CN1834684A

CN1834684A - Red infrared positioning method and device for tracking targets

Info

Publication number: CN1834684A
Application number: CN 200510041815
Authority: CN
Inventors: 吴转峰; 刘卫国; 付丽
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2005-03-18
Filing date: 2005-03-18
Publication date: 2006-09-20
Anticipated expiration: 2025-03-18
Also published as: CN100573186C

Abstract

The invention relates to an infrared locating method and the device for target tracing. The feature is that it installs an infrared emitter on the target and the frequency is f, installing receivers on different location, when the emitter sending infrared light, the receivers would switch on or switch off according to the location to form code to realize target tracing. The benefit effect is that it could be conveniently installed on target and tracing executing structure.

Description

A kind of infrared positioning method and device thereof that is used for target tracking

Technical field

The present invention relates to a kind of infrared positioning method and device thereof that is used for target tracking.

Background technology:

In location technology, comprise two types of absolute fix and relative positionings.In target tracking, generally adopt the relative positioning technology, need promptly to know that target is with respect to the orientation of following the trail of body.Certainly, also can calculate both relative positions by both absolute positions, so two kinds of locator meamss all can be applicable in the tracking of target.In the absolute fix, the general at present Global Positioning System (GPS) GPS (Global PositioningSystem) that adopts, or similar subsystem, the realization of this method must be by means of high-precision position location satellite, yet, the single-point bearing accuracy of satellite is difficult to be directly used in the target following, and costs an arm and a leg at hundred meters orders of magnitude.Along with the development of wireless telecommunications, by means of cell phone system, also can realize absolute fix at present, its positioning principle is identical with global position system.Also be to rely on three field cellular basestations of target in-scope as the reference position, by the distance of target and base station, the absolute position that angle value calculates target.The bearing accuracy of this localization method has reached meter level, and is difficult to accomplish still be difficult to use in the target tracking system less than 3 meters.

And relative positioning mainly contains infrared at present or laser fixed scene location and infrared imaging location.Infrared or laser fixed scene location is exactly to scatter the position mark in fixing scene, calculate the relative relative position in scene of object by mobile robot's (body is positioned) with position target relative position, this method can only realize the tracking to the target in the fixed scene, thereby has limited the dirigibility of target tracking greatly.The infrared imaging Positioning Principle is to lean against to follow the trail of to be equipped with infrared imaging and processing instrument on the object, import the target infrared image in advance, and in actual infrared image background the method for ferret out, this method need separate, retrieve, relatively wait a series of processes of complexity just can finish location to target to the background image of search in the visual field, though not limited by scene, relatively flexibly, but the extraction of infrared figure, confirm the algorithm complexity, and be subject to the interference of similar target.Realize the tracking in the complex scene is difficult, and the complicacy of algorithm caused search speed slower, be difficult to realize tracking the target of rapid movement.

Summary of the invention

The technical matters that solves

For fear of the deficiencies in the prior art part, the present invention proposes a kind of infrared positioning method and device thereof that is used for target tracking.The rectilinearity of utilizing infrared light better and characteristic that can not the penetrate thing is made the emitter that can be easily installed on the target respectively, and is installed on the electronic eyes two large divisions who follows the trail of on the body.In tracking task, this electronic eyes relies on the infrared light that is installed in the characteristic frequency that the emitter on the target sends, and finishes target direction and judges and tracking task.

Technical scheme

The infrared positioning method that is used for target tracking of the present invention is characterized in that:

A., infrared transmitter 1 is installed on following the trail of the objective, is launched the infrared light that frequency is f;

B., n the receiver 3 that frequency is f is installed on the diverse location of the device of carrying out tracking task;

C. when infrared transmitter sent frequency and is the infrared light of f, n the receiver 3 that frequency is f conducting or not conducting can occur according to its position;

D. the state of a said n receiver generation forms n position coding, 2 ^N-1Plant coded combination;

E. give every kind of coded combination and give corresponding direction meaning;

F. the direction meaning that is given according to the coded combination and the coded combination of n receiver actual reception performance is judged the direction that this follows the trail of the objective.

Set infrared remote receiver 3 and can only in the certain limit of infrared transmitting tube vertical projection, receive the infrared light that infrared transmitter 1 sends, and receiver is set at 0 at the coding of conducting state generation, otherwise be 1.

Infrared transmitter 1 is launched the infrared light that frequency is f in this method, and conducting when being the infrared light of f that receiver 3 receives frequency produces coding 0.If do not receive frequency is that the infrared light of f then produces coding 1.Secondly, the coded signal that then can produce two as if two receivers are put together is as 00,11.Once more, if the not baffle plate 2 of saturating infrared light is set between these two receivers, then since baffle plate 2 stop the effect that infrared light passes, suitably adjust the relative position of infrared transmitter 1 and two infrared remote receivers 3, can produce 00,01,10,11 4 kind of coded combination, respectively can be corresponding to the place ahead, left, right-hand, four orientation, rear, so as n by baffle plate separate mutually independently during infrared remote receiver 3, can produce the coding of n position, just the space can be carried out the division of n part.The coding of n position can produce n (bit) position coding, 2 ^N-1Plant coded combination, following the trail of the orientation bearing accuracy is 360 °/2 ^N-1As seen when n is enough big, can reach very high bearing accuracy.

A kind of honeycomb electronic eyes device of realizing said method is characterized in that: embed respectively in the single honeycomb 4 by n infrared remote receiver 3, between the single honeycomb 4 with lighttight baffle plate 2 at interval.

The numerical value of described n is greater than 1.

The infrared remote receiver 3 that embeds honeycomb can only receive the infrared light that infrared transmitter sends in the certain limit of infrared transmitter 1 vertical projection and conducting produces coding 0, and produces coding 1 in other scope.When infrared transmitter when electronic eyes moves, its projection on electronic eyes is also and then moved, make the range of receiving of infrared light also and then move, promptly always have only a part of infrared remote receiver 3 in the electronic eyes can receive infrared light generation coding 0 (all the other produce coding 1).Lighttight baffle plate 2 can realize above-mentionedly having only part infrared remote receiver 3 to receive the infrared light that infrared transmitter 1 sends in the certain limit of infrared transmitter 1 vertical projection and conducting produces the respective coding combination.

Beneficial effect

The invention has the beneficial effects as follows: a kind of infrared positioning method and device thereof that is used for target tracking, can easily be installed on various needs respectively and carry out on the target and tracking topworks of infrared tracking task, finish tracking task.

Description of drawings

Fig. 1: round platform formula electronic eyes synoptic diagram (n=4)

Fig. 2: electronic eyes structural representation

Fig. 3: a kind of can the realization used synoptic diagram to the infrared locator of set objective tracking task

Fig. 4: a kind of infrared locator application example schematic diagram that can realize the set objective tracking task

Fig. 5: a kind of infrared locator application example schematic flow sheet that can realize the set objective tracking task

The single honeycomb 5-of 1-infrared transmitter 2-baffle plate 3-infrared remote receiver 4-electronic eyes A, B, C, D, E-relative position

Embodiment

Now in conjunction with the accompanying drawings the present invention is further described:

With Fig. 1 is example, and the round platform formula two dimension electronic eyes that contains 4 groups of infrared remote receivers is the structure and the coding principle of example explanation electronic eyes, in illustrated position, should produce 0111 encoded radio when infrared transmitter is in the A position with the relative position that receives electronic eyes; Should produce 0011 encoded radio when being in the B position; Should produce 1011 encoded radios when being in the C position; Should produce 1001 encoded radios when being in the D position; Should produce 1110 encoded radios when being in the E position.(count clockwise from A side's receiver, conducting is 0, and not conducting is 1) is about to the orientation and has been divided into dead ahead, left front, front-left, left back, dead astern, right back, front-right, eight orientation, right front.Following the trail of the orientation bearing accuracy is 360 °/2 ^4-1=45 °.

Concrete enforcement:

1. the prior art of making according to Infrared remote controller is made 1 one of the infrared transmitters of certain frequency, and the corresponding infrared remote receiver 3 of making n reception same frequency is selected n=4 in the foregoing description, and frequency f is 38kHZ.

2. according to the application scenario difference, make two dimension or three-dimensional honeycomb electronic eyes 5.The two dimension electronic eyes is used for the tracking on (n＞1) plane, can be designed to the truncated cone-shaped structure, and three electronic eyess are used for the tracking (n＞2) of spatial dimension, can be designed to sphere or hemispherical dome structure.Select n=4 in the foregoing description, bearing accuracy can be 360 °/2 ^4-1=45 °.

3. infrared transmitter 1 is fixed on to follow the trail of the objective and goes up, will receive on the device that electronic eyes 5 is fixed on the execution tracking task.According to the encoded position signal of locus calibrated electronic eye 5, and the design decoding algorithm.As the counter coding site value of finding calibration of available look-up table.For example in four codings of Fig. 1, the dead ahead produces coding 0111, and after the coding of electronic eyes was sent into signal processing unit, processing unit just can decode the orientation values in dead ahead according to 0111 coding of input.

4. at last with the coded signal input signal processing unit of electronic eyes 5 outputs, according to the algorithm that designs coded signal is carried out position decoding, finish infrared tracing and positioning by signal processing unit.

Application Example of the present invention:

With Fig. 3 is example, at first make two of infrared transmitters, four of the infrared remote receivers that frequency is 38kHZ according to infrared tracing positioner method for making, two infrared transmitters are installed on the tracked target side by side as one (install two) just in order to improve emissive ability and reliability.Making shown in Figure 3 for another example contains the two-dimentional electronic eyes framework of two honeycombs, and will constitute electronic eyes in infrared remote receiver two honeycombs that a group embeds the electronic eyes framework respectively in twos.And this electronic eyes is installed on by on two the separately-driven four-wheel target tracking of motor cars the position as shown in Figure 3, two motors are controlled turning to of motor respectively and are advanced, retreat.Last coding and the physical location situation that produces according to the actual test case recorded electronic eye of infrared transmitter and electronic eyes.Under the installation situation of Fig. 3, the following coding of test and position relation, that is: when tracked body when following the tracks of the dead ahead of body, all conductings of the receiver of both sides, infrared receiving device will produce logical order 11; When tracked target when following the tracks of body right-hand, a group of receivers conducting on right side, infrared receiving device will produce logical order 01; When tracked body when following the tracks of the left of body, a group of receivers conducting in left side, infrared receiving device will produce logical order 10; When tracked body when following the tracks of the rear of body, not conductings of receiver of both sides, infrared receiving device will produce logical order 00.Adopt the MCS51 single-chip microcomputer as signal processing unit, and the position encoded rule of test is programmed (program circuit as shown in Figure 5), the coded signal that this monolithic function is produced electronic eyes carries out position decoding, finishes the location.As shown in Figure 5, to be inserted the input port of single-chip microcomputer by the coded signal that electronic eyes produces, single-chip microcomputer is determined tracked target and the relative position of following the tracks of topworks by reading the state of input port, and send corresponding instruction in view of the above, finish tracking to tracked target.Promptly when single-chip microcomputer records coded signal and is 11, target is described in the dead ahead, the output resume advancement commands.

Claims

1. infrared positioning method that is used for target tracking is characterized in that: a, infrared transmitter is installed on following the trail of the objective, is launched the infrared light that frequency is f; B, n the receiver that frequency is f is installed on the diverse location of the device of carrying out tracking task; C, when infrared transmitter sends frequency and is the infrared light of f, n frequency is the receiver of f, conducting or not conducting can occur according to its position; The state that d, a said n receiver produce forms n position coding, 2 ^N-1Plant coded combination; E, give every kind of coded combination and give corresponding direction meaning; F, the direction meaning that is given according to the coded combination and the coded combination of n receiver actual reception performance are judged the direction that this follows the trail of the objective.

2. the infrared positioning method that is used for target tracking according to claim 1, it is characterized in that: set infrared remote receiver and can only in the certain limit of infrared transmitting tube vertical projection, receive the infrared light that infrared transmitting tube sends, and receiver is set at 0 at the coding that conducting state produces, otherwise is 1.

3. honeycomb electronic eyes device of realizing said method, it is characterized in that: embedded respectively in the single honeycomb (4) by n infrared remote receiver (3), single honeycomb is used lighttight baffle interval between (4).

4. honeycomb electronic eyes device according to claim 3, it is characterized in that: the numerical value of described n is greater than 1.