CN111458718A - Spatial positioning device based on fusion of image processing and radio technology - Google Patents
Spatial positioning device based on fusion of image processing and radio technology Download PDFInfo
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- CN111458718A CN111458718A CN202010132678.0A CN202010132678A CN111458718A CN 111458718 A CN111458718 A CN 111458718A CN 202010132678 A CN202010132678 A CN 202010132678A CN 111458718 A CN111458718 A CN 111458718A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a space positioning device based on fusion of image processing and radio technology, and relates to the field of image processing technology and radio technology. The device is including dismantling the casing, fixed mounting has laser transceiver mechanism on the casing can be dismantled, can dismantle that casing inside is provided with monocular camera mechanism, high resolution CCD sensor, radio receiving mechanism, microprocessor, screen base and small-size display screen, microprocessor and each execution module assemble on a core circuit board. According to the invention, the image processing technology and the radio transmission technology are deeply fused, high integration, miniaturization and portability are realized, the detection target is detected in a passive detection mode, the three-dimensional space coordinate of the detection target is obtained, accurate positioning is realized, the whole device is low in cost, high in precision, strong in application extensibility and accurate in positioning, and the space positioning of indoor complex conditions in the environment of the Internet of things can be met.
Description
Technical Field
The invention relates to the field of image processing technology and radio technology, in particular to a space positioning device based on the fusion of image processing and radio technology.
Background
The existing spatial positioning technology for robots, unmanned vehicles or airplanes mainly utilizes an optical method, an inertial method and a multi-camera method to perform positioning, and the three spatial positioning methods have the problem that the cost and the realization cannot be avoided.
An optical method and an inertia method in space positioning belong to an active positioning mode, experience is poor in practical use, long-time preparation and setting are often needed to drive equipment to work, and used equipment precision is in direct proportion to used cost. The optical method requires at least 3 optical sensors installed in a three-dimensional space to perform measurement in the three-dimensional space. If an obstacle exists in the opposite direction of the sensing element, the lack of coordinate dimensionality is caused, the measured data is inaccurate, the cost of the optical sensing element is high, and the optical sensing element is not suitable for general application.
The inertial method needs a large number of inertial elements or a plurality of base stations, has low positioning accuracy, can only perform range positioning, and has high cost of the required sensing elements or the base stations. The multi-camera method obtains the depth of field degree of an image through visual processing, and finally obtains the three-dimensional space of a target to be detected, and the method belongs to passive measurement and has good experience for a user. The multi-camera method requires strong hardware support and has certain requirements on the use environment. The single-camera space positioning needs a stricter environment for use, and is not suitable for practical application.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides a space positioning device based on the fusion of image processing and radio technology, which solves the defects and shortcomings in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a spatial localization device based on image processing fuses with radio technology, includes and can dismantle the casing, fixed mounting has laser transceiver to construct on can dismantling the casing, can dismantle that casing inside is provided with monocular camera mechanism, high resolution CCD sensor, radio receiving mechanism, microprocessor, screen base and small-size display screen, microprocessor and each execution module assemble on a core circuit board, microprocessor is connected with monocular camera mechanism, high resolution CCD sensor, radio receiving mechanism, laser transceiver and small-size display screen through the electronic circuit.
Preferably, monocular camera mechanism includes camera adjusting module and camera base, camera adjusting module passes through camera base and high resolution CCD sensor fixed connection, monocular camera mechanism still includes two miniature step motor, two sets of gear train and the variable lens of focus of different drive ratios, the camera in the monocular camera mechanism can be single also can be a plurality of, the resolution ratio of camera is 200 ten thousand pixels at least.
Preferably, the laser transceiver includes a laser transceiver and a micro-motion holder, and the laser transceiver has a signal modulation circuit and a demodulation circuit inside for resisting natural light interference.
Preferably, the radio receiving mechanism is used for receiving radio waves between 600MHz and 6.32GHz, and calculating an attenuation value for preliminarily determining the linear distance of the measured object.
Preferably, the microprocessor has an operating frequency of 100MHz or higher and has an external connection interface.
Preferably, can dismantle the casing and be the cuboid shape, can dismantle the casing and include detachable top panel, lower panel, front panel, rear panel and two side boards, laser transceiver constructs and fixes the first half at the front panel, monocular camera mechanism is nested with the front panel, high resolution CCD sensor is inside the panel, in the middle of the small-size display screen embedding rear panel, the top panel still is equipped with the circular ventilation hole of a plurality of to all ventilation holes are parallel to each other, can dismantle the casing still includes four support posts, and perpendicular fixed setting is between front panel and rear panel respectively, and four holes that the centre corresponds through the circuit board are used for fixing the circuit board.
Preferably, the device comprises the following execution steps:
s1, receiving radio wave data by a radio receiving mechanism to obtain a radio attenuation rate, and estimating to obtain a primary linear distance between a detection target and a detection device;
s2, the laser transceiver sends a specific optical pulse signal, receives a return value of the signal, and calculates to obtain a distance value between a detection target and the detection device;
s3, carrying out data fusion on the distance value obtained by the radio wave and the distance value obtained by the laser transceiving mechanism, and determining the distance between the detected target and the detection device;
s4, calculating the current approximate appearance point position of the detected target in the three-dimensional space according to the distance determined by data fusion;
s5, adjusting the multiple of the camera mechanism to the lowest, and performing primary positioning at the position where the detected target is constructed on the CMOS plane; and further changing the multiple and the focal length, and calculating by an algorithm to obtain the final space three-dimensional coordinate.
(III) advantageous effects
The invention provides a space positioning device based on the fusion of image processing and radio technology. The method has the following beneficial effects:
according to the invention, the image processing technology and the radio transmission technology are deeply fused, high integration, miniaturization and portability are realized, the detection target is detected in a passive detection mode, the three-dimensional space coordinate of the detection target is obtained, accurate positioning is realized, the whole device is low in cost, high in precision, strong in application extensibility and accurate in positioning, and the indoor complex space positioning under the environment of the Internet of things can be met.
Drawings
FIG. 1 is an exploded view of the principal components of the present invention;
FIG. 2 is an exploded view of the removable housing of the present invention;
FIG. 3 is a flow chart of a method of the present invention;
FIG. 4 is a schematic field view of the present invention;
FIG. 5 is a flowchart of an algorithm routine of the present invention;
FIG. 6 is a schematic diagram of a spatial localization algorithm of the present invention;
FIG. 7 is a diagram of the apparatus structure of the present invention.
Wherein, 1, the shell can be disassembled; 2. a monocular camera mechanism; 3. a high resolution CCD sensor; 4. a laser transceiver mechanism; 5. a radio receiving mechanism; 6. a microprocessor; 7. a screen base; 8. a small display screen.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1-7, an embodiment of the present invention provides a spatial positioning device based on fusion of image processing and radio technology, which includes a detachable housing 1, a laser transceiver 4 is fixedly mounted on the detachable housing 1, a monocular camera mechanism 2, a high-resolution CCD sensor 3, a radio receiver 5, a microprocessor 6, a screen base 7, and a small display screen 8 are disposed inside the detachable housing 1, the microprocessor 6 and each execution module are assembled on a core circuit board, and the microprocessor 6 is connected to the monocular camera mechanism 2, the high-resolution CCD sensor 3, the radio receiver 5, the laser transceiver 4, and the small display screen 8 through an electronic circuit.
The monocular camera mechanism 2 comprises a camera adjusting module and a camera base, the camera adjusting module is fixedly connected with the high-resolution CCD sensor 3 through the camera base, the monocular camera mechanism 2 further comprises two micro stepping motors, two groups of gear sets with different transmission ratios and a focus variable lens, a single camera or a plurality of cameras in the monocular camera mechanism 2 can be provided, and the resolution of the cameras is at least 200 ten thousand pixels.
The laser receiving and transmitting mechanism 4 comprises a laser transceiver and a micro-motion holder, and a signal modulation circuit and a demodulation circuit are arranged in the laser receiving and transmitting mechanism 4 and used for resisting natural light interference.
The radio receiving mechanism 5 is used for receiving radio waves between 600MHz and 6.32GHz, and calculating an attenuation value.
The microprocessor 6 operates at a frequency above 100MHz and has an external connection interface.
Can dismantle casing 1 and be the cuboid shape, can dismantle casing 1 and include the detachable top panel, the lower panel, the front panel, rear panel and two side boards, laser transceiver mechanism 4 is fixed in the front panel first half, it is fixed that fine motion cloud platform base passes through mechanical structure with the panel, monocular camera mechanism 2 is nested with the front panel, camera adjustment mechanism is outside at the front panel, high resolution CCD sensor 3 is inside the panel, 8 embedding rear panels of small-size display screen in the middle of, the top panel still is equipped with the circular ventilation hole of a plurality of, and all ventilation holes are parallel to each other, can dismantle casing 1 still includes four support posts, vertical fixation sets up between front panel and rear panel respectively, four holes that the middle circuit board that passes through corresponds, be used for fixing the circuit board.
The device comprises the following execution steps:
s1, acquiring and processing the attenuation rate of the received radio wave by using the radio receiving mechanism 5 to obtain a primary linear distance between a detection target and a detection device, and performing data fusion with the data obtained in the step 2;
the number of the cameras can be multiple, specifically, a device formed by combining the monocular camera and the radio receiving mechanism 5 and other mechanisms is placed on a plane in the space, the device is taken as an origin, and as shown in fig. 4, a measured three-dimensional space coordinate is established;
s2, the laser transceiver 4 emits optical pulse signals different from those in the common spectrogram, and times for receiving the optical pulse signals with the frequency are timed, and the times are converted into distance values;
s3, carrying out data fusion on the distance data obtained by the radio receiving mechanism 5 and the distance data obtained by the laser transceiving mechanism 4 to obtain the distance between the detected target and the detection device;
wherein the radio receiving mechanism 5 can receive bluetooth, Wifi, infrared signals and RFID, of course, the type of reception is not limited thereto, and the receiving frequency range is between 600MHz-6.32 GHz;
the radio receiving mechanism 5 has an automatic frequency modulation function, and can adjust the receiving frequency to a specific frequency according to manual setting and receive the receiving frequency;
s4, calculating to obtain the position of the target with high probability point in space through the data obtained in the step 3;
wherein, the data in the step 2 and the step 3 are processed by self-adaptive Kalman filtering and Gaussian multiple filtering; obtaining a final distance result by the data of the step 2 and the step 3 through iterative weighted fusion data;
s5, adjusting the monocular camera mechanism 2 to the lowest multiple, identifying the characteristics of the detected object, constructing a CMOS imaging plane, initially positioning, changing the multiple and the focal length by a driving motor, and performing multiple conversion and position positioning through a specific algorithm to obtain a space three-dimensional coordinate;
the detection target identified by the monocular camera in the device is an object or a human face with a certain shape and color, and is not limited to a fixed target; the objects to be recognized can be mobile phones, human faces, handbags and the like, and the equipment can work without specific recognized objects;
two driving mechanisms in the monocular camera mechanism 2 provide power, and the rotating precision is improved through a specific gear transmission ratio, so that the distance between a lens and a CMOS sensor in the mechanism and the size value of an aperture are changed, and the purposes of adjusting the focal length and the magnification are achieved;
the driving mechanism can be a stepping motor or a planetary motor, other types are not limited to the above, and other types of driving motors can be used, which are not described herein again;
as shown in fig. 7, the apparatus receives the distance data, sets the monocular camera mechanism 2 to the minimum standard, recognizes the physical position of the detected target in the CMOS sensor by image processing, and locates the approximate position of the detected target by the processing between the camera focal length and the distance data;
after the approximate position is obtained, the physical position of the detection target in the CMOS sensor is further improved by adjusting the focal length and the multiple, and a more accurate position is obtained; when the detection target is not in the CMOS sensor or the multiple is maximum, the detection is cut off in precision;
the determination method of the center point of the detection target is as shown in fig. 6, the center coordinate point of the detection target is determined by adopting a double determination method, lines parallel to four sides of the plane of the CMOS sensor are firstly calibrated, the lines intersect with the image of the detection target at points, a connection line between the four points is made, and the first center point is a point of a diagonal connection line; carrying out approximate contact on the image of the detection target by respectively presenting 60-degree angles by using the three lines, intersecting at three points, determining the size and the shape of the final triangle, and taking the second central point as a gravity center point of the triangle; and performing weighted fusion on the two-time collection central points to improve the accuracy, and taking the final result as a coordinate point of three-dimensional space positioning.
The microprocessor 6 is used for controlling the initialization of each connection function part, the configuration setting of the monocular camera mechanism 2, the setting and data acquisition of the wireless receiving module, the control of the laser transceiver mechanism 4, the data acquisition, the image acquisition and image processing, the display control of the screen, and the operation of filtering, fusion and processing algorithms; the main frequency of the microprocessor 6 is above 100MHz, and the higher the frequency is, the shorter the positioning time of the device is;
the small display screen 8 is used for displaying the images collected by the monocular camera mechanism 2 and the results of the images processed by the microprocessor 6, and displaying the three-dimensional space coordinates of the detected target.
It is worth mentioning that before the step is executed, the following steps are also required: the camera, the radio receiving mechanism 5, the laser transceiver mechanism 4, the microprocessor 6 and the small display screen 8 are initially configured.
The spatial positioning device with the image processing and the radio technology fused mutually fuses the monocular camera mechanism 2 and the radio technology, has a mutual restriction relationship, carries out initialization setting on the performance of the camera and the radio and laser transmitting and receiving mechanisms, then calls the micro-processor to collect and optimize distance data, and calls the micro-processor to collect images and carry out preprocessing after the operation is finished. And further processing the preprocessed image, extracting characteristic values of the object, comparing and identifying the detected object, determining the physical position of the detected object in the CMOS plane, and performing double center positioning on the image of the detected object. Further drive power drives the transmission gear structure, adjusts focus and multiple, further promotes the precision of location through microprocessor 6. And finally, controlling a small display screen 8 to display the acquired image and the processing result through a microprocessor 6.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Spatial localization device based on the fusion of image processing and radio technology, comprising a removable housing (1), characterized in that: can dismantle fixed mounting has laser transceiver mechanism (4) on casing (1), can dismantle inside monocular camera mechanism (2), high resolution CCD sensor (3), radio receiving mechanism (5), microprocessor (6), screen base (7) and the small-size display screen (8) of being provided with of casing (1), microprocessor (6) and each execution module assemble on a core circuit board, microprocessor (6) are connected with monocular camera mechanism (2), high resolution CCD sensor (3), radio receiving mechanism (5), laser transceiver mechanism (4) and small-size display screen (8) through electronic circuit.
2. The spatial localization apparatus based on image processing and radio technology integration according to claim 1, wherein: monocular camera mechanism (2) includes camera adjusting module and camera base, camera adjusting module passes through camera base and high resolution CCD sensor (3) fixed connection, monocular camera mechanism (2) still includes two miniature step motor, two sets of gear train and the variable camera lens of focus of different drive ratios, the camera in monocular camera mechanism (2) can be single also can be a plurality of, the resolution ratio of camera is 200 ten thousand pixels at least.
3. The spatial localization apparatus based on image processing and radio technology integration according to claim 1, wherein: the laser receiving and transmitting mechanism (4) comprises a laser transceiver and a micro-motion holder, and a signal modulation circuit and a demodulation circuit are arranged in the laser receiving and transmitting mechanism (4) and are used for resisting natural light interference.
4. The spatial localization apparatus based on image processing and radio technology integration according to claim 1, wherein: the radio receiving mechanism (5) is used for receiving radio waves between 600MHz and 6.32GHz, calculating an attenuation value and preliminarily determining the linear distance of the detected target.
5. The spatial localization apparatus based on image processing and radio technology integration according to claim 1, wherein: the microprocessor (6) has an operating frequency of 100MHz or higher and has an external connection interface.
6. The spatial localization apparatus based on image processing and radio technology integration according to claim 1, wherein: can dismantle casing (1) and be the cuboid shape, can dismantle casing (1) and include detachable top panel, lower panel, front panel, rear panel and two side boards, laser transceiver (4) are fixed in the first half of front panel, monocular camera mechanism (2) are nested with the front panel, high resolution CCD sensor (3) are inside the panel, in the middle of small-size display screen (8) embedding rear panel, the top panel still is equipped with the circular ventilation hole of a plurality of to all ventilation holes are parallel to each other, can dismantle casing (1) still include four support posts, and the difference vertical fixation sets up between front panel and rear panel, and four holes that the middle passing circuit board corresponds are used for fixing the circuit board.
7. A spatial localization apparatus based on image processing fused with radio technology according to any one of claims 1-6, wherein: the device comprises the following execution steps:
s1, receiving radio wave data by a radio receiving mechanism (5) to obtain a radio attenuation rate, and estimating to obtain a preliminary linear distance between a detection target and a detection device;
s2, the laser transceiver (4) sends a specific optical pulse signal, receives a return value of the signal, and calculates to obtain a distance value between a detection target and the detection device;
s3, carrying out data fusion on the distance value obtained by the radio wave and the distance value obtained by the laser transceiving mechanism (4), and determining the distance between the detected target and the detection device;
s4, calculating the position height of the current approximate appearance point of the detected target in the three-dimensional space according to the distance determined by data fusion;
s5, adjusting the multiple of the camera mechanism to the lowest, and performing primary positioning at the position where the detected target is constructed on the CMOS plane; and further changing the multiple and the focal length, and calculating by an algorithm to obtain the final space three-dimensional coordinate.
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