CN109146919A - A kind of pointing system and method for combination image recognition and laser aiming - Google Patents
A kind of pointing system and method for combination image recognition and laser aiming Download PDFInfo
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- CN109146919A CN109146919A CN201810641748.8A CN201810641748A CN109146919A CN 109146919 A CN109146919 A CN 109146919A CN 201810641748 A CN201810641748 A CN 201810641748A CN 109146919 A CN109146919 A CN 109146919A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
- G06T7/251—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/30—Circuit arrangements or systems for wireless supply or distribution of electric power using light, e.g. lasers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
The invention discloses the pointing system and methods of a kind of combination image recognition and laser aiming, the system includes laser receiver and laser beam emitting device, inspection is carried out by default route first, after determining that target object enters visual field, obtain the location information of target object, adjustment pointing holder makes target object in the central area of visual field, it guides laser beam to enter target area and completes rough tracking, according to the deviation of beacon beam and reflection beacon beam after into target area, finely tune the direction of beacon beam, realize high-precision pointing, pointing system bulk provided in an embodiment of the present invention is small, precision is high, speed is fast, and a wide range of image processor target of energy, the application range of wireless laser electric energy transmission has been widened significantly.
Description
Technical field
The present invention relates to the transmission of laser radio electric energy and image identification technical fields, and in particular to a kind of combination image recognition
With the pointing system and method for laser aiming.
Background technique
As electrical equipment becomes increasingly popular, there is poor mobilities for the traditional electricity supply mode based on contact conduction, uneasy
The problems such as complete reliable.Especially in electrical equipment and power supply system distance, contact is inconvenient farther out or there is the system of relative movement
In, more optional equipment is needed to meet physical contact, is made troubles to the application of electrical equipment.And wireless laser electric energy passes
It is defeated to have the advantages that long transmission distance, directionality are good, can be used for from the ground compared with rise from equipment carry out non-contact charge, or
Non-contact charge is carried out to Fast Moving Objects such as unmanned plane, tank, vehicles.
Currently used laser pointing technology mainly includes GPS positioning technology, four-quadrant infrared detection technique etc., but GPS
The disadvantages of location technology is not high, at high cost there are short distance positioning precision, and four-quadrant infrared detection technique is only applicable in laser beam
Situation of the initial position in target area, search range are small.
Summary of the invention
Therefore, the present invention provides the pointing system and method for a kind of combination image recognition and laser aiming, overcomes existing
Not high, the at high cost deficiency of positioning accuracy in technology.
A kind of laser beam emitting device with pointing function provided in an embodiment of the present invention, comprising: image processing module swashs
Light guiding module, laser emitter and photodetector, described image processing module acquire inspection image according to default route, mention
The image information in the inspection image is taken, and described image information is compared with preset template image information, is judged
Whether target object enters visual field；When determining that the target object enters visual field, described image processing module obtains the mesh
The location information for marking object, adjusts the target object to the center of the visual field according to the location information of the target object
Domain；Laser emitter described in the laser aiming module drive emits beacon beam to the target object；The photodetector
The reflected beams for acquiring the beacon beam determine the location information of the reflected beams；The laser aiming module is according to
The center position of the location information of the reflected beams and the photodetector adjusts the laser emitter, makes the beacon beam
The reflected beams be directed at the central point of the photodetector；The laser emitter emits main beam to the target object.
Further, image processing module includes: Image Acquisition submodule, images match submodule and field of view adjustment
Submodule, wherein described image acquires submodule and acquires inspection image according to default route, extracts the figure in the inspection image
As information；Described image matched sub-block carries out the image information in the target object image information and the inspection image
Matching, judges whether the target object enters visual field；When determining that the target object enters visual field, the field of view tune
Whole submodule obtains the location information of the target object, adjusts the target object according to the location information of the target object
To the central area of the visual field.
Further, described image processing module and laser emitter are set on pointing holder, pass through the pointing cloud
Platform drives described image processing module to acquire inspection image and the laser emitter to target object transmitting according to default route
Beacon beam and main beam.
Further, the laser emitter includes: laser, transmitter and Laser Power Devices, wherein the Laser Power Devices
Electric energy is provided to the laser；The laser generates beacon beam according to the electric energy excitation photon that the Laser Power Devices provide；
The transmitter emits the beacon beam, and generates main beam according to shaping is carried out to the beacon beam, and emit the key light
Beam.
The pointing system of also a kind of combination image recognition and laser aiming of the embodiment of the present invention, comprising: laser receiver
And laser beam emitting device, the laser machine receiving apparatus are set on target object, the laser beam emitting device includes: image procossing
Module, laser aiming module, laser emitter and photodetector, described image processing module acquire inspection according to default route
Image extracts the image information in the inspection image, and described image information and preset template image information is compared
It is right, judge whether target object enters visual field；When determining that the target object enters visual field, described image processing module is obtained
The location information of the target object adjusts the target object to the visual field according to the location information of the target object
Central area；Laser emitter described in the laser aiming module drive emits beacon beam to the target object；The photoelectricity
Detector acquires the reflected beams of the laser receiver reflection beacon beam, determines the location information of the reflected beams；Institute
Laser aiming module is stated according to the adjustment of the center position of the location information of the reflected beams and the photodetector
Laser transmitter projects make the reflected beams of the beacon beam be directed at the photodetector central point；The laser emitter
Emit main beam to the target object.
Further, the laser receiver includes: multiple identification lights, multiple for constructing on the target object
Color characteristic point；Described image processing module includes Image Acquisition submodule, images match submodule, wherein
Image Acquisition submodule acquires inspection image according to default route, extracts the image information in inspection image；It is described
Images match submodule includes: center-of-mass coordinate acquisition submodule, for believing the inspection image information and default template image
Breath is matched, and the center-of-mass coordinate with the highest matching area of target object matching degree is obtained；First color characteristic point is sat
Acquisition submodule is marked, for obtaining the coordinate that multiple color characteristic points of the target object are arranged in；It is obtained apart from minimum value
Submodule for calculating separately the center-of-mass coordinate of the matching area at a distance from the multiple color characteristic point coordinate, and obtains
Take the minimum value of distance；First distance judging submodule, for judging the minimum value of the distance whether less than the first preset value；
Object decision sub-module, when it is described apart from minimum value less than the first preset value when, the object decision sub-module determines the mesh
Mark object enters visual field.
Further, described image processing module further includes field of view adjusting submodule, field of view adjustment
Module includes: first position center-of-mass coordinate acquisition submodule, is used for the inspection image information and default template image information
It is matched, obtains the first position center-of-mass coordinate with the highest matching area of target object matching degree；Second color is special
Sign point coordinate acquisition submodule, for obtaining the coordinate that multiple color characteristic points of the target object are arranged in；The second position
Center-of-mass coordinate acquisition submodule, for obtaining the second position of the target object according to the coordinate of the multiple color characteristic point
Center-of-mass coordinate；Center-of-mass coordinate apart from submodule, for calculate the first position center-of-mass coordinate and second position center-of-mass coordinate it
Between distance；Second distance judging submodule, for judge the first position center-of-mass coordinate and second position center-of-mass coordinate it
Between distance whether less than the second preset value；Target object position information determines submodule, when the first position center-of-mass coordinate
When distance is less than the second preset value between the center-of-mass coordinate of the second position, the target object position information determines submodule by institute
State the location information that first position center-of-mass coordinate is determined as the target object；Target object adjusting submodule, for according to institute
The location information for stating target object adjusts the target object to the central area of the visual field.
Further, the laser receiver further include: optical module and photovoltaic cell, wherein the optical module
It reflects the beacon beam and generates the reflected beams；The photovoltaic cell receives the main beam, converts the main beam to
Electric energy.
Further, the laser receiver further include: power inverter and battery, the power inverter is by institute
The target object and/or the battery are conveyed to after stating the electric energy progress power conversion of photovoltaic cell generation.
The embodiment of the present invention also provides the pointing method of a kind of combination image recognition and laser aiming, includes the following steps:
Inspection image is acquired according to default route, extracts the image information in the inspection image；By described image information with it is preset
Template image information is compared, and judges whether target object enters visual field；When determining that the target object enters visual field, obtain
The location information of the target object adjusts the target object into visual field according to the location information of the target object
Heart district domain；Emit beacon beam to the target object, acquires the reflected beams of the beacon beam, determine the position of the reflected beams
Confidence breath；The beacon beam is adjusted according to the center position of the location information of the reflected beams and photodetector, makes institute
It states the reflected beams and is directed at the photodetector central point；Emit main beam to the target object.
Further, described that described image information is compared with preset template image information, judge target object
It the step of whether entering visual field, specifically includes: the inspection image information is matched with default template image information, obtain
With the center-of-mass coordinate of the highest matching area of target object matching degree；Obtain multiple colors that the target object is set
The coordinate of characteristic point；The center-of-mass coordinate of the matching area is calculated separately at a distance from the multiple color characteristic point coordinate, and
Obtain the minimum value of distance；Judge the minimum value of the distance whether less than the first preset value；It is less than when described apart from minimum value
When the first preset value, determine that the target object enters visual field.
Further, the location information for obtaining the target object, according to the location information tune of the target object
The step of whole target object is to the central area of the visual field, specifically includes: by the inspection image information and default mould
Plate image information is matched, and the first position center-of-mass coordinate with the highest matching area of target object matching degree is obtained；
Obtain the coordinate that multiple color characteristic points of the target object are set；It is obtained according to the coordinate of the multiple color characteristic point
The second position center-of-mass coordinate of the target object；It calculates between the first position center-of-mass coordinate and second position center-of-mass coordinate
Distance；Judge whether the distance between the first position center-of-mass coordinate and second position center-of-mass coordinate are default less than second
Value；When distance is less than the second preset value between the first position center-of-mass coordinate and second position center-of-mass coordinate, by described
One position center-of-mass coordinate is determined as the location information of the target object；According to the location information of the target object, institute is adjusted
Target object is stated to the central area of the visual field.
Further, the center position tune of the location information according to the reflected beams and the photodetector
The whole beacon beam, specifically includes: obtaining photoelectricity and visit the step of making the reflected beams be directed at the photodetector central point
The coordinate and the target object of surveying device central point reflect the coordinate of the reflected beams of the beacon beam；It calculates in photodetector
The deviation of the coordinate of the coordinate and the reflected beams of heart point；The reflected beams of the beacon beam are adjusted according to the deviation
Coordinates calibration described in photodetector central point.
Technical solution of the present invention has the advantages that
Laser beam emitting device provided in an embodiment of the present invention with pointing function, in conjunction with image recognition and laser aiming
Pointing system and method carries out inspection by default route first, after determining that target object enters visual field, obtains target object
Location information, adjustment pointing holder makes target object in the central area of visual field, laser beam guided to enter target area completion
Rough tracking, into target area after according to beacon beam and reflect the deviation of beacon beam, finely tune the direction of beacon beam, realize high-precision
Pointing, pointing system bulk provided in an embodiment of the present invention is small, precision is high, speed is fast, and a wide range of image processor target of energy, greatly
The application range of wireless laser electric energy transmission has been widened greatly.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the signal of a specific example of the laser beam emitting device with pointing function supplied in the embodiment of the present invention
Figure；
Fig. 2 is that another specific example of the laser beam emitting device with pointing function of confession is provided in the embodiment of the present invention
Schematic diagram；；
Fig. 3 is that the storage provided in the embodiment of the present invention combines pointing system one of image recognition and laser aiming specifically to show
The schematic diagram of example；
Fig. 4 is that the storage provided in the embodiment of the present invention combines image procossing in image recognition and the pointing system of laser aiming
The schematic diagram of one specific example of module；
Fig. 5 is that the storage provided in the embodiment of the present invention combines pointing method one of image recognition and laser aiming specifically to show
The schematic diagram of example；
Fig. 6 is that the storage provided in the embodiment of the present invention combines step S2 mono- in image recognition and the pointing method of laser aiming
The schematic diagram of a specific example；
Fig. 7 is that the storage provided in the embodiment of the present invention combines step S3 mono- in image recognition and the pointing method of laser aiming
The schematic diagram of a specific example；
Fig. 8 is that the storage provided in the embodiment of the present invention combines acquisition reflection in image recognition and the pointing method of laser aiming
The schematic diagram of one specific example of beacon light coordinate；
Fig. 9 is that the storage provided in the embodiment of the present invention combines step S5 mono- in image recognition and the pointing method of laser aiming
The schematic diagram of a specific example.
Appended drawing reference
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Embodiment 1
The embodiment of the present invention provides a kind of laser beam emitting device with pointing function, as shown in Figure 1, comprising: at image
Module 1, laser aiming module 2, laser emitter 3 and photodetector 4 are managed,
Image processing module 1 acquires inspection image according to default route, extracts the image information in inspection image, and will figure
As information is compared with preset template image information, judge whether target object enters visual field；When determine target object into
When entering visual field, image processing module 1 obtains the location information of target object, adjusts target pair according to the location information of target object
Central area as arriving visual field.
Laser aiming module 2 drives laser emitter 3 to emit beacon beam to target object；Photodetector 4 acquires beacon
The reflected beams of light, determine the location information of the reflected beams, and laser aiming module 2 is according to the location information and photoelectricity of the reflected beams
The center position of detector 4 adjusts laser emitter 3, and the reflected beams of beacon beam is made to be directed at the central point of photodetector 4；
Laser emitter 3 emits main beam to target object.In the embodiment of the present invention, which can visit for four-quadrant photoelectricity
Survey device.
In embodiments of the present invention, as shown in Fig. 2, image processing module 1 and laser emitter 3 are set to pointing holder 5
On, drive image processing module 1 to acquire inspection image and laser emitter 3 to target according to default route by pointing holder 5
Object emits beacon beam and main beam.In the embodiment of the present invention, which can be two axis pointing holders.
In a preferred embodiment, as shown in Fig. 2, the image processing module 1 includes: Image Acquisition submodule 11, image
Matched sub-block 12 and field of view adjusting submodule 13.
The Image Acquisition submodule 11 acquires inspection image according to default route, extracts the image information in inspection image,
In the embodiment of the present invention, which can be a video camera, and the image size for shooting each frame is 640*480.
Images match submodule 12 is according to pre-set image Processing Algorithm by the image information in target object image information and inspection image
It is matched, judges whether target object enters visual field.In embodiments of the present invention, which can be template
With algorithm etc., but the present invention is not limited thereto.When determining that target object enters visual field, field of view adjusting submodule 13 is obtained
The location information for taking target object adjusts target object to the central area of visual field according to the location information of target object.
In a preferred embodiment, as shown in Fig. 2, laser emitter 3 includes: laser 31, transmitter 32 and laser electricity
Source 33, wherein
Laser Power Devices 33 provide electric energy, the electric energy excitation photon that laser 31 is provided according to Laser Power Devices 33 to laser 31
Generate beacon beam.Transmitter 32 emits beacon beam, and generates main beam according to shaping is carried out to beacon beam, and emit main beam.
In the embodiment of the present invention, which can be battery or alternating current, and laser is 31 semiconductor lasers,
Excitation photon generates laser on the semiconductor after the electric current injection for receiving Laser Power Devices 33.The power of beacon beam is small, but side
Tropism is good, does not need shaping, and main beam selects 808nm laser beam, and efficiency of transmission is high in an atmosphere for this laser beam, wavelength and light
Battery matching is lied prostrate, but the angle of divergence is big, the hot spot irradiated is uneven, can just make after needing laser collimation system to carry out shaping
With, and the transmitter 32 in the embodiment of the present invention is substantially the colimated light system after integrating, and is carried out to the laser that laser generates
Emit after shaping.
Laser beam emitting device provided in an embodiment of the present invention with pointing function is patrolled by default route first
Inspection obtains the location information of target object after determining that target object enters visual field, and adjustment pointing holder is regarding target object
Central area, guide laser beam enter target area complete rough tracking, into target area after according to beacon beam and reflection
The deviation of beacon beam finely tunes the direction of beacon beam, realizes high-precision pointing, pointing system bulk provided in an embodiment of the present invention
It is small, precision is high, speed is fast, and can a wide range of image processor target, widened the application range of wireless laser electric energy transmission significantly.
Embodiment 2
The embodiment of the present invention provides the pointing system of a kind of combination image recognition and laser aiming, as shown in Figure 3, comprising:
Laser beam emitting device 6 and laser receiver 7, wherein laser beam emitting device 6 includes: image processing module 61, laser aiming mould
Block 62, laser emitter 63 and photodetector 64, image processing module 61 acquire inspection image according to default route, and extraction is patrolled
The image information in image is examined, and image information is compared with preset template image information, whether judges target object
Into visual field；When determining that target object enters visual field, image processing module 61 obtains the location information of target object, according to mesh
The location information for marking object adjusts target object to the central area of visual field.Laser aiming module 62 drive laser emitter 63 to
Target object emits beacon beam；Photodetector 64 acquires the reflected beams that laser receiver 7 reflects beacon beam, determines reflection
The location information of light beam；Laser aiming module 62 is according to the location information of the reflected beams and the center position of photodetector 62
Laser emitter 63 is adjusted, the reflected beams of beacon beam is made to be directed at 64 central point of photodetector；Laser emitter 63 is to target
Object emits main beam.
In the embodiment of the present invention, as shown in figure 3, laser machine reception device 7 is set on target object, which receives dress
Setting 7 includes: optical module 71 and photovoltaic cell 72, power inverter 73, battery 74 and multiple identification lights 75, optical module 71
The beacon beam of reflection laser transmitter transmitting generates the reflected beams, and photovoltaic cell 72 receives the main beam of laser transmitter projects,
Electric energy is converted by main beam, power inverter 73 is conveyed to target after the electric energy that photovoltaic cell 72 generates is carried out power conversion
Object and/or battery 74, multiple identification lights 75 on target object for constructing multiple color characteristic points.The present invention is implemented
In, optical module 71 can be reflecting prism, and identification light 75 can be four red LED light, and four of photovoltaic cell 72 are arranged in
On angle, but the present invention is not limited thereto, and the quantity of the identification light can be set as needed as one or more.
In a preferred embodiment, as shown in figure 4, image processing module 61 includes Image Acquisition submodule 611, image
Sub-module 612 and field of view adjusting submodule 613, Image Acquisition submodule 611 acquire inspection image according to default route,
The image information in inspection image is extracted, in the embodiment of the present invention, Image Acquisition submodule 611 can be a video camera, and shooting is every
The image size of one frame is 640*480.
Images match submodule 612 judge target whether enter visual field i.e. target object when enter the shooting model of video camera
Within enclosing, for each frame image that camera obtains, it is first filtered, it is therefore an objective to which removing in picture may make
At the noise of interference, obtain the image of relative smooth, then using this image as template matching and particular color characteristic point at
The inspection image to be checked of reason.
Images match submodule 612 includes: center-of-mass coordinate acquisition submodule 6121 in the embodiment of the present invention, and center-of-mass coordinate obtains
Submodule is taken, for matching the inspection image information with default template image information, is obtained and the target object
The center-of-mass coordinate of the highest matching area of matching degree.
In the embodiment of the present invention, which is that template image and image to be inspected are passed through gray scale
Processing obtains standardized grayscale value, using this treated Prototype drawing as matched formwork, then traverses inspection figure to be checked
Everywhere as in, compares " similar " degree everywhere to formwork, that is, the standardization of Prototype drawing and inspection image to be checked
Gray value is brought into similarity function, and the two matching degree is obtained, and is then obtained and the highest matching area of Prototype drawing matching degree
Center-of-mass coordinate.
The first above-mentioned color characteristic point coordinate acquisition submodule 6122, for obtaining multiple face that target object is arranged in
The coordinate of color characteristic point.Multiple color characteristic points that target object is arranged in are specific color characteristic point, the embodiment of the present invention
In can for red.First by filtered inspection image to be checked by RGB (red, green, blue) model conversation to HSV (tone, saturation
Degree, brightness) model, it determines the H component section where particular color, while the S component of appropriate mix and V component section, treats
Each pixel of the inspection image of inspection carries out color detection.When this pixel meets the above-mentioned section HSV, its value is arranged
It is 255, is otherwise set as 0, and be stored in result images.The bianry image of particular color characteristic point is thus obtained highlighting.
Contour detecting is carried out for this image, obtains the coordinate of each color characteristic point.
Apart from minimum value acquisition submodule 6123, for calculate separately matching area center-of-mass coordinate and multiple color characteristics
The distance of point coordinate, and obtain the minimum value of distance.First distance judging submodule 6124, for judging that the minimum value of distance is
It is no less than the first preset value.Object decision sub-module 6125, when apart from minimum value less than the first preset value, object determines submodule
Block determines that target object enters visual field.
In the embodiment of the present invention, when target object is outside the visual field of camera, by template matching algorithm by random
It is fitted on region most like with target in visual field, but this region is occurred the probability pole of particular color characteristic point by environmental disturbances just
It is small, therefore particular color characteristic point is larger at a distance from template matching region, thinks that target does not appear in visual field at this time, continues
Inspection process.When target is in camera visual field, template matching region and particular color characteristic point appear in maximum probability together
One region (i.e. target area), particular color characteristic point is minimum at a distance from template matching region at this time, less than the first preset value
When (first preset value can be with 10 pixels), determine target object enter visual field.
In the embodiment of the present invention, as shown in figure 4, above-mentioned field of view adjusting submodule 613 includes:
First position center-of-mass coordinate acquisition submodule 6131, for by inspection image information and default template image information into
Row matching, obtains the first position center-of-mass coordinate with the highest matching area of target object matching degree.The embodiment of the present invention
In, template matching algorithm detailed process is that template image and image to be inspected are obtained standardized grayscale value by gray proces,
Using this treated Prototype drawing as matched formwork, the everywhere in inspection image to be checked is then traversed, is compared everywhere
To " similar " degree of formwork, that is, the standardized grayscale value of Prototype drawing and inspection image to be checked is brought into similarity function
In, the two matching degree is obtained, the center-of-mass coordinate with the highest matching area of Prototype drawing matching degree is then obtained.
Second color characteristic point coordinate acquisition submodule 6132, for obtaining multiple color characteristics that target object is arranged in
The coordinate of point.Second position center-of-mass coordinate acquisition submodule 6133, for obtaining target according to the coordinate of multiple color characteristic points
The second position center-of-mass coordinate of object.
In the embodiment of the present invention, by filtered inspection image to be checked by RGB (red, green, blue) model conversation to HSV (color
Adjust, saturation degree, brightness) after model, the bianry image of particular color characteristic point is obtained, contour detecting is carried out for this image, is obtained
To the coordinate of each color characteristic point, sat according to the second position mass center that the coordinate of each color characteristic point obtains target object
Mark.
Center-of-mass coordinate is apart from submodule 6134, for calculating between first position center-of-mass coordinate and second position center-of-mass coordinate
Distance.Second distance judging submodule 6135, for judging between first position center-of-mass coordinate and second position center-of-mass coordinate
Distance whether less than the second preset value.When between first position center-of-mass coordinate and the second position center-of-mass coordinate distance less than second
When preset value, target object position information determines that first position center-of-mass coordinate is determined as the position of target object by submodule 6136
Information.By the algorithm of template matching in the embodiment of the present invention, i.e., standardized grayscale value is obtained by gray proces, obtains template
The similarity of image and image standardization gray value to be inspected, when matching value is greater than a preset value, determines to determine matching value
Target object successful match, and then the center-of-mass coordinate of the target object obtained and the target pair obtained by characteristic color characteristic point
Just determine that the accuracy of the center-of-mass coordinate of target object is higher when the deviation of the center-of-mass coordinate of elephant is less than the second preset value.The present invention
In embodiment, which can be not limited thereto with 10 pixels, in other embodiments can be according to actual photographed figure
The size of picture accordingly adjusts preset value.
Target object adjusting submodule 6137 adjusts target object to visual field for the location information according to target object
Central area.In the embodiment of the present invention, after the location information for obtaining target object, that is, the target area of target object is obtained
Center-of-mass coordinate after, two axis pointing cloud platform rotations are controlled according to the location information of target object, until being adjusted to the center of visual field
Region.
After target object is adjusted to the central area of visual field, laser aiming module 62 guides laser emitter 63 to emit
Beacon beam is emitted into target area.
The pointing system of combination image recognition provided in an embodiment of the present invention and laser aiming, first by default route into
Row inspection obtains the location information of target object after determining that target object enters visual field, and adjustment pointing holder makes target object
In the central area of visual field, guide laser beam to enter target area and complete rough tracking, into target area after according to beacon beam with
The deviation for reflecting beacon beam finely tunes the direction of beacon beam, realizes high-precision pointing, pointing system body provided in an embodiment of the present invention
Product is small, precision is high, speed is fast, and a wide range of image processor target of energy, and that has widened the transmission of wireless laser electric energy significantly applies model
It encloses.
Embodiment 3
The embodiment of the present invention provides the pointing method of a kind of combination image recognition and laser aiming, as shown in figure 5, the pointing
Method includes the following steps:
Step S1: inspection image is acquired according to default route, extracts the image information in inspection image.
In the embodiment of the present invention, inspection is carried out by default route by the video camera being mounted on two axis tracking holder, is clapped
The image size for taking the photograph each frame is 640*480.
Step S2: image information is compared with preset template image information, judges whether target object enters view
?.In the embodiment of the present invention, judge whether target object enters visual field to judge whether target object enters the shooting of video camera
In range.
In a preferred embodiment, as shown in fig. 6, step S2, by image information and preset template image information into
Row compares, and judges whether target object enters the process of visual field, specifically includes:
Step S21: being matched inspection image information with default template image information by default template matching algorithm,
Obtain the center-of-mass coordinate with the highest matching area of target object matching degree.In the embodiment of the present invention, template matching Processing Algorithm
Are as follows: it takes pictures first against target object and obtains Prototype drawing, using this Prototype drawing as matched formwork, then traverse inspection image
In everywhere, compare and be considered as being matched to when similarity degree is sufficiently high to " similar " degree of formwork everywhere
Target object.In conjunction with concrete condition, selection criteria Image Matching compares formwork and image similarity degree.The present invention is real
It applies in example by template image and inspection image to be checked after gray processing processing, by each pixel of formwork and inspection image
Point subtracts entire image average value again divided by variance, standardization result is obtained, to guarantee that image and template are changing illumination respectively
Calculated result is not influenced in the case where brightness, then brings the standardized grayscale value of template and inspection image to be checked into similarity
In function, the value of the two matching degree is obtained.It has been limited in -1 to 1 by the calculated related coefficient of similarity function, 1 table
Show it is identical, -1 indicate two images gray scale it is exactly the opposite, 0 expression two images between there is no linear relationship.The present invention
The related coefficient that similarity function obtains in embodiment illustrates that matching degree is higher closer to 1.The calculation formula of similarity function is such as
Under:
Wherein, T (x, y) is the gray value of (x, y) point in template, and T ' (x, y) is the standardized grayscale of (x, y) point in template
Value.I (x, y): the gray value I ' (x, y) that (x, y) is put in inspection: the standardized grayscale value that (x, y) is put in inspection image to be measured, R
(x, y): current matching Regional Similarity function.W and h respectively indicates the width and height of template image and inspection image to be measured.
Step S22: the coordinate that multiple color characteristic points of target object are set is obtained.
Step S23: calculating separately the center-of-mass coordinate of matching area at a distance from multiple color characteristic point coordinates, and obtain away from
From minimum value.In the embodiment of the present invention, the method for multiple color characteristic points processing are as follows: first by filtered image to be checked by
RGB (red, green, blue) model conversation is to HSV (tone, saturation degree, brightness) model, it is therefore an objective to make the colored describing mode of image more
Close to the direct feel of the mankind.In HSV model, the value of H component can substantially embody the color of object, and S component represents such
The mixability of color and white, V component represent the mixability of such color and black.Therefore in identification particular color feature
When point, it is first determined the H component section where particular color, while the S component of appropriate mix and V component section are patrolled to be measured
Each pixel for examining image carries out color detection.When this pixel meets the above-mentioned section HSV, 255 are set by its value,
Otherwise it is set as 0, and is stored in result images, the bianry image for highlighting particular color characteristic point is obtained.It is carried out for this image
Contour detecting obtains the coordinate of each characteristic point.
Step S24: judge the minimum value of distance whether less than the first preset value；
Step S25: when apart from minimum value less than the first preset value, determine that target object enters visual field.
In the embodiment of the present invention, the first preset value can be 10 pixels, but be not limited thereto, in other embodiments
In can accordingly adjust preset value according to the size of actual photographed image.
Step S3: when determine target object enter visual field, the location information of target object is obtained, according to the position of target object
Confidence breath, adjustment target object to the central area of visual field.
This template matching is identified that two kinds of processing methods combine with color characteristic point by the embodiment of the present invention, only works as Matching band
When center-of-mass coordinate gap determined by domain and particular color characteristic point is in default precision, just the target position being calculated is sat
Mark and displacement commands are sent to two axis pointing holders, to substantially increase the accuracy and precision of image recognition.
In a preferred embodiment, as shown in fig. 7, step S3, obtains the location information of target object, according to target object
Location information, adjust target object to the process of the central area of visual field, specifically include:
Step S31: being matched inspection image information with default template image information by algorithm, is obtained and the mesh
Mark the first position center-of-mass coordinate of the highest matching area of object matching degree.The template matching algorithm and step used in this step
As S21 is used, details are not described herein.
Step S32: the coordinate that multiple color characteristic points of target object are set is obtained.Multiple colors are obtained in this step
The coordinate algorithm of characteristic point is such as step S22, and details are not described herein.
Step S33: the second position center-of-mass coordinate of target object is obtained according to the coordinate of multiple color characteristic points.
Step S34: the distance between first position center-of-mass coordinate and second position center-of-mass coordinate are calculated.
Step S35: judge the distance between first position center-of-mass coordinate and second position center-of-mass coordinate whether less than second
Preset value.
Step S36: when distance is less than the second preset value between first position center-of-mass coordinate and second position center-of-mass coordinate,
First position center-of-mass coordinate is determined as to the location information of target object.
In the embodiment of the present invention, the second preset value can be 10 pixels in the embodiment of the present invention, but not as
Limit, can accordingly adjust preset value according to the size of actual photographed image in other embodiments.
Step S37: according to the location information of target object, target object is adjusted to the central area of visual field.
Step S4: emitting beacon beam to target object, acquire the reflected beams of beacon beam, determines the position letter of the reflected beams
Breath.In the embodiment of the present invention, as shown in figure 8, the beacon beam of laser transmitter projects passes through four-quadrant after being emitted by optical element
The coordinate of photodetector acquisition the reflected beams.
Step S5: adjusting beacon beam according to the center position of the location information of the reflected beams and photodetector, makes anti-
Irradiating light beam is directed at photodetector central point.
In a preferred embodiment, as shown in figure 9, step S5, according to the location information and photodetector of the reflected beams
Center position adjust beacon beam, make the reflected beams alignment photodetector central point process, specifically include:
Step S51: the seat of the coordinate of photodetector central point and the reflected beams of target object reflection beacon beam is obtained
Mark.
Step S52: the deviation of the coordinate of photodetector central point and the coordinate of the reflected beams is calculated.
Step S53: it is adjusted according to deviation in photodetector described in the Coordinates calibration of the reflected beams of the beacon beam
Heart point.In the embodiment of the present invention, is adjusted and swashed according to the deviation of the coordinate of photodetector central point and the coordinate of the reflected beams
The angle of optical transmitting set, until deviation is less than the 4th preset value.4th preset value can determine specific according to practical application scene
Numerical value.
Step S6: emit main beam to target object.
It will finally be sent to the photovoltaic cell of laser receiver after laser beam progress shaping, mesh is given after overpower is converted
Mark object is powered, to realize the non-contact power function towards the transmission of laser radio electric energy.
The pointing method of combination image recognition provided in an embodiment of the present invention and laser aiming, first by default route into
Row inspection obtains the location information of target object after determining that target object enters visual field, and adjustment pointing holder makes target object
In the central area of visual field, guide laser beam to enter target area and complete rough tracking, into target area after according to beacon beam with
The deviation for reflecting beacon beam finely tunes the direction of beacon beam, realizes high-precision pointing, pointing method essence provided in an embodiment of the present invention
Degree is high, speed is fast, and a wide range of image processor target of energy, has widened the application range of wireless laser electric energy transmission significantly.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (13)
1. a kind of laser beam emitting device with pointing function characterized by comprising image processing module, laser aiming mould
Block, laser emitter and photodetector,
Described image processing module acquires inspection image according to default route, extracts the image information in the inspection image, and
Described image information is compared with preset template image information, judges whether target object enters visual field；When judgement institute
When stating target object and entering visual field, described image processing module obtains the location information of the target object, according to the target
The location information of object adjusts the target object to the central area of the visual field；
Laser emitter described in the laser aiming module drive emits beacon beam to the target object；
The photodetector acquires the reflected beams of the beacon beam, determines the location information of the reflected beams；
The laser aiming module is according to the location information of the reflected beams and the center position tune of the photodetector
The whole laser emitter, makes the reflected beams of the beacon beam be directed at the central point of the photodetector；
The laser emitter emits main beam to the target object.
2. the laser beam emitting device according to claim 1 with pointing function, which is characterized in that image processing module packet
It includes: Image Acquisition submodule, images match submodule and field of view adjusting submodule, wherein
Described image acquires submodule and acquires inspection image according to default route, extracts the image information in the inspection image；
Described image matched sub-block carries out the image information in the target object image information and the inspection image
Match, judges whether the target object enters visual field；
When determining that the target object enters visual field, the field of view adjusting submodule obtains the position of the target object
Information adjusts the target object to the central area of the visual field according to the location information of the target object.
3. the laser beam emitting device according to claim 1 or 2 with pointing function, which is characterized in that at described image
Reason module and laser emitter are set on pointing holder, drive described image processing module according to pre- by the pointing holder
If route, which acquires inspection image and the laser emitter, emits beacon beam and main beam to target object.
4. the laser beam emitting device according to claim 1 with pointing function, which is characterized in that the laser emitter
It include: laser, transmitter and Laser Power Devices, wherein
The Laser Power Devices provide electric energy to the laser；
The laser generates beacon beam according to the electric energy excitation photon that the Laser Power Devices provide；
The transmitter emits the beacon beam, and generates main beam according to shaping is carried out to the beacon beam, and described in transmitting
Main beam.
5. the pointing system of a kind of combination image recognition and laser aiming characterized by comprising laser receiver and laser
Emitter, the laser machine receiving apparatus are set on target object,
The laser beam emitting device includes: image processing module, laser aiming module, laser emitter and photodetector,
Described image processing module acquires inspection image according to default route, extracts the image information in the inspection image, and
Described image information is compared with preset template image information, judges whether target object enters visual field；When judgement institute
When stating target object and entering visual field, described image processing module obtains the location information of the target object, according to the target
The location information of object adjusts the target object to the central area of the visual field；
Laser emitter described in the laser aiming module drive emits beacon beam to the target object；
The photodetector acquires the reflected beams of the laser receiver reflection beacon beam, determines the reflected beams
Location information；
The laser aiming module is according to the location information of the reflected beams and the center position tune of the photodetector
The whole laser transmitter projects make the reflected beams of the beacon beam be directed at the photodetector central point；
The laser emitter emits main beam to the target object.
6. the pointing system of combination image recognition according to claim 5 and laser aiming, which is characterized in that the laser
Reception device includes: multiple identification lights, for constructing multiple color characteristic points on the target object；
Described image processing module includes Image Acquisition submodule, images match submodule, wherein
Image Acquisition submodule acquires inspection image according to default route, extracts the image information in inspection image；
Described image matched sub-block includes:
Center-of-mass coordinate acquisition submodule is obtained for matching the inspection image information with default template image information
With the center-of-mass coordinate of the highest matching area of target object matching degree；
The first color characteristic point coordinate acquisition submodule, for obtaining multiple color characteristic points that the target object is arranged in
Coordinate；
Apart from minimum value acquisition submodule, for calculate separately the matching area center-of-mass coordinate and the multiple color characteristic
The distance of point coordinate, and obtain the minimum value of distance；
First distance judging submodule, for judging the minimum value of the distance whether less than the first preset value；
Object decision sub-module, when it is described apart from minimum value less than the first preset value when, the object decision sub-module determines institute
It states target object and enters visual field.
7. the pointing system of combination image recognition according to claim 6 and laser aiming, which is characterized in that described image
Processing module further includes field of view adjusting submodule, and the field of view adjusting submodule includes:
First position center-of-mass coordinate acquisition submodule is used for the inspection image information and the progress of default template image information
Match, obtains the first position center-of-mass coordinate with the highest matching area of target object matching degree；
The second color characteristic point coordinate acquisition submodule, for obtaining multiple color characteristic points that the target object is arranged in
Coordinate；
Second position center-of-mass coordinate acquisition submodule, for obtaining the target pair according to the coordinate of the multiple color characteristic point
The second position center-of-mass coordinate of elephant；
Center-of-mass coordinate apart from submodule, for calculate between the first position center-of-mass coordinate and second position center-of-mass coordinate away from
From；
Second distance judging submodule, for judge between the first position center-of-mass coordinate and second position center-of-mass coordinate away from
From whether less than the second preset value；
Target object position information determines submodule, when the spacing of the first position center-of-mass coordinate and second position center-of-mass coordinate
When from less than the second preset value, the target object position information determines that the first position center-of-mass coordinate is determined as by submodule
The location information of the target object；
Target object adjusting submodule adjusts the target object described in for the location information according to the target object
The central area of visual field.
8. the pointing system of combination image recognition according to claim 5 and laser aiming, which is characterized in that the laser
Reception device further include: optical module and photovoltaic cell, wherein
The optical module reflects the beacon beam and generates the reflected beams；
The photovoltaic cell receives the main beam, converts electric energy for the main beam.
9. the pointing system of combination image recognition according to claim 8 and laser aiming, which is characterized in that the laser
Reception device further include: power inverter and battery,
The power inverter by electric energy that the photovoltaic cell generates be conveyed to after power conversion the target object and/
Or the battery.
10. a kind of pointing method of combination image recognition and laser aiming, which comprises the steps of:
Inspection image is acquired according to default route, extracts the image information in the inspection image；
Described image information is compared with preset template image information, judges whether target object enters visual field；
When determining that the target object enters visual field, the location information of the target object is obtained, according to the target object
Location information adjusts the target object to the central area of visual field；
Emit beacon beam to the target object, acquires the reflected beams of the beacon beam, determine the position of the reflected beams
Information；
The beacon beam is adjusted according to the center position of the location information of the reflected beams and photodetector, is made described anti-
Irradiating light beam is directed at the photodetector central point；
Emit main beam to the target object.
11. the pointing method of combination image recognition according to claim 10 and laser aiming, which is characterized in that described to incite somebody to action
Described image information is compared with preset template image information, the step of whether target object enters visual field is judged, specifically
Include:
The inspection image information is matched with default template image information, is obtained and the target object matching degree highest
Matching area center-of-mass coordinate；
Obtain the coordinate that multiple color characteristic points of the target object are set；
The center-of-mass coordinate of the matching area is calculated separately at a distance from the multiple color characteristic point coordinate, and obtains distance
Minimum value；
Judge the minimum value of the distance whether less than the first preset value；
When it is described apart from minimum value less than the first preset value when, determine that the target object enters visual field.
12. the pointing method of combination image recognition according to claim 10 and laser aiming, which is characterized in that described to obtain
The location information for taking the target object adjusts the target object to the visual field according to the location information of the target object
Central area the step of, specifically include:
The inspection image information is matched with default template image information, is obtained and the target object matching degree highest
Matching area first position center-of-mass coordinate；
Obtain the coordinate that multiple color characteristic points of the target object are set；
The second position center-of-mass coordinate of the target object is obtained according to the coordinate of the multiple color characteristic point；
Calculate the distance between the first position center-of-mass coordinate and second position center-of-mass coordinate；
Judge the distance between the first position center-of-mass coordinate and second position center-of-mass coordinate whether less than the second preset value；
When distance is less than the second preset value between the first position center-of-mass coordinate and second position center-of-mass coordinate, by described
One position center-of-mass coordinate is determined as the location information of the target object；
According to the location information of the target object, the target object is adjusted to the central area of the visual field.
13. the pointing method of combination image recognition according to claim 10 and laser aiming, which is characterized in that described
The beacon beam is adjusted according to the location information of the reflected beams and the center position of the photodetector, makes the reflection
Described in beam alignment the step of photodetector central point, specifically include:
The coordinate and the target object that obtain photodetector central point reflect the coordinate of the reflected beams of the beacon beam；
Calculate the deviation of the coordinate of photodetector central point and the coordinate of the reflected beams；
Photodetector central point described in the Coordinates calibration of the reflected beams of the beacon beam is adjusted according to the deviation.
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| CN114587586B (en) * | 2022-03-21 | 2022-11-11 | 黄伟 | Noninvasive layered display equipment and system for dental injury and dental pulp injury |
| CN116054308A (en) * | 2022-07-27 | 2023-05-02 | 荣耀终端有限公司 | Wireless charging method, electronic device and readable medium |
| CN116054308B (en) * | 2022-07-27 | 2023-10-24 | 荣耀终端有限公司 | Wireless charging method, electronic device and readable medium |
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