CN111458718A - Spatial positioning device based on fusion of image processing and radio technology - Google Patents

Abstract

The invention provides a spatial positioning device based on the fusion of image processing and radio technology, and relates to the fields of image processing technology and radio technology. The device includes a detachable casing on which a laser transceiver mechanism is fixedly installed, and a monocular camera mechanism, a high-resolution CCD sensor, a radio receiving mechanism, a microprocessor, a monocular camera mechanism, a high-resolution CCD sensor, a radio receiving mechanism, a microprocessor, The screen base and the small display screen, the microprocessor and each execution module are assembled on a core circuit board. The present invention, through the deep integration of image processing technology and radio propagation technology, is highly integrated, miniaturized and portable, detects the detection target in a passive detection method, obtains the three-dimensional space coordinates of the detection target, realizes accurate positioning, and has a low cost of the whole device. , High precision, strong application extensibility, accurate positioning, and can meet the spatial positioning of indoor complex situations in the Internet of Things environment.

Description

A spatial positioning device based on the fusion of image processing and radio technology

technical field

The invention relates to the field of image processing technology and radio technology, in particular to a spatial positioning device based on the fusion of image processing and radio technology.

Background technique

The existing spatial positioning technologies for robots and unmanned vehicles or aircraft mainly use optical methods, inertial methods and multi-camera methods for positioning. There are unavoidable problems in cost and implementation in these three spatial positioning methods.

Optical methods and inertial methods in spatial positioning belong to active positioning methods. In actual use, the experience is poor. It often takes a long time to prepare and set up to drive the equipment to work. The accuracy of the equipment used is proportional to the cost. The optical method requires at least three optical sensors to be installed in the three-dimensional space to measure in the three-dimensional space. If there is an obstacle in the opposite direction of the sensing element, it will lead to lack of knowledge of the coordinate dimension, inaccurate measurement data, and high cost of the optical sensing element, which is not suitable for general application.

The inertial method requires a large number of inertial elements or multiple base stations, and the positioning accuracy is low, only range positioning can be performed, and the required sensing elements or base stations are expensive. The multi-camera method obtains the depth of field of the image through visual processing, and finally obtains the three-dimensional space of the required detection target. This method belongs to passive measurement and has a good experience for the user. The multi-camera method requires strong hardware support and certain requirements for the usage environment. Single-camera spatial positioning requires a more stringent environment to use, which is not suitable for practical applications.

SUMMARY OF THE INVENTION

(1) Technical problems solved

In view of the deficiencies of the prior art, the present invention provides a spatial positioning device based on the fusion of image processing and radio technology, which solves the defects and deficiencies in the prior art.

(2) Technical solutions

In order to achieve the above objects, the present invention is achieved through the following technical solutions: a spatial positioning device based on the fusion of image processing and radio technology, comprising a detachable casing, and a laser transceiver mechanism is fixedly installed on the detachable casing. The detachable housing is provided with a monocular camera mechanism, a high-resolution CCD sensor, a radio receiving mechanism, a microprocessor, a screen base and a small display screen, and the microprocessor and each execution module are assembled on a core circuit board. , the microprocessor is connected with a monocular camera mechanism, a high-resolution CCD sensor, a radio receiving mechanism, a laser transceiver mechanism and a small display screen through electronic circuits.

Preferably, the monocular camera mechanism includes a camera adjustment module and a camera base, the camera adjustment module is fixedly connected to the high-resolution CCD sensor through the camera base, and the monocular camera mechanism further includes two micro stepping motors, two A set of gear sets with different transmission ratios and a variable focal length lens, the camera in the monocular camera mechanism can be single or multiple, and the resolution of the camera is at least 2 million pixels.

Preferably, the laser transceiver mechanism includes a laser transceiver and a micro-moving pan/tilt head, and the laser transceiver mechanism has a signal modulation circuit and a demodulation circuit inside to resist natural light interference.

Preferably, the radio receiving mechanism is used to receive radio waves between 600MHz and 6.32GHz, and calculate the attenuation value, which is used to preliminarily determine the straight-line distance of the measured target.

Preferably, the operating frequency of the microprocessor is above 100 MHz and has an external connection interface.

Preferably, the detachable casing is in the shape of a cuboid, the detachable casing includes a detachable upper panel, a lower panel, a front panel, a rear panel and two side panels, and the laser transceiver mechanism is fixed on the front panel In the half part, the monocular camera mechanism is nested with the front panel, the high-resolution CCD sensor is inside the panel, the small display screen is embedded in the rear panel, and the upper panel is also provided with several circular ventilation holes, And all the ventilation holes are parallel to each other, the detachable shell also includes four supporting columns, which are respectively vertically fixed between the front panel and the rear panel, and the four holes corresponding to the circuit board are passed in the middle, which are used for the circuit board. to be fixed.

Preferably, the device includes the following execution steps:

S1. Use the radio receiving mechanism to receive radio wave data to obtain the radio attenuation rate, and estimate the preliminary straight-line distance between the detection target and the detection device;

S2, the laser transceiver mechanism sends a specific optical pulse signal, and receives the return value of the signal, and calculates the distance value between the detection target and the detection device;

S3. Data fusion is performed between the distance value obtained by the radio wave and the distance value obtained by the laser transceiver, to determine the distance between the detected target and the detection device;

S4, the distance determined by data fusion, in the three-dimensional space where it is located, calculate the position of the current approximate point of the detected target;

S5. Adjust the multiple of the camera mechanism to the lowest, and perform preliminary positioning at the position where the detected target is constructed on the CMOS plane; further change the multiple and focal length, and obtain the final three-dimensional spatial coordinates through algorithm calculation.

(3) Beneficial effects

The invention provides a space positioning device based on the fusion of image processing and radio technology. Has the following beneficial effects:

The present invention, through the deep integration of image processing technology and radio propagation technology, is highly integrated, miniaturized and portable, detects the detection target in a passive detection method, obtains the three-dimensional space coordinates of the detection target, realizes accurate positioning, and reduces the cost of the entire device. Low, high precision, strong application extensibility, accurate positioning, can meet the spatial positioning of indoor complex situations in the Internet of Things environment.

Description of drawings

Fig. 1 is the main device exploded diagram of the present invention;

Fig. 2 is the exploded view of the detachable casing of the present invention;

Fig. 3 is the method flow chart of the present invention;

Fig. 4 is the scene schematic diagram of the present invention;

Fig. 5 is the algorithm program flow chart of the present invention;

6 is a schematic diagram of a spatial positioning algorithm of the present invention;

FIG. 7 is a distribution diagram of the device structure of the present invention.

Among them, 1. Removable housing; 2. Monocular camera mechanism; 3. High-resolution CCD sensor; 4. Laser transceiver mechanism; 5. Radio receiving mechanism; 6. Microprocessor; 7. Screen base; 8. Small display.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example:

As shown in FIGS. 1-7 , an embodiment of the present invention provides a spatial positioning device based on the fusion of image processing and radio technology, including a detachable casing 1, and a laser transceiver mechanism 4 is fixedly installed on the detachable casing 1, which can The disassembled housing 1 is provided with a monocular camera mechanism 2, a high-resolution CCD sensor 3, a radio receiving mechanism 5, a microprocessor 6, a screen base 7 and a small display screen 8, and the microprocessor 6 and each execution module are assembled together. On the core circuit board, the microprocessor 6 is connected with the monocular camera mechanism 2 , the high-resolution CCD sensor 3 , the radio receiving mechanism 5 , the laser transceiver mechanism 4 and the small display screen 8 through electronic circuits.

The monocular camera mechanism 2 includes a camera adjustment module and a camera base. The camera adjustment module is fixedly connected to the high-resolution CCD sensor 3 through the camera base. The monocular camera mechanism 2 also includes two micro stepping motors and two sets of gears with different transmission ratios. The group and focal length variable lens, the camera in the monocular camera mechanism 2 can be single or multiple, and the resolution of the camera is at least 2 million pixels.

The laser transceiver mechanism 4 includes a laser transceiver and a micro-moving pan/tilt head, and the laser transceiver mechanism 4 has a signal modulation circuit and a demodulation circuit inside to resist natural light interference.

The radio receiving mechanism 5 is used to receive radio waves between 600MHz and 6.32GHz, and calculate the attenuation value.

The operating frequency of the microprocessor 6 is above 100 MHz and has an external connection interface.

The detachable casing 1 is in the shape of a cuboid. The detachable casing 1 includes a detachable upper panel, a lower panel, a front panel, a rear panel and two side panels. The laser transceiver mechanism 4 is fixed on the half of the front panel, and the The table base and the panel are fixed by a mechanical structure, the monocular camera mechanism 2 is nested with the front panel, the camera adjustment mechanism is outside the front panel, the high-resolution CCD sensor 3 is inside the panel, the small display screen 8 is embedded in the rear panel, and the upper panel is also There are several circular ventilation holes, and all the ventilation holes are parallel to each other. The detachable housing 1 also includes four supporting columns, which are respectively vertically fixed and arranged between the front panel and the rear panel. A hole for fixing the circuit board.

The present invention, the device comprises the following execution steps:

S1, utilize the radio receiving mechanism 5 to collect and process the attenuation rate of the received radio waves to obtain the preliminary straight-line distance between the detection target and the detection device, which is used for data fusion with the data obtained in step 2;

The number of cameras can be multiple. Specifically, a device composed of a monocular camera, a radio receiving mechanism 5 and other mechanisms is placed on a plane in space, with the device as the origin, as shown in Figure 4, to establish a Measured three-dimensional space coordinates;

S2. The laser transceiver mechanism 4 sends out an optical pulse signal that is different from the common spectral diagram, and counts the time when the optical pulse signal of this frequency is received, and converts the time into a distance value;

S3, perform data fusion between the distance data obtained by the radio receiving mechanism 5 and the distance data obtained by the laser transceiver mechanism 4 to obtain the final distance between the detected target and the detection device;

The radio receiving mechanism 5 can receive bluetooth, Wifi, infrared signals and RFID, of course, the type of receiving is not limited to this, and the receiving frequency range is between 600MHz-6.32GHz;

The radio receiving mechanism 5 has the function of automatic frequency modulation, which can adjust the receiving frequency to a specific frequency and receive it according to the artificial setting;

S4, through the data obtained in step 3, calculate the position where the target appears in the space with a high probability point;

Wherein, the data of step 2 and step 3 are processed by adaptive Kalman filtering and Gaussian multiple filtering; the data of step 2 and step 3 are obtained by iteratively weighted fusion data to obtain the final distance result;

S5. The monocular camera mechanism 2 is adjusted to the lowest multiple to identify the characteristics of the detected object, construct it on the CMOS imaging plane, perform preliminary positioning, drive the motor to change the multiple and focal length, and perform multiple conversion and position positioning through a specific algorithm to obtain three-dimensional coordinates in space ;

The detection target recognized by the monocular camera in the device is an object or face with a certain shape and color, not limited to fixed targets; the recognized target can be a mobile phone, a face, a handbag, etc., no specific identification is required. to make the device work;

There are two driving mechanisms in the monocular camera mechanism 2 to provide power. Through a specific gear ratio, the accuracy of rotation is improved, so that the distance between the lens and the CMOS sensor in the mechanism and the size of the aperture are changed to adjust the focal length and The purpose of adjusting the magnification;

The driving mechanism can be a stepping motor, a planetary motor, and other types are not limited to the above, and can also be other types of driving motors, which will not be repeated here;

As shown in Figure 7, after the device receives the distance data, the monocular camera mechanism 2 is set to the lowest standard, and the physical position of the detected target in the CMOS sensor is identified through image processing. The processing between the focal length of the camera and the distance data, Locate the approximate location of the detection target;

After obtaining the approximate position, by adjusting the focal length and multiple, the physical position of the detection target in the CMOS sensor can be further improved to obtain a more accurate position; when the detection target is not in the CMOS sensor or the multiple is the largest, the detection accuracy is cut off at this time;

The method of determining the center point of the detection target is shown in Figure 6. The center coordinate point of the detection target is determined by the double determination method. First, the line parallel to the four sides of the detection target and the CMOS sensor plane is calibrated, and the image of the detection target is intersected at the point to make four For the connection between the points, the first center point is the point of the diagonal connection; each of the three sides presents an angle of 60° to approach the image of the detection target, intersect at three points, and determine the final triangle size and shape. The secondary center point is the center of gravity of the triangle; the two acquisition center points are weighted and fused to improve the accuracy, and the final result is used as the coordinate point for three-dimensional space positioning.

The microprocessor 6 is used to control the initialization of each connection function part, the configuration setting of the monocular camera mechanism 2, the setting and data acquisition of the wireless receiving module, the control and data acquisition of the laser transceiver mechanism 4, the image acquisition and image processing, the screen The main frequency of the microprocessor 6 is above 100MHz, the higher the frequency, the shorter the device positioning time;

The small display screen 8 is designed to display the image collected by the monocular camera mechanism 2 and the result of the image processing by the microprocessor 6, and to display the three-dimensional space coordinates of the positioning of the detection target.

It is worth noting that, before the steps are performed, the following steps need to be included: initialize the configuration of the camera, the radio receiving mechanism 5 , the laser transceiver mechanism 4 , the microprocessor 6 and the small display screen 8 .

The spatial positioning device of the present invention, which integrates image processing and radio technology, integrates the monocular camera mechanism 2 and radio technology into a relationship of mutual integration and mutual restriction. The microprocessor collects and optimizes the distance data. After the operation is completed, the microprocessor is called to collect the image and perform preprocessing. The image after preprocessing is further processed, the feature value of the object is extracted to compare and identify the detected object, the physical position of the detected object in the CMOS plane is determined, and the image of the detected target is double-centered. Further drive the power to drive the transmission gear structure, adjust the focal length and multiple, and further improve the positioning accuracy through the microprocessor 6. The final result is controlled by the microprocessor 6 to display the collected image and the processing result on the small display screen 8 .

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. A spatial positioning device based on the fusion of image processing and radio technology, comprising a detachable casing (1), characterized in that: a laser transceiver mechanism (4) is fixedly installed on the detachable casing (1), The detachable casing (1) is internally provided with a monocular camera mechanism (2), a high-resolution CCD sensor (3), a radio receiving mechanism (5), a microprocessor (6), a screen base (7) and a small A display screen (8), the microprocessor (6) and each execution module are assembled on a core circuit board, the microprocessor (6) is connected to a monocular camera mechanism (2), a high-resolution CCD through an electronic circuit The sensor (3), the radio receiving mechanism (5), the laser transceiver mechanism (4) and the small display screen (8) are connected. 2. A spatial positioning device based on image processing and radio technology fusion according to claim 1, characterized in that: the monocular camera mechanism (2) comprises a camera adjustment module and a camera base, and the camera adjustment module The camera base is fixedly connected to the high-resolution CCD sensor (3), and the monocular camera mechanism (2) further includes two micro stepping motors, two sets of gear sets with different transmission ratios, and a variable focal length lens. The camera in the eye camera mechanism (2) may be single or multiple, and the resolution of the camera is at least 2 million pixels. 3. A spatial positioning device based on the fusion of image processing and radio technology according to claim 1, characterized in that: the laser transceiver mechanism (4) comprises a laser transceiver and a micro-moving pan/tilt, and the laser transceiver The mechanism (4) has a signal modulation circuit and a demodulation circuit inside, which are used to resist natural light interference. 4. A spatial positioning device based on the fusion of image processing and radio technology according to claim 1, characterized in that: the radio receiving mechanism (5) is used to receive radio waves between 600MHz-6.32GHz, and Calculate the attenuation value, and preliminarily determine the straight-line distance of the detected target. 5 . The spatial positioning device based on the fusion of image processing and radio technology according to claim 1 , wherein the operating frequency of the microprocessor ( 6 ) is above 100 MHz and has an external connection interface. 6 . 6. A spatial positioning device based on the fusion of image processing and radio technology according to claim 1, characterized in that: the detachable casing (1) is in the shape of a cuboid, and the detachable casing (1) It includes a detachable upper panel, a lower panel, a front panel, a rear panel and two side panels, the laser transceiver mechanism (4) is fixed on the half of the front panel, and the monocular camera mechanism (2) is embedded in the front panel. The high-resolution CCD sensor (3) is inside the panel, the small display screen (8) is embedded in the rear panel, and the upper panel is also provided with a number of circular ventilation holes, and all ventilation holes are mutually In parallel, the detachable casing (1) further includes four supporting columns, which are respectively vertically fixed and arranged between the front panel and the rear panel, with four holes corresponding to the circuit board in the middle for fixing the circuit board. 7. A spatial positioning device based on the fusion of image processing and radio technology according to any one of claims 1-6, wherein the device comprises the following execution steps: S1, use the radio receiving mechanism (5) to receive radio wave data to obtain the radio attenuation rate, and estimate the preliminary straight-line distance between the detection target and the detection device; S2, the laser transceiver mechanism (4) sends a specific optical pulse signal, and receives the return value of the signal, and calculates the distance value between the detection target and the detection device; S3, perform data fusion between the distance value obtained by the radio wave and the distance value obtained by the laser transceiver mechanism (4) to determine the distance between the detected target and the detection device; S4, according to the distance determined by data fusion, in the three-dimensional space where it is located, calculate the position height of the current approximate appearance point of the detected target; S5. Adjust the multiple of the camera mechanism to the lowest, and perform preliminary positioning at the position where the detected target is constructed on the CMOS plane; further change the multiple and focal length, and obtain the final three-dimensional spatial coordinates through algorithm calculation.

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