CN107437044A - A kind of mine movable target following and localization method - Google Patents
A kind of mine movable target following and localization method Download PDFInfo
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- CN107437044A CN107437044A CN201610351396.3A CN201610351396A CN107437044A CN 107437044 A CN107437044 A CN 107437044A CN 201610351396 A CN201610351396 A CN 201610351396A CN 107437044 A CN107437044 A CN 107437044A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The invention discloses a kind of mine movable target following and localization method.It is characterised in that it includes following steps：(1) identification is carried out to underground coal mine movement target using multiple antennas rfid device and obtains its current location information；(2) using the unlatching of this information guiding imaging sensor or dormancy, detect the mobile target in video monitoring image and capture its current location information；(3) the moving target position information for being obtained multiple antennas rfid device carries out fusion treatment with imaging sensor tracking with the moving target position information positioned, to obtain the moving target position information being better than using single localization method；(4) if imaging sensor does not monitor mobile target and can not perceive its positional information, positioning is identified using multiple antennas rfid device.This method has merged multiple antennas radio frequency identification fast positioning and the advantages of video image is accurately positioned, and can effectively improve real-time and the degree of accuracy of the positioning of underground coal mine movable object tracking.
Description
Technical field
The invention belongs to the underground coal mine location technology of mobile communication technology field, and in particular to a kind of multiple antennas radio frequency is known
The mine movable target following do not merged with video location and localization method.
Background technology
Underground coal mine movable object tracking is with being positioned at containment overdetermination person production, preventing personnel from entering danger zone, accident
Emergency management and rescue, find not that gug personnel, leader go into the well management, special operation workers management, the underground work people of taking personal charge of the shift on time in time
Member's work attendance, management etc. of taking appointment with certificate play an important role.
Because underground coal mine is wirelessly transferred, decay is big, and gps signal can not cover coal mine down-hole tunnel.Coal mine down-hole at present
Member's position monitoring system mainly uses RFID technique, and minority system is using the technology such as leaky cable, WiFi, ZigBee.It is existing
RFID location technologies, radiofrequency signal are easily influenceed by underground adverse circumstances, and positional accuracy is relatively low, and finding range is limited.Though
Right researchers propose some methods for improving positioning precision, but the positioning precision of these methods refers in by localizing environment
The arrangement Effects of Density of label is larger, and locating effect is totally bad.Especially, in mine laneway environment, to underground moving target
During identification, multiple labels around reader often be present, deposit and interfere with each other and produce collision problem between the signals, it is difficult to carry out
Accurately identify and be accurately positioned.
Realize that image object positions using ccd image sensor, carried using frame differential method, background subtraction, edge
The methods of following the example of is detected to target, then calculates position of the target in experimental situation by calibration result.Due to it
There is positioning precision height, strong antijamming capability, target image can be obtained at a distance, be widely used in the non-contact survey of industry
Away from, and as CCD e measurement technologies are in the continuous popularization of other commercial Application achievements, it is in underground coal mine Moving objects location
Application obtain also more and more paying attention to.But following technology hardly possible is present into applied to underground in the image object positioning based on CCD
Point：Video data transmission, treating capacity are big, and real-time is affected；Single monitor area is limited, and target, which is blocked, to be led to not
Detection.
The content of the invention
Present invention mainly solves the problems of above-mentioned prior art, it is proposed that a kind of multiple antennas radio frequency identification (MIMO-
RFID) the movable object tracking and localization method that positioning blends with CCD video locations.
The purpose of the present invention and solves its technical problem underlying using following technical scheme to realize.
The present invention carries out identification to target first with multiple antennas frequency recognition positiming method and obtains its present bit
Coordinate information is put, is opened using this information guiding imaging sensor or dormancy, application background calculus of finite differences is examined to video monitoring image
Survey target and carry out various visual angles fusion realization and be relatively accurately positioned, moving target position is obtained finally by Weighted Fusion.Specific bag
Include following steps：
Step 1, Moving Target Exploitation：The multiple antennas rfid device that underworkings is used for Moving Target Exploitation is opened,
It is set to remain opening；Multiple antennas rfid device detection underworkings whether there is mobile target, if detecting
Target, then it is identified according to the ID numberings of mobile target for multiple antennas rfid device, and uses three based on RSSI
Angle location algorithm obtains the current position coordinates information (x of targetRFID, yRFID)；
Step 2, imaging sensor activation and positioning：When multiple antennas rfid device detect mobile target enter regard
After frequency monitor area, the imaging sensor in the region is activated, imaging sensor tracks and captures mobile target current location information
(xCCDi, yCCDi) i=1,2；After mobile target leaves video monitoring regional, the area image sensor is set to enter resting state；
Step 3, data fusion：For by the moving target position information acquired in multiple antennas rfid device with figure
Merged as sensor tracks with the moving target position information positioned, including following sub-step,
3.1) one-level merges：Moving target position information (the x captured according to described image sensorCCDi, yCCDi) i=
1,2, mobile target is positioned using multi-visual angle cooperation data fusion；
If mobile target is tracked by two imaging sensors in video monitoring regional and captures its current location information, one
Positioning result after level fusion, is calculated using below equation：
Wherein, α is level one data blending weight；
If mobile target is only tracked by an imaging sensor in video monitoring regional and captures its current location information,
Then the positioning result of the imaging sensor is one-level fusion positioning result：
(xCCD, yCCD)=(xCCDi, yCCDI), i=1,2；
3.2) two level fusion：The one-level fused data according to obtained by video location, with multiple antennas radio frequency identification described in step 1
The positional information that is obtained carries out two level fusion, and the positioning result after two level fusion is using below equation calculating：
(x, y)=β (xRFID, yRFID)+(1-β)(xCCD, yCCD)
Wherein, β is the weights of secondary data fusion；
Step 4, if imaging sensor does not monitor mobile target and can not perceive its positional information, using described
Positioning is identified in multiple antennas rfid device, and positioning result is：
(x, y)=(xRFID, yRFID)
As a preferred embodiment of the present invention, described one-level is fused to multi-visual angle cooperation data fusion, and it merges power
Value α calculation formula are：
Wherein, d1、d2Respectively (the CCD of imaging sensor 11) and (CCD of imaging sensor 22) the mobile target that measures and mirror
Distance of the head center in roadway floor subpoint；
Described two level fusion weights β calculation formula are：
Wherein,WithThe respectively measurement variance of the positioning of multiple antennas radio frequency identification and video location；
The multiple antennas rfid device divides anti-collision algorithm using the tree of random number, for solving the multiple marks in underground
Label send to multiple antennas rfid device and interfered and collision problem caused by signal simultaneously, so as to realize to mobile mesh
Mark carries out unique identification.Its implementation is：When conflict of qualification occurs for multiple labels, the random number generator in label produces
One random number 0 or 1, accordingly random number, conflict label are divided into 2 subsets L and R, and wherein L is the tag set that random number is 0,
R is the tag set that random number is 1, and in next sending time slots, the label for only belonging to subset L will be sent, if still there is conflict,
Subset L continues to divide, and recurrence repeats said process, until unique tags are correctly validated.
The mine movable target carries or loads the active electronic label with ID numberings, for the multiple antennas radio frequency
Identification device carries out perceiving detection and quick identification to mobile target.
The present invention further discloses a kind of multiple antennas rfid device, applied to described mine movable target following
With localization method, the device is by Anneta module, microprocessor unit, transceiver, communication interface, memory cell and power module group
Into target identification and positioning for underworkings；Wherein described Anneta module is 2 × 2MIMO antennas.
The multiple antennas rfid device is inbeing safe explosion prevention equipment.
There is described image sensor wireless receiving function and multiple antennas rfid device to carry out radio communication, and by with
It is set to the intelligent camera device with intrinsic safety type explosion prevention function.
The mine movable target includes the mobile operating personnel such as underground pedestrian, locomotive and pit robot and equipment.
The beneficial effects of the present invention are：
The coverage of rfid device can be effectively increased using mimo antenna, while the capacity of channel can be improved
And reliability；Using the unlatching or dormancy of multiple antennas radio frequency identification location information guide image sensor, underground can be effectively reduced
The system power dissipation of imaging sensor, save network and computing resource；Meanwhile this method has merged the quick of multiple antennas radio frequency identification
Positioning and video image the advantages of being accurately positioned, can effectively improve the real-time of underground coal mine movable object tracking positioning with it is accurate
Degree.
Brief description of the drawings
Fig. 1 is mine movable target following and positioning flow figure；
Fig. 2 is that multiple antennas radio frequency identification positions schematic diagram；
Fig. 3 is CCD videos various visual angles fusion positioning schematic diagram；
Fig. 4 is CCD video location schematic diagrams；
Fig. 5 is multiple antennas rfid device structured flowchart；
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention will be described in detail.
Reference picture 1, it is mine movable target following and positioning flow figure.First with multiple antennas rfid device to mesh
Mark carries out identification and obtains its current position coordinates information, is then opened or is stopped using this information guiding imaging sensor
Sleep, application background calculus of finite differences detects target to video monitoring image and carries out various visual angles fusion realization and is relatively accurately positioned, and finally leads to
Two kinds of positioning results of Weighted Fusion algorithm fusion are crossed, obtain moving target position information.Imaging sensor have Anneta module and
Wave point function, the communication instruction sent for receiving multiple antennas rfid device.It is as follows to implement step：
Step 1, Moving Target Exploitation：The multiple antennas rfid device that underworkings is used for Moving Target Exploitation is opened,
It is set to remain opening；Multiple antennas rfid device detection underworkings whether there is mobile target, if detecting
Target, then it is identified according to the ID numberings of mobile target for multiple antennas rfid device, and uses three based on RSSI
Angle location algorithm obtains the current position coordinates information (x of targetRFID, yRFID).When system works, multiple antennas radio frequency identification dress
Putting to multiple random tags while may identify, when multiple labels transmit signal to multiple antennas rfid device simultaneously,
Interfered with each other between signal, just generate signal identification collision problem.In order to accurately identify label, using the tree of random number
Divide anti-collision algorithm to solve collision problem.Specific method is：When multiple labels are absorbed in signal identification conflict, conflict label
Interior random number generator just produces a random number 0 or 1, and according to this random number, it is (random that conflict subset is divided into 2 subset L
The tag set that number is 0) and R (random number is 1 tag set).In sending time slots next time, belonging to subset L label will send out
Send, if still there is conflict, subset L continues to divide, and this process recurrence repeats, until all labels are correctly validated；
Step 2, imaging sensor activation and positioning：Enter video when multiple antennas rfid device detects mobile target
After monitor area, launch the instruction of an activation imaging sensor, after the imaging sensor of dormancy receives the instruction, switch to swash
State living, tracks and captures mobile target current location information (xCCDi, yCCDi) i=1,2；When mobile target leaves video monitoring
Behind region, launch the instruction of a dormancy imaging sensor, after the area image sensor receives instruction, into dormancy shape
State；
Step 3, data fusion：For by the moving target position information and image acquired in multiple antennas rfid device
Sensor tracks to be merged with the moving target position information positioned, including following sub-step,
3.1) one-level merges：Moving target position information (the x captured according to described image sensorCCDi, yCCDi), i=
1,2, mobile target is positioned using multi-visual angle cooperation data fusion；
If mobile target is in region 2 (referring to Fig. 3), and is tracked simultaneously by two imaging sensors and capture mobile mesh
Current location information is marked, then the positioning result after one-level fusion is：
Wherein, α is level one data blending weight, is calculated as follows：
Wherein, d1、d2The mobile target that respectively imaging sensor 1 and imaging sensor 2 measure is with optical center in tunnel
The distance of bottom plate subpoint.
If moving target is in region 1 or region 3 (referring to Fig. 3), or moves when target is in region 2 only by a figure
As sensor tracks and captures its current location information, then the positioning result of the imaging sensor is one-level fusion positioning knot
Fruit：
(xCCD, yCCD)=(xCCDi, yCCDi), i=1,2
3.2) two level fusion：The one-level fused data according to obtained by video location, with multiple antennas radio frequency identification institute described in step 1
The positional information of acquisition carries out two level fusion, to improve the accuracy of measurement.Positioning result after two level fusion is：
(x, y)=β (xRFID, yRFID)+(1-β)(xCCD, yCCD)
Wherein, β is the weights of secondary data fusion, is calculated as follows：
Wherein,WithThe respectively measurement variance of the positioning of multiple antennas radio frequency identification and video location.Multiple antennas radio frequency
Identify the measurement variance of positioningIt can be obtained by the position of one fixation target in investigative range of n measurement
Its location coordinate information (xi, yi), i=1,2 ... n, it is converted into distanceThen
To di, i=1,2 ... n ask variance to obtain.The variance of video location can similarly be tried to achieve；
Step 4, if imaging sensor does not monitor mobile target and can not perceive its positional information, using described more
Positioning is identified in antenna RFID device, and positioning result is：
(x, y)=(xRFID, yRFID)
The mine movable target carries or loads the active electronic label with ID numberings, for the multiple antennas radio frequency
Identification device is detected and identified to mobile target.
Reference picture 2, schematic diagram is positioned for multiple antennas radio frequency identification.Wherein, mine movable target following and localization method root
According to needs in restricted area such as key area gateway, the turning roadway blind areas such as underworkings personnel discrepancy well head, getting working face
Place a number of multiple antennas rfid device in domain.These multiple antennas rfid devices pass through data/address bus and ground
Monitoring host computer connects, when receiving wireless tag information, data/address bus by the information transfer in wireless identification tag to ground host machine,
Information is positioned by main frame, collected.Under normal circumstances, multiple antennas rfid device is set in each access adit, then
Certain device is arranged in tunnel according to the coverage of multiple antennas rfid device to ensure that whole tunnel is capped.
When mobile target enters underworkings region, multiple antennas rfid device can detect the electronics mark that mobile target carries
Label, and using the current position coordinates information (x of the mobile target of triangle polyester fibre algorithm acquisition based on RSSIRFID, yRFID)。
Reference picture 3, CCD videos various visual angles fusion positioning schematic diagram.Multisensor rfid device is to imaging sensor
Specific control process it is as follows：
When multiple antennas rfid device does not detect mobile target, all imaging sensors are in resting state.
According to the moving target position (x of multiple antennas rfid deviceRFID, yRFID) and known image sensor apparatus position and figure
As sensor effective monitoring scope, when mobile target enters region 1, it may be determined that target enters CCD1Monitor area, this
When wake up CCD1Carry out IMAQ and processing.
When mobile target enters region 2, it may be determined that target is in CCD simultaneously1And CCD2Monitor area, now call out
Wake up CCD2With CCD1IMAQ and processing are carried out to mobile target simultaneously；
When mobile target enters region 3, target has been moved off CCD1Monitor area, now, to CCD1Carry out dormancy.
Reference picture 4, CCD video location schematic diagrams.Its positioning principle is described as follows：
CCD equipment describes three-dimensional scene projection to CCD two-dimentional image plane (the photosensitive squares of CCD using national forest park in Xiaokeng
Battle array surface) on perspective transform；Wherein, f, A, h are respectively CCD effective focal length, luffing angle and setting height(from bottom) (optical center
To the height on ground), the origin of the intersection point of optical axis and image plane as photo coordinate system, typically it is taken as (0,0)；(x, y) is
Projection coordinates of the target minimum point p in image plane.
Video is obtained using CCD, drift angle of the target location with respect to the CCD optical axis can be calculated by demarcation, because CCD is imaged
The height of head according to geometrical relationship, it is known that can obtain the distance of point P and optical center in floor projection point Q.The people that CCD is measured
Member and the distance d of Q points are：
Due to CCD positional informations, it is known that moving target position (x can be obtained accordinglyCCD, yCCD)。
Reference picture 5, it is multiple antennas rfid device structured flowchart.The device is by Anneta module, microprocessor unit, receipts
Hair machine, communication interface, memory cell and power module composition, target identification and positioning for underworkings.Wherein, antenna mould
Block is 2 × 2MIMO antennas；Microprocessor unit realizes communication protocol between multiple antennas rfid device and electronic tag
Part, it can complete to receive the functions such as decoding and the correcting data error of data-signal simultaneously；Transceiver includes transmitter and receiver
Two parts, transmitter send electromagnetic wave signal, and receiver is responsible for receiving the data-signal that label returns, and sends microprocessor to
Device unit, transceiver are connected with Anneta module；Communication interface provides communication instruction for described device and external entity, passes through control
Device transmits data and received and instructs and respond；Memory cell is used for the configuration parameter of storage device and the row of label reading
Table；Power module provides electric energy for whole device.The multiple antennas rfid device is inbeing safe explosion prevention equipment.
The present invention can be effectively increased the coverage of rfid device using mimo antenna, while can improve channel
Capacity and reliability；The unlatching or dormancy of more ccd image sensors are instructed using multiple antennas radio frequency identification location information, can be had
Effect reduces the operating power consumption of underground ccd image sensor；Meanwhile this method merged multiple antennas radio frequency identification fast positioning and
The advantages of CCD videos are accurately positioned, real-time and the degree of accuracy of the positioning of underground coal mine movable object tracking can be effectively improved.
Obviously, those skilled in the art should be understood that various method steps involved by the invention described above, except as one kind shifting
Tracking of maneuvering target and localization method are applied to outside underground coal mine environment, by it is suitably integrated or be also applied for after improving it is nonmetallic and
Mobile monitoring, video tracking, pattern-recognition or the running fix of metalliferous mine, the so present invention are not limited except mobile tracking
With the communication technical field such as the mobile monitor outside positioning and target identification.
Above content is that the present invention combines the further description that specific preferred embodiment mode is done to the present invention,
But protection scope of the present invention is not limited thereto, any one skilled in the art is not departing from design of the present invention
On the premise of thinking, the political reform or replacement that can readily occur in, all it is considered as belonging within protection scope of the present invention.
Claims (6)
1. a kind of mine movable target following and localization method, it is characterised in that the mine movable target following and positioning side
Method, the localization method blended using multiple antennas radio frequency identification and video location technology, for realizing that underground coal mine moves target
Tracking and positioning, comprise the following steps：
Step 1, Moving Target Exploitation：Open underworkings and be used for the multiple antennas rfid device of Moving Target Exploitation, and make
It remains opening；Multiple antennas rfid device detection underworkings whether there is mobile target, if detecting mesh
Mark, then it is identified according to the ID numberings of mobile target for multiple antennas rfid device, and obtains the current location of target
Coordinate information (xRFID, yRFID)；
Step 2, imaging sensor activation and positioning：Enter video monitoring when multiple antennas rfid device detects mobile target
Behind region, the imaging sensor in the region is activated, imaging sensor tracks and captures mobile target current location information (xCCDi,
yCCDi), i=1,2；After mobile target leaves video monitoring regional, the area image sensor is set to enter resting state；
Step 3, data fusion：For by the moving target position information and image sensing acquired in multiple antennas rfid device
Device tracks to be merged with the moving target position information positioned, including following sub-step,
3.1) one-level merges：Moving target position information (the x captured according to described image sensorCCDi, yCCDi), i=1,2,
Mobile target is positioned using multi-visual angle cooperation data fusion；
If mobile target is tracked by two imaging sensors in video monitoring regional and captures its current location information, one-level is melted
Positioning result after conjunction, is calculated using below equation：
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Wherein, α is level one data blending weight；
If mobile target is only tracked by an imaging sensor in video monitoring regional and captures its current location information, should
The positioning result of imaging sensor is one-level fusion positioning result：
(xCCD, yCCD)=(xCCDi, yCCDi), i=1,2；
3.2) two level fusion：The one-level fused data according to obtained by video location, institute is positioned with multiple antennas radio frequency identification described in step 1
The positional information of acquisition carries out two level fusion, the positioning result after two level fusion, is calculated using below equation：
(x, y)=β (xRFID, yRFID)+(1-β)(xCCD, yCCD)
Wherein, β is the weights of secondary data fusion；
Step 4, if imaging sensor does not monitor mobile target and can not perceive its positional information, using the multiple antennas
Positioning is identified to mobile target in rfid device, and positioning result is：
(x, y)=(xRFID, yRFID)
It is further characterized in that,
The multiple antennas rfid device has multi-tag recognition anti-collision function, for uniquely being known to mobile target
Not, and the multiple labels in underground are solved simultaneously to collision problem caused by multiple antennas rfid device transmission signal；And
Described one-level fusion uses multi-visual angle cooperation data fusion, and its blending weight α calculation formula are：
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Wherein, d1、d2The mobile target that respectively imaging sensor 1 and imaging sensor 2 measure is with optical center in roadway floor
The distance of subpoint；
Described two level fusion weights β calculation formula are：
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Wherein,WithThe respectively measurement variance of the positioning of multiple antennas radio frequency identification and video location；And
The mine movable target carries or loads the active electronic label with ID numberings, for the multiple antennas radio frequency identification
Device carries out perceiving detection and quick identification to mobile target.
2. multiple antennas rfid device according to claim 1, it is characterised in that anticollision is divided using the tree of random number
Algorithm, its implementation are：When conflict of qualification occurs for multiple labels, the random number generator in label produces a random number
0 or 1, random number accordingly, conflict label is divided into 2 subsets L and R, and wherein L is the tag set that random number is 0, and R is random number
For 1 tag set, in next sending time slots, belonging to subset L label will send, if still there is conflict, subset L continues to divide,
This process recurrence repeats, until label is correctly validated.
3. multiple antennas rfid device according to claim 1 or 2, it is characterised in that the device is by Anneta module, micro-
Processor unit, transceiver, communication interface, memory cell and power module composition, the target identification for underworkings is with determining
Position, the multiple antennas rfid device is intrinsic safety type antiknock device.
4. multiple antennas rfid device according to claim 3, it is characterised in that wherein Anneta module is mimo antenna.
5. imaging sensor according to claim 1, it is characterised in that there is antenna receiving module and wave point function,
Communicated with the multiple antennas rfid device by wave point, and the intelligence for being configured to intrinsic safety type explosion prevention function is taken the photograph
As device.
6. mine movable target includes the mobile operation people such as underground pedestrian, locomotive and pit robot according to claim 1
Member and equipment.
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| CN201610351396.3A CN107437044B (en) | 2016-05-26 | 2016-05-26 | Mine moving target tracking and positioning method |
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| CN201610351396.3A CN107437044B (en) | 2016-05-26 | 2016-05-26 | Mine moving target tracking and positioning method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109164410A (en) * | 2018-08-10 | 2019-01-08 | 深圳市荣睿和芯科技有限公司 | RFID positioning and method for tracing, system and computer readable storage medium |
| CN109509227A (en) * | 2018-06-19 | 2019-03-22 | 中国矿业大学(北京) | Underground locomotive ranging localization monitoring method based on image |
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| CN116343102A (en) * | 2023-05-30 | 2023-06-27 | 深圳酷源数联科技有限公司 | Underground personnel safety early warning method, device, system and storage medium |
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