TWM541010U - Image recognition coordinates determination and navigation device - Google Patents

Description

Image recognition to determine coordinates and navigation device

The present invention "image recognition determining coordinates and navigation device" relates to a technical field of determining coordinates and navigation by image recognition.

The conventional positioning technology has developed rapidly, such as: GPS positioning, available with military and commercial; however, for commercial use, the error range is larger than military GPS positioning, and the indoor is not suitable for GPS positioning, so in order to reduce the positioning The error is suitable for indoor and outdoor positioning methods, and is designed to be convenient for the user.

In order to improve the above-mentioned positioning technology, which is not conducive to the lack of commercialization, the main purpose of the creation of "image recognition determining coordinates and navigation device" is to provide a system architecture with simple principle and excellent effect.

In order to achieve the above object, the specific method of the present invention is: the image recognition determining coordinate device comprises an image capturing unit, an image processing unit, an image coordinate database, an image recognition unit, a central processing unit, a wireless unit, An image tracking unit, a base, and a distance sensor.

The image capturing unit can capture a range of images.

The image processing unit can process the image captured by the image capturing unit.

The image coordinate database stores a database of images and coordinates.

The image recognition unit is configured to determine an image of the output image of the image processing unit and the image coordinate database, and determine a coordinate.

The central processing unit performs calculation and setting on each unit, plans a navigation path, and controls the pedestal.

The wireless unit is configured to transmit and receive data.

The image tracking unit is configured to calculate a vector that the lens should be displaced when the target is tracked.

The base is configured to change an image capturing direction of the image capturing unit to align the lens with the target.

The distance sensor is configured to sense a distance.

1‧‧‧Image capture unit

11‧‧‧ Targets

12‧‧‧Image sensor

13‧‧‧ Zoom device

14‧‧‧ optical lens

100‧‧‧Image recognition determining coordinate device

2‧‧‧Image Processing Unit

3‧‧‧Image coordinate database

31‧‧‧Coordinate A

32‧‧‧Coordinate B

33‧‧‧Coordinate C

34‧‧‧Coordinate D

4‧‧‧Image recognition unit

5‧‧‧Central processor

51‧‧‧Image Tracking Unit

6‧‧‧Base

61‧‧‧ horizontal rotary drive

62‧‧‧Vertical Rotary Drive

7‧‧‧Wireless unit

8‧‧‧Distance sensor

9‧‧‧Unmanned mobile devices

Figure 1: Schematic diagram of the image recognition determining coordinates of this creation.

Figure 2: A schematic diagram of a range of images captured by this creation.

Figure 3: Schematic diagram of the database of the created image coordinates.

Figure 4: Schematic diagram of the coordinates of the image coordinate database of this creation.

Figure 5: Schematic diagram of the tracking target of this creation.

Figure 6: Flowchart of determining the coordinates of the image recognition of this creation.

Figure 7: Block diagram of the image recognition determining coordinates of the newly added wireless unit in this creation.

Figure 8: This is a block diagram of the new wireless unit, image tracking unit, and pedestal image recognition determining coordinates.

Figure 9: This is a block diagram of the image recognition and coordinates of the new wireless unit and distance sensor.

Figure 10: This is a block diagram of the image recognition and coordinates of the new wireless unit, image tracking unit, pedestal, and distance sensor.

Figure 11: Schematic diagram of the creation of this creation.

The creation of the "image recognition determining coordinates and navigation device", its structural composition, and the effects that can be produced, together with the drawings, a preferred embodiment of the present case is described in detail below.

Referring to FIG. 1 , the image recognition determining coordinate device 100 includes: an image capturing unit 1 , an image processing unit 2 , an image coordinate database 3 , an image recognition unit 4 , and a central processing unit 5 ; First, the image capturing unit 1 captures the image of the object 11 and performs image processing through the image processing unit 2, and the image coordinate database 3 stores a plurality of data in advance, each image stores an image and a label, and the image is imaged. The image processed by the processing unit 2 and the image of the image coordinate database 3 are judged in the image recognition unit 4, and if they are not similar, the images of the other image bases 3 are continuously determined; if similar or identical, the image is similar The coordinates of the similar image of the coordinate database 3 are used as the coordinates of the decision; before determining the coordinates, the central processing unit 5 can calculate and set each unit and the image coordinate database 3.

Referring to FIG. 1, the image capturing unit 1 can be assembled from one to several image capturing devices to capture images and transmit information.

Referring to FIG. 1, the image recognition unit determines the processing of the image processing unit 2 of the coordinate device 100, which can be processed by smoothing, grayscale processing, binarized image, expansion calculation, erosion calculation, hole filling, image edge detection, and the like.

Referring to FIG. 2, the zoom device 13 of the image capturing unit 1 can change the sensing range of the image sensor 12; the method for measuring the image sensor 12 uses a 3D image sensor chip as an example to operate with infrared light. Using the principle of time difference ranging (ToF) measurement: 3D image sensor chip, for each pixel of its own, measures the round-trip time between infrared light from the camera and the target 11, and then achieves the purpose of ranging.

Referring to FIG. 3, the image coordinate database 3 stores coordinates of several images and images. Referring to FIG. 4, the coordinates of the target object 11 are used as an origin, and a relative coordinate is calculated. The relative coordinate is the image coordinate database 3, The coordinates that are stored.

Referring to FIG. 5, the target 11 is not at the center of the lens of the image capturing unit 1. To align the lens center of the image capturing unit 1 with the target 11, the central processing unit 5 must control the pedestal 6 to adjust the image capturing unit. 1. The image capturing unit 1 can capture the target object 11 and align the lens with the target object 11; therefore, the image capturing unit 1 continuously captures the image and converts it into an optical signal, and the image tracking unit 51 uses the image capturing unit 51. The optical signal calculates a displacement vector D of a target 11 along a tangential direction of the center of the optical lens 14, and converts the displacement vector D into a displacement signal, and the central processing unit 5 controls the two driving devices of the base 6 by the displacement signal, respectively The horizontal rotation driving device 61 and the vertical rotation driving device 62 are such that the object 11 is on the normal line of the optical lens 14.

Referring to FIG. 7, the image recognition determining device 100 of the new wireless unit 7 includes an image capturing unit 1, an image processing unit 2, an image coordinate database 3, and an image recognition. The identification unit 4, a central processing unit 5, and a wireless unit 7; firstly, the operation of the image capturing unit 1, the image processing unit 2, the image coordinate database 3, and the image recognition unit 4 determine whether the target object 11 is If it is the target object 11 and determines the coordinates; the wireless unit 7 is connected to the central processing unit 5 to send and receive information at any time; referring to FIG. 11, the image recognition determining coordinate device 100 of the newly added wireless unit 7 is disposed on the unmanned mobile device 9, the wireless unit 7 When the information is not received or the target 11 does not send a control signal, the image recognition determines the coordinate device 100, which is controlled by the central processing unit 5, operates autonomously, and determines a coordinate, which is the starting coordinate or the current coordinate of the unmanned mobile device 9, When the target object 11 sends the control signal, the signal can be the target coordinate signal and the image information, and after the wireless unit 7 receives the signal, the central processing unit 5 according to the target coordinate, the current coordinate and the image sensor 12 of the image capturing unit 1 The distance data is sensed, the path is calculated, and the unmanned mobile device 9 is controlled to move to the destination coordinate.

Referring to FIG. 8, the image recognition determining coordinate device 100 of the wireless unit 7, the image tracking unit 51, and the base 6 includes an image capturing unit 1, an image processing unit 2, an image coordinate database 3, and an image recognition. The unit 4, a central processing unit 5, a wireless unit 7, an image tracking unit 51, and a base 6; the action and image recognition unit 4 of the image capturing unit 1, the image processing unit 2, and the image coordinate database 3 Judging whether it is the target object 11, if it is the target object 11, the image tracking unit 51 calculates and controls the pedestal 6 with the central processing unit 5, so that the target object 11 is at the lens center of the image capturing unit 1, and determines the coordinates; The unit 7 is connected to the central processing unit 5 to send and receive information at any time. Referring to FIG. 11, the image recognition determining coordinate device 100 of the newly added wireless unit 7, the image tracking unit 51, and the base 6 is disposed on the unmanned mobile device 9, and the wireless unit 7 is not When the information is received or the target 11 does not send a control signal, the image recognition determines the coordinate Set to 100, controlled by the central processing unit 5, operate autonomously, determine the coordinates, the coordinates are the initial coordinates or the current coordinates of the unmanned mobile device 9. When the target object 11 sends the control signal, the signal can be the target coordinate signal and the image information. After the wireless unit 7 receives the signal, the central processing unit 5 calculates the path according to the sensed distance data of the target coordinate, the current coordinate and the image sensor 12 of the image capturing unit 1, and controls the unmanned mobile device 9 to move to Destination coordinates.

Referring to FIG. 9 , the image recognition determining coordinate device 100 of the wireless unit 7 and the distance sensor 8 includes an image capturing unit 1 , an image processing unit 2 , an image coordinate database 3 , and an image recognition unit 4 . a central processing unit 5, a wireless unit 7, and a distance sensor 8; firstly, the action of the image capturing unit 1, the image processing unit 2, the image coordinate database 3, and the image recognition unit 4 determine whether the target is a target The object 11 is the object 11 and determines the coordinates; the wireless unit 7 is connected to the central processing unit 5 to send and receive information at any time; referring to FIG. 11, the newly added wireless unit 7 and the image sensor of the distance sensor 8 determine the coordinates of the coordinate device 100. In the unmanned mobile device 9, when the wireless unit 7 does not receive the information or the target object 11 does not send a control signal, the image recognition determines the coordinate device 100, which is controlled by the central processing unit 5, operates autonomously, determines a coordinate, and the coordinate is an unmanned mobile device. The starting coordinate or the current coordinate of the 9th, when the target 11 sends the control signal, the signal can be the target coordinate signal and the image information, and after the wireless unit 7 receives the signal, the central processing unit 5 The coordinates of the destination coordinates, the current coordinates and the distance sensor 8, calculate the path, and control the unmanned mobile device 9, moving to the destination coordinates.

Referring to FIG. 10, the image recognition determining coordinate device 100 of the wireless unit 7, the image tracking unit 51, the pedestal 6, and the distance sensor 8 includes an image capturing unit 1, an image processing unit 2, and an image coordinate data. a library 3, an image recognition unit 4, a central processing unit 5, An image tracking unit 51, a pedestal 6, a wireless unit 7, and a distance sensor 8; firstly, the action of the image capturing unit 1, the image processing unit 2, the image coordinate database 3, and the image recognition unit 4 Determining whether it is the target object 11. If it is the target object 11, the image tracking unit 51 calculates and controls the pedestal 6 with the central processing unit 5, so that the target object 11 is at the lens center of the image capturing unit 1, and determines the coordinates; the wireless unit 7 Connected to the central processing unit 5, the information is sent and received at any time. Referring to FIG. 11, the newly added wireless unit 7, the image tracking unit 51, the base 6, and the image recognition determining coordinate device 100 of the distance sensor 8 are disposed on the unmanned mobile device 9. When the wireless unit 7 does not receive the information or the target 11 does not send a control signal, the image recognition determines the coordinate device 100, which is controlled by the central processing unit 5 to operate autonomously and determine the coordinates, which is the starting coordinate of the unmanned mobile device 9 or Now the coordinates, when the target 11 sends the control signal, the signal can be the target coordinate signal and the image information, and after the wireless unit 7 receives the signal, the central processing unit 5, according to the coordinates of the object, the current seat 8 data from the sensors, calculates the path, and the control unmanned mobile device 9, move to the destination coordinates.

Referring to FIG. 11, when the unmanned mobile device 9 passes the target 11, the distance sensor 8 senses the target object 11. To ensure a safe distance, the distance sensor 8 can be sensed by radar or infrared rays to make the movement. The path is curved.

To sum up, in this case, the "image identification determines the coordinates and navigation device", the case is indeed used in the industry, has not been seen in the publication or publicly used before the application, and is not known to the public. Furthermore, the case effectively solves the long-standing problems in the prior art and achieves the needs of relevant users and consumers. This case is rich in the "industry useability", "novelty", "progressiveness" and other requirements as stipulated in the Patent Law. The patents are submitted in accordance with the law, and the bureau is invited to investigate in detail, and the patents are approved as soon as possible to protect the wisdom of the applicants. property.

Although the present invention has been described in terms of the foregoing embodiments, it can be modified by the spirit and scope of the present invention and can be understood by those skilled in the art. The preferred embodiment of the present invention is only one of the ways in which the present invention can be implemented in a specific manner, but is not limited thereto, and should be defined in the scope of the appended patent application.

1‧‧‧Image capture unit

2‧‧‧Image Processing Unit

3‧‧‧Image coordinate database

4‧‧‧Image recognition unit

5‧‧‧Central Processing Unit

100‧‧‧Image recognition determining coordinate device

Claims (10)

An image recognition determining coordinate device comprises: an image capturing unit for capturing images; an image processing unit for processing images captured by the image capturing unit; an image coordinate database for accessing images and coordinates An image recognition unit for determining images of the image and image coordinate database processed by the image processing unit; a central processing unit for calculating and setting information and data; and an image capturing unit, an image processing unit, and an image coordinate The operation of the database, the image recognition unit judges the processed image of the image processing unit and the image of the image coordinate database, and calculates, integrates, and determines coordinates of the overall device by the central processing unit. For example, the image recognition determining coordinate device of the first application of the patent scope, wherein the image sensor of the image capturing unit can sense the distance, which may be the distance between the image capturing unit and the target, or may be an image. The distance between the capturing unit and the obstruction; the image capturing unit may be one to several image capturing devices to capture the image together. For example, the image recognition determining coordinate device of the first application patent scope includes a plurality of data stored in the image coordinate database, each of which has an image and a standard; the coordinate is a target, and a relative coordinate is calculated. The relative coordinates are coordinates stored in the image coordinate database. For example, the image recognition determining coordinate device of the first application of the patent scope, wherein the image recognition unit determines whether the image processed by the image processing unit is similar to the image of the image coordinate database, and if not, continues to the image coordinate database. Other images are used for judgment; if they are similar, the coordinates of the similar images of the image coordinate database are the coordinates of the decision. For example, the image recognition determining coordinate device of the first application of the patent scope, wherein the image recognition unit determines whether the image processed by the image processing unit is the same as the image of the image coordinate database, and if not, continues to the image coordinate database. Other images are used for judgment; if they are the same, the coordinates of the same image of the image coordinate database are used as the coordinates of the decision. The image recognition determining coordinate device according to item 1 of the patent application scope, wherein the central processing unit can Changing the size and range of the image captured by the image capturing unit, the image size processed by the image processing unit, the image size of the image coordinate database, and the coordinate size of the image coordinate database; the central processor can be based on the distance sensor Sensing data, and sensing distance measured by the image sensor of the image capturing unit, changing the size and range of the image captured by the image capturing unit, the image size processed by the image processing unit, the image size of the image coordinate database, The coordinate size of the image coordinate database; the central processor can change the image size and image coordinate database of the image coordinate database according to the size and range of the image captured by the image capturing unit and the image size processed by the image processing unit. The size of the coordinates. For example, the image recognition determining coordinate device of the first application of the patent scope includes: a wireless unit for transmitting and receiving information, and transmitting and receiving control signals, and electrically connecting with the central processing unit; the wireless unit is not Before receiving the signal, the central processing unit autonomously operates the image recognition determining coordinate device, and determines the coordinate by itself, the coordinate is regarded as the starting coordinate; the wireless unit receives the signal, and the signal includes the image and the coordinate, and one of the information of the image coordinate database The coordinate is the target coordinate; the central processor plans the navigation path according to the target coordinate, the starting coordinate, and the sensing distance data of the image sensor of the image capturing unit. For example, the image recognition determining coordinate device of claim 7 further includes: an image tracking unit electrically connected to the image capturing unit, electrically connected to the central processing unit for calculating a displacement vector and converting into a displacement vector signal, The central processing unit controls the base according to the displacement vector signal; a base is used to change the image capturing angle of the image capturing unit; firstly, the image capturing unit, the image processing unit, the image recognition unit and the image coordinate database are used. Operation, determining the target object, and then calculating the image capturing angle of the image capturing unit through the calculation of the image tracking unit and the central processing unit, so that the target object is within the image capturing range of the image capturing unit, and the image is recognized. The unit judges, calculates and processes the overall device with the central processing unit, determines the coordinates; before the wireless unit receives the signal, the central processing unit autonomously operates the image recognition to determine the coordinate device, and determines the coordinates by itself. The standard is regarded as the starting coordinate; the wireless unit accepts the signal, the signal contains the image and the coordinate, and is the same as one of the image coordinate database, and the coordinate is the target coordinate; the central processor depends on the coordinates of the object and the starting coordinates. The navigation path is planned with the sensing distance data of the image sensor of the image capturing unit. For example, the image recognition determining coordinate device of claim 7 further includes: a distance sensor electrically connected to the central processing unit for sensing the distance; and the central processing unit autonomously operates the image recognition before the wireless unit receives the signal. Determining the coordinate device, determining the coordinate by itself, the coordinate is regarded as the starting coordinate; the wireless unit receives the signal, the signal contains the image and the coordinate, and is the same as one of the image coordinate database, and the coordinate is the target coordinate; the central processing According to the coordinates of the destination, the starting coordinates, and the sensing data of the distance sensor, the navigation path is planned. For example, the image recognition determining coordinate device of the patent application scope 8 further includes: a distance sensor electrically connected to the central processing unit for sensing the distance; firstly, the image capturing unit, the image processing unit, and the image recognition unit are The operation of the image coordinate database determines the target object, and then calculates the displacement vector through the image tracking unit, and converts it into a displacement signal, and the central processing unit controls the image capturing angle of the image capturing unit to make the target object Within the image capturing range of the image capturing unit, the image recognition unit determines, calculates and processes the overall device with the central processing unit, and determines the coordinates; the central processing unit autonomously operates the image recognition determining coordinate device before the wireless unit receives the signal. The coordinates are determined as the starting coordinates; the wireless unit accepts the signal, the signal contains the image and the coordinates, and is the same as one of the image coordinate database, and the coordinate is the target coordinate; the central processor depends on the purpose The navigation path is planned by the coordinates, the starting coordinates, and the sensing data of the distance sensor.