CN107478230A - A kind of dolly navigation system of view-based access control model information - Google Patents
A kind of dolly navigation system of view-based access control model information Download PDFInfo
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- CN107478230A CN107478230A CN201710670538.7A CN201710670538A CN107478230A CN 107478230 A CN107478230 A CN 107478230A CN 201710670538 A CN201710670538 A CN 201710670538A CN 107478230 A CN107478230 A CN 107478230A
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- 238000004891 communication Methods 0.000 claims abstract description 13
- 239000013078 crystal Substances 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 239000003607 modifier Substances 0.000 claims description 3
- 238000002715 modification method Methods 0.000 claims 1
- 238000012546 transfer Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000008054 signal transmission Effects 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000012360 testing method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
Abstract
The invention belongs to electronic communication technology field, more particularly to a kind of dolly navigation system of view-based access control model information.Including wireless camera, server, wireless signal transmission module and carrier；Pcduino, Arduino are provided with the carrier；Motor, steering wheel and crystal oscillator are connected with the Arduino；The invention provides a kind of dolly navigation system of new view-based access control model information, solves not accurate enough the technical problem of visual information navigation system navigation of the prior art.So that dolly navigation is more accurate, error rate is lower.
Description
Technical field
The invention belongs to electronic communication technology field, more particularly to a kind of dolly navigation system of view-based access control model information.
Background technology
Arduino is a convenient electronics Prototyping Platform of increasing income that is flexible, facilitating left-hand seat, includes hardware and software.It is suitable
For fan, artist, designer and the friends being interested in for " interaction ".Can quickly with Adobe Flash,
The softwares such as Processing, Max/MSP, Pure Data, SuperCollider combine, and make interactive works.Arduino can be with
Either sensor or other control devices, LED, stepper motor or other output dresses are for example switched using existing electronic component
Put.Arduino can also independent operating, and interacted with software.
Pcduino is a kind of high-performance, the mini PC of high performance-price ratio platform, can run PC operating systems, such as
Ubuntu and Android ICS etc..It can export video to TV or indicator screen by built-in HDMI.
The content of the invention
The invention provides a kind of dolly navigation system of new view-based access control model information, solve of the prior art regard
Feel not accurate enough the technical problem of information navigation system navigation.
The concrete technical scheme of the present invention is that the dolly navigation system of the view-based access control model information includes wireless camera, clothes
Business device, wireless transport module and carrier；Pcduino, Arduino are provided with the carrier；Electricity is connected with the Arduino
Machine, steering wheel and the first crystal oscillator；Gyroscope, magnetometer and the second crystal oscillator are connected with the Pcduino；Wireless camera and service
Device wireless telecommunications connect, for real-time image acquisition information, and by the information collected by radioing to server；Service
Device electrically connects with wireless transport module, by the target and robot in opencv detection images, and by target and carrier
Coordinate vector Pcduino is sent to by wireless transport module；Pcduino is connected with Arduino by serial ports, Pcduino
Receive the laggard line program of data to resolve, Arduino is then sent instructions to by serial communication mode；Steering wheel in rotation is continuous
Adjustment carrier angle makes it advance towards target direction, and motor driving accelerates steering wheel, in its accelerator, while constantly
The data from server are received, Pcduino is according to the target received and the coordinate vector of carrier, and the gyro on carrier
The feedback of instrument sensor and magnetometer, motor speed and carrier angle are adjusted in time, navigate knot before carrier reaches target face
Beam.
The further wireless camera is three three mesh wireless cameras of composition.
The connected mode of further wireless camera and server is to be connected by socket communication.
Further heretofore described gyroscope zero offset compensation method is as follows, and gyroscope brings into operation first, waits
After time T, that is, after the sampling time T for reaching gyroscope, sensor collection gyro raw data Raw, Sum=Sum+Raw, N
=N+1；Then Gyr_offset=Sum/N is carried out as N=1000, is then terminated；Wherein N is sampling number；T is gyroscope
Sample frequency；Raw is gyro raw data；Sum be Raw superposition value and；Gyr_offset is that gyroscope zero offset compensation is defeated
Go out value.
The output correction method of magnetometer in the further present invention is as follows, during record carrier rotates a circle first
The output data of magnetometer, if the data X-axis maximum collected is Xmax, X-axis minimum value is Xmin, and accordingly, Y-axis is most
Big value is set to Ymax, and the minimum value of Y-axis is set to Ymin；X-axis input be Xin, and Y-axis input is Yin, and it is Xout that X-axis, which exports, Y-axis
Export and carry out output correction according to Formula X -1 for Yout, X-axis output：
Xout=XinXs+Xb (1-1)
Xs is Xin proportionality coefficient in formula 1-1；
Xb is Xin bias compensation, and Xb is provided by following formula 1-1-1；
Y-axis output carries out output correction according to formula 1-2：
Yout=YinYs+Yb (1-2)
Ys is Yin proportionality coefficient in formula 1-2, and Ys is provided by following formula 1-2-2；
Yb is Yin bias compensation, and Yb is provided by formula 1-2-3；
So as to can obtain the output modifier of magnetometer.
The reception mode of the coordinate vector of target and carrier in the further present invention is that server judges wireless camera
Whether head captures dolly and target, otherwise returns and continues to capture, be then by wireless communication mode by dolly and target to
Amount is transferred to Pcduino, and Pcduino receives the coordinate vector of target and carrier.
Beneficial effect, the dolly navigation system of view-based access control model information provided by the invention, navigation is more accurate, and error rate is more
It is low.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, embodiment will be described below needed for accompanying drawing make it is simple
Introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, to those of ordinary skill in the art
For, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings, these accompanying drawings institute is straight
The technical scheme for connecing to obtain should also belong to protection scope of the present invention.
Fig. 1 is the structured flowchart of the dolly navigation system of the view-based access control model information of the present invention.
Fig. 2 is gyroscope zero offset compensation flow chart in the present invention.
Fig. 3 is the flow chart that Pcduino receives coordinate vector.
Fig. 4 is the location algorithm flow chart of three mesh cameras.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below to the specific reality of the present invention
The mode of applying elaborates.Many details are elaborated in the following description in order to fully understand the present invention.But this
Invention can be implemented with being much different from other manner described here, and those skilled in the art can be without prejudice to the present invention
Similar improvement is done in the case of intension, therefore the present invention is not limited by following public embodiment.
Embodiment 1 is including wireless as shown in figure 1, the invention provides a kind of dolly navigation system of view-based access control model information
Camera 1, server 2, wifi wireless transport modules 3 and carrier；Pcduino4, Arduino6 are provided with the carrier；Institute
State and motor 5, the crystal oscillator 8 of steering wheel 7 and first are connected with Arduino6；Gyroscope 11, magnetometer are connected with the Pcduino4
10 and second crystal oscillator 9；Wireless camera 1 is connected with the wireless telecommunications of server 2, for real-time image acquisition information, and will collection
To information server 2 is transferred to by wireless wifi；Server 2 electrically connects with wifi wireless transport modules 3, passes through opencv
Target and robot in detection image, and the coordinate vector of target and carrier is sent out by wifi wireless transport modules 3
Give Pcduino4；Pcduino4 is connected with Arduino6 by serial ports, and Pcduino4 receives the laggard line program of data and resolved, so
Arduino6 is sent instructions to by serial communication mode afterwards；Steering wheel 7 in rotation, which constantly adjusts carrier angle, makes it towards mesh
Mark direction to advance, the driving of motor 5 accelerates steering wheel 7, in its accelerator, while constantly receives the number from server 2
According to, Pcduino4 according to the target received and the coordinate vector of carrier, and gyroscope 11 on carrier and magnetometer 10
Feedback, the speed and carrier angle of steering wheel 7 are adjusted in time, before carrier reaches target face.Its data communication simple in construction is more
It hurry up, navigation information is more accurate.
The invention provides a kind of dolly navigation system of view-based access control model information, including wireless camera 1, clothes for embodiment 2
Business device 2,4G wireless transport modules 3 and carrier；Pcduino4, Arduino6 are provided with the carrier；On the Arduino6
It is connected with motor 5, the crystal oscillator 8 of steering wheel 7 and first；Gyroscope 11, the crystal oscillator of magnetometer 10 and second are connected with the Pcduino4
9；Wherein wireless camera 1 is that three wireless cameras form three mesh wireless cameras, and three mesh wireless cameras are logical with server 2
Cross socket modes and communicate connection, transmitted for real-time image acquisition information, and by the information collected by 4G network modes
To server；Server electrically connects with 4G wireless transport modules 3, by the target and robot in opencv detection images,
And the coordinate vector of target and carrier is sent to Pcduino4 by 4G wireless transport modules 3；Pcduino4 with
Arduino6 is connected by serial ports, and Pcduino4 receives the laggard line program of data and resolved, and is then sent by serial communication mode
Instruct to Arduino6；Steering wheel 7 in rotation, which constantly adjusts carrier angle, makes it advance towards target direction, and the driving of motor 5 makes
Steering wheel 7 accelerates, in its accelerator, while constantly receive the data from server, and Pcduino4 is according to receiving
The coordinate vector of target and carrier, and gyroscope 11 and the feedback of magnetometer 10 on carrier, the speed of steering wheel 7 is adjusted in time
With carrier angle, until carrier reach target face before.Faster, navigation information is more accurate for its data communication simple in construction.Such as Fig. 4
It is shown, test proves that three mesh camera contrast locating monocular cam positioning method errors are smaller, the positioning of monocular cam
Error is 0-7.8, and it is 0-0.46 that the error of three mesh cameras, which is scope, contrasts the point of each overall error, and the positioning of three mesh is calculated
The value of method always wants the value of monocular location algorithm small, and the degree of the overall error fluctuation of three mesh location algorithms is smaller, total energy
Maintain the scope of [5~8.2].Illustrate that three mesh location algorithms preferably improve the accuracy of location algorithm.
Embodiment 3 is as shown in Fig. 2 present invention also offers the gyro in the dolly navigation system of above-mentioned view-based access control model information
The zero offset compensation method of instrument 11, step is as follows, and gyroscope 11 brings into operation first, after stand-by period T, that is, reaches adopting for gyroscope
After sample time T, sensor collection gyro raw data Raw, Sum=Sum+Raw, N=N+1；Then carried out as N=1000
Gyr_offset=Sum/N, then terminate；Wherein N is sampling number；T is gyroscope sample frequency；Raw is that gyroscope is original
Data；Sum be Raw superposition value and；Gyr_offset is the zero offset compensation output valve of gyroscope 11.
The invention provides the output amendment side of the magnetometer 10 in the dolly navigation system of view-based access control model information for embodiment 4
Method, the output data of magnetometer 10 during carrier rotates a circle is recorded first, if the data X-axis maximum collected is
Xmax, X-axis minimum value are Xmin, and accordingly, the maximum of Y-axis is set to Ymax, and the minimum value of Y-axis is set to Ymin；X-axis inputs
Xin, Y-axis input are Yin, and X-axis output is Xout, and Y-axis output is Yout, and X-axis output carries out output correction according to Formula X -1：
Xout=XinXs+Xb (1-1)
Xs is Xin proportionality coefficient in formula 1-1；
Xb is Xin bias compensation, and Xb is provided by following formula 1-1-1；
Y-axis output carries out output correction according to formula 1-2：
Yout=YinYs+Yb (1-2)
Ys is Yin proportionality coefficient in formula 1-2, and Ys is provided by following formula 1-2-2；
Yb is Yin bias compensation, and Yb is provided by formula 1-2-3；
So as to can obtain the output modifier of magnetometer, resultant error is smaller.
Embodiment 5, the Pcduino4 in the dolly navigation system of the view-based access control model information in the present invention is to mesh as shown in Figure 3
To mark and be with the coordinate vector method of reseptance of carrier, server judges whether to capture dolly and target by three mesh wireless cameras 1,
Otherwise return and continue to capture, be that dolly and object vector are transferred to by Pcduino4 by wireless communication mode,
Pcduino4 receives the coordinate vector of target and carrier.
The location algorithm of three mesh cameras is as shown in figure 4, as follows to the progress location test of three mesh cameras below, head
First equally distributed in the picture to choose 10 points, a summit in regioselective region is origin, establishes plane coordinate system, is surveyed
Measure coordinate of 10 points in localization region, and record data.Then dolly is put in 10 test points respectively, and tracked
The position of dolly, coordinate of the record dolly in monocular cam positioning.Put dolly in 10 test points respectively, and with
The position of track dolly, coordinate of the record dolly in the positioning of three mesh cameras.Monocular cam and three mesh cameras are calculated respectively
X-axis (formula 2-1), the error of y-axis (formula 2-2) and overall error (formula 2-3).
Error formula is as follows：
Δ x=| x-x0| (2-1)
Δ y=| y-y0| (2-2)
It can obtain that the xy axis errors of monocular location algorithm are larger by result of the test, the model for maintaining [0~7.8] of error
Enclose, and three mesh location algorithm xy axis errors tightly fluctuate in [0~4.6] scope.Contrast the point of each overall error, the positioning of three mesh
The value of algorithm always wants the value of monocular location algorithm small, and the degree of the overall error fluctuation of three mesh location algorithms is smaller, always
The scope of [5~8.2] can be maintained.Illustrate that three mesh location algorithms preferably improve the accuracy of location algorithm.
Claims (6)
- A kind of 1. dolly navigation system of view-based access control model information, it is characterised in that：Including wireless camera (1), server (2), Wireless transport module (3) and carrier；Pcduino (4) and Arduino (6) are provided with the carrier；Connect on the Arduino It is connected to motor (5), steering wheel (7) and the first crystal oscillator (8)；Gyroscope (11), magnetometer (10) and are connected with the Pcduino Two crystal oscillators (9)；Wireless camera (1) is connected with server (2) wireless telecommunications, for real-time image acquisition information, and will collection The information transfer arrived gives server (2)；Server (2) electrically connects with wireless transport module (3), by opencv detection images Target and robot, and the coordinate vector of target and carrier is sent to Pcduino by wireless transport module (3) (4)；Pcduino (4) is connected with Arduino (6) by serial ports, and Pcduino (4) receives the laggard line program of data and resolved, then Arduino (6) is sent instructions to by serial communication mode；Steering wheel (7), which is used for constantly adjustment carrier angle, makes it towards target Advance in direction；Motor (5) is used to accelerate steering wheel (7), in its accelerator, while constantly receives and comes from server (2) Data；Pcduino (4) is according to the target received and the coordinate vector of carrier, and gyroscope (11) and magnetic on carrier The feedback of strong meter (10), the speed and carrier angle of motor (5) are adjusted in time, navigate and terminate before carrier reaches target face.
- 2. the dolly navigation system of view-based access control model information according to claim 1, it is characterised in that：The wireless camera (1) it is three three mesh wireless cameras of composition.
- 3. the dolly navigation system of view-based access control model information according to claim 2, it is characterised in that：Three mesh wireless cameras It is connected with server (2) by socket communication.
- 4. the dolly navigation system of view-based access control model information according to claim 3, it is characterised in that：The zero of gyroscope (11) Offset compensation method is as follows, and gyroscope (11) brings into operation first, after stand-by period T, that is, after the sampling time T for reaching gyroscope, Sensor collection gyro raw data Raw, Sum=Sum+Raw, N=N+1；Then Gyr_offset is carried out as N=1000 =Sum/N, then terminates.
- 5. the dolly navigation system of view-based access control model information according to claim 4, it is characterised in that：Magnetometer (10) it is defeated Go out that modification method is as follows, the output data of magnetometer (10) during carrier rotates a circle is recorded first, if the data X collected Axle maximum is Xmax, and X-axis minimum value is Xmin, and accordingly, the maximum of Y-axis is set to Ymax, and the minimum value of Y-axis is set to Ymin；X-axis input is Xin, and Y-axis input is Yin, and X-axis output is Xout, and Y-axis output is Yout, and X-axis output is entered according to Formula X -1 Row output correction：Xout=XinXs+Xb (1-1)Xs is Xin proportionality coefficient in formula 1-1；Xb is Xin bias compensation, and Xb is provided by following formula 1-1-1；<mrow> <msub> <mi>X</mi> <mi>b</mi> </msub> <mo>=</mo> <msub> <mi>X</mi> <mi>s</mi> </msub> <mo>(</mo> <mrow> <mfrac> <mrow> <msub> <mi>X</mi> <mi>max</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mi>min</mi> </msub> </mrow> <mn>2</mn> </mfrac> <mo>-</mo> <msub> <mi>X</mi> <mi>max</mi> </msub> </mrow> <mo>)</mo> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>1</mn> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>Y-axis output carries out output correction according to formula 1-2：Yout=YinYs+Yb (1-2)Ys is Yin proportionality coefficient in formula 1-2, and Ys is provided by following formula 1-2-2；<mrow> <msub> <mi>Y</mi> <mi>s</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>X</mi> <mi>max</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mi>min</mi> </msub> </mrow> <mrow> <msub> <mi>Y</mi> <mi>max</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mi>min</mi> </msub> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mo>-</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>Yb is Yin bias compensation, and Yb is provided by formula 1-2-3；<mrow> <msub> <mi>Y</mi> <mi>b</mi> </msub> <mo>=</mo> <msub> <mi>Y</mi> <mi>s</mi> </msub> <mo>(</mo> <mrow> <mfrac> <mrow> <msub> <mi>Y</mi> <mi>max</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mi>min</mi> </msub> </mrow> <mi>Y</mi> </mfrac> <mo>-</mo> <msub> <mi>Y</mi> <mi>max</mi> </msub> </mrow> <mo>)</mo> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mo>-</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>So as to obtain the output modifier of magnetometer (10).
- 6. the dolly navigation system of view-based access control model information according to claim 2, it is characterised in that：Pcduino (4) is to mesh It is that server (2) judges whether wireless camera (1) captures dolly and target, no to mark with the coordinate vector method of reseptance of carrier Then return and continue to capture, be that dolly and object vector are transferred to by Pcduino (4) by wireless communication mode, Pcduino (4) receives the coordinate vector of target and carrier.
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