CN112816935A - Method and device for tracking and measuring target object by beacon light - Google Patents
Method and device for tracking and measuring target object by beacon light Download PDFInfo
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- CN112816935A CN112816935A CN202110143611.1A CN202110143611A CN112816935A CN 112816935 A CN112816935 A CN 112816935A CN 202110143611 A CN202110143611 A CN 202110143611A CN 112816935 A CN112816935 A CN 112816935A
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
- G01S1/703—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method and a device for tracking and measuring a target object by beacon light, comprising the following steps: the beacon light source emits beacon light to irradiate the target object; receiving beacon light reflected by the target object and shooting an image of the target object based on the beacon light; determining position information of the beacon light on the target object based on the image; based on the position information, adjusting the emergent angle of the beacon light source to enable the emitted beacon light to continuously irradiate the designated position of the target object; acquiring the angle adjustment quantity of the beacon light source; acquiring distance information of the target object; determining target object position information of the target object according to the acquired information; the acquired information comprises the angle adjustment amount of the beacon light source and the distance of the target object; and determining the motion trail information of the target object based on the position information of the continuously acquired target object. The invention can realize the tracking of the target object and determine the position information and the track information of the target object.
Description
Technical Field
The invention relates to the technical field of tracking and aiming, in particular to a method and a device for tracking and measuring a target object by means of beacon light.
Background
In some scenarios, one object needs to track a moving target object to achieve tracking and then perform continuous communication between two objects. Sometimes, position information of a target object needs to be obtained, but the current technical scheme for realizing tracking can only track the target object.
The above background disclosure is only for the purpose of assisting understanding of the inventive concept and technical solutions of the present invention, and it is not necessarily prior art to the present invention, and should not be used for evaluating the novelty and inventive step of the present invention without explicit evidence to suggest that the above content has been disclosed at the filing date of the present invention.
Disclosure of Invention
The invention provides a method and a device for tracking and measuring a target object by using beacon light, which can track the target object and determine the position information and the track information of the target object.
In a first aspect, the present invention provides a method of tracking and measuring a target object by means of a beacon light, comprising:
the beacon light source emits beacon light to irradiate the target object;
receiving beacon light reflected by the target object and shooting an image of the target object based on the beacon light;
determining position information of the beacon light on the target object based on the image;
changing the emitting angle of the beacon light source based on the position information so that the emitted beacon light is irradiated and kept at the designated position of the target object;
acquiring the angle adjustment quantity of the beacon light source;
acquiring distance information of the target object;
determining the position information of the target object according to the acquired information; the acquired information comprises the angle adjustment amount of the beacon light source and the distance information of the target object;
and determining the motion trail information of the target object based on the position information of the continuously acquired target object.
In some preferred embodiments, the beacon light source is fixed to a movable mobile system;
the method further comprises the following steps:
acquiring mobile system position change information of the mobile system;
determining the position information of the target object according to the acquired information, wherein the determining comprises the following steps: and determining the position information of the target object according to the obtained angle adjustment amount of the beacon light source, the distance information of the target object and the position change information of the mobile system.
In some preferred embodiments, the beacon light source is affixed to an adjustable-posture base; changing the exit angle of the beacon light source, comprising: and changing the posture of the base station to change the emergent angle of the beacon light source.
In some preferred embodiments, determining the position information of the beacon light on the target object based on the image includes: determining positional offset information of the beacon light on the target object based on the image.
In some preferred embodiments, determining the position information of the beacon light on the target object based on the image includes: generating contour information of the target object based on the image; determining position information of the beacon light on the target object based on the profile information.
In some preferred embodiments, obtaining the mobile system location change information of the mobile system includes: and determining mobile system position change information of the mobile system according to the time, the attitude of the mobile system and the acceleration of the mobile system.
In a second aspect, the present invention provides an apparatus for tracking and measuring a target object by means of beacon light, including a beacon light source, a camera, an angle adjustment amount measurement unit, a range finder, a posture adjustment mechanism, and a processing unit;
the relative position of the beacon light source and the gyroscope is fixed;
the beacon light source is used for emitting beacon light to irradiate a target object;
the camera is used for receiving the beacon light reflected by the target object and shooting an image of the target object based on the beacon light;
the distance measuring instrument is used for measuring the distance of the target object;
the posture adjusting mechanism is used for adjusting the emergent angle of the beacon light source;
the angle adjustment quantity measuring unit is used for measuring the angle adjustment quantity of the beacon light source;
the processing unit is configured to: determining target object position information of the target object according to the acquired information; determining motion trail information of the target object based on continuously acquired position information of the target object; the acquired information includes an angle adjustment amount of the beacon light source and a distance of the target object.
In some preferred embodiments, further comprising an accelerometer, a movable movement system, and a timer;
the angle adjustment quantity measuring unit is a gyroscope;
the beacon light source, the camera, the gyroscope, the range finder, the attitude adjusting mechanism and the accelerometer are fixed on the mobile system;
the timer, the accelerometer and the gyroscope are used for generating mobile system position change information of the mobile system;
the processing unit is configured to: determining the position information of the target object according to the obtained angle adjustment amount of the beacon light source, the distance of the target object and the position change information of the mobile system; and determining the motion trail information of the target object based on the position information of the continuously acquired target object.
In some preferred embodiments, further comprising a base station; the beacon light source, the camera, the angle adjustment quantity measuring unit, the range finder and the accelerometer are fixed on the base station.
In some preferred embodiments, the gyroscope is a three-axis gyroscope.
In some preferred embodiments, the attitude adjustment mechanism is a direction adjustment mechanism.
In a third aspect, the present invention provides a computer readable storage medium having stored therein program instructions which, when executed by a processor of a computer, cause the processor to perform the above-described method.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps that a beacon light source emits beacon light to irradiate a target object, the beacon light reflected by the target object is received, an image of the target object is shot based on the beacon light, the position information of the beacon light on the target object is determined based on the image, the emergent angle of the beacon light source is changed based on the position information, so that the emitted beacon light is irradiated and kept at the specified position of the target object, the angle adjustment amount of the beacon light source and the distance information of the target object are obtained, and the target object position information of the target object can be determined according to the obtained information, wherein the angle adjustment amount of the beacon light source and the distance information of the target object are included; based on the position information of the target object which is continuously acquired, the motion track information of the target object can be determined, so that the target object can be tracked, and the actual position information and the track information of the target object can be determined.
Drawings
Fig. 1 is a diagram illustrating an operation state of an apparatus for tracking and measuring a target object by a beacon light according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an apparatus for tracking and measuring a target object by means of beacon light according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for tracking and measuring a target object by a beacon light according to an embodiment of the present invention;
fig. 4 is a schematic configuration diagram of another modification of the apparatus for tracking and measuring a target object by means of a beacon light according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a variation of a method of tracking and measuring a target with beacon light according to one embodiment of the present invention;
fig. 6 is a diagram illustrating a position change state of an apparatus for tracking and measuring a target object by using a beacon light according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to fig. 1 to 6 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The embodiment provides a device for tracking and measuring a target object by using beacon light, in particular to a device for tracking and measuring a motion track of a target object by using beacon light, which can track the target object and measure the position information of the target object. The target object or the target object can be an object moving on the ground, such as a vehicle, or an object flying in the air, such as an airplane; the target may specifically be a struck target or may be a communication target.
Referring to fig. 1 and 2, an apparatus 1000 for tracking and measuring a target object by means of beacon light of the present embodiment includes a beacon light source 1, a camera 2, an angle adjustment amount measurement unit 3, a range finder 4, a posture adjustment mechanism 5, and a transmitter 10. The relative positions of the beacon light source 1 and the angle adjustment amount measurement unit 3 are fixed, for example, referring to fig. 2, the beacon light source 1, the camera 2, the angle adjustment amount measurement unit 3, and the range finder 4 are all fixed on the base 20; the base 20 may be a base; the angular adjustment amount measuring unit 3 is a gyroscope. In other embodiments, the angular adjustment amount measurement unit 3 is a sensor such as an encoder.
The beacon light source 1 is an active beacon light source for emitting beacon light 300 to illuminate the target 100.
The camera 2 is configured to receive the beacon light 300 reflected by the target object 100 and capture an image of the target object 100 based on the beacon light. The target 100 reflects the beacon light, such as total reflection or diffuse reflection; after receiving the beacon light reflected by the target object 100, the camera 2 takes a picture of the target object 100 to generate an image; the image contains the target 100 and the spot of the beacon light on the target 100. In this embodiment, the image is a two-dimensional image.
The gyroscope 3 is used to measure the attitude of the beacon light source 1, including the attitude change of the beacon light source 1 and the attitude at a certain time. Wherein, the gyroscope 3 is a three-axis gyroscope.
The distance meter 4 is used to measure the distance of the target object 100, specifically, the distance between the device 1000 and the target object 100. Illustratively, the target 100 moves back and forth, and the range finder 4 measures the distance at different times when the target 100 moves back and forth.
The posture adjustment mechanism 5 is used to adjust the emission angle of the beacon light source 1. Illustratively, the posture adjustment mechanism 5 is a direction adjustment mechanism; the beacon light source 1 is connected with the posture adjusting mechanism 5, and is specifically arranged on the posture adjusting mechanism 5; the posture adjustment mechanism 5 drives the beacon light source 1 to rotate, for example, around a horizontal plane, so that the irradiation direction of the beacon light 300 emitted by the beacon light source 1 is also changed, thereby changing the emission angle of the beacon light source 1. Alternatively, the posture adjustment mechanism 5 is connected to the base 20, and the posture adjustment mechanism 5 changes the posture of the base 20 to change the emission angle of the beacon light source 1. That is, in the present embodiment, the amount of angular change between the beacon light and the base station 20 is measurable.
The transmitter 10 may be a laser transmitter or other communication function capable of striking the target 100 or communicating with the target 100.
The gyroscope 3 measures the posture of the beacon light source 1, including measuring the rotation angle of the beacon light source 1 during rotation, and obtains the change amount of the emission angle of the beacon light source 1 according to the rotation, that is, the angle adjustment amount of the beacon light source 1.
In this way, when the position of the device 1000 for tracking and measuring the target object by the beacon light is fixed with respect to a reference object such as the ground, the actual position information of the target object 100, for example, the actual position change information can be determined by calculation based on the measured angle adjustment amount of the beacon light source 1 and the distance between the target object and the device 1000, so that the movement trajectory of the target object can be generated.
In some scenarios, referring to fig. 6, when tracking the target object 100, the device that tracks and measures the target object by means of the beacon light also moves, i.e., both the device 1000 and the target object 100 are moving. Referring to fig. 4, to determine the actual position information of the target 100, the apparatus 1000 of the present embodiment further includes an accelerometer 6 and a timer 7 for recording time.
The beacon light source 1, the camera 2, the gyroscope 3, the range finder 4, the attitude adjusting mechanism 5 and the accelerometer 6 are all fixed on the movable moving system 200, so that the relative positions of the beacon light source 1, the camera 2, the gyroscope 3, the range finder 4, the attitude adjusting mechanism 5 and the accelerometer 6 are fixed; mobile system 200 may be a vehicle; in this manner, the apparatus 1000 of the present embodiment is capable of moving relative to a reference, such as the ground.
If the mobile system 200 is an aircraft, the exit angle of the beacon light source 1 can be adjusted by the self-attitude adjustment of the mobile system 200, such as the aircraft turning or tilting; the gyroscope 3 measures the attitude of the aircraft without a reference. If the mobile system 200 is a ground platform, the emergent angle of the beacon light source 1 can be adjusted by adjusting the posture of the platform, for example, by the posture adjustment mechanism 5.
The attitude adjusting mechanism 5 may be a galvanometer, and the beacon light source 1 adjusts the angle of the emitted beacon light by using the galvanometer, so that the adjustment of the angle of the beacon light is actually realized by a combination of the two components of the moving system 200 and the galvanometer.
The use of gyroscopes 3 and accelerometers 6 is among others inertial technology. The accelerometer 6 and the gyroscope 3 cooperate to obtain the mobile system position change information of the mobile system 200 (which is also the position change information of the apparatus 1000). Specifically, the gyroscope 3 records the posture (e.g., angle) of the mobile system 200, the accelerometer 6 records the acceleration of the mobile system 200, and the position of the mobile system 200 at a fixed time can be determined according to the posture (e.g., angle) of the mobile system 200, the acceleration of the mobile system 200, the initial position of the mobile system 200, and the time recorded by the timer 7, so that the position change information of the mobile system can be obtained.
Here, the initial position of the mobile system 200 is the self initial position information of the target object 100 captured by the apparatus 1000.
Then, in the case where the apparatus 1000 moves relative to a reference object such as the ground, the actual position information of the target object 100, such as the actual position change information, can be determined by calculation based on the movement system position change information, and the measured angle adjustment amount of the beacon light source 1 and the distance between the target object 100 and the apparatus 1000, so that the movement locus of the target object can be generated.
The embodiment also provides a method for tracking and measuring a target object by using the beacon light, in particular to a method for tracking and measuring a motion track of the target object by using the beacon light.
The apparatus 1000 for tracking and measuring a target object by using a beacon light according to the present embodiment can implement the method for tracking and measuring a target object by using a beacon light according to the present embodiment, that is, the main execution body of the method according to the present embodiment is the apparatus 1000 according to the present embodiment. Referring to fig. 4, the apparatus 1000 for tracking and measuring a target object by means of beacon light further comprises a processing unit 8 for control and calculation; the processing unit 8 may particularly comprise one or more processors.
Referring to fig. 3, the method of the present embodiment includes steps a1 through A8.
In step a1, the beacon light source 1 emits beacon light 300 to irradiate the target object 100.
The beacon light source 1 emits beacon light 300, catches the target 100, and forms a light spot on the target 100.
Step a2, receiving the beacon light reflected by the target object 100 and taking an image of the target object 100 based on the beacon light.
The target 100 reflects the beacon light 300, for example, the surface of the target 100 reflects the beacon light, and the camera 2 captures an image of the target 100 based on the beacon light reflected by the target 100, thereby generating an image including information of the target 100 and information of the light spot.
Step a3, position information of the beacon light on the target 100 is determined based on the image.
Step a3 is that the camera 2 locates the position where the beacon light is shone on the target 100. In the present embodiment, the position information of the beacon light on the target 100 is position offset information, and specifically, the position offset information of the beacon light on the target 100 may be determined according to a plurality of images such as a current image and a previous image; the positional offset information indicates whether the position of the beacon light on the target object 100 has changed.
Illustratively, contour information of the object 100 is generated based on the image; wherein, the existing technology, such as the depth image technology, is adopted to extract the contour information of the target object 100 from the image, and the process is skipped here; after the contour information of the target object 100 is obtained, the light spot of the beacon light can be positioned, and the light spot position of the light spot of the beacon light in the contour of the target object 100 is obtained; according to the positions of the light spots corresponding to different images, whether the positions of the light spots are changed or not can be determined; in this way, the position information of the beacon light on the target object 100, such as the positional shift information of the beacon light on the target object 100, can be determined based on the profile information of the target object 100.
In the present embodiment, the camera 2 determines the position information of the beacon light on the target 100 based on the image.
Step a4, based on the position information of the beacon light on the target object 100, changes the emission angle of the beacon light source 1 so that the emitted beacon light is irradiated to remain at the specified position of the target object 100.
When the target 100 moves and changes position, or when the position changes due to the movement of the mobile system 200 itself, or when the position changes due to the movement of the target 100 and the mobile system 200 itself, the camera 2 sends the position information of the beacon light on the target 100 to the processing unit 8; the processing unit 8 determines whether or not the position of the beacon light on the target 100 has changed based on the position information, and if it is determined that the position of the beacon light on the target 100 has changed, controls the posture adjustment mechanism 5 based on the position information so that the posture adjustment mechanism 5 changes the emission angle of the beacon light source 1 so that the beacon light emitted from the beacon light source 1 is always irradiated on the specified position of the target 100 and the relative position of the beacon light irradiated on the target 100 and the outer contour of the target 100 is not changed, thereby tracking the target 100. The degree to which the posture adjusting mechanism 5 changes the emission angle of the beacon light source 1 is determined based on the aforementioned positional information.
Steps a1 to a4 are a continuous feedback process, and the tracking process is continued, so that the position of the spot of the beacon light and the outer contour of the target 100 is relatively unchanged.
Step a5, the angle adjustment amount of the beacon light source 1 is acquired.
In the process of tracking the target object 100, the angle adjustment amount measuring unit 3 always records the posture of the beacon light source 1; since the beacon light source 1 is fixed to the base 20, if the posture adjustment mechanism 5 changes the emission angle of the beacon light source 1 by changing the posture of the base 20, the gyroscope 3 may record the posture information of the base 20, which is the angle adjustment amount of the beacon light source 1.
After the angle adjustment amount of the beacon light source 1 is recorded in the angle adjustment amount measuring unit 3, the processing unit 8 acquires the angle adjustment amount of the beacon light source 1 from the angle adjustment amount measuring unit 3.
Step a6, distance information of the target object 100 is acquired.
In the process of tracking the target object 100, the distance meter 4 mounted on the base 20 measures the distance of the target object 100, which is the distance from the target object 100 where the distance meter 4 is located.
After the distance measuring instrument 4 measures the distance of the target object 100, the processing unit 8 acquires the distance of the target object 100 from the distance measuring instrument 4.
Step A7, determining the position information of the target object 100 according to the acquired information; the acquired information includes the angle adjustment amount of the beacon light source 1 and the distance of the target object 100.
The processing unit 8 determines the target position information of the target 100 by calculation according to the angle adjustment amount of the beacon light source 1, and according to the distance of the target, which may be a plurality of distances (such as the current distance and the previous distance); the target position information may be actual position change information of the target 100 or may be the current position of the target 100. The positional change information of the object 100 is a positional change of the object 100 with respect to the device 1000.
Step A8, based on the position information of the continuously acquired object 100, determines the motion trajectory information of the object 100.
The steps a1 to a7 are continuous processes, and a plurality of position change information of the object 100 can be obtained, so that the motion trail of the object can be drawn.
Referring to fig. 5, in the case where the beacon light source 1 is fixed to the movable system 200, the method of the present embodiment further includes step B1.
In step B1, mobile system location change information of the mobile system 200 is acquired.
The processing unit 8 obtains the attitude of the mobile system 200 from the angular adjustment amount measuring unit 3, obtains the acceleration of the mobile system 200 from the accelerometer 6, and obtains the position of the mobile system 200 at a fixed time by calculation in combination with the time recorded by the timer 7 and the initial position of the mobile system 200, so that the mobile system position change information of the mobile system 200 can be determined according to the position of the mobile system 200 at the fixed time (for example, the positions corresponding to different fixed times).
The step a7 specifically includes: and determining the position information of the target object according to the acquired angle adjustment amount of the beacon light source 1, the distance of the target object 100 and the position change information of the mobile system 200.
The processing unit 8 can calculate the position change of the target 100 relative to the mobile system 200 (or device, or base station 20) according to the angle adjustment amount of the beacon light source 1 and the distance of the target 100, and then can determine the actual position change information of the target 100 by combining the position change information of the mobile system, wherein the actual position change information is the position information of the target; the target position information specifically includes a change in direction of the target 100 and a change in position of the target 100.
In this way, the motion trajectory of the object 100 can be generated based on the object position information (actual position change information of the object 100).
The technical scheme of the embodiment is convenient to realize, stable and reliable, and can reduce cost.
Those skilled in the art will appreciate that all or part of the processes of the embodiments methods may be performed by a computer program, which may be stored in a computer-readable storage medium and executed to perform the processes of the embodiments methods. And the aforementioned storage medium includes: various media capable of storing program codes, such as ROM or RAM, magnetic or optical disks, etc.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention.
Claims (10)
1. A method of tracking and measuring a target object with a beacon light, comprising:
the beacon light source emits beacon light to irradiate the target object;
receiving beacon light reflected by the target object and shooting an image of the target object based on the beacon light;
determining position information of the beacon light on the target object based on the image;
changing the emergent angle of the beacon light source based on the position information so that the emitted beacon light is irradiated and kept at the designated position of the target object;
acquiring the angle adjustment quantity of the beacon light source;
acquiring distance information of the target object;
determining the position information of the target object according to the acquired information; the acquired information comprises the angle adjustment amount of the beacon light source and the distance information of the target object;
and determining the motion trail information of the target object based on the position information of the continuously acquired target object.
2. The method of claim 1,
the beacon light source is fixed on a movable system;
changing the exit angle of the beacon light source, comprising: changing the posture of the mobile system to change the emergent angle of the beacon light source;
the method further comprises the following steps: acquiring mobile system position change information of the mobile system;
determining the position information of the target object according to the acquired information, wherein the determining comprises the following steps: and determining the position information of the target object according to the obtained angle adjustment amount of the beacon light source, the distance information of the target object and the position change information of the mobile system.
3. The method of claim 1,
the beacon light source is fixed on a base station with adjustable posture;
changing the exit angle of the beacon light source, comprising: and changing the posture of the base station to change the emergent angle of the beacon light source.
4. The method of claim 1, wherein determining the position information of the beacon light on the target object based on the image comprises: determining positional offset information of the beacon light on the target object based on the image.
5. The method of claim 1, wherein determining the position information of the beacon light on the target object based on the image comprises: generating contour information of the target object based on the image; determining position information of the beacon light on the target object based on the profile information.
6. The method of claim 2, wherein obtaining mobile system location change information for the mobile system comprises: and determining mobile system position change information of the mobile system according to the time, the attitude of the mobile system and the acceleration of the mobile system.
7. An apparatus for tracking and measuring a target object by means of a beacon light, characterized in that: the device comprises a beacon light source, a camera, an angle adjustment quantity measuring unit, a range finder, a posture adjusting mechanism and a processing unit;
the beacon light source is used for emitting beacon light to irradiate a target object;
the camera is used for receiving the beacon light reflected by the target object and shooting an image of the target object based on the beacon light;
the distance measuring instrument is used for measuring the distance of the target object;
the posture adjusting mechanism is used for adjusting the emergent angle of the beacon light source;
the angle adjustment quantity measuring unit is used for measuring the angle adjustment quantity of the beacon light source;
the processing unit is configured to: determining target object position information of the target object according to the acquired information; determining motion trail information of the target object based on continuously acquired position information of the target object; the acquired information includes an angle adjustment amount of the beacon light source and a distance of the target object.
8. The apparatus of claim 7, wherein: the system also comprises an accelerometer, a movable moving system and a timer;
the angle adjustment quantity measuring unit is a gyroscope;
the beacon light source, the camera, the gyroscope, the range finder, the attitude adjusting mechanism and the accelerometer are fixed on the mobile system;
the timer, the accelerometer and the gyroscope are used for generating mobile system position change information of the mobile system;
the processing unit is configured to: determining the position information of the target object according to the obtained angle adjustment amount of the beacon light source, the distance of the target object and the position change information of the mobile system; and determining the position change information of the movement track information moving system of the target object based on the position information of the continuously acquired target object.
9. The apparatus of claim 7, wherein: also comprises a base station; the beacon light source, the camera, the angle adjustment quantity measuring unit, the range finder and the accelerometer are fixed on the base station.
10. A computer-readable storage medium, comprising: the computer-readable storage medium has stored therein program instructions which, when executed by a processor of a computer, cause the processor to carry out the method according to any one of claims 1 to 6.
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| CN202110143611.1A CN112816935A (en) | 2021-02-02 | 2021-02-02 | Method and device for tracking and measuring target object by beacon light |
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| CN202110143611.1A CN112816935A (en) | 2021-02-02 | 2021-02-02 | Method and device for tracking and measuring target object by beacon light |
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| CN202110143611.1A Pending CN112816935A (en) | 2021-02-02 | 2021-02-02 | Method and device for tracking and measuring target object by beacon light |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023272648A1 (en) * | 2021-06-30 | 2023-01-05 | Oppo广东移动通信有限公司 | Visible-light communication method, apparatus and system, and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023272648A1 (en) * | 2021-06-30 | 2023-01-05 | Oppo广东移动通信有限公司 | Visible-light communication method, apparatus and system, and device |
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