CN206276039U - The hovering of view-based access control model control and closely tracks of device and electronic toy - Google Patents
The hovering of view-based access control model control and closely tracks of device and electronic toy Download PDFInfo
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- CN206276039U CN206276039U CN201621395852.6U CN201621395852U CN206276039U CN 206276039 U CN206276039 U CN 206276039U CN 201621395852 U CN201621395852 U CN 201621395852U CN 206276039 U CN206276039 U CN 206276039U
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Abstract
Hovering and closely tracks of device and electronic toy the utility model discloses view-based access control model control, described device includes imageing sensor, vision microprocessor and motion microprocessor, imageing sensor is connected to vision microprocessor, vision microprocessor and motion microprocessor have the first to the 6th output pin and the first to the 6th input pin respectively, the first of vision microprocessor to the 6th output pin is respectively connecting to move the first to the 6th input pin of microprocessor, and motion microprocessor is connected to the master controller of electronic toy control unit.The utility model simple structure, is particularly suitable for electrical toy helicopter, at a lower cost, realizes more complicated function, considerably increases the practicality and interest of electrical toy helicopter.
Description
Technical field
The utility model is related to machine vision control technology field, and in particular to the hovering and closely of view-based access control model control
Tracks of device and electronic toy.
Background technology
Unskilled user is operated, in first time operation toy helicopter, often generation aircraft once takes off and occurs
The thing of accident collision, or ground situation is hit in landing recovery stage, or be difficult to accomplish to hover to do in the air to detect in the air
Look into.Hovering action relies primarily on the skilled operation of operator, and operation difficulty is high.Hovering at present is generally passive control, and some are adopted
Use GPS location mode, expensive, poor anti jamming capability；Some products can only control toy helicopter using the method for range finding
Within a certain height, but still can there is horizontal drift in stabilization.
Additionally, tracking technique mainly has the visual spatial attention technology based on face and eyes, it is necessary to user is face-to-face at present
Particular orientation could realize, it is impossible to realization track after one's death；Some use GPS location mode, it is impossible to wait gps signal screen indoors
Covering environment is carried out；Also a kind of common tracking technique based on radiotechnics, it is system complex, relatively costly, it is suitable for
Interior rough control in a big way.
Utility model content
The purpose of this utility model is to provide a kind of hovering for electronic toy and closely tracks of device, can be certainly
It is dynamic to realize the electronic toys such as toy helicopter stabilization in certain horizontal extent, solve existing user's misoperation and cause to play
The problem that tool helicopter crash is damaged；And the problem of the tracked mobile target in certain smaller range can be realized.
To achieve the above object, the utility model provides the hovering of view-based access control model control and closely tracks of device, institute
Stating device includes imageing sensor, vision microprocessor and motion microprocessor, and described image sensor is connected to the vision
Microprocessor, the vision microprocessor and the motion microprocessor respectively have the first to the 6th output pin and first to
6th input pin, the first to the 6th output pin of the vision microprocessor is respectively connecting to the motion microprocessor
First to the 6th input pin, the motion microprocessor is connected to the master controller of electronic toy control unit.
Further, the motion microprocessor is typically wire connected to the master controller of the electronic toy control unit, institute
State on imageing sensor, the vision microprocessor and the motion microprocessor integrated installation to electronic toy.
Further, the motion microprocessor is wirelessly connected to the master controller of the electronic toy control unit, institute
State on imageing sensor, the vision microprocessor and the motion microprocessor integrated installation to electronic toy.
Further, the vision microprocessor includes pixel point vector given unit, Vector Message analytic unit, vector
Overlay analysis unit and movement locus form unit, the pixel point vector given unit, the Vector Message analytic unit, institute
State vector superposed analytic unit and the movement locus forms unit and is sequentially connected, described image sensor is sweared with the pixel
Amount given unit connection, the first to the 6th output that the movement locus formation unit is connected to the vision microprocessor is drawn
Pin.
Further, described device also includes Attitude Measuring Unit and pose adjustment unit, and the Attitude Measuring Unit connects
The pose adjustment unit is connected to, the Attitude Measuring Unit is attached on electronic toy, the pose adjustment unit is attached to
It is connected in electronic toy control unit and with master controller.
Further, the Attitude Measuring Unit include gyroscope, acceleration transducer and magnetometer, the gyroscope,
The acceleration transducer and the magnetometer are respectively connecting to the pose adjustment unit.
The utility model additionally provides the hovering of view-based access control model control and closely tracking, and methods described includes：Figure
As sensor obtains the picture frame sequence around electronic toy or electronic toy, and vision is given by the image frame sequence biographies of acquisition
Microprocessor；Vision microprocessor carries out treatment to picture frame sequence and obtains one or more movement locus of object or whole in image
The movement locus of width picture all pixels point, and the movement locus of acquisition is converted into after level signal to pass to motion control micro-
Processor；Motion microprocessor sends control instruction according to the movement locus signal for obtaining to the master controller of electronic toy, leads to
Cross the athletic posture and movement locus of main controller controls electronic toy；Wherein, vision microprocessor is carried out to picture frame sequence
The movement locus that treatment obtains one or more movement locus of object or entire picture all pixels point in image includes：Pixel
Vector given unit to picture frame sequence in every two field picture each pixel assign a velocity of displacement vector；Vector Message
The velocity of displacement vector letter of each pixel in the continual analysis image frame sequence of analytic unit between front and rear two field pictures
Breath, and generate a velocity of displacement Vector Message bag for superposition；Vector superposed analytic unit velocity of displacement constantly to being superimposed
Vector Message bag is analysed and compared；Unit is formed with movement locus to be obtained according to the analyses and comparison result of vector superposed analytic unit
The movement locus of one or more movement locus of object or entire picture all pixels point in image.
Further, the vision microprocessor is by one or more movement locus of object or entire picture all pixels point
Movement locus be converted into after level signal exporting vision microprocessor by the first to the 6th output pin, and by first to
Level signal is input to motion control microprocessor by the 6th input pin.
Further, methods described also includes：Attitude Measuring Unit is to electronic toy hovering or position and the attitude of motion
Calculated and sent to pose adjustment unit measurement result；Pose adjustment unit according to master from results of measuring to electronic toy
Controller sends attitude regulating command；With the master controller of electronic toy according to attitude regulating command to the position hovered or move
Kept with attitude or adjusted.
The utility model additionally provides a kind of electronic toy, and the electronic toy includes the hovering of above-mentioned view-based access control model control
Closely track, further, the preferred toy helicopter of electronic toy or electric toy car.
The utility model has the following advantages that：
The utility model simple structure, is particularly suitable for electrical toy helicopter, at a lower cost, realizes more complicated
Function, considerably increase the practicality and interest of electrical toy helicopter.
Brief description of the drawings
Fig. 1 is a kind of toy including the hovering of view-based access control model control disclosed in the utility model with closely tracks of device
The structured flowchart of helicopter.
Fig. 2 is the structured flowchart of vision microprocessor disclosed in the utility model.
Fig. 3 is the flow chart of the hovering of view-based access control model control disclosed in the utility model and closely tracking.
Fig. 4 is vision microprocessor disclosed in the utility model picture frame sequence is carried out treatment obtain in image one or
The flow chart of the movement locus of multiple objects movement locus or entire picture all pixels point.
Fig. 5 is that the master controller of electronic toy disclosed in the utility model is based on Attitude Measuring Unit and pose adjustment unit
The flow chart of the method that hovering or the position moved and attitude are kept or adjusted.
Specific embodiment
Following examples are used to illustrate the utility model, but are not limited to scope of the present utility model.
Embodiment 1
With reference to Fig. 1, the hovering of a kind of view-based access control model control provided including the utility model disclosed in the present embodiment and near
The toy helicopter of range-follow-up unit includes：Main body 01, control unit 02, Attitude Measuring Unit 03, pose adjustment unit
22nd, imageing sensor 04, vision microprocessor 05 and motion microprocessor 06, main body 01 include being connected with the first of rotor to
4th motor 11,12,13 and 14, first to fourth motor 11,12,13 and 14 for being connected with rotor forms cross framework, control
Master controller 21 and pose adjustment unit 22, the electricity of master controller 21 and first to fourth of control unit 02 are installed in unit 02
Machine 11,12,13 and 14 connect, be respectively arranged between first to fourth motor 11,12,13 and 14 and master controller 21 first to
4th electromagnetic switch 15,16,17 and 18, Attitude Measuring Unit 03 is connected to pose adjustment unit 22, and pose adjustment unit 22 connects
Master controller 21 is connected to, imageing sensor 04, vision microprocessor 05, motion microprocessor 06 and master controller 21 connect successively
Connect, there is the first to the 6th output pin and the first to the 6th input to draw respectively for vision microprocessor 05 and motion microprocessor 06
Pin (not shown), the first to the 6th output pin of vision microprocessor 05 is respectively connecting to move the of microprocessor 06
One to the 6th input pin.
Imageing sensor 04, vision microprocessor 05 in the present embodiment and the motion integrated installation of microprocessor 06 are to toy
On helicopter, the wired or wireless master controller 21 for being connected to toy helicopter control unit 02 of microprocessor 06 is moved.
With reference to Fig. 2, the vision microprocessor 05 in the present embodiment further includes pixel point vector given unit 51, vector
Storage unit 52, vector superposed analytic unit 53 and movement locus form unit 54, pixel point vector given unit 51, arrow
Amount storage unit 52, vector superposed analytic unit 53 and movement locus form unit 54 and are sequentially connected, imageing sensor 04
It is connected with pixel point vector given unit 51, movement locus forms unit 54 and is connected to the first to the 6th of vision microprocessor 05
Output pin (not shown).
With reference to Fig. 3, the hovering of the view-based access control model control of the present embodiment hollow opening and closely tracking includes：
S301：Imageing sensor obtains the picture frame sequence around electronic toy；
S302：Vision microprocessor is given by the image frame sequence biographies of acquisition；
S303：Vision microprocessor carries out treatment to picture frame sequence and obtains one or more movement locus of object in image
Or the movement locus of entire picture all pixels point；
S304：The movement locus of acquisition is converted into motion control microprocessor is passed to after level signal；
S305：Motion microprocessor sends control and refers to according to the movement locus signal for obtaining to the master controller of electronic toy
Order；
S306：By the athletic posture and movement locus of main controller controls electronic toy.
Wherein, with reference to Fig. 4, vision microprocessor carries out treatment to picture frame sequence and obtains one or more objects in image
The movement locus of movement locus or entire picture all pixels point includes：
S401：Pixel point vector given unit to picture frame sequence in every two field picture each pixel assign a position
Move velocity；
S402：Each picture in the continual analysis image frame sequence of Vector Message analytic unit between front and rear two field pictures
The velocity of displacement Vector Message of vegetarian refreshments；
S403：One velocity of displacement Vector Message bag of superposition of generation；
S404：Velocity of displacement Vector Message bag of the vector superposed analytic unit constantly to being superimposed is analysed and compared；
S405：Movement locus forms unit according to one in the analyses and comparison result of vector superposed analytic unit acquisition image
Or the movement locus of multiple objects movement locus or entire picture all pixels point.
Further, vision microprocessor is by one or more movement locus of object or the fortune of entire picture all pixels point
Dynamic rail mark exports vision microprocessor after being converted into level signal by the first to the 6th output pin, and by first to the 6th
Level signal is input to motion control microprocessor by input pin, wherein, level signal passes through the first to the 6th output pin
Can be sent in the form of square wave to motion control microprocessor with the first to the 6th input pin, the first input/output is drawn
Pin, the second input/output pin, the 3rd input/output pin, the 4th input/output pin, the 5th input/output pin and
6th input/output pin represents a positive direction of pixel velocity of displacement vector respectively, for example, representing pixel position respectively
Move front, dead astern, front-left, front-right, surface and the underface of velocity.
With reference to Fig. 5, the hovering of the view-based access control model control in the present embodiment and closely tracking also include：
S501：Attitude Measuring Unit is calculated to the position and attitude of electronic toy hovering or motion；
S502：Measurement result is sent to pose adjustment unit；
S503：Pose adjustment unit sends attitude regulating command according to results of measuring to the master controller of electronic toy；With
S504：The master controller of electronic toy is protected according to attitude regulating command to the position hovered or move and attitude
Hold or adjust.
In sum, the hovering of the view-based access control model control in the present embodiment and closely tracking, give picture frame sequence
In every two field picture each pixel assign a velocity of displacement vector, when there is no moving object or static entire picture, position
It is consecutive variations to move velocity, and when having moving object or entire picture is moved, velocity of displacement vector necessarily occurs relatively
Change；The velocity of displacement Vector Message of each pixel in continual analysis image frame sequence between front and rear two field pictures,
And a velocity of displacement Vector Message bag for superposition is generated, analysis ratio is constantly done to the velocity of displacement Vector Message bag being superimposed
It is right, so that the movement locus of one or more movement locus of object or entire picture all pixels point in image is obtained, with
Will movement locus be converted into level signal output to input/output (I/O) pin, level signal is passed to motion microprocessor
Device, motion microprocessor sends control instruction according to the movement locus signal for obtaining to the master controller of electronic toy, by master
Controller controls the athletic posture and movement locus of electronic toy, thus complete to turn to, accelerate, fall back, the action such as sidesway.Entirely
Control process, has no effect on collection, treatment, the storing process of normal image, that is, can open the situation of recording function
Under, while completing motion control.
Further, as shown in figure 1, Attitude Measuring Unit 03 includes gyroscope 31, acceleration transducer 32 and magnetometer
33, gyroscope 31, acceleration transducer 32 and magnetometer 33 are respectively connecting to pose adjustment unit 22.Attitude Measuring Unit 03 pair
Hovering and movement position and attitude are calculated, pose adjustment unit 22 according to according to results of measuring to hovering and movement position and
Attitude is kept and is adjusted, the cross framework of rotor composition coordinate the motor 11 of acceleration transducer 32 and first to fourth, 12,
13 and 14, rotor can be controlled to deflect, lateral controling power is produced, lateral resistance and itself lift are made a concerted effort using gyroscope 31
Axial correction is carried out, while the direction of lateral resistance is adjusted, to be adapted in equipment running process, extraneous factor, such as：Air-flow,
The influence to gravity axial direction such as deadweight, when being hovered in the air just as hummingbird, before constantly adjusting the direction and head that wing brandishes
Swing afterwards is the same to control itself to hover, and even falls back flight.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is to those skilled in the art apparent
's.Therefore, the these modifications or improvements on the basis of without departing from the utility model spirit, belonging to the utility model will
Seek the scope of protection.
Claims (7)
1. the hovering of view-based access control model control and closely tracks of device, it is characterised in that described device includes imageing sensor, regards
Feel microprocessor and motion microprocessor, described image sensor is connected to the vision microprocessor, the vision microprocessor
Device and the motion microprocessor have the first to the 6th output pin and the first to the 6th input pin respectively, and the vision is micro-
The first of processor to the 6th output pin is respectively connecting to the first to the 6th input pin of the motion microprocessor, described
Motion microprocessor is connected to the master controller of electronic toy control unit.
2. the hovering of view-based access control model control and closely tracks of device according to claim 1, it is characterised in that the motion
Microprocessor is typically wire connected to the master controller of the electronic toy control unit, described image sensor, the micro- place of the vision
On reason device and the motion microprocessor integrated installation to electronic toy.
3. the hovering of view-based access control model control and closely tracks of device according to claim 1, it is characterised in that the motion
Microprocessor is wirelessly connected to the master controller of the electronic toy control unit, described image sensor, the micro- place of the vision
On reason device and the motion microprocessor integrated installation to electronic toy.
4. the hovering of view-based access control model control and closely tracks of device according to Claims 2 or 3, it is characterised in that described
Vision microprocessor includes pixel point vector given unit, Vector Message analytic unit, vector superposed analytic unit and motion rail
Mark formed unit, the pixel point vector given unit, the Vector Message analytic unit, the vector superposed analytic unit and
The movement locus forms unit and is sequentially connected, and described image sensor is connected with the pixel point vector given unit, described
Movement locus forms the first to the 6th output pin that unit is connected to the vision microprocessor.
5. the hovering of view-based access control model control and closely tracks of device according to claim 1 or 2 or 3, it is characterised in that institute
Stating device also includes Attitude Measuring Unit and pose adjustment unit, and the Attitude Measuring Unit is connected to the pose adjustment list
Unit, the Attitude Measuring Unit is attached on electronic toy, and the pose adjustment unit is attached in electronic toy control unit
And be connected with master controller.
6. the hovering of view-based access control model control and closely tracks of device according to claim 5, it is characterised in that the attitude
Measuring unit includes gyroscope, acceleration transducer and magnetometer, the gyroscope, the acceleration transducer and the magnetic force
Meter is respectively connecting to the pose adjustment unit.
7. a kind of electronic toy, it is characterised in that：The electronic toy include as any one of claim 1-6 based on
The hovering of visual spatial attention and closely tracks of device.
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| CN201621395852.6U CN206276039U (en) | 2016-12-19 | 2016-12-19 | The hovering of view-based access control model control and closely tracks of device and electronic toy |
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| CN201621395852.6U CN206276039U (en) | 2016-12-19 | 2016-12-19 | The hovering of view-based access control model control and closely tracks of device and electronic toy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422358A (en) * | 2016-12-19 | 2017-02-22 | 深圳高灿科技有限公司 | Suspension and near-distance tracking device and method based on vision control, as well as electronic toy |
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2016
- 2016-12-19 CN CN201621395852.6U patent/CN206276039U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422358A (en) * | 2016-12-19 | 2017-02-22 | 深圳高灿科技有限公司 | Suspension and near-distance tracking device and method based on vision control, as well as electronic toy |
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Granted publication date: 20170627 Termination date: 20171219 |