CN109343518A - Universal ride scene drives platform - Google Patents
Universal ride scene drives platform Download PDFInfo
- Publication number
- CN109343518A CN109343518A CN201811019004.9A CN201811019004A CN109343518A CN 109343518 A CN109343518 A CN 109343518A CN 201811019004 A CN201811019004 A CN 201811019004A CN 109343518 A CN109343518 A CN 109343518A
- Authority
- CN
- China
- Prior art keywords
- image
- universal
- equipment
- ride
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H3/00—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons
- E04H3/10—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons for meetings, entertainments, or sports
- E04H3/22—Theatres; Concert halls; Studios for broadcasting, cinematography, television or similar purposes
- E04H3/24—Constructional features of stages
Abstract
The present invention relates to a kind of universal ride scenes to drive platform, it include: universal ride, including universal wheel, follows wheel, universal race, follows race, bottom plate and steel frame construction, the universal wheel is installed in the universal race, it is described that wheel is followed to be installed in described follow in race, the universal race and it is described follow race to be all disposed within below the bottom plate, the bottom plate is arranged below the steelframe, and the steelframe is used to provide performance venue for stage personnel；Image acquisition equipment carries out instant high-definition image data to stage scene and acquires, to obtain and export instant high-definition image；Location detecting apparatus obtains equipment with described image and connect, and for multiple instant high-definition images continuous on receiving time axis, executes processing for each instant high-definition image.By means of the invention it is possible to improve the intelligent level of ride control.
Description
Technical field
The present invention relates to equipment positioning fields more particularly to a kind of universal ride scene to drive platform.
Background technique
The console of universal ride is the administrative center of the self-contained integrated control system of stage effect, to movement, vision, the sense of hearing
Equal subsystems carry out control and data management.According to programme, the performance CUE of sub-system is compiled by performance time point
Row.The time generator of station is synchronous with performance progress, when reaching at time point, i.e., corresponding CUE number and execution is referred to
The control unit for being sent to subsystem is enabled, the equipment orderly function for participating in performing is made, reaches the performances such as movement, vision, sense of hearing effect
The perfect coordination of fruit and cooperation.The feedback data of also acceptable subsystem, can inquire the real-time of relevant device on station
Data, and feed back to stage director and dispatch system.
Summary of the invention
In order to solve the technical problem of ride locating effect difference in the prior art, it is existing that the present invention provides a kind of universal rides
Field driving platform detects current scene type from processing image, and determines corresponding vehicle based on the current scene type
Platform position is to drive ride to rush towards the ride position of the determination；Spy is executed to acquisition image based on the dynamic range determination of image
The intensity of sign in-depth processing, is handled with executing high-intensitive feature in-depth to the relatively narrow image of dynamic range, to facilitate subsequent
Target detection and identification operation；By carrying out the extraction of preliminary aim profile to image, point where the target of image is obtained
Cloth region and aimless non-region respectively, implement differentiated image segmentation mode, and be directed to each subgraph obtained,
Width size based on each of which dynamic range adjusts the threshold size for being used to remove background of corresponding subgraph, to realize
The orientation segmentation of foreground image；Pixel-level based on multiple acquisition images continuous on time shaft is analyzed as a result, judging figure
Position deviation situation as obtaining equipment, and corresponding position correction is carried out using direct current permanent magnet motor, improve image acquisition
The quality of the output data of equipment.
According to an aspect of the present invention, a kind of universal ride scene driving platform is provided, the platform includes:
Universal ride, including universal wheel, follow wheel, universal race, follow race, bottom plate and steel frame construction, it is described universal
Wheel is installed in the universal race, it is described follow wheel be installed in it is described follow in race, the universal race and described
Race is followed to be all disposed within below the bottom plate, the bottom plate is arranged below the steelframe, and the steelframe is used to be stage people
Member provides performance venue；
Image acquisition equipment carries out instant high-definition image data to stage scene and acquires, to obtain and export instant high definition
Image；
Location detecting apparatus obtains equipment with described image and connect, for multiple instant height continuous on receiving time axis
Clear image executes following processing for each instant high-definition image: based on preset mark article pattern in the instant high definition figure
Identify that the corresponding marker of the preset mark article pattern to be partitioned into corresponding marker subgraph, determines the mark as in
Remember coordinate value of the centroid in the instant high-definition image of object subgraph using as the corresponding label of the instant high-definition image
Object location output；
Position analysis equipment is connect with the location detecting apparatus, is respectively corresponded for receiving each instant high-definition image
Each marker location, in each marker location, it is determined whether there is the mark different from preset mark object location
Remember object location, and in the presence of determination, issue unsceptered detection signal, and in the absence of determination, issues not unsceptered detection letter
Number；
FLASH storage chip is connect, for storing respectively with the location detecting apparatus and the position analysis equipment
State preset mark article pattern and the preset mark object location, wherein the preset mark object location is by horizontal coordinate value and hangs down
Straight coordinate value indicates；
Unsceptered direction analyzing device is connect with the position analysis equipment, for receiving the unsceptered detection signal
When, determine whether described on a timeline each marker location is in be incremented by or distribution of falling progressively, when incremental or water in horizontal direction
Square to fall progressively be distributed when, sending be moved to the left signal or the signal that moves right, when in vertical direction be incremented by or vertical direction pass
When drop distribution, sending moves down signal or moves up signal；
Direct current permanent magnet motor obtains equipment with described image respectively and the unsceptered direction analyzing device is connect, is used for
Receive described when being moved to the left signal, it is mobile to the right that control described image obtains equipment, be also used to receive it is described to
When moving right signal, it is mobile that control described image obtains device left side；
Region analyzing device obtains equipment with described image and connect, and for receiving the instant high-definition image, is to described
When high-definition image in each target carry out contours extract, to obtain each point in the instant high-definition image of each target
Cloth region；
Area dividing equipment is connect with the region analyzing device, for carrying out piecemeal to the instant high-definition image, with
Obtain each subgraph, wherein in the instant high-definition image, uniform formula segmentation is carried out to each distributed areas and is obtained
The size of subgraph be less than the size of subgraph that uniform formula segmentation is carried out to non-distributed areas and is obtained；
Dynamic range detection device is connect with the area dividing equipment, for receiving each of the instant high-definition image
A subgraph, and the dynamic range of each subgraph is detected, for each subgraph, the width based on its dynamic range is big
The small threshold size for being used to remove background for adjusting corresponding subgraph；
Prospect analyzing device is connect with the dynamic range detection device, following for executing for each subgraph
Processing: foreground extraction is carried out to the subgraph using threshold value adjusted, to obtain corresponding foreground area；The prospect solution
Desorption device is also used to integrate the corresponding each foreground area of each subgraph to obtain foreground image, and export it is described before
Scape image；
Homomorphic filtering equipment is connect with the prospect analyzing device, for receiving the foreground image, and to the prospect
Image executes homomorphic filtering processing, to obtain corresponding image to be processed, and exports the image to be processed；
Parameter analysis equipment is connect with the homomorphic filtering equipment, for receiving the image to be processed, analysis it is described to
The dynamic range of image is handled, and exports the dynamic range of the image to be processed；
Automatic processing equipment is connect with the Parameter analysis equipment, for receiving the dynamic range of the image to be processed
With the image to be processed, is determined according to the dynamic range of the image to be processed and feature in-depth is executed to the image to be processed
The intensity of processing, and export execute feature in-depth processing after obtain automatically process image；
Scene detection equipment is connect with the Parameter analysis equipment, for receive it is described automatically process image, with from described
It automatically processes and detects current scene type in image, and corresponding ride position is determined based on the current scene type；
Universal control mechanism is connect, for connecing respectively with the universal wheel of the scene detection equipment and the universal ride
Receive the ride position, and based on the ride position drive the universal wheel of the universal ride to drive the universal ride before
Toward the ride position；
Wherein, in the automatic processing equipment, the dynamic range of the image to be processed is wider, to the figure to be processed
As the intensity for executing feature in-depth processing is smaller.
More specifically, in the universal ride scene driving platform: the ride position be the ride before the lights
Predeterminated position, the corresponding ride position of different scenes type is different.
More specifically, in the universal ride scene driving platform: in the area dividing equipment, to each point
Cloth region carry out the segmentation of uniform formula include: distributed areas area it is bigger, segmentation and the size of subgraph that obtains is bigger.
More specifically, in the universal ride scene driving platform: in the dynamic range detection device, being based on it
The threshold size for removing background of the corresponding subgraph of width size adjustment of dynamic range includes: the width of its dynamic range
Bigger, the threshold value for removing background of the correspondence subgraph of adjustment is bigger.
More specifically, in the universal ride scene driving platform: the direct current permanent magnet motor is also used to receiving
Described when moving down signal, it is mobile to top that control described image obtains equipment, is also used to receiving described move up
When signal, control described image obtains equipment to following movement.
More specifically, in the universal ride scene driving platform: the unsceptered direction analyzing device is also used to true
Fixed each marker location described on a timeline is not in when being incremented by or fall progressively to be distributed, to issue unordered movable signal.
More specifically, in the universal ride scene driving platform: the direct current permanent magnet motor is also used to receiving
When unordered movable signal, stop the mobile control that equipment is obtained to described image.
More specifically, in the universal ride scene driving platform: the direct current permanent magnet motor also divides with the position
Desorption device connection, the mobile control for when receiving the not unsceptered detection signal, stopping obtaining described image equipment.
Specific embodiment
The embodiment of driving platform in universal ride scene of the invention will be described in detail below.
Universal ride is led by the laser of the motion controller of high-speed computation, the drive system of quick response, high-precision scanning
The systems such as boat composition.Have hand-held disk wirelessly manipulate, the planning of any running track, the linkage of running track intelligent memory, multiple groups it is mutual
Dynamic or synchronous operation, largely (storage) is preset in common track, laser is accurately positioned the functions such as navigation.With traditional rail mounted ride
It compares, is not fettered by machine driving and cable, more flexible can freely be applied in various performance sites.
It unlimited number of can be arbitrarily designated each equipment and move to a certain position in some time, operation is automatically generated by software
Speed and Acceleration and deceleration time and curve；The run duration high-speed, high precision of stage equipment positions, and error is Millisecond, movement position
Error is no more than 1 millimeter.The time difference of other control system and low precision are 1 second and 5 millimeters respectively, and it is leading to be in same category of device
Status；Realize stage equipment movement broadcasts in real time, as long as touching control stick, all devices can original route return, preparation
It is ready；Different type, power, performance equipment on the basis of control shaft, realize high-precise synchronization.
In order to overcome above-mentioned deficiency, the present invention has built a kind of universal ride scene driving platform, can effectively solve the problem that phase
The technical issues of answering.
Show according to an embodiment of the present invention universal ride scene driving platform include:
Universal ride, including universal wheel, follow wheel, universal race, follow race, bottom plate and steel frame construction, it is described universal
Wheel is installed in the universal race, it is described follow wheel be installed in it is described follow in race, the universal race and described
Race is followed to be all disposed within below the bottom plate, the bottom plate is arranged below the steelframe, and the steelframe is used to be stage people
Member provides performance venue；
Image acquisition equipment carries out instant high-definition image data to stage scene and acquires, to obtain and export instant high definition
Image；
Location detecting apparatus obtains equipment with described image and connect, for multiple instant height continuous on receiving time axis
Clear image executes following processing for each instant high-definition image: based on preset mark article pattern in the instant high definition figure
Identify that the corresponding marker of the preset mark article pattern to be partitioned into corresponding marker subgraph, determines the mark as in
Remember coordinate value of the centroid in the instant high-definition image of object subgraph using as the corresponding label of the instant high-definition image
Object location output；
Position analysis equipment is connect with the location detecting apparatus, is respectively corresponded for receiving each instant high-definition image
Each marker location, in each marker location, it is determined whether there is the mark different from preset mark object location
Remember object location, and in the presence of determination, issue unsceptered detection signal, and in the absence of determination, issues not unsceptered detection letter
Number；
FLASH storage chip is connect, for storing respectively with the location detecting apparatus and the position analysis equipment
State preset mark article pattern and the preset mark object location, wherein the preset mark object location is by horizontal coordinate value and hangs down
Straight coordinate value indicates；
Unsceptered direction analyzing device is connect with the position analysis equipment, for receiving the unsceptered detection signal
When, determine whether described on a timeline each marker location is in be incremented by or distribution of falling progressively, when incremental or water in horizontal direction
Square to fall progressively be distributed when, sending be moved to the left signal or the signal that moves right, when in vertical direction be incremented by or vertical direction pass
When drop distribution, sending moves down signal or moves up signal；
Direct current permanent magnet motor obtains equipment with described image respectively and the unsceptered direction analyzing device is connect, is used for
Receive described when being moved to the left signal, it is mobile to the right that control described image obtains equipment, be also used to receive it is described to
When moving right signal, it is mobile that control described image obtains device left side；
Region analyzing device obtains equipment with described image and connect, and for receiving the instant high-definition image, is to described
When high-definition image in each target carry out contours extract, to obtain each point in the instant high-definition image of each target
Cloth region；
Area dividing equipment is connect with the region analyzing device, for carrying out piecemeal to the instant high-definition image, with
Obtain each subgraph, wherein in the instant high-definition image, uniform formula segmentation is carried out to each distributed areas and is obtained
The size of subgraph be less than the size of subgraph that uniform formula segmentation is carried out to non-distributed areas and is obtained；
Dynamic range detection device is connect with the area dividing equipment, for receiving each of the instant high-definition image
A subgraph, and the dynamic range of each subgraph is detected, for each subgraph, the width based on its dynamic range is big
The small threshold size for being used to remove background for adjusting corresponding subgraph；
Prospect analyzing device is connect with the dynamic range detection device, following for executing for each subgraph
Processing: foreground extraction is carried out to the subgraph using threshold value adjusted, to obtain corresponding foreground area；The prospect solution
Desorption device is also used to integrate the corresponding each foreground area of each subgraph to obtain foreground image, and export it is described before
Scape image；
Homomorphic filtering equipment is connect with the prospect analyzing device, for receiving the foreground image, and to the prospect
Image executes homomorphic filtering processing, to obtain corresponding image to be processed, and exports the image to be processed；
Parameter analysis equipment is connect with the homomorphic filtering equipment, for receiving the image to be processed, analysis it is described to
The dynamic range of image is handled, and exports the dynamic range of the image to be processed；
Automatic processing equipment is connect with the Parameter analysis equipment, for receiving the dynamic range of the image to be processed
With the image to be processed, is determined according to the dynamic range of the image to be processed and feature in-depth is executed to the image to be processed
The intensity of processing, and export execute feature in-depth processing after obtain automatically process image；
Scene detection equipment is connect with the Parameter analysis equipment, for receive it is described automatically process image, with from described
It automatically processes and detects current scene type in image, and corresponding ride position is determined based on the current scene type；
Universal control mechanism is connect, for connecing respectively with the universal wheel of the scene detection equipment and the universal ride
Receive the ride position, and based on the ride position drive the universal wheel of the universal ride to drive the universal ride before
Toward the ride position；
Wherein, in the automatic processing equipment, the dynamic range of the image to be processed is wider, to the figure to be processed
As the intensity for executing feature in-depth processing is smaller.
Then, continue that the specific structure of driving platform in universal ride scene of the invention is further detailed.
In the universal ride scene driving platform: the ride position is the default position of the ride before the lights
It sets, the corresponding ride position of different scenes type is different.
In the universal ride scene driving platform: in the area dividing equipment, to each distributed areas into
Row uniform formula segmentation includes: that the area of distributed areas is bigger, segmentation and the size of subgraph that obtains is bigger.
In the universal ride scene driving platform: in the dynamic range detection device, being based on its dynamic range
Width size adjust corresponding subgraph the threshold size for removing background include: its dynamic range width it is bigger, adjust
The threshold value for removing background of whole correspondence subgraph is bigger.
In the universal ride scene driving platform: the direct current permanent magnet motor be also used to receive it is described to moving down
When dynamic signal, it is mobile to top that control described image obtains equipment, be also used to receive it is described move up signal when, control
Described image obtains equipment to following movement.
In the universal ride scene driving platform: the unsceptered direction analyzing device is also used to determining in time shaft
Upper each marker location is not in when being incremented by or fall progressively to be distributed, to issue unordered movable signal.
In the universal ride scene driving platform: the direct current permanent magnet motor is also used to receiving unordered mobile letter
Number when, stop to described image obtain equipment mobile control.
And in the universal ride scene driving platform: the direct current permanent magnet motor also with the position analysis equipment
Connection, the mobile control for when receiving the not unsceptered detection signal, stopping obtaining described image equipment.
In addition, the image filtering that the homomorphic filtering equipment uses, right under conditions of retaining image minutia as far as possible
The noise of target image is inhibited, and is indispensable operation in image preprocessing, and the quality for the treatment of effect is by direct shadow
The validity and reliability for handling and analyzing is rung to subsequent image.
Not perfect due to imaging system, transmission medium and recording equipment etc., digital picture formed at it, transmission log mistake
The often pollution by a variety of noises in journey.In addition, certain links in image procossing when the picture object inputted and are not so good as pre-
Also noise can be introduced when thinking in result images.These noises often show as one on the image and cause the isolated of stronger visual effect
Pixel or block of pixels.Generally, noise signal it is uncorrelated to the object to be studied it occur with useless message form, upset figure
The observable information of picture.For data image signal, psophometer is either large or small extreme value, these extreme values are acted on by plus-minus
On the true gray value of image pixel, cause bright, dim spot to interfere image, greatly reduce picture quality, influence image restoration,
The progress of the subsequent work such as segmentation, feature extraction, image recognition.The filter for constructing a kind of effectively inhibition noise must be taken into consideration
Two basic problems: the noise that can be effectively removed in target and background；Meanwhile can protect well image object shape,
Size and specific geometry and topological features.
Platform is driven using universal ride scene of the invention, it is bad for ride position locating effect in the prior art and
Trace performance can not meet the technical issues of field demand, by detecting current scene type from processing image, and be based on
The ride position that the current scene type determines corresponding ride position to drive ride to rush towards the determination；Based on image
Dynamic range determines the intensity that feature in-depth processing is executed to acquisition image, executes high intensity with the image relatively narrow to dynamic range
Feature in-depth processing, so that subsequent Target detection and identification be facilitated to operate；By carrying out preliminary aim profile to image
It extracts, obtains the distributed areas and aimless non-region respectively where the target of image, implement differentiated image segmentation mould
Formula, and for each subgraph obtained, the width size based on each of which dynamic range adjusts the use of corresponding subgraph
In the threshold size of removing background, to realize the orientation segmentation of foreground image；Based on multiple acquisitions continuous on time shaft
The Pixel-level of image is analyzed as a result, judging the position deviation situation of image acquisition equipment, and carried out using direct current permanent magnet motor
Corresponding position correction, improves the quality of the output data of image acquisition equipment, to solve above-mentioned technical problem.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, anything that does not depart from the technical scheme of the invention are right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (8)
1. a kind of universal ride scene drives platform, which is characterized in that the platform includes:
Universal ride, including universal wheel, follow wheel, universal race, follow race, bottom plate and steel frame construction, the universal wheel quilt
Be mounted in the universal race, it is described follow wheel be installed in it is described follow in race, the universal race and described follow
Race is all disposed within below the bottom plate, and the bottom plate is arranged below the steelframe, and the steelframe is used to mention for stage personnel
For performance venue；
Image acquisition equipment carries out instant high-definition image data to stage scene and acquires, to obtain and export instant high-definition image；
Location detecting apparatus obtains equipment with described image and connect, for multiple instant high definition figures continuous on receiving time axis
Picture executes following processing for each instant high-definition image: based on preset mark article pattern in the instant high-definition image
Identify that the corresponding marker of the preset mark article pattern to be partitioned into corresponding marker subgraph, determines the marker
Coordinate value of the centroid of subgraph in the instant high-definition image is using as the corresponding label level of the instant high-definition image
Set output；
Position analysis equipment is connect with the location detecting apparatus, corresponding each for receiving each instant high-definition image
A marker location, in each marker location, it is determined whether there is the marker different from preset mark object location
Position, and in the presence of determination, unsceptered detection signal is issued, and in the absence of determination, issues not unsceptered detection signal；
FLASH storage chip is connect with the location detecting apparatus and the position analysis equipment respectively, described pre- for storing
Bidding note article pattern and the preset mark object location, wherein the preset mark object location is by horizontal coordinate value and vertical seat
Scale value indicates；
Unsceptered direction analyzing device is connect with the position analysis equipment, for when receiving the unsceptered detection signal, really
Whether fixed each marker location described on a timeline is in be incremented by or distribution of falling progressively, when incremental or horizontal direction in horizontal direction
Fall progressively when being distributed, sending is moved to the left signal or the signal that moves right, when being incremented by vertical direction or vertical direction falls progressively distribution
When, sending moves down signal or moves up signal；
Direct current permanent magnet motor obtains equipment with described image respectively and the unsceptered direction analyzing device is connect, for receiving
To it is described be moved to the left signal when, it is mobile to the right that control described image obtains equipment, is also used to receiving described move right
When dynamic signal, it is mobile that control described image obtains device left side；
Region analyzing device obtains equipment with described image and connect, for receiving the instant high-definition image, to the instant height
Each target in clear image carries out contours extract, to obtain each distributed area of each target in the instant high-definition image
Domain；
Area dividing equipment is connect with the region analyzing device, for carrying out piecemeal to the instant high-definition image, to obtain
Each subgraph, wherein in the instant high-definition image, uniform formula segmentation is carried out to each distributed areas and the son that obtains
The size of image is less than the size of subgraph for carrying out uniform formula segmentation to non-distributed areas and obtaining；
Dynamic range detection device is connect with the area dividing equipment, for receiving each height of the instant high-definition image
Image, and the dynamic range of each subgraph is detected, for each subgraph, the big ditty of width based on its dynamic range
The threshold size for being used to remove background of whole corresponding subgraph；
Prospect analyzing device is connect with the dynamic range detection device, for executing following processing for each subgraph:
Foreground extraction is carried out to the subgraph using threshold value adjusted, to obtain corresponding foreground area；The prospect parsing is set
It is standby to be also used to integrate the corresponding each foreground area of each subgraph to obtain foreground image, and export the foreground picture
Picture；
Homomorphic filtering equipment is connect with the prospect analyzing device, for receiving the foreground image, and to the foreground image
Homomorphic filtering processing is executed, to obtain corresponding image to be processed, and exports the image to be processed；
Parameter analysis equipment is connect with the homomorphic filtering equipment, for receiving the image to be processed, is analyzed described to be processed
The dynamic range of image, and export the dynamic range of the image to be processed；
Automatic processing equipment is connect with the Parameter analysis equipment, for receiving dynamic range and the institute of the image to be processed
Image to be processed is stated, is determined according to the dynamic range of the image to be processed and feature in-depth processing is executed to the image to be processed
Intensity, and export execute feature in-depth processing after obtain automatically process image；
Scene detection equipment is connect with the Parameter analysis equipment, for receive it is described automatically process image, with from described automatic
Current scene type is detected in processing image, and corresponding ride position is determined based on the current scene type；
Universal control mechanism is connect, for receiving respectively with the universal wheel of the scene detection equipment and the universal ride
Ride position is stated, and the universal wheel of the universal ride is driven to drive the universal ride to go to institute based on the ride position
State ride position；
Wherein, in the automatic processing equipment, the dynamic range of the image to be processed is wider, holds to the image to be processed
The intensity of row feature in-depth processing is smaller.
2. universal ride scene as described in claim 1 drives platform, it is characterised in that:
The ride position is the predeterminated position of the ride before the lights, and the corresponding ride position of different scenes type is different.
3. universal ride scene as claimed in claim 2 drives platform, it is characterised in that:
In the area dividing equipment, the area that uniform formula segmentation includes: distributed areas is carried out to each distributed areas and is got over
Greatly, the size of the subgraph of segmentation and acquisition is bigger.
4. universal ride scene as claimed in claim 3 drives platform, it is characterised in that:
In the dynamic range detection device, the corresponding subgraph of width size adjustment based on its dynamic range is used to remove
The threshold size of background includes: that the width of its dynamic range is bigger, the threshold value for being used to remove background of the correspondence subgraph of adjustment
It is bigger.
5. universal ride scene as claimed in claim 4 drives platform, it is characterised in that:
The direct current permanent magnet motor be also used to receive it is described move down signal when, it is upward that control described image obtains equipment
Side is mobile, be also used to receive it is described move up signal when, control described image obtains equipment to following mobile.
6. universal ride scene as claimed in claim 5 drives platform, it is characterised in that:
The unsceptered direction analyzing device be also used to determination on a timeline each marker location be not in be incremented by or pass
When drop distribution, unordered movable signal is issued.
7. universal ride scene as claimed in claim 6 drives platform, it is characterised in that:
The direct current permanent magnet motor is also used to when receiving unordered movable signal, stops the movement that equipment is obtained to described image
Control.
8. universal ride scene as claimed in claim 7 drives platform, it is characterised in that:
The direct current permanent magnet motor is also connect with the position analysis equipment, for receiving the not unsceptered detection signal
When, stop the mobile control that equipment is obtained to described image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811019004.9A CN109343518B (en) | 2018-09-03 | 2018-09-03 | On-spot drive platform of universal ride |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811019004.9A CN109343518B (en) | 2018-09-03 | 2018-09-03 | On-spot drive platform of universal ride |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109343518A true CN109343518A (en) | 2019-02-15 |
| CN109343518B CN109343518B (en) | 2021-07-02 |
Family
ID=65292208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811019004.9A Active CN109343518B (en) | 2018-09-03 | 2018-09-03 | On-spot drive platform of universal ride |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109343518B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101299277A (en) * | 2008-06-25 | 2008-11-05 | 北京中星微电子有限公司 | Method and system for colorizing black and white picture |
| CN101383005A (en) * | 2007-09-06 | 2009-03-11 | 上海遥薇实业有限公司 | Method for separating passenger target image and background by auxiliary regular veins |
| KR101350552B1 (en) * | 2013-09-04 | 2014-01-13 | 정길 | Stage vehicle |
| JP2017013493A (en) * | 2015-06-30 | 2017-01-19 | キヤノン株式会社 | Configuration generating system, producing method of generation object and data]processing method |
| CN107063228A (en) * | 2016-12-21 | 2017-08-18 | 上海交通大学 | Targeted attitude calculation method based on binocular vision |
| US20180191868A1 (en) * | 2017-01-03 | 2018-07-05 | Black Sails Technology Inc. | Method and System for Downloading Multiple Resolutions Bitrate for Virtual Reality (VR) Video Streaming Optimization |
| CN108344401A (en) * | 2018-01-16 | 2018-07-31 | 深圳市易成自动驾驶技术有限公司 | Localization method, device and computer readable storage medium |
-
2018
- 2018-09-03 CN CN201811019004.9A patent/CN109343518B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101383005A (en) * | 2007-09-06 | 2009-03-11 | 上海遥薇实业有限公司 | Method for separating passenger target image and background by auxiliary regular veins |
| CN101299277A (en) * | 2008-06-25 | 2008-11-05 | 北京中星微电子有限公司 | Method and system for colorizing black and white picture |
| KR101350552B1 (en) * | 2013-09-04 | 2014-01-13 | 정길 | Stage vehicle |
| JP2017013493A (en) * | 2015-06-30 | 2017-01-19 | キヤノン株式会社 | Configuration generating system, producing method of generation object and data]processing method |
| CN107063228A (en) * | 2016-12-21 | 2017-08-18 | 上海交通大学 | Targeted attitude calculation method based on binocular vision |
| US20180191868A1 (en) * | 2017-01-03 | 2018-07-05 | Black Sails Technology Inc. | Method and System for Downloading Multiple Resolutions Bitrate for Virtual Reality (VR) Video Streaming Optimization |
| CN108344401A (en) * | 2018-01-16 | 2018-07-31 | 深圳市易成自动驾驶技术有限公司 | Localization method, device and computer readable storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 丁永强，丁志强: "一种万向车台驱动轮及运动学的研究", 《机械研究与应用》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109343518B (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109357630B (en) | A kind of polymorphic type batch workpiece vision measurement system and method | |
| CN106707296B (en) | It is a kind of based on the unmanned machine testing of Based on Dual-Aperture photo electric imaging system and recognition methods | |
| CN102622895B (en) | Video-based vehicle speed detecting method | |
| CN105069799B (en) | Angular point positioning method and apparatus | |
| CN102789234B (en) | Robot navigation method and robot navigation system based on color coding identifiers | |
| CN110054089B (en) | Automatic vision deviation rectifying system and method for tire crane | |
| CN104637058B (en) | A kind of volume of the flow of passengers identify statistical methods based on image information | |
| CN108174111B (en) | Crusing robot target image grasping means | |
| CN108776974B (en) | A kind of real-time modeling method method suitable for public transport scene | |
| CN102096927A (en) | Target tracking method of independent forestry robot | |
| CN110987971B (en) | Crystal bubble detection device and method based on machine vision | |
| CN105303153A (en) | Vehicle license plate identification method and apparatus | |
| CN105225225A (en) | A kind of leather system for automatic marker making method and apparatus based on machine vision | |
| CN105444741A (en) | Double view window based route characteristic identifying, deviation measuring, and accurate positioning method | |
| CN106951820B (en) | Passenger flow statistical method based on annular template and ellipse fitting | |
| CN110084171A (en) | A kind of subway roof detection device for foreign matter and detection method | |
| CN106340031A (en) | Method and device for detecting moving object | |
| CN109343518A (en) | Universal ride scene drives platform | |
| JP3629935B2 (en) | Speed measurement method for moving body and speed measurement device using the method | |
| CN117369460A (en) | Intelligent inspection method and system for loosening faults of vehicle bolts | |
| CN112966638A (en) | Transformer station operator identification and positioning method based on multiple characteristics | |
| CN112489125A (en) | Automatic detection method and device for storage yard pedestrians | |
| Wang et al. | An inverse projective mapping-based approach for robust rail track extraction | |
| CN109322513B (en) | Emergency supporting mechanism for universal vehicle platform | |
| CN207923179U (en) | Intelligent patrol detection vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |