directional information of moving object.
Image capture module 200 preferably includes two camera heads, and this setting can greatly mitigate subsequent terminal control module
The difficulty that 400 pairs of moving object informations determine.
In a preferred embodiment, image capture module 200 is the shooting dress with high magnification, fine definition
Put.Image capture module 200 in the present invention is with the camera head for being not less than 300,000 pixel camera heads, herein not to shooting
The model of device is limited, and it can select and is applied to disposable type of the invention, such as SNC5500 types video camera in the art.
In a preferred embodiment, the window image that image capture module 200 is obtained can be square, rectangle or circle
Shape, preferably square, so that close in the number that shooting picture two intersects the site 110 in edge direction.Window image
Size meets to be made all the time accommodate at least 6 sites 110 in each window image.For example, with the upper left corner in window image, a left side
Site 110 at inferior horn, the upper right corner or the lower right corner is as effective site (for calculating moving object positional information, velocity information
With the site 110 of directional information).When effective site is got for fuzzy locus, i.e., the site is unintelligible, it is impossible to know its position
Point information, can obtain the site information in effective site according to the site information in other sites 110 of fuzzy locus vicinity.When
When whole sites 110 in the window image that a certain moment obtains are fuzzy locus, can according to last moment, more than it is some when
The site information that quarter and subsequent time, following some moment obtain effectively site in window images is effective to obtain the moment
The site information in site.
In the present invention, data decoder module 500 receives the window image of the transmission of image capture module 200, to form figure
Site information as in is identified, and is translated into string of binary characters.For example, the site information is representing binary system
The sequential combination of the painted patterns with different intensities of reflected light of character represents, wherein, with higher than a certain setting intensity
Intensity of reflected light painted patterns correspondence character 1 (or 0), with less than it is a certain setting intensity intensity of reflected light pigment
Pattern correspondence character 0 (or 1).The painted patterns transcoding of correspondence character 1 is character 1 by data decoder module 500, by correspondence character
0 painted patterns transcoding be character 0, now the site information in window image be by transcoding be string of binary characters (binary system
Formula site information), realize the identification of site information, extract.
In a preferred embodiment, the data decoder module 500 is also equipped with system transformation function high.The height
System conversion refers to that the binary system formula site information that will be extracted is converted into the decimal system or hexadecimal formula site information, is preferably turned
Turn to hexadecimal formula site information.Based on the translation function of data decoder module 500, the transmission of site information is effectively reduced
Time, it is more beneficial for realizing the promptness that moving object information is obtained.
In a preferred embodiment, the data decoder module 500 is arranged in moving object, preference data solution
Code module 500 is decoding chip, the more preferably decoding chip of model sonixSNC7312.In the present invention, the first communication mould
Block 310 receives the site information of the transmission of data decoder module 500, and the second communication module 320 through being installed on display terminal will
Site information is transferred to terminal control module 400.
In a preferred embodiment, the first communication module 310 and second communication module 320 may be selected from bluetooth
Communication module, Wi-Fi communication modules, 4G communication modules or mobile communication module, it is contemplated that moving object and terminal control module
The distance between 400 is shorter, and bluetooth communication low energy consumption, preferably first communication module 310 and second communication module 320
It is bluetooth communication, now, first communication module 310 is Bluetooth signal transmitter, and second communication module 320 is Bluetooth signal
Receiver.Model in the present invention to Bluetooth signal transmitter or Bluetooth signal receiver is not limited, and it can be in the art
Suitable for disposable type of the invention.
Step 3) in, when image capture module 200 only include a camera head when, terminal control module 400 each when
Carve and obtain one group of site information.Terminal control module 400 can obtain the position at current time according to the instant site information for obtaining
Confidence ceases, and is calculated according to the site information that last moment or more at some moment obtain with current time, it may be determined that motion
The velocity information and directional information at object current time.
When image capture module 200 includes two camera heads, each moment of terminal control module 400 obtains two groups not
Same site information.Terminal control module 400 determines according to the site information of the window image for extracting from the first camera head 210
The positional information of moving object, the velocity information of moving object is determined according to the positional information obtained in setting time difference, according to
The site information for extracting from the window image of the first camera head 210 and the second camera head 220 determines the direction of moving object
Information.
Further, system converting unit is set in terminal control module 400, it is possessed system translation function, will obtain
The non-decimal formula site information data such as binary system formula site information, the hexadecimal formula site information for obtaining are converted to decimal system formula
Site information, is easy to user to read.
In a preferred embodiment, the display terminal for being configured with terminal control module 400 is with display screen
Electronic equipment, including smart mobile phone, notebook computer, panel computer, Helmet Mounted Display etc..
In further preferred embodiment, the terminal control module 400 is also equipped with verifying function, and the verification is
Refer to the monitoring of the validity of loci information.The verifying function of terminal control module 400, can be further ensured that the standard of data transfer
True property.
Because terminal control module 400 has been provided simultaneously with verifying function, the site information may include printing verification data,
Coordinate data, length check data, wherein printing verification data be used to determine the availability of site information in site 110, its
It is identical in each site information；Coordinate data is used to represent the positional information in the site 110；Length check data are used to represent site
Information is converted to the number of character after system character string high with string of binary characters transition form.
Below by way of the setting of site information in example explanation site 110, and the system turn when being transmitted in each module
Change：
A () is included the site information in following site 110 by the window image that image capture module 200 is gathered：
01100000 10000000 00000001 00010001 00100000 00010001 11000000
00111010 00010010, now site information represented with the sequential combination of the painted patterns for possessing different intensities of reflected light, face
Material pattern 1 is the painted patterns with high reflection luminous intensity, in its correspondence binary-coded character 1, painted patterns 0 are with weak anti-
The painted patterns of luminous intensity are penetrated, 0,8 painted patterns in its correspondence binary-coded character are one group；
(b) above-mentioned site information recognize, extract through data decoder module 500 after string of binary characters form site letter
Cease and be：
01100000 10000000 00000001 00010001 00100000 00010001 11000000
00111010 00010010；Now site information is string of binary characters, is one group with 8 bit digitals；
C binary system formula site information is converted to hexadecimal formula site information by () data decoder module 500：
60 80 01 11 20 11c0 3a 12, wherein：
60 80---01100000 10000000--- are printing verification data, and the point for not being 6080 is all (fuzzy wrongly typed
Except the site information in site)；
01 11---00000001 00010001--- are the data with X-coordinate；
20 11---00100000 00010001--- are the data with Y-coordinate；
C0 3a---11000000 00111010--- are secondary printing verification data, and the point for not being c03a is all wrongly typed；
12---00010010--- be length check data, the digit of hexadecimal string and, equivalent to 18.Now position
Point information is hexadecimal string, is one group with 2 bit digitals.
D () hexadecimal formula site information is transferred to terminal control through first communication module 310 and second communication module 320
After module 400, readable decimal system formula site information is converted to：
24704 273 8,209 49,210 18, wherein：
24704---60 80--- are printing verification data, now meaningless,
The data of 273---01 11---X coordinates,
The data of 8209---20 11---Y coordinates,
49210---c0 3a--- are secondary printing verification data, now meaningless,
18---12--- is length check data, now meaningless.
Now site information is character to decimal string.
Whole site informations that data decoder module 500 will be extracted from window image are transmitted, first communication module
310 and second communication module 320 transmission obtain whole site informations, thus, what terminal control module 400 was received is also several
According to whole site informations that decoder module 500 is obtained, now, terminal control module 400 is using extracting from setting in window image
The site information positioned in the Single locus 110 at the place of putting is processed, and determines the information of moving object, wherein, the setting position
The Single locus 110 for putting place are referred to as effective site.The setting position can be any given position in window image, such as set
Position is the upper left corner in square window image, the lower left corner, the upper right corner or the lower right corner.
Under special circumstances, such as in the case that the site 110 on background map 100 is covered or polluted by debris, image
The window image that acquisition module 200 may be obtained at a time is partly or entirely unintelligible, and now data decoder module 500 will
Site information in unintelligible part in the form of full 0 or complete 1 transcoding as string of binary characters.Wherein, by debris covering or dirty
The site 110 of dye is referred to as fuzzy locus.
In the case of there are fuzzy locus in window image, the present invention is by following steps to the site in window image
Information is processed：
(1) terminal control module 400 also has site information identification function, judges fuzzy by terminal control module 400
Whether site includes effective site；
(2) if fuzzy locus do not include effective site, influence is not produced on the data processing of terminal control module 400, eventually
End control module 400 is not processed to the site information of fuzzy locus；
(3) if fuzzy locus include effective site, terminal control module 400 according to occur fuzzy locus moment former frame and
The site information that a later frame is received is to sentence inactive state or mobile status to determine moving object；
(3a) if former frame is identical with whole site informations that a later frame is received and moiety site is non-fuzzy site,
Think that moving object is to sentence inactive state；
(3b) is if former frame is different with the site information that a later frame is received, then it is assumed that moving object is to sentence mobile shape
State；
(3c) if former frame is identical with the site information that a later frame is received and site informations of all fuzzy locus, eventually
End control module 400 cannot judge the state of moving object, the then site information for being received according to the first two frame and rear two frame respectively
Judged；If the first two frame is identical with the site information that rear two frame is received and is the site information of fuzzy locus, continue with
Before or after the site information that receives judged；If the site information that preceding ten frame and/or rear ten frame are received is identical and equal
Be the site information of fuzzy locus, then the prompting of terminal control module 400 user stops control moving object, with to moving object and
Correlation module is checked；
(4) if moving object remains static, terminal control module 400 is according to other sites 100 of effective location proximate
Site information obtain the site information in effective site；
(5) if moving object is in mobile status, terminal control module 400 is according to the moment for obtaining fuzzy locus information
The site information in setting number of frames and the effective site for being obtained in setting number of frames afterwards, enters before (referred to as fuzzy moment)
One step determines that fuzzy moment moving object is moved along a straight line or movement in a curve；It is described to set number of frames as 1~3 frame；
(5a), if fuzzy moment moving object is moved along a straight line, the site information to obscuring moment effective site does not do
Treatment；
(5a) if fuzzy moment moving object carries out movement in a curve, according to set before the fuzzy moment number of frames and
The site information in the effective site for being obtained in setting number of frames afterwards determines the site information in effective site of fuzzy moment；
Wherein, it is described to set number of frames as 1~3 frame；
The retentivity time of eye of people is about 0.1 to 0.4s, and time between adjacent two frame of image capture module 200 is about
It is 0.02s, therefore, the site information in effectively site determines effective site of fuzzy moment in 1~3 frame before and after the selected fuzzy moment
After site information, the position to obscuring moment moving object makes corrections, and does not interfere with visual effect.
(6) terminal control module 400 according to determine effective site site information to obscure moment moving object position
Put and maked corrections.
System is processed blurred picture by above-mentioned steps in the present invention, when there are fuzzy locus, can effectively be protected
Demonstrate,prove the determination of moving object information and the effectively and reasonably positioning in display terminal.
Embodiment
Embodiment 1
A kind of quick method for obtaining moving object information in real time in augmented reality, it is used to obtaining in augmented reality game
The information of moving object, the moving object can be mobile tank, and the method comprises the following steps：
1) tank is placed on background map, the site that multiple is printed on recognizable site information, institute is distributed on background map
State site information and represent that it is included to represent the sequential combination with two kinds of painted patterns of intensity of reflected light of binary-coded character
Positional information of the site in map；
2) obtain corresponding at tank position by being arranged on the first camera of tank bottom and second camera
Window image, and window image is sent to decoding chip (sonixSNC7312)；
Wherein, the first camera is fixed on the centre position of tank bottom symmetrical axle, obtains it and determines that tank position is believed
The window image of breath and velocity information；Second camera is fixed on tank symmetry axis near the position of head, by two shootings
The combination of the window image that head is obtained determines the directional information of moving object；
The decoding chip receives the window image of the first camera and second camera transmission, to the position in window image
Point information is identified, extracts, and is string of binary characters by the sequential combination transcoding of painted patterns, and further by binary word
Symbol string is converted into hexadecimal string, through the Bluetooth signal transmitter on tank, installed in mobile phone (display terminal)
On Bluetooth signal receiver after be transferred to terminal handler (terminal control module)；；
3) terminal handler is processed the hexadecimal formula site information of acquisition, determines tank on background map
Information simultaneously positions it in mobile phone display screen, and the positional information of tank is provided user with decimal system visual information.
In the description of the invention, it is necessary to explanation, term " on ", D score, " interior ", the orientation or position of the instruction such as " outward "
The relation of putting is, based on the orientation or position relationship under working condition of the present invention, to be for only for ease of the description present invention and simplification is retouched
State, rather than indicate imply signified device or element must have specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
Above in association with preferred embodiment the present invention is described, but these implementation methods are only exemplary
, only play illustrative effect.On this basis, various replacements and improvement can be carried out to the present invention, these each fall within this
In the protection domain of invention.
Claims (10)
1. a kind of method for quickly obtaining moving object information in augmented reality in real time, it is characterised in that
1) site (110) that multiple includes recognizable site information is set on background map (100), moving object is placed in
On background map；
2) corresponding regarding comprising multiple sites (110) at moving object position is obtained by image capture module (200)
Window image, the site information to be can recognize that in window image is extracted, and transmits terminal of the site information to display terminal
Control module (400)；
3) terminal control module (400) loci information is processed, and determines the information of moving object.
2. method according to claim 1, it is characterised in that step 1) in, site (110) are arranged in the form of coordinate points
Row, spacing is equal between preferably each site (110)；And/or
Site information in the site (110) includes the positional information of the site (110) in background map (100), preferably
Ground, site information is representing orderly group of the painted patterns of the intensity of reflected light with two or more of binary-coded character
Close and represent；And/or
The site information is represented with representing the sequential combination of the microcosmos pattern of two or more shape of binary-coded character.
3. method according to claim 1 and 2, it is characterised in that step 2) in, described image acquisition module (200) bag
Include the first camera head (210) and the second camera head (220), the camera of two camera heads towards background map (100) with
Window image is obtained, wherein,
By the first camera head (210) and the second camera head (220) on the axle of moving object, the direction of the axle with
The moving direction of moving object is consistent, it is preferable that the first camera head (210) is fixed on the centre position of moving object axle,
Its window image for obtaining the positional information and velocity information that determine moving object；Second camera head (220) is fixed on fortune
Forward position on animal body axle, the combination of the window image obtained by two camera heads determines that the direction of moving object is believed
Breath.
4. according to the method that one of claims 1 to 3 is described, it is characterised in that step 2) in, data are set in moving object
Decoder module (500), data decoder module (500) is identified to the site information in window image, and is translated into two
System character string, transmits site information in the form of string of binary characters.
5. according to the method that one of Claims 1-4 is described, it is characterised in that the data decoder module (500) is also equipped with height
System transformation function, the binary system formula site information i.e. string of binary characters that it will be extracted is converted into decimal system formula site information
Or hexadecimal formula site information, hexadecimal formula site information is preferably converted to, and with decimal system formula site information or 16
The form for entering standard site information is transmitted.
6. according to the method that one of claim 1 to 5 is described, it is characterised in that step 2) in, is also equipped with moving object
One communication module (310),
The first communication module (310) for receive data decoder module (500) transmission site information, through being installed on display
Second communication module (320) in terminal, terminal control module (400) is transferred to by site information.
7. method according to claim 5, it is characterised in that the first communication module (310) and second communication module
(320) selected from bluetooth communication, Wi-Fi communication modules, 4G communication modules or mobile communication module；More preferably described first leads to
Letter module (310) and second communication module (320) are bluetooth communication.
8. according to the method that one of claim 1 to 7 is described, it is characterised in that step 3) in, terminal control module (400) root
The positional information of moving object is determined according to the site information of the window image for extracting from the first camera head (210), according to setting
The positional information obtained in time difference determines the velocity information of moving object, according to extracting from the first camera head (210) and the
The site information of the window image of two camera heads (220) determines the directional information of moving object；
Preferably, the terminal control module (400) possesses system translation function, and it makes the non-decimal formula site information of acquisition
Be converted to decimal system formula site information.
9. according to the method that one of claim 1 to 8 is described, it is characterised in that step 3) in, terminal control module (400) connects
The site information for receiving is whole site informations that data decoder module (500) is obtained, and terminal control module (400) is using extraction
Site information from window image in the Single locus (110) of setting position carries out data processing, to determine moving object
Information, wherein, the Single locus (110) of the setting position are referred to as effective site.
10. according to the method that one of claim 1 to 9 is described, it is characterised in that the terminal control module (400) also has
Site information identification function,
In the case of there are fuzzy locus in window image, judge whether fuzzy locus wrap by terminal control module (400)
Include effective site.
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