CN107437044B - Mine moving target tracking and positioning method - Google Patents
Mine moving target tracking and positioning method Download PDFInfo
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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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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a method for tracking and positioning a mine moving target. The method is characterized by comprising the following steps: (1) utilizing a multi-antenna radio frequency identification device to identify the identity of the underground moving target of the coal mine and obtain the current position information of the underground moving target; (2) the information is used for guiding the image sensor to start or sleep, detecting a moving target in a video monitoring image and capturing the current position information of the moving target; (3) the method comprises the steps that the position information of a moving target obtained by a multi-antenna radio frequency identification device and the position information of the moving target tracked and positioned by an image sensor are fused to obtain the position information of the moving target which is superior to that obtained by using a single positioning method; (4) if the image sensor does not monitor the moving target and cannot sense the position information of the moving target, a multi-antenna radio frequency identification device is adopted for identification and positioning. The method integrates the advantages of multi-antenna radio frequency identification rapid positioning and video image accurate positioning, and can effectively improve the real-time performance and accuracy of the underground moving target tracking and positioning of the coal mine.
Description
Technical Field
The invention belongs to the technical field of mobile communication, and particularly relates to a mine moving target tracking and positioning method integrating multi-antenna radio frequency identification and video positioning.
Background
The underground moving target tracking and positioning of the coal mine plays an important role in the aspects of restraining production of over-determined personnel, preventing personnel from entering a dangerous area, accident emergency rescue, timely discovering personnel who do not ascend a well on time, leading down-hole with duty management, special operating personnel management, checking attendance of underground operating personnel, warranty on-duty management and the like.
Due to the fact that underground wireless transmission attenuation of the coal mine is large, GPS signals cannot cover underground coal mine tunnels. At present, a coal mine underground personnel position monitoring system mainly adopts an RFID technology, and a few systems adopt technologies such as a leaky cable, WiFi and ZigBee. The existing RFID positioning technology has the advantages that radio frequency signals are easily influenced by severe underground environment, the positioning accuracy is low, and the range measurement range is limited. Although some methods for improving the positioning accuracy are proposed by researchers, the positioning accuracy of these methods is greatly influenced by the arrangement density of the reference tags in the positioning environment, and the positioning effect is not good overall. Particularly, in a mine roadway environment, when an underground moving target is identified, a plurality of labels often exist around a reader, the problems of mutual interference and conflict among signals exist, and accurate identification and accurate positioning are difficult to perform.
The CCD image sensor is used for realizing image target positioning, an inter-frame difference method, a background difference method, an edge extraction method and other methods are adopted for detecting a target, and then the position of the target in an experimental environment is calculated through a calibration result. The CCD measurement device has the characteristics of high positioning precision, strong anti-interference capability, capability of obtaining target images remotely and the like, is widely applied to industrial non-contact distance measurement, and has more and more attention paid to the application of the CCD measurement device in the positioning of the moving targets in the coal mine along with the continuous popularization of CCD measurement technology in other industrial application achievements. However, the application of image target positioning based on CCD to underground has the following technical difficulties: the video data transmission and processing capacity is large, and the real-time performance is influenced; the single monitoring area is limited, and the target is blocked and cannot be detected.
Disclosure of Invention
The invention mainly solves the problems in the prior art and provides a moving target tracking and positioning method integrating multi-antenna radio frequency identification (MIMO-RFID) positioning and CCD video positioning.
The purpose of the invention and the main technical problem to be solved are realized by adopting the following technical scheme.
The invention firstly utilizes a multi-antenna radio frequency identification positioning method to identify the target and acquire the current position coordinate information of the target, utilizes the information to guide an image sensor to start or sleep, applies a background difference method to detect the target of a video monitoring image and carries out multi-view fusion to realize more accurate positioning, and finally obtains the position of a moving target through weighted fusion. The method specifically comprises the following steps:
step one, moving target detection: opening a multi-antenna radio frequency identification device for detecting a moving target in an underground roadway to enable the device to be always in an open state; the multi-antenna radio frequency identification device detects whether a moving target exists in the underground tunnel, if the moving target exists, the multi-antenna radio frequency identification device identifies the moving target according to the ID number of the moving target, and the current position coordinate information (x) of the target is obtained by adopting a triangular positioning algorithm based on RSSI (received signal strength indicator)RFID，yRFID)；
Step two, activating and positioning an image sensor: when the multi-antenna radio frequency identification device detects that the moving target enters the video monitoring area, the image sensor of the area is activated, and the image sensor tracks and captures the current position of the moving targetInformation (x)CCDi，yCCDi) i is 1, 2; after the moving target leaves the video monitoring area, enabling the area image sensor to enter a dormant state;
step three, data fusion: for fusing the position information of the moving target obtained by the multi-antenna radio frequency identification device with the position information of the moving target tracked and positioned by the image sensor, comprises the following substeps,
3.1) primary fusion: according to the moving target position information (x) captured by the image sensorCCDi，yCCDi) 1, 2, positioning the moving target by adopting multi-view cooperative data fusion;
if the moving target is tracked by the two image sensors in the video monitoring area and the current position information of the moving target is captured, the positioning result after the first-level fusion is calculated by adopting the following formula:
α is a primary data fusion weight;
if the moving target is tracked by only one image sensor in the video monitoring area and captures the current position information of the moving target, the positioning result of the image sensor is a first-level fusion positioning result:
(xCCD，yCCD)＝(xCCDi，yCCDi)，i＝1，2；
3.2) secondary fusion: and performing secondary fusion on the primary fusion data obtained by video positioning and the position information obtained by the multi-antenna radio frequency identification in the step one, wherein the positioning result after the secondary fusion is calculated by adopting the following formula:
(x，y)＝β(xRFID，yRFID)+(1-β)(xCCD，yCCD)
β is the weight of the second-level data fusion;
step four, if the image sensor does not monitor the moving target and cannot sense the position information of the moving target, the multi-antenna radio frequency identification device is adopted for identification and positioning, and the positioning result is as follows:
(x，y)＝(xRFID，yRFID)
as a preferred scheme of the present invention, the first-level fusion is multi-view collaborative data fusion, and the calculation formula of the fusion weight α is as follows:
wherein d is1、d2Respectively, an image sensor 1 (CCD)1) And an image sensor 2 (CCD)2) Measuring the distance between the moving target and a projection point of the lens center on the roadway bottom plate;
the calculation formula of the secondary fusion weight β is as follows:
wherein the content of the first and second substances,
and
measuring variances for multi-antenna radio frequency identification positioning and video positioning respectively;
the multi-antenna radio frequency identification device adopts a tree splitting anti-collision algorithm of random numbers and is used for solving the problems of mutual interference and collision generated when a plurality of underground labels simultaneously send signals to the multi-antenna radio frequency identification device, so that unique identification of a moving target is realized. The realization method comprises the following steps: when a plurality of labels have identification collision, a random number generator in the labels generates a random number of 0 or 1, according to the random number, the collision labels are divided into 2 subsets L and R, wherein L is a label set with the random number of 0, R is a label set with the random number of 1, only the labels belonging to the subset L are transmitted in the next transmission time slot, if collision still exists, the subset L continues to split, and the process is repeated recursively until the unique label is identified correctly.
The mine moving target carries or is loaded with an active electronic tag with an ID number, and the active electronic tag is used for sensing detection and rapid identification of the moving target by the multi-antenna radio frequency identification device.
The invention further discloses a multi-antenna radio frequency identification device, which is applied to the mine moving target tracking and positioning method, and consists of an antenna module, a microprocessor unit, a transceiver, a communication interface, a storage unit and a power module, and is used for identifying and positioning targets in underground roadways; wherein the antenna modules are 2 x 2MIMO antennas.
The multi-antenna radio frequency identification device is an intrinsically safe explosion-proof device.
The image sensor has a wireless receiving function to wirelessly communicate with the multi-antenna RFID device and is configured as an intelligent camera device with an intrinsic safety type explosion-proof function.
The mine moving target comprises moving operators and equipment such as underground pedestrians, locomotives, underground robots and the like.
The invention has the beneficial effects that:
the coverage range of the radio frequency identification device can be effectively enlarged by adopting the MIMO antenna, and the capacity and the reliability of a channel can be improved; the multi-antenna radio frequency identification positioning information is used for guiding the image sensor to be started or dormant, so that the system power consumption of the underground image sensor can be effectively reduced, and the network and the computing resources are saved; meanwhile, the method integrates the advantages of rapid positioning of multi-antenna radio frequency identification and accurate positioning of video images, and can effectively improve the real-time performance and accuracy of the tracking and positioning of the moving target in the coal mine.
Drawings
FIG. 1 is a flow chart of mine moving target tracking and positioning;
FIG. 2 is a schematic diagram of a multi-antenna RFID location;
FIG. 3 is a schematic view of a CCD video multi-view fusion positioning;
FIG. 4 is a schematic diagram of CCD video positioning;
FIG. 5 is a block diagram of a multi-antenna RFID device;
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1, a flow chart of mine moving target tracking and positioning is shown. Firstly, a multi-antenna radio frequency identification device is used for carrying out identity identification on a target and acquiring current position coordinate information of the target, then the information is used for guiding an image sensor to start or sleep, a background difference method is applied to detect the target of a video monitoring image and carry out multi-view fusion to realize more accurate positioning, and finally two positioning results are fused through a weighting fusion algorithm to obtain the position information of the moving target. The image sensor has the functions of an antenna module and a wireless interface and is used for receiving a communication instruction sent by the multi-antenna radio frequency identification device. The method comprises the following concrete steps:
and 3, data fusion: for fusing the position information of the moving target obtained by the multi-antenna radio frequency identification device with the position information of the moving target tracked and positioned by the image sensor, comprises the following substeps,
3.1) primary fusion: according to the moving target position information (x) captured by the image sensorCCDi，yCCDi) 1, 2, positioning the moving target by adopting multi-view cooperative data fusion;
if the moving target is in the area 2 (see fig. 3 for details), and the current position information of the moving target is tracked and captured by two image sensors at the same time, the positioning result after the first-level fusion is:
wherein α is a primary data fusion weight, which is calculated according to the following formula:
wherein d is1、d2The distances between the moving target measured by the image sensor 1 and the image sensor 2 and the projection point of the lens center on the roadway floor are measured respectively.
If the moving object is in the area 1 or the area 3 (see fig. 3 for details), or if the moving object is in the area 2, the moving object is tracked by only one image sensor and captures the current position information of the moving object, the positioning result of the image sensor is the primary fusion positioning result:
(xCCD，yCCD)＝(xCCDi，yCCDi)，i＝1，2
3.2) secondary fusion: and (3) performing secondary fusion on the primary fusion data obtained by video positioning and the position information obtained by the multi-antenna radio frequency identification in the step (1) so as to improve the accuracy of measurement. The positioning result after the second-stage fusion is as follows:
(x，y)＝β(xRFID，yRFID)+(1-β)(xCCD，yCCD)
wherein β is the weight of the second-level data fusion, and is calculated according to the following formula:
wherein the content of the first and second substances,
and
measured variances for multi-antenna radio frequency identification positioning and video positioning, respectively. Measurement variance for multi-antenna radio frequency identification positioning
The position coordinate information (x) of a fixed target in the detection range can be obtained by measuring the position of the fixed target n timesi，yi) I 1, 2 … n, which is converted to a distance
Then to diAnd i is 1, and 2 … n is obtained by calculating the variance. The variance of video positioning can be obtained by the same method
；
Step 4, if the image sensor does not monitor the moving target and cannot sense the position information of the moving target, the multi-antenna radio frequency identification device is adopted to carry out identification and positioning, and the positioning result is as follows:
(x，y)＝(xRFID，yRFID)
the mine moving target carries or is loaded with an active electronic tag with an ID number, and the active electronic tag is used for detecting and identifying the moving target by the multi-antenna radio frequency identification device.
Referring to fig. 2, a diagram of multi-antenna rfid positioning is shown. According to the method for tracking and positioning the mine moving target, a certain number of multi-antenna radio frequency identification devices are placed in limited areas such as heavy point areas such as entrances and exits of underground roadway personnel, mining working faces and turning roadway blind areas according to needs. The multi-antenna radio frequency identification devices are connected with a monitoring host on the ground through a data bus, when receiving the information of the wireless tag, the data bus transmits the information in the wireless tag to the host on the ground, and the host locates and gathers the information. Generally, a multi-antenna radio frequency identification device is arranged at each road junction, and then certain devices are arranged in the roadway according to the coverage range of the multi-antenna radio frequency identification device so as to ensure that the whole roadway is covered. When the moving target enters the underground roadway area, the multi-antenna radio frequency identification device can detect the electronic tag carried by the moving target, and the current position coordinate information (x) of the moving target is obtained by adopting the triangular positioning algorithm based on the RSSIRFID，yRFID)。
Referring to fig. 3, a schematic diagram of CCD video multi-view fusion positioning. The specific control process of the multi-sensor radio frequency identification device on the image sensor is as follows:
when the multi-antenna radio frequency identification device does not detect the moving target, all the image sensors are in a dormant state. Location (x) of moving object based on multi-antenna RFID deviceRFID，yRFID) And the known position of the image sensor device and the effective monitoring range of the image sensor, when a moving object enters the area 1, the object can be determined to enter the CCD1The monitoring area of (2), at this time, awakening the CCD1And carrying out image acquisition and processing.
When the moving object enters the area 2, it can be determined that the object is simultaneously in the CCD1And CCD2The monitoring area of (2), at this time, awakening the CCD2And CCD1Simultaneously, carrying out image acquisition and processing on the moving target;
when a moving object enters zone 3, the objectThe mark has left the CCD1At this time, to the CCD1And performing dormancy.
Referring to fig. 4, a CCD video positioning schematic diagram. The positioning principle is described as follows:
the CCD device adopts a small-hole imaging model to describe perspective transformation of a three-dimensional scene projected onto a two-dimensional image plane (CCD photosensitive matrix surface) of the CCD; wherein f, A and h are respectively the effective focal length, the pitch angle and the mounting height (the height from the center of the lens to the ground) of the CCD, and the intersection point of the optical axis and the image plane is taken as the origin of the coordinate system of the image plane and is generally (0, 0); (x, y) is the projection coordinate of the target lowest point p on the image plane.
The CCD is used for acquiring a video, the deflection angle of the target position relative to the visual axis of the CCD can be calculated through calibration, and the distance between the point P and the projection point Q of the lens center on the ground can be obtained according to the geometric relation because the height of the CCD camera is known. The distance d between the person and the point Q measured by the CCD is as follows:
since the CCD position information is known, the moving target position (x) can be obtained based on the CCD position informationCCD，yCCD)。
Referring to fig. 5, a block diagram of a multi-antenna rfid device is shown. The device consists of an antenna module, a microprocessor unit, a transceiver, a communication interface, a storage unit and a power module and is used for identifying and positioning targets of underground roadways. Wherein, the antenna module is a 2 × 2MIMO antenna; the microprocessor unit is a component for realizing a communication protocol between the multi-antenna radio frequency identification device and the electronic tag, and can simultaneously complete the functions of decoding of received data signals, data error correction and the like; the transceiver comprises a transmitter and a receiver, the transmitter transmits electromagnetic wave signals, the receiver is responsible for receiving data signals returned by the label and transmitting the data signals to the microprocessor unit, and the transceiver is connected with the antenna module; the communication interface provides communication instructions for the device and external entities, transmits data and receives instructions through the controller and responds; the storage unit is used for storing configuration parameters of the device and a list of reading labels; the power module provides electric energy for the whole device. The multi-antenna radio frequency identification device is an intrinsically safe explosion-proof device.
The coverage range of the radio frequency identification device can be effectively enlarged by adopting the MIMO antenna, and the capacity and the reliability of a channel can be improved; the multi-antenna radio frequency identification positioning information is used for guiding the starting or dormancy of the multi-CCD image sensor, so that the working energy consumption of the underground CCD image sensor can be effectively reduced; meanwhile, the method integrates the advantages of rapid positioning of multi-antenna radio frequency identification and accurate positioning of CCD video, and can effectively improve the real-time performance and accuracy of the tracking and positioning of the moving target in the coal mine.
Obviously, it should be understood by those skilled in the art that the above-mentioned method steps related to the present invention, besides being applied to the coal mine underground environment as a moving target tracking and positioning method, are also applicable to moving target monitoring, video tracking, mode recognition or moving positioning of nonmetal and metal mines through proper integration or improvement, so that the present invention does not limit the technical fields of communication such as moving monitoring and target recognition except for moving tracking and positioning.
The present invention is described in further detail with reference to specific preferred embodiments, but the scope of the present invention is not limited thereto, and any modifications or substitutions that can be easily made by those skilled in the art without departing from the concept of the present invention should be considered to be within the scope of the present invention.
Claims (6)
1. A mine moving target tracking and positioning method is characterized in that the mine moving target tracking and positioning method adopts a positioning method of combining multi-antenna radio frequency identification and video positioning technologies, is used for realizing the tracking and positioning of a moving target under a coal mine, and comprises the following steps:
step 1, moving target detection: opening a multi-antenna radio frequency identification device for detecting a moving target in an underground roadway, and keeping the multi-antenna radio frequency identification device in an open state all the time; the multi-antenna radio frequency identification device detects whether a moving target exists in the underground tunnel or not, and if the moving target exists in the underground tunnel, the multi-antenna radio frequency identification device detects the moving targetThe multi-antenna radio frequency identification device identifies the moving target according to the ID number of the moving target and acquires the current position coordinate information (x) of the targetRFID，yRFID)；
Step 2, activating and positioning an image sensor: when the multi-antenna radio frequency identification device detects that the moving target enters the video monitoring area, the image sensor in the area is activated, and the image sensor tracks and captures the current position information (x) of the moving targetCCDi，yCCDi) I is 1, 2; after the moving target leaves the video monitoring area, enabling the area image sensor to enter a dormant state;
and 3, data fusion: for fusing the position information of the moving target obtained by the multi-antenna radio frequency identification device with the position information of the moving target tracked and positioned by the image sensor, comprises the following substeps,
3.1) primary fusion: according to the moving target position information (x) captured by the image sensorCCDi，yCCDi) 1, 2, positioning the moving target by adopting multi-view cooperative data fusion;
if the moving target is tracked by the two image sensors in the video monitoring area and the current position information of the moving target is captured, the positioning result after the first-level fusion is calculated by adopting the following formula:
α is a primary data fusion weight;
if the moving target is tracked by only one image sensor in the video monitoring area and captures the current position information of the moving target, the positioning result of the image sensor is a first-level fusion positioning result:
(xCCD，yCCD)＝(xCCDi，yCCDi)，i＝1，2；
3.2) secondary fusion: and (3) performing secondary fusion on the primary fusion data obtained by video positioning and the position information obtained by the multi-antenna radio frequency identification positioning in the step (1), wherein the positioning result after the secondary fusion is calculated by adopting the following formula:
(x，y)＝β(xRFID，yRFID)+(1-β)(xCCD，yCCD)
β is the weight of the second-level data fusion;
step 4, if the image sensor does not monitor the moving target and cannot sense the position information of the moving target, the multi-antenna radio frequency identification device is adopted to identify and position the moving target, and the positioning result is as follows:
(x，y)＝(xRFID，yRFID)
it is also characterized in that the method comprises the following steps,
the multi-antenna radio frequency identification device has a multi-tag identification anti-collision function and is used for uniquely identifying a moving target and solving the problem of collision generated when a plurality of tags in the pit transmit signals to the multi-antenna radio frequency identification device at the same time; and the number of the first and second groups,
the first-level fusion adopts multi-view collaborative data fusion, and the calculation formula of the fusion weight α is as follows:
wherein d is1、d2The distances between the moving target and the projection point of the lens center on the roadway bottom plate, which are measured by the image sensor 1 and the image sensor 2 respectively;
the calculation formula of the secondary fusion weight β is as follows:
wherein the content of the first and second substances,
and
measuring variances for multi-antenna radio frequency identification positioning and video positioning respectively; and the number of the first and second groups,
the mine moving target carries or is loaded with an active electronic tag with an ID number, and the active electronic tag is used for sensing detection and rapid identification of the moving target by the multi-antenna radio frequency identification device.
2. The mine moving target tracking and positioning method according to claim 1, characterized in that a tree splitting anti-collision algorithm using random numbers is implemented by: when a plurality of labels have identification collision, a random number generator in the labels generates a random number of 0 or 1, according to the random number, the collision labels are divided into 2 subsets L and R, wherein L is a label set with the random number of 0, R is a label set with the random number of 1, in the next sending time slot, the labels belonging to the subset L are sent, if collision still exists, the subset L continues to be split, and the process is repeated recursively until the labels are identified correctly.
3. The method for tracking and locating the mine moving target according to claim 1, wherein the multi-antenna radio frequency identification device is composed of an antenna module, a microprocessor unit, a transceiver, a communication interface, a storage unit and a power module, and is used for identifying and locating the target in the underground roadway, and the multi-antenna radio frequency identification device is intrinsic safety type explosion-proof equipment.
4. The mine moving object tracking and positioning method according to claim 1, wherein the antenna modules of the multi-antenna radio frequency identification device are MIMO antennas.
5. The mine moving target tracking and positioning method according to claim 1, wherein the image sensor has an antenna receiving module and a wireless interface function, communicates with the multi-antenna radio frequency identification device through a wireless interface, and is configured as an intelligent camera device with an intrinsic safety type explosion-proof function.
6. The method for tracking and locating mine moving objects according to claim 1, wherein the mine moving objects comprise moving workers and equipment such as underground pedestrians, locomotives and underground robots.
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| CN105182319A (en) * | 2015-08-12 | 2015-12-23 | 西安斯凯智能科技有限公司 | Target positioning system and target positioning method based on radio frequency and binocular vision |
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