CN109782811A - A kind of automatic tracing control system and method for unmanned model car - Google Patents
A kind of automatic tracing control system and method for unmanned model car Download PDFInfo
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Abstract
A kind of automatic tracing control system and method for unmanned model car, method include the following steps: the image that photographic device shooting is obtained with preset period of time；It is selected initially to follow target according to the image that photographic device is shot；Piecemeal processing is carried out to the image of photographic device shooting；From each image-region after image block, pixel center of selected center's pixel as image-region, using other pixels of image-region as adjacent pixel；The adjacent pixel of each image-region is subjected to data normalization processing, obtains the characteristic information of image-region；The characteristic information of each image-region is included into synthesis group, obtains the characteristic image of image；The characteristic image of image and the characteristic image in previous frame image are compared, judgement initially follows whether target is to follow target；If it is, by initially target being followed to be determined as following target；The relative position for following target Yu photographic device center is obtained according to image, and photographic device is adjusted.
Description
Technical field
The present invention relates to field of intelligent control technology, in particular to the automatic tracing control system of a kind of unmanned model car and
Method.
Background technique
With the economic rapid development with science and technology, the every aspect lived to people all brings variation.With nothing
The development and application of people's model car is into people's life and industrial production, such as is transporting goods, being capable of pole by unmanned model car
The earth reduces the work load of staff.
But current unmanned model car is all to carry out traveling work according to the route of artificial settings, so that the work of unmanned model car
Dynamic range is limited, can not achieve unmanned model car following automatically to a certain target.
Summary of the invention
In order to solve the above technical problems, the present invention provides the automatic tracing control system and method for a kind of unmanned model car,
To realize unmanned model car following automatically to target.
A kind of automatic follow-up control method of unmanned model car is provided in the embodiment of the present invention, the method includes as follows
Step:
S101, the image that photographic device shooting is obtained with preset period of time；
S102, the image shot according to the photographic device, it is selected initially to follow target；
S103, piecemeal processing is carried out to the image of photographic device shooting；
S104, from each image-region after described image piecemeal, selected center's pixel is as described image region
Pixel center, and using other pixels in described image region as adjacent pixel；The adjacent pixel is to the pixel center
It is equidistant；
S105, the adjacent pixel of each image-region is subjected to data normalization processing, obtains described image region
Characteristic information；
S106, the characteristic information of each image-region is included into synthesis group, obtains the characteristic pattern of described image
Picture；
S107, the characteristic image of described image and the characteristic image in previous frame image are compared, is judged described first
Beginning follows whether target is to follow target；
S108, if it is, initially target is followed to be determined as following target for described；
S109, according to described image obtain described in follow the relative position of target Yu the photographic device center, to described
Photographic device is adjusted.
Further, the preset period of time is 60ms, and the photographic device is with the preset period of time of mono- frame of 60ms
Shoot image.
Further, before the step S102, the method also includes: to the described image of photographic device shooting
It is handled；Specific steps include the following steps:
Obtain the light value of each pixel in described image；
Obtain the light value of each pixel with to it is described follow target illumination when acquired standard light value ratio
Value；
The ratio is compared with the preset threshold；If the ratio is greater than the preset threshold, determine
The pixel is unusual pixel；If the ratio is less than the preset threshold, determine the pixel for normal pixel；
According to the light value of the adjacent normal pixel of the unusual pixel, the standard light quantity for obtaining the unusual pixel is calculated
The light value of the unusual pixel is replaced with the standard light value by value.
Further, before the step S109, the method also includes: the photographic device, which is measured, with described follows mesh
The distance between mark；Specifically comprise the following steps:
Objective emission laser signal is followed to described, and receives the laser signal being reflected back；
It obtains transmitting laser signal and receives the time interval for the laser signal being reflected back；
Calculate the sample value for receiving the transformation period for the laser signal being reflected back；
The time interval is corrected according to the sample value of the transformation period；
According to the time interval after correction, the distance between target and unmanned model car are followed described in acquisition；
According to the distance, it is compared with set distance threshold value；If the distance is less than or equal to the given threshold
When, then control unmanned model car stop motion；If the distance is greater than the given threshold, controls unmanned model car and carry out
Movement；
Wherein, the step of calculating the sample value for the transformation period for receiving the laser signal being reflected back further include: adjustment institute
A parameter in the spectrum width of the laser signal received, wavelength and signal energy, so that the sample of the transformation period
This value is minimum.
Further, piecemeal processing is carried out to the image that the photographic device is shot according to following formula:
Wherein QiIt is the image array of the i-th frame image of the photographic device shooting, QimnFor the figure of the i-th frame image
As the pixel that m row n-th arranges in matrix, AipkFor point for handling the image array of the i-th frame image progress piecemeal
The block matrix that pth row kth arranges in block matrix；
Correspondingly, the pixel for the characteristic information for including in each block matrix after piecemeal is determined according to following formula:
ti11∈Ai11；ti12∈Ai12；…ti1k∈Ai1k；…tipk∈Aipk；
Wherein tiIt carries out piecemeal and handles to obtain to wrap in corresponding block matrix after matrix in block form for the image array of the i-th frame image
Pixel containing characteristic information, tipkFor the pixel for the characteristic information that pth row kth in block matrix arranges；In tiOn the basis of under
State the eigenmatrix that formula constitutes the i-th frame image:
Wherein Ti is the eigenmatrix of the i-th frame image, its eigenmatrix with previous frame is enabled to carry out pair using following equation
Than to obtain the adjustment angle and distance of photographic device:
In order to make camera more accurately follow target, in the eigenmatrix for extracting the eigenmatrix and previous frame
The corresponding coordinate of identical element, then calculated as follows:
Wherein, θ is the angle that photographic device should adjust, (mj,i,nj,i) it is j-th of phase in the eigenmatrix of the i-th frame image
Corresponding coordinate, (a with elementj,i-1,bj,i-1) it is the corresponding seat of j-th of identical element in the eigenmatrix of the (i-1)-th frame image
Mark, u are characterized the total number of the identical element in matrix, and L is the distance that photographic device should adjust.
The accurate journey that angle greatly improves its rotation is sought using the corresponding coordinate of identical element and above-mentioned formula
Degree, and by coordinate and eigenmatrix be integrally combined in the way of to seek moving distance can reduce the mobile mistake of camera
Difference, and movement is more accurate.
Corresponding with preceding method, the embodiment of the invention provides a kind of automatic tracing control system of unmanned model car, packets
It includes photographic device, processing module, follow target identification module and adjustment module；
The photographic device, for being shot according to preset period of time, and by acquired image to the processing
Module transfer；
The processing module, for described image processing, acquisition is described initially to follow target；
It is described to follow target identification module, including blocking unit, feature extraction unit, characteristic image synthesis unit and feature
Comparing unit；The blocking unit, the image for shooting to the photographic device carry out piecemeal processing；The feature extraction list
Member for obtaining the adjacent pixel in each image-region after described image piecemeal, and is standardized place to adjacent pixel
Reason obtains the characteristic information in described image region；The characteristic image synthesis unit, for by each image-region
Characteristic information is included into synthesis group, obtains the characteristic image of described image；The feature comparing unit is used for described image
Characteristic image compared with the characteristic image in previous frame image, judge described initially to follow whether target is to follow mesh
Mark；
The adjustment module, for according to described image obtain described in follow target opposite with the photographic device center
Position is adjusted the angle of the photographic device.
Further, the blocking unit carries out at piecemeal the image that the photographic device is shot according to following formula
Reason:
Wherein QiIt is the image array of the i-th frame image of the photographic device shooting, QimnFor the figure of the i-th frame image
As the pixel that m row n-th arranges in matrix, AipkFor point for handling the image array of the i-th frame image progress piecemeal
The block matrix that pth row kth arranges in block matrix；
Correspondingly, the pixel for the characteristic information for including in each block matrix after piecemeal is determined according to following formula:
ti11∈Ai11；ti12∈Ai12；…ti1k∈Ai1k；…tipk∈Aipk；
Wherein tiIt carries out piecemeal and handles to obtain to wrap in corresponding block matrix after matrix in block form for the image array of the i-th frame image
Pixel containing characteristic information, tipkFor the pixel for the characteristic information that pth row kth in block matrix arranges；In tiOn the basis of under
State the eigenmatrix that formula constitutes the i-th frame image:
Wherein TiFor the eigenmatrix of the i-th frame image, its eigenmatrix with previous frame is enabled to carry out pair using following equation
Than to obtain the adjustment angle and distance of photographic device:
In order to make camera more accurately follow target, in the eigenmatrix for extracting the eigenmatrix and previous frame
The corresponding coordinate of identical element, then calculated as follows:
Wherein, θ is the angle that photographic device should adjust, (mj,i,nj,i) it is j-th of phase in the eigenmatrix of the i-th frame image
Corresponding coordinate, (a with elementj,i-1,bj,i-1) it is the corresponding seat of j-th of identical element in the eigenmatrix of the (i-1)-th frame image
Mark, u are characterized the total number of the identical element in matrix, and L is the distance that photographic device should adjust.
Further, the photographic device, including timing unit, camera and microcontroller；The microcontroller
It is electrically connected with the timing unit, camera；The timing unit, for carrying out timing according to the preset period of time,
Timing end signal is transmitted to the microcontroller；Microcontroller, when for receiving the timing end signal, control
The camera is shot；
The preset period of time, staff can be manually set according to actual needs；The preset period of time, default
It is set as 60ms.
Further, the system further includes unmanned model car；
The unmanned model car, including driving device, solar power supply apparatus, battery and control unit；The control
Unit is electrically connected with the driving device, solar panel, battery；Described control unit, for control it is described too
Positive energy power supply unit receives solar energy and is converted to power storage into the battery；Described control unit is also used to control
The battery transmits electric energy to the driving device, drives the unmanned model car movement；
The solar power supply apparatus: including orientation angle regulating device and solar panel；The orientation angle tune
Regulating device, including pedestal, are provided with the first connecting device above the pedestal, the upper end of first connecting device be provided with
The first vertical support frame of the pedestal is provided with the second support frame, the both ends of linkage on the right side of first support frame
It is connected respectively with first support frame with the downside of the second support frame, the linkage connects arc-shaped regulating device,
The lower end of the regulating device is fixedly installed on the pedestal, and the upper end of the regulating device is fixedly installed on described first
On support, it is provided with sliding slot in the regulating device, stud, one end of the stud and institute are connected in the sliding slot
Linkage linking is stated, the other end of the stud is connect by regulating device with first control device；Described first
The upper end of support and the upper end of the second support frame are connect with second connecting device, are provided on second connecting device
Fixed plate, the both ends of the plate are provided with depressed section, and the depressed section of the plate is provided with the adjuster of arc,
Stud is provided on the adjuster, the upper end of the stud is set on battery-mounting device, and the lower end of the stud passes through
The adjuster is connect with second control device, and the stud is equipped with spring, and one end of the spring and the battery are installed
Device connection, the other end are connect with the adjuster；The solar panel is set on the battery-mounting device.
Further, the system further includes laser scanning device；
The laser scanning device, including Laser emission subelement, laser pick-off subelement and processing subelement；
The Laser emission subelement, for following objective emission laser signal to described；
The laser pick-off subelement, for receiving the laser signal for following target to be reflected back；
The processing subelement, for the received laser signal of the laser pick-off subelement, Laser emission
The time interval that unit transmitting laser and the laser pick-off subelement receive between the laser signal being reflected back is handled, and is obtained
The distance between target and the unmanned model car are followed described in taking.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the automatic follow-up control method of unmanned model car provided by the present invention；
Fig. 2 is a kind of structural schematic diagram of the automatic tracing control system of unmanned model car provided by the present invention；
Fig. 3 is a kind of knot of the solar power supply apparatus of the automatic tracing control system of unmanned model car provided by the present invention
Structure schematic diagram.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
The embodiment of the invention provides a kind of automatic follow-up control methods of unmanned model car, as shown in Figure 1, method includes
Following steps:
S101, the image that photographic device shooting is obtained with preset period of time；
S102, the image shot according to photographic device, it is selected initially to follow target；
S103, piecemeal processing is carried out to the image of photographic device shooting；
S104, from each image-region after image block, pixel center of selected center's pixel as image-region,
And using other pixels of image-region as adjacent pixel；Adjacent pixel is equidistant to pixel center；
S105, the adjacent pixel of each image-region is subjected to data normalization processing, obtains the feature letter of image-region
Breath；
S106, the characteristic information of each image-region is included into synthesis group, obtains the characteristic image of image；
S107, the characteristic image of image and the characteristic image in previous frame image are compared, judgement initially follows mesh
Whether mark is to follow target；
S108, if it is, by initially target being followed to be determined as following target；
S109, the relative position for following target Yu photographic device center is obtained according to image, photographic device is adjusted.
The working principle of the above method is: photographic device carries out shooting image according to preset period of time, and according to institute
The image of shooting is selected initially to follow target；Photographic device is subjected to piecemeal processing, obtains the phase of each image-region in image
Adjacent pixel, and data normalization processing is carried out to adjacent pixel, obtain the characteristic information of each image-region；By each image district
The characteristic information in domain is included into synthesis group, forms the characteristic image of image；It will be in the characteristic image of image and previous frame image
Characteristic image compare, judge it is selected initially follow whether target is to follow target, if initially target is followed to sentence
It is set to and follows target, then the relative position for following target Yu photographic device center is obtained according to the image of shooting, to photographic device
Angle be adjusted.
The beneficial effect of the above method is: initially following target by the way that image captured by photographic device is selected, realizes
Unmanned model car carries out piecemeal processing according to captured image to following the initial selected of target, obtains each figure
As the adjacent pixel in region, data normalization processing is carried out, the characteristic information of each image-region is obtained；By each image-region
Characteristic information be included into synthesis group, form the characteristic image of image；Realize mentioning to the characteristic image of captured image
It takes；And the characteristic image of acquired image is compared with extracted characteristic image in previous frame image, judge whether it is
It is same to follow target, if it is initially target will be followed to be determined as following target；And according to the position for following target in image
Set the shooting angle of adjustment photographic device；It is realized by the above method in the image to photographic device shooting and initially follows mesh
Target identification, and initially target is followed to carry out judgement comparison to acquired, it is ensured that unmanned model car is followed to following target
Uniqueness；Function is followed to realize the automatic of unmanned model car.
In one embodiment, preset period of time 60ms, photographic device are clapped with the preset period of time of mono- frame of 60ms
Take the photograph image.Above-mentioned technical proposal carries out shooting image by photographic device with mono- frame of 60ms, realizes to following the every 60ms of target
Judgement comparison is carried out, so that unmanned model car is to following following for target more accurate.
In one embodiment, before step S102, method further include: the image of photographic device shooting is handled；
Specific steps include the following steps:
Obtain the light value of each pixel in image；
Obtain the light value of each pixel and the ratio to standard light value acquired when following target illumination；
Ratio is compared with preset threshold；If ratio is greater than preset threshold, determine pixel for unusual pixel；If
When ratio is less than preset threshold, then determine pixel for normal pixel；
According to the light value of the adjacent normal pixel of unusual pixel, the standard light value for obtaining unusual pixel is calculated, it will be anti-
The light value of normal pixel replaces with standard light value.
After above-mentioned technical proposal carries out shooting completion to image by photographic device, the captured each picture of image is obtained
The light value of element, and the light value of pixel is obtained into ratio compared with standard light value, by the ratio of each pixel and default threshold
Value is compared, and judges whether pixel is unusual pixel；If being judged as unusual pixel, according to the adjacent normal pixel of unusual pixel
It calculates standard light value corresponding to pixel anyway and is replaced；To realize the light of the pixel to captured image
Magnitude must detect, and to the correction of unusual pixel light value replace, make it possible to obtain the higher image of quality, facilitate it is subsequent its
His processing of the step to image.
In one embodiment, before step S109, method further include: measurement photographic device and follow between target away from
From；Specifically comprise the following steps:
To following objective emission laser signal, and receive the laser signal being reflected back；
It obtains transmitting laser signal and receives the time interval for the laser signal being reflected back；
Calculate the sample value for receiving the transformation period for the laser signal being reflected back；
Time interval is corrected according to the sample value of transformation period；
According to the time interval after correction, acquisition follows the distance between target and unmanned model car；
According to distance, it is compared with set distance threshold value；If distance is less than or equal to given threshold, nobody is controlled
Model car stop motion；If distance is greater than given threshold, controls unmanned model car and moved；
Wherein, the step of calculating the sample value for the transformation period for receiving the laser signal being reflected back further include: adjustment institute
A parameter in the spectrum width of the laser signal received, wavelength and signal energy, so that the sample value of transformation period
For minimum.
Above-mentioned technical proposal receives the laser signal being reflected back by the laser signal for following objective emission；It obtains
Emit the time interval between laser signal and the laser signal received；And processing is corrected to time interval, to obtain
It takes measurement photographic device and follows the distance between target；According to acquired distance and set distance threshold value (such as setting away from
It is 5m from threshold value) it is compared, judge whether unmanned model car follows and above-mentioned target is followed to be moved.Above-mentioned technical proposal is not
It only realizes photographic device and follows the accurate ranging between target, and realize unmanned model car according to measured distance
It is moved, adjust unmanned model car and follows the distance between target.
In one embodiment, piecemeal processing can be carried out to the image that the photographic device is shot according to following formula:
Wherein QiIt is the image array of the i-th frame image of the photographic device shooting, QimnFor the figure of the i-th frame image
As the pixel that m row n-th arranges in matrix, AipkFor point for handling the image array of the i-th frame image progress piecemeal
The block matrix that pth row kth arranges in block matrix；
Correspondingly, the pixel for the characteristic information for including in each block matrix after piecemeal is determined according to following formula:
ti11∈Ai11；ti12∈Ai12；…ti1k∈Ai1k；…tipk∈Aipk；
Wherein tiIt carries out piecemeal and handles to obtain to wrap in corresponding block matrix after matrix in block form for the image array of the i-th frame image
Pixel containing characteristic information, tipkFor the pixel for the characteristic information that pth row kth in block matrix arranges；In tiOn the basis of under
State the eigenmatrix that formula constitutes the i-th frame image:
Wherein TiFor the eigenmatrix of the i-th frame image, its eigenmatrix with previous frame is enabled to carry out pair using following equation
Than to obtain the adjustment angle and distance of photographic device:
In order to make camera more accurately follow target, in the eigenmatrix for extracting the eigenmatrix and previous frame
The corresponding coordinate of identical element, then calculated as follows:
Wherein, θ is the angle that photographic device should adjust, (mj,i,nj,i) it is j-th of phase in the eigenmatrix of the i-th frame image
Corresponding coordinate, (a with elementj,i-1,bj,i-1) it is the corresponding seat of j-th of identical element in the eigenmatrix of the (i-1)-th frame image
Mark, u are characterized the total number of the identical element in matrix, and L is the distance that photographic device should adjust.
The accurate journey that angle greatly improves its rotation is sought using the corresponding coordinate of identical element and above-mentioned formula
Degree, and by coordinate and eigenmatrix be integrally combined in the way of to seek moving distance can reduce the mobile mistake of camera
Difference, and movement is more accurate.
It is corresponding with preceding method, the embodiment of the invention also provides a kind of automatic tracing control system of unmanned model car,
As shown in Fig. 2, including photographic device 21, processing module 22, following target identification module 23 and adjustment module 24；
Photographic device 21 is passed for being shot according to preset period of time, and by acquired image to processing module
It is defeated；
Processing module 22, for obtaining and initially following target to image procossing；
Follow target identification module 23, including blocking unit, feature extraction unit, characteristic image synthesis unit and aspect ratio
To unit；Blocking unit, the image for shooting to photographic device carry out piecemeal processing；Feature extraction unit, for obtaining figure
As the adjacent pixel in each image-region after piecemeal, and adjacent pixel is standardized, is obtained in image-region
Characteristic information；Characteristic image synthesis unit obtains figure for the characteristic information of each image-region to be included into synthesis group
The characteristic image of picture；Feature comparing unit, for carrying out pair the characteristic image in the characteristic image of image and previous frame image
Than judgement initially follows whether target is to follow target；
Module 24 is adjusted, for obtaining the relative position for following target Yu photographic device center according to image, camera shooting is filled
The angle set is adjusted.
The working principle of above system is: photographic device 21 carries out shooting according to preset period of time and obtains image, place
Reason module 22 handles acquired image, obtains and initially follows target；Follow the piecemeal list in target identification module 23
Member carries out piecemeal processing to image, and the feature of each image-region acquired in blocking unit is obtained by feature extraction unit
The characteristic information of each image-region is included into synthesis group by information, characteristic image synthesis unit, obtains the characteristic pattern of image
Picture；Feature comparing unit compares the characteristic image of image and the characteristic image in previous frame image, and judgement initially follows
Whether target is to follow target；Adjust module 24, for follow target identification module determine follow target after, according in image with
With the position of target, photographic device angle is adjusted.
In practical applications, the image of the photographic device shooting is the image array being made of pixel, in order to
It solves to carry out piecemeal processing to be that picture portion is become matrix in block form and obtains the characteristic information in described image region to grasp
Make camera move mode, establishing model, detailed process is as follows:
Wherein QiIt is the image array of the i-th frame image of the photographic device shooting, QimnFor the figure of the i-th frame image
As the pixel that m row n-th arranges in matrix, AipkFor point for handling the image array of the i-th frame image progress piecemeal
The block matrix that pth row kth arranges in block matrix；
Correspondingly, the pixel for the characteristic information for including in each block matrix after piecemeal is determined according to following formula:
ti11∈Ai11；ti12∈Ai12；…ti1k∈Ai1k；…tipk∈Aipk；
Wherein tiIt carries out piecemeal and handles to obtain to wrap in corresponding block matrix after matrix in block form for the image array of the i-th frame image
Pixel containing characteristic information, tipkFor the pixel for the characteristic information that pth row kth in block matrix arranges；In tiOn the basis of under
State the eigenmatrix that formula constitutes the i-th frame image:
Wherein TiFor the eigenmatrix of the i-th frame image, its eigenmatrix with previous frame is enabled to carry out pair using following equation
Than to obtain the adjustment angle and distance of photographic device:
In order to make camera more accurately follow target, in the eigenmatrix for extracting the eigenmatrix and previous frame
The corresponding coordinate of identical element, then calculated as follows:
Wherein, θ is the angle that photographic device should adjust, (mj,i,nj,i) it is j-th of phase in the eigenmatrix of the i-th frame image
Corresponding coordinate, (a with elementj,i-1,bj,i-1) it is the corresponding seat of j-th of identical element in the eigenmatrix of the (i-1)-th frame image
Mark, u are characterized the total number of the identical element in matrix, and L is the distance that photographic device should adjust.
The beneficial effect of above system is: processing module initially follows mesh by the way that image captured by photographic device is selected
Mark realizes unmanned model car to the initial selected of target is followed, follows the blocking unit in target identification module to captured
Image carry out piecemeal processing, divide the image into multiple images region；Feature extraction unit is for extracting each image-region
Characteristic information, and characteristic information is included into synthesis group by characteristic image synthesis unit, the characteristic image of image is obtained, from
And realize the acquisition of the characteristic image to image captured by photographic device；By feature comparing unit by the characteristic pattern of image
As comparing with the characteristic image in previous frame image, judgement initially follows whether target is to follow target, if it is will
Target is initially followed to be determined as following target, and by adjusting module according to the position adjustment photographic device for following target in image
Shooting angle；Above system is by processing modules implement to the knowledge for initially following target in the image of photographic device shooting
Not, and by following target identification module initially target to be followed to carry out judgement comparison acquired, it is ensured that unmanned model car
To the uniqueness of target followed is followed, to realize the function that system follows automatically.
In one embodiment, photographic device, including timing unit, camera and microcontroller；Microcontroller with
Timing unit, camera are electrically connected；Timing unit is passed for carrying out timing according to preset period of time to microcontroller
Defeated timing end signal；Microcontroller, when for receiving timing end signal, control camera is shot；
Preset period of time, staff can be manually set according to actual needs；Preset period of time, default setting are
60ms.Above-mentioned technical proposal realizes microcontroller by timing unit, camera and microcontroller in photographic device
It controls camera and timing shooting is carried out according to the preset period of time in timing unit, to realize photographic device to following mesh
The shooting of target self-timing.
In one embodiment, system further includes unmanned model car；
Unmanned model car, including driving device, solar power supply apparatus, battery and control unit；Control unit with
Driving device, solar panel, battery are electrically connected；Control unit receives the sun for controlling solar power supply apparatus
Luminous energy is converted to power storage into battery；Control unit is also used to control battery and transmits electric energy to driving device, drives
Move unmanned model car movement；
Solar power supply apparatus: as shown in figure 3, including orientation angle regulating device 31 and solar panel 32；Direction
Angle adjustment device 31, including pedestal 311 are provided with the first connecting device 312 above pedestal 311, the first connecting device 312
Upper end is provided with first support frame 313 vertical with pedestal 311, and the right side of the first support frame 313 is provided with the second support frame
314, the both ends of linkage 315 are connected with the first support frame 313 with the downside of the second support frame 314 respectively, linkage 315
Connect arc-shaped regulating device 316, the lower end of regulating device 316 is fixedly installed on pedestal 311, regulating device 316 it is upper
End is fixedly installed on the first support frame 313, and sliding slot 3161 is provided in regulating device 316, double end spiral shell is connected in sliding slot 3161
One end of bolt 317, stud 317 is connected with linkage 315, the other end of stud 317 by regulating device 316 with
First control device 318 connects；The upper end of first support frame 313 and the upper end of the second support frame 314 with the second connecting device
It connects, is provided with fixed plate 319 on the second connecting device, the both ends of plate 319 are provided with depressed section, plate 319
Depressed section is provided with the adjuster 3110 of arc, and stud 3111, the upper end setting of stud 3111 are provided on adjuster 3110
In on battery-mounting device 3112, the lower end of stud 3111 is connect by adjuster 3110 with second control device 3113, stud
3111 are equipped with spring 3114, and one end of spring 3114 is connect with battery-mounting device 3112, and the other end and adjuster 3110 connect
It connects；Solar panel 32 is set on battery-mounting device 3112.Battery-mounting device 3112 is used in above-mentioned technical proposal
Solar panel 32, battery-mounting device 3112, the first support frame 313, the second support frame 314 and linkage 315 are installed
Parallelogram is formed, the angular adjustment up and down of battery-mounting device 3112 is realized by linkage 315；Simultaneously by turning
Dynamic second control device 3113, changes the length of stud 3111 between plate 319 and battery-mounting device 3112, can realize electricity
3112 left-right rotation of pond mounting device, to realize the comprehensive rotation of solar panel 32, above-mentioned technical proposal is realized
Adjusting to 3112 angle of battery-mounting device, and then improve the photoelectric conversion efficiency of solar panel 32.
In one embodiment, system further includes laser scanning device；
Laser scanning device, including Laser emission subelement, laser pick-off subelement and processing subelement；
Laser emission subelement, for following objective emission laser signal；
Laser pick-off subelement, for receiving the laser signal for following target to be reflected back；
Subelement is handled, for emitting laser to the received laser signal of laser pick-off subelement, Laser emission subelement
It receives the time interval between the laser signal being reflected back with laser pick-off subelement to be handled, acquisition follows target and nobody
The distance between model car.Above-mentioned technical proposal is by the Laser emission subelement in laser scanning device to following objective emission
Laser signal, and the laser signal for following target to be reflected back is received by laser pick-off subelement, processing subelement obtains transmitting
The laser signal time with receive the laser signal time time interval and handled, realize and follow target and unmanned model car
The distance between measurement.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of automatic follow-up control method of unmanned model car, which is characterized in that described method includes following steps:
S101, the image that photographic device shooting is obtained with preset period of time；
S102, the image shot according to the photographic device, it is selected initially to follow target；
S103, piecemeal processing is carried out to the image of photographic device shooting；
S104, from each image-region after described image piecemeal, pixel of selected center's pixel as described image region
Center, and using other pixels in described image region as adjacent pixel；Distance of the adjacent pixel to the pixel center
It is equal；
S105, the adjacent pixel of each image-region is subjected to data normalization processing, obtains the spy in described image region
Reference breath；
S106, the characteristic information of each image-region is included into synthesis group, obtains the characteristic image of described image；
S107, the characteristic image of described image and the characteristic image in previous frame image are compared, judge it is described initially with
It whether is to follow target with target；
S108, if it is, initially target is followed to be determined as following target for described；
S109, according to described image obtain described in follow the relative position of target Yu the photographic device center, to the camera shooting
Device is adjusted.
2. the method as described in claim 1, which is characterized in that
The preset period of time is 60ms, and the photographic device shoots image with the preset period of time of mono- frame of 60ms.
3. the method as described in claim 1, which is characterized in that
Before the step S102, the method also includes: the described image of photographic device shooting is handled；Specifically
Step includes the following steps:
Obtain the light value of each pixel in described image；
Obtain the light value of each pixel with to it is described follow target illumination when acquired standard light value ratio；
The ratio is compared with the preset threshold；If the ratio is greater than the preset threshold, described in judgement
Pixel is unusual pixel；If the ratio is less than the preset threshold, determine the pixel for normal pixel；
According to the light value of the adjacent normal pixel of the unusual pixel, the standard light value for obtaining the unusual pixel is calculated,
The light value of the unusual pixel is replaced with into the standard light value.
4. the method as described in claim 1, which is characterized in that
Before the step S109, the method also includes: the photographic device, which is measured, with described follows the distance between target；
Specifically comprise the following steps:
Objective emission laser signal is followed to described, and receives the laser signal being reflected back；
It obtains transmitting laser signal and receives the time interval for the laser signal being reflected back；
Calculate the sample value for receiving the transformation period for the laser signal being reflected back；
The time interval is corrected according to the sample value of the transformation period；
According to the time interval after correction, the distance between target and unmanned model car are followed described in acquisition；
According to the distance, it is compared with set distance threshold value；If the distance is less than or equal to the given threshold,
Control unmanned model car stop motion；If the distance is greater than the given threshold, controls unmanned model car and moved；
Wherein, the step of calculating the sample value for the transformation period for receiving the laser signal being reflected back further include: adjustment is received
To the spectrum width of laser signal, a parameter in wavelength and signal energy so that the sample value of the transformation period
For minimum.
5. the method as described in claim 1, which is characterized in that the image that the photographic device is shot according to following formula into
The processing of row piecemeal:
Wherein QiIt is the image array of the i-th frame image of the photographic device shooting, QimnFor the image array of the i-th frame image
In m row n-th arrange pixel, AipkFor the matrix in block form for handling the image array of the i-th frame image progress piecemeal
The block matrix of middle pth row kth column；
Correspondingly, the pixel for the characteristic information for including in each block matrix after piecemeal is determined according to following formula:
ti11∈Ai11；ti12∈Ai12；…ti1k∈Ai1k；…tipk∈Aipk；
Wherein tiIt carries out piecemeal for the image array of the i-th frame image and handles to obtain after matrix in block form in corresponding block matrix comprising spy
The pixel of reference breath, tipkFor the pixel for the characteristic information that pth row kth in block matrix arranges；In tiOn the basis of according to following public affairs
Formula constitutes the eigenmatrix of the i-th frame image:
Wherein TiFor the eigenmatrix of the i-th frame image, the eigenmatrix of itself and previous frame is enabled to compare using following equation, from
And obtain the adjustment angle and distance of photographic device:
In order to make camera more accurately follow target, it is identical as in the eigenmatrix of previous frame to extract the eigenmatrix
The corresponding coordinate of element, then calculated as follows:
Wherein, θ is the angle that photographic device should adjust, (mj,i,nj,i) it is j-th identical yuan in the eigenmatrix of the i-th frame image
The corresponding coordinate of element, (aj,i-1,bj,i-1) it is the corresponding coordinate of j-th of identical element in the eigenmatrix of the (i-1)-th frame image, u is
The total number of identical element in eigenmatrix, L are the distance that photographic device should adjust.
6. a kind of automatic tracing control system of unmanned model car, which is characterized in that including photographic device, processing module, follow
Target identification module and adjustment module；
The photographic device, for being shot according to preset period of time, and by acquired image to the processing module
Transmission；
The processing module, for obtaining and initially following target to described image processing；
It is described to follow target identification module, including blocking unit, feature extraction unit, characteristic image synthesis unit and aspect ratio pair
Unit；The blocking unit, the image for shooting to the photographic device carry out piecemeal processing；The feature extraction unit,
For obtaining the adjacent pixel in each image-region after described image piecemeal, and adjacent pixel is standardized,
Obtain the characteristic information in described image region；The characteristic image synthesis unit, for by the spy of each image-region
Reference breath is included into synthesis group, obtains the characteristic image of described image；The feature comparing unit, for by described image
Characteristic image is compared with the characteristic image in previous frame image, judges described initially to follow whether target is to follow target；
The adjustment module, for according to described image obtain described in follow the opposite position of target Yu the photographic device center
It sets, the angle of the photographic device is adjusted.
7. system as claimed in claim 6, which is characterized in that the blocking unit is according to following formula to the photographic device
The image of shooting carries out piecemeal processing:
Piecemeal processing is carried out according to image of the following formula to the shooting:
Wherein QiIt is the image array of the i-th frame image of the photographic device shooting, QimnFor the image array of the i-th frame image
In m row n-th arrange pixel, AipkFor the matrix in block form for handling the image array of the i-th frame image progress piecemeal
The block matrix of middle pth row kth column；
Correspondingly, the pixel for the characteristic information for including in each block matrix after piecemeal is determined according to following formula:
ti11∈Ai11；ti12∈Ai12；…ti1k∈Ai1k；…tipk∈Aipk；
Wherein tiIt carries out piecemeal for the image array of the i-th frame image and handles to obtain after matrix in block form in corresponding block matrix comprising spy
The pixel of reference breath, tipkFor the pixel for the characteristic information that pth row kth in block matrix arranges；In tiOn the basis of according to following public affairs
Formula constitutes the eigenmatrix of the i-th frame image:
Wherein TiFor the eigenmatrix of the i-th frame image, the eigenmatrix of itself and previous frame is enabled to compare using following equation, from
And obtain the adjustment angle and distance of photographic device:
In order to make camera more accurately follow target, it is identical as in the eigenmatrix of previous frame to extract the eigenmatrix
The corresponding coordinate of element, then calculated as follows:
Wherein, θ is the angle that photographic device should adjust, (mj,i,nj,i) it is j-th identical yuan in the eigenmatrix of the i-th frame image
The corresponding coordinate of element, (aj,i-1,bj,i-1) it is the corresponding coordinate of j-th of identical element in the eigenmatrix of the (i-1)-th frame image, u is
The total number of identical element in eigenmatrix, L are the distance that photographic device should adjust.
8. system as claimed in claim 6, which is characterized in that
The photographic device, including timing unit, camera and microcontroller；The microcontroller and the timing list
Member, camera are electrically connected；The timing unit, for carrying out timing according to the preset period of time, to the miniature control
Device processed transmits timing end signal；Microcontroller, when for receiving the timing end signal, control the camera into
Row shooting；
The preset period of time, staff can be manually set according to actual needs；The preset period of time, default setting
For 60ms.
9. system as claimed in claim 8, which is characterized in that
The system further includes unmanned model car；
The unmanned model car, including driving device, solar power supply apparatus, battery and control unit；Described control unit
It is electrically connected with the driving device, solar panel, battery；Described control unit, for controlling the solar energy
Power supply unit receives solar energy and is converted to power storage into the battery；Described control unit is also used to control described
Battery transmits electric energy to the driving device, drives the unmanned model car movement；
The solar power supply apparatus: including orientation angle regulating device (31) and solar panel (32)；The deflection
It spends regulating device (31), including pedestal (311), is provided with the first connecting device (312) above the pedestal, first linking
The upper end of device (312) is provided with first support frame (313) vertical with the pedestal (311), first support frame (313)
Right side be provided with the second support frame (314), the both ends of linkage (315) respectively with first support frame (313) and the
The downside of two support frames (314) is connected, and the linkage (315) connects arc-shaped regulating device (316), the adjusting dress
The lower end for setting (316) is fixedly installed on the pedestal (311), and the upper end of the regulating device (316) is fixedly installed on described
It on first support frame (313), is provided with sliding slot (3161), is connected in the sliding slot (3161) double on the regulating device (316)
One end of hook bolt (317), the stud (317) is connected with the linkage (315), the stud (317)
The other end connect with first control device (318) by regulating device (316)；The upper end of first support frame (313) and
The upper end of second support frame (314) is connect with the second connecting device, is provided with fixed plate on second connecting device
(319), the both ends of the plate (319) are provided with depressed section, and the depressed section of the plate (319) is provided with the tune of arc
It saves device (3110), is provided with stud (3111) on the adjuster (3110), the upper end of the stud (3111) is set to battery
On mounting device (3112), the lower end of the stud (3111) passes through the adjuster (3110) and second control device (3113)
Connection, the stud (3111) are equipped with spring (3114), one end of the spring (3114) and the battery-mounting device
(3112) it connects, the other end is connect with the adjuster (3110)；The solar panel (32) is set to the battery peace
On assembling device (3112).
10. system as claimed in claim 8, which is characterized in that
The system further includes laser scanning device；
The laser scanning device, including Laser emission subelement, laser pick-off subelement and processing subelement；
The Laser emission subelement, for following objective emission laser signal to described；
The laser pick-off subelement, for receiving the laser signal for following target to be reflected back；
The processing subelement, for the received laser signal of the laser pick-off subelement, the Laser emission subelement
The time interval that transmitting laser and the laser pick-off subelement receive between the laser signal being reflected back is handled, and institute is obtained
It states and follows the distance between target and the unmanned model car.
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| CN110522408A (en) * | 2019-07-25 | 2019-12-03 | 北京爱诺斯科技有限公司 | A kind of eye eyesight based on eccentricity cycles technology judges system and method |
| CN111026162A (en) * | 2019-12-10 | 2020-04-17 | 长沙中联重科环境产业有限公司 | Self-following cleaning robot |
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