CN1873439A - Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye - Google Patents
Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye Download PDFInfo
- Publication number
- CN1873439A CN1873439A CN 200610028152 CN200610028152A CN1873439A CN 1873439 A CN1873439 A CN 1873439A CN 200610028152 CN200610028152 CN 200610028152 CN 200610028152 A CN200610028152 A CN 200610028152A CN 1873439 A CN1873439 A CN 1873439A
- Authority
- CN
- China
- Prior art keywords
- airborne
- control
- bionical
- microprocessor
- tilt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Closed-Circuit Television Systems (AREA)
Abstract
The invention relates to a ground moving target low altitude auto tracing system that includes aircraft, flying control system, craft carrying PTZ video camera, craft carrying imaging process unit, and craft carrying bionic controlling micro processor. The invention would continuously, smoothly, sharply and stably trace the ground moving target like the human eye. It explores an effective method for robot to have the human eye like bionic robot eye.
Description
Technical field
The present invention relates to a kind of ground moving object automatic tracking system, particularly a kind of low latitude ground moving object automatic tracking system based on bionics human eyes control.
Background technology
The ground moving object low latitude is that expectation is by effectively controlling low latitude unmanned vehicle attitude and airborne PTZ (being the abbreviation of Pan-Tilt-Zoom) video camera thereof from motion tracking, make tracked mobile surface targets remain at the picture centre position, and pass image back ground command center.Can be widely used in fields such as military surveillance, weapon input, attack over the ground, fight against terrorism and violence, traffic monitoring, emergency services assistance, photogrammetry and prospecting, therefore obtained the very big concern of many countries in the world, research institutions such as lot of domestic and international university, company have carried out the research work of this respect one after another.But, in the automatic tracking system of ground moving object low latitude, because low latitude microminiature unmanned vehicle, airborne Pan/Tilt/Zoom camera and ground tracked target three are all at the volley, and the vibration of aircraft itself is also very big to the influence of picture steadiness, makes existing very difficult suitable at Target Recognition that obtains scene from static video camera and tracking.And on tracking problem, early stage, the focus of research mainly still concentrated on the Flame Image Process aspect both at home and abroad, the video camera displacement just uses image processing method such as affine deformation algorithm etc. to compensate, thereby image is stable undesirable, and tracked target is escaped from the visual field easily.
Summary of the invention
The object of the present invention is to provide a kind of new ground moving object low latitude automatic tracking system, can continuous as human eye, level and smooth, clear, stably follow the tracks of ground moving object based on bionics human eyes control.
For achieving the above object, design of the present invention is: why human eye has object and the such visual performance of clear picture in when motion still can the tracing fixation motion, be because the human eye eyeball under the control of its neural circuit, can be realized jerking movement eye movement, flatness eye movement, vestibular oculomotor reflex, look forms of motion such as machine sexual reflex.The jerking movement eye movement can make sight line shift to another blinkpunkt from a blinkpunkt soon, promptly switches the target that sight line is watched attentively fast.The flatness eye movement can make sight line tracing fixation target smoothly, and order is remained on the fovea centralis by the image of fixation object, thereby obtains continuous, stable target image.The vestibular oculomotor reflex is the reflectivity eye movement that vestibular stimulation causes, just right overhead during the flip-flop of portion position, the eye movement of a generation and a direction of rotation remains unchanged the position of eye, to keep the stable of retina image-forming when the posture of head and health changes.The machine sexual reflex of looking is because a kind of eyeball allocinesis that the object of fast moving causes before the fixating eye makes human eye can see extraneous scenery clearly under the background motion situation.
The present invention wants bionics human eyes jerking movement eye movement mode to control airborne Pan/Tilt/Zoom camera just behind the track rejection, can obtain tracked target fast in beginning tracking or tracing process; Bionics human eyes flatness eye movement mode is controlled and is just smoothly followed the tracks of ground moving object after in a single day airborne Pan/Tilt/Zoom camera obtains tracking target; The vestibular oculomotor reflex of bionics human eyes overcomes the tracked target that causes because of FLIGHT VEHICLE VIBRATION and escapes from the visual field easily; The machine of the looking sexual reflex of bionics human eyes make because of aircraft fast flight cause that background, still can the tenacious tracking ground moving object also under the situation of motion.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of ground moving object low latitude automatic tracking system based on bionics human eyes control, comprise aircraft and flight control system thereof, airborne Pan/Tilt/Zoom camera, the video output terminal Vout that it is characterized in that airborne Pan/Tilt/Zoom camera is connected with the video input terminal Vin of an airborne graphics processing unit, the data output serial ports of airborne graphics processing unit is connected with the data input serial ports of an airborne bionical control microprocessor, the control information output port of airborne bionical control microprocessor and the FPDP of airborne Pan/Tilt/Zoom camera are connected in series, and the flight control system of aircraft is connected by another serial ports with airborne bionical control microprocessor; The software of airborne bionical control microprocessor writes bionical eye movement mathematics of control model formation, thereby rotation P, the inclination T of airborne Pan/Tilt/Zoom camera and the motor of zoom Z are controlled in the output control information respectively.
Above-mentioned bionical eye movement mathematics of control model formation is:
The wherein output of model [E (s)] is optical axis corner, and the input of model [H (s)] is the head movement corner, and [ε (s)] is the displacement that retinal images is handled the tracked ground moving object that obtains, T
vBe the time constant (these data of Physiology Experiment gained are 16s) that nucleus (nervi) vestibularis receives information, T
nBe neural integration time constant (these data of Physiology Experiment gained are 25s).α, λ, γ are respectively that neural circuit is to the angular displacement of head angular velocity signal, tracked target and the conversion gain of angular velocity, span 0～1.
Its bionical corresponding relation is in this tracker: the output of model [E (s)] is the optical axis corner of Pan/Tilt/Zoom camera; The input of model [H (s)] is the athletic posture information of microminiature unmanned gyroplane SUAV-X160, and promptly the angle of pitch speed and the yawrate of aircraft are distinguished perception by 2 angular rate gyroscopes that are equivalent to semicircular canal; Another input of model [ε (s)] is the displacement of the tracked ground moving object that obtains of airborne graphics processing unit; Pan/Tilt/Zoom camera is equivalent to the human eye eyeball, and the motor of its actuated camera rotation (P), inclination (T), zoom (Z) is equivalent to eye muscle, and airborne bionical control microprocessor and Control Software thereof are equivalent to eye movement control neural circuit.
Above-mentioned airborne Pan/Tilt/Zoom camera is installed in the body front lower place of aircraft, and airborne bionical control microprocessor and airborne graphics processing unit also are installed on the body below following closely.
In the said system, the tracking image of airborne graphics processing unit is communicated by letter with ground monitoring station host by a pair of wireless transport module with the tracking data of airborne bionical control microprocessor, and the Ground Control instruction is communicated by letter with airborne bionical control microprocessor by the wireless frequency expansion data radio station.
Above-mentioned aircraft adopts SUAV-X160 type microminiature unmanned gyroplane.
The microprocessor of above-mentioned airborne graphics processing unit adopts TMS320DM642 type TI DSP microprocessor.
The bionical control microprocessor of airborne Pan/Tilt/Zoom camera adopts C8051F021 type microprocessor.
Above-mentioned Pan/Tilt/Zoom camera adopts Canon VC-C50iR.
Above-mentioned gyro adopts Murata ENC-03M type angular velocity gyro.
The bionical control principle of Pan/Tilt/Zoom camera is: the software that above-mentioned eye movement mathematics of control model formation (1) is write airborne bionical control microprocessor, obtain pitching, the yawrate of aircraft respectively by 2 gyros, be input to airborne bionical control microprocessor as imitative head rotation information; The image of the tracking ground moving object that Pan/Tilt/Zoom camera is caught is input to airborne graphics processing unit, is equivalent to retina, obtains target travel information, feeds back to airborne bionical control microprocessor.Airborne bionical control microprocessor acts on the input of above-mentioned 2 aspects by the control law of the mathematical model formula (1) of bionical eye movement control, produces the output information that the control Pan/Tilt/Zoom camera rotates, and is sent to Pan/Tilt/Zoom camera by serial ports.
The present invention has following conspicuous outstanding feature and remarkable advantage: the present invention adopts the bionical control law of bionics human eyes eye movement control physiology neural circuit, control airborne Pan/Tilt/Zoom camera motion, realize vestibular oculomotor reflex, jerking movement eye movement, flatness eye movement, look the distinctive bionic movement characteristic of human eye such as machine sexual reflex, enable continuous, level and smooth, clear as human eye, stably follow the tracks of mobile surface targets, this can improve the performance of ground moving object low latitude automatic tracking system greatly.But also be that the biomimetic type robot eye that has many special natural functions as human eye that the current robot of development presses for is explored effective way.
Description of drawings
Fig. 1 is system's control block diagram of one embodiment of the present of invention.
Fig. 2 is system's pie graph of one embodiment of the present of invention.
Embodiment
A preferred embodiment of the present invention is: referring to Fig. 1 and Fig. 2, Pan/Tilt/Zoom camera 5 is installed on the body front lower place of microminiature unmanned gyroplane 1, and its bionical control microprocessor 3 and airborne graphics processing unit 4 also are installed on the body below of microminiature unmanned gyroplane 1 following closely.The Vout terminal of Pan/Tilt/Zoom camera 5 is connected with the Vin of airborne graphics processing unit 4.The data output serial ports of airborne graphics processing unit 4 is connected with the data input serial ports of bionical control microprocessor 3.The control information output port of bionical control microprocessor 3 is connected with the FPDP of Pan/Tilt/Zoom camera 5.The flight control system 2 that is installed on the microminiature unmanned gyroplane 1 body back lower place is connected by another serial ports with bionical control microprocessor 3.The tracking image of airborne graphics processing unit is communicated by letter with ground monitoring station host 8 by a pair of wireless transport module 9 with the tracking data of airborne bionical control microprocessor.The Ground Control instruction is communicated by letter with airborne bionical control microprocessor 3 by wireless frequency expansion data radio station 7.
The image of the tracking ground moving object 6 that Pan/Tilt/Zoom camera 5 is caught is input to airborne graphics processing unit 4, obtain target travel information, feed back to airborne bionical control microprocessor 3, the flight control system 2 of microminiature unmanned gyroplane 1 is by the attitude information of angle of pitch rate gyro and yawrate gyro perception giro 1, be equivalent to semicircular canal perception header information, be input to airborne bionical control microprocessor 3 then, the mathematical model formula of bionical eye movement control enrolls the software of airborne bionical control microprocessor 3 as control law, and its serial ports output signal is controlled the rotation (P) of Pan/Tilt/Zoom camera 5 respectively, inclination (T), zoom (Z) motor.Also have between Pan/Tilt/Zoom camera 5 and the microminiature unmanned gyroplane 1 and coordinate to mix control, the method for employing Pan/Tilt/Zoom camera 5 preferential answerings tracking ground moving object.
Claims (5)
1. ground moving object low latitude automatic tracking system based on bionics human eyes control, comprise aircraft (1) and flight control system (2) thereof, airborne Pan/Tilt/Zoom camera (5), the video output terminal Vout that it is characterized in that airborne Pan/Tilt/Zoom camera (5) is connected with the video input terminal Vin of an airborne graphics processing unit (4), the data output serial ports of airborne graphics processing unit (4) is connected with the data input serial ports of an airborne bionical control microprocessor (3), the FPDP of the control information output port of airborne bionical control microprocessor (3) and airborne Pan/Tilt/Zoom camera (5) is connected in series, and the flight control system (2) of aircraft (1) is connected by another serial ports with airborne bionical control microprocessor (3); The software of airborne bionical control microprocessor (3) writes bionical eye movement mathematics of control model formation (1), thereby rotation P, the inclination T of airborne Pan/Tilt/Zoom camera (5) and the motor of zoom Z are controlled in the output control information respectively.
2. the ground moving object low latitude automatic tracking system based on bionics human eyes control according to claim 1 is characterized in that described bionical eye movement mathematics of control model formation is:
The output of model in the formula [E (s)] expression optical axis corner, the input of model [H (s)] expression head movement corner, [ε (s)] expression retinal images is handled the displacement of the tracked ground moving object that obtains, T
vRepresent nucleus (nervi) vestibularis to receive the time constant of information, be 16s, T
nRepresent neural integration time constant, be 25s.α, λ, γ represent neural circuit to the angular displacement of head angular velocity signal, tracked target and the conversion gain of angular velocity, span 0～1 respectively.
In the described tracker of claim 1, the optical axis corner of the output of above-mentioned mathematical model [E (s)] expression Pan/Tilt/Zoom camera; The athletic posture information of the input of above-mentioned mathematical model [H (s)] expression aircraft, promptly the angle of pitch speed and the yawrate of aircraft are distinguished perception by 2 angular rate gyroscopes that are equivalent to semicircular canal; The displacement of the tracked ground moving object that the airborne graphics processing unit of another input of above-mentioned mathematical model [ε (s)] expression obtains.
3. the ground moving object low latitude automatic tracking system based on bionics human eyes control according to claim 1 is characterized in that described aircraft (1) adopts SUAV-X160 type microminiature unmanned gyroplane; The microprocessor of described airborne graphics processing unit (4) adopts TMS320DM642 type TI DSP microprocessor; Described airborne video camera (5) adopts Canon VC-C50iR video camera; Described airborne bionical control microprocessor (3) adopts C8051F021 type microprocessor; Adopt Murata ENC-03M type angular velocity gyro in the described flight control system (2).
4. the ground moving object low latitude automatic tracking system based on bionics human eyes control according to claim 1, it is characterized in that described airborne Pan/Tilt/Zoom camera (5) is installed in the body front lower place of aircraft (1), airborne bionical control microprocessor (3) and airborne graphics processing unit (4) also are installed on the body below following closely.
5. according to claim 1 or 4 described ground moving object low latitude automatic tracking systems based on bionics human eyes control, it is characterized in that the tracking image of airborne graphics processing unit and the tracking data of airborne bionical control microprocessor communicate by letter with ground monitoring station host (8) by a pair of wireless transport module (9), the Ground Control instruction is communicated by letter with airborne bionical control microprocessor (3) by a pair of wireless frequency expansion data radio station (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100281528A CN100432696C (en) | 2006-06-27 | 2006-06-27 | Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100281528A CN100432696C (en) | 2006-06-27 | 2006-06-27 | Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1873439A true CN1873439A (en) | 2006-12-06 |
| CN100432696C CN100432696C (en) | 2008-11-12 |
Family
ID=37483963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100281528A Expired - Fee Related CN100432696C (en) | 2006-06-27 | 2006-06-27 | Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100432696C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102550023A (en) * | 2009-10-23 | 2012-07-04 | 上海贝尔股份有限公司 | Improved method and system for video monitoring |
| CN101667032B (en) * | 2008-09-03 | 2012-09-05 | 中国科学院自动化研究所 | Vision-based target tracking system using unmanned helicopter |
| CN102722697A (en) * | 2012-05-16 | 2012-10-10 | 北京理工大学 | Unmanned aerial vehicle autonomous navigation landing visual target tracking method |
| CN103176274A (en) * | 2011-12-21 | 2013-06-26 | 中原工学院 | High-telepresence human eye bionic three-dimensional liquid crystal display helmet |
| CN106155113A (en) * | 2016-08-29 | 2016-11-23 | 中国科学院自动化研究所 | Bionic eye moves eye control system and bionic eye moves eye control method |
| CN108982514A (en) * | 2018-07-12 | 2018-12-11 | 常州大学 | A kind of bionical vision detection system of casting surface defect |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2242590A (en) * | 1989-11-22 | 1991-10-02 | Marconi Gec Ltd | Visual tracking apparatus |
| US5490075A (en) * | 1994-08-01 | 1996-02-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Global positioning system synchronized active light autonomous docking system |
| JP3002097B2 (en) * | 1994-08-25 | 2000-01-24 | ファナック株式会社 | Visual tracking method |
| KR100372774B1 (en) * | 2000-10-27 | 2003-02-25 | 한국과학기술연구원 | Visual Tracking Method by Color Information |
| CN1219397C (en) * | 2002-10-22 | 2005-09-14 | 张晓林 | Bionic automatic vision and sight control system and method |
| JP4340805B2 (en) * | 2003-02-04 | 2009-10-07 | 独立行政法人理化学研究所 | Sensitivity adjustment method for optical sensor, sensitivity adjustment device for optical sensor, visual tracking control method, and visual tracking control device |
| JP4137862B2 (en) * | 2004-10-05 | 2008-08-20 | ファナック株式会社 | Measuring device and robot control device |
| CN1300746C (en) * | 2004-12-09 | 2007-02-14 | 上海交通大学 | Video frequency motion target adaptive tracking method based on multicharacteristic information fusion |
-
2006
- 2006-06-27 CN CNB2006100281528A patent/CN100432696C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101667032B (en) * | 2008-09-03 | 2012-09-05 | 中国科学院自动化研究所 | Vision-based target tracking system using unmanned helicopter |
| CN102550023A (en) * | 2009-10-23 | 2012-07-04 | 上海贝尔股份有限公司 | Improved method and system for video monitoring |
| CN103176274A (en) * | 2011-12-21 | 2013-06-26 | 中原工学院 | High-telepresence human eye bionic three-dimensional liquid crystal display helmet |
| CN103176274B (en) * | 2011-12-21 | 2015-08-26 | 中原工学院 | High telepresence human eye bionic three-dimensional liquid crystal display helmet |
| CN102722697A (en) * | 2012-05-16 | 2012-10-10 | 北京理工大学 | Unmanned aerial vehicle autonomous navigation landing visual target tracking method |
| CN102722697B (en) * | 2012-05-16 | 2015-06-03 | 北京理工大学 | Unmanned aerial vehicle autonomous navigation landing visual target tracking method |
| CN106155113A (en) * | 2016-08-29 | 2016-11-23 | 中国科学院自动化研究所 | Bionic eye moves eye control system and bionic eye moves eye control method |
| CN106155113B (en) * | 2016-08-29 | 2019-03-15 | 中国科学院自动化研究所 | Bionical eye movement eye control method |
| CN108982514A (en) * | 2018-07-12 | 2018-12-11 | 常州大学 | A kind of bionical vision detection system of casting surface defect |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100432696C (en) | 2008-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106774436B (en) | Control system and method for stably tracking target of rotor unmanned aerial vehicle based on vision | |
| US10447912B2 (en) | Systems, methods, and devices for setting camera parameters | |
| CN100432696C (en) | Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye | |
| JP3862087B2 (en) | Bio-type automatic vision and gaze control system based on biological eye movement system | |
| Zufferey et al. | Toward 30-gram autonomous indoor aircraft: Vision-based obstacle avoidance and altitude control | |
| CN101729783B (en) | Image stabilizing method of binocular vision system based on human eyeball vestibular-ocular reflex in bumpy environment | |
| CN108363946B (en) | Face tracking system and method based on unmanned aerial vehicle | |
| CN109079799B (en) | Robot perception control system and control method based on bionics | |
| US20200191556A1 (en) | Distance mesurement method by an unmanned aerial vehicle (uav) and uav | |
| CN111649741B (en) | Photoelectric detection system based on photoelectric turret and image stabilization and search method thereof | |
| CN102355574A (en) | Image stabilizing method of airborne tripod head moving target autonomous tracking system | |
| CN107650908A (en) | Unmanned vehicle context aware systems | |
| AU2004207369A1 (en) | Cooperative nesting of mechanical and electronic stabilization for an airborne camera system | |
| CA2459446C (en) | Image compensation apparatus | |
| WO2016098591A1 (en) | Dynamic image processing device for head mounted display, dynamic image processing method for head mounted display and head mounted display system | |
| CN110498039A (en) | A kind of intelligent monitor system based on bionic flapping-wing flying vehicle | |
| CN106200672A (en) | A kind of unmanned plane barrier-avoiding method based on light stream | |
| CN108705980B (en) | Vehicle front wheel and camera synchronous steering system | |
| WO2021162641A1 (en) | Tactical advanced robotic engagement system | |
| Peng et al. | An active vision system for mobile robots | |
| Dickmanns | An expectation-based, multi-focal, saccadic (EMS) vision system for vehicle guidance | |
| CN109521772A (en) | A kind of vehicle environment image capturing system and method | |
| Xie et al. | Biomimetic control of pan-tilt-zoom camera for visual tracking based-on an autonomous helicopter | |
| CN114897935A (en) | Unmanned aerial vehicle tracking method and system for air target object based on virtual camera | |
| Madison et al. | Target geolocation from a small unmanned aircraft system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081112 Termination date: 20120627 |