Three-dimensional positioning system and method based on sensor proportion and three-axis positioning

Abstract

The invention relates to the technical field of sensor positioning, in particular to a three-dimensional positioning system and method based on a sensor proportion and three-axis positioning, which can directly select a specified target in a picture, and have the functions of positioning the target on a plane and positioning the target on picture expansion and contraction. And the method has very important significance in quickly responding and processing emergencies. According to the invention, by calculating the distribution of the field angle of the sensor in the transverse direction, the vertical direction and the longitudinal direction and combining the calculation of the target proportion, the accurate positioning of the target in the space is realized; by optimizing a proportion calculation algorithm and a three-axis positioning technology, high-precision and high-stability target positioning is realized, and meanwhile, the method has the advantages of economic benefit, resource saving and the like.

Description

Technical Field

[0001] The present invention relates to the field of sensor positioning technology, and in particular to a three-dimensional positioning system and method based on sensor ratio and three-axis positioning. Background Art

[0002] As a front-end observation device of the monitoring system, the photoelectric turntable has important research value. The photoelectric turntable has the advantages of accurate target positioning, real-time fan scanning, and fixed-point cruising. In actual use, when the back-end personnel need to locate the specified target, the photoelectric turntable needs to change the positioning position multiple times to position the turntable to a suitable field of view position. During this period, the target position may have moved. At the same time, after moving to the specified position, it is also necessary to change the focal length and adjust the field of view angle to adjust the field of view clarity. This undoubtedly wastes a lot of unnecessary time, and this will greatly increase the operating burden of the user, thereby affecting the monitoring of the system. This reflects the problems of the traditional positioning system, which may be affected by various factors, resulting in inaccurate or unstable positioning. Summary of the invention

[0003] In view of this, the present invention provides a three-dimensional positioning system and method based on sensor ratio and three-axis positioning, which can directly select a specified target in the picture, and position the target on the plane and on the screen, which is of great significance for rapid response and processing of emergencies.

[0004] To achieve the above purpose, the technical solution of the present invention is as follows:

[0005] The present invention provides a three-dimensional positioning system based on sensor ratio and three-axis positioning, including a visible light camera, a serial port line and a photoelectric turntable control board;

[0006] Wherein, the visible light camera is used to collect images and focal length values;

[0007] The photoelectric turntable control board is connected to the visible light camera through a serial port line, and the photoelectric turntable control board includes a digital filter and a data processing unit. The digital filter is used to filter the focal length value, and the data processing unit is used to fit the optimal field of view based on the fitting field of view formula, and perform three-dimensional positioning calculation according to the field of view and the proportion of the target in the image to generate a positioning instruction; wherein, the data processing unit fits the optimal field of view according to the fitting field of view formula provided by the manufacturer, performs visible light camera field of view analysis, target proportion calculation and three-dimensional positioning calculation, obtains the positioning instruction, and sends the positioning instruction to the visible light camera for control and precision calibration.

[0008] Among them, the photoelectric turntable control board also includes a control chip, which is used to receive the focal length value from the visible light camera, filter and error process the focal length value using a digital filtering algorithm, and substitute it into the fitting field of view angle formula to calculate the corresponding field of view angle.

[0009] The three-dimensional positioning calculation includes: calculating the accurate position and direction of the X-axis and Y-axis of the frame-selected positioning target in space;

[0010] Generate positioning instructions based on the calculated target position and direction to achieve positioning of the X-axis and Y-axis;

[0011] By controlling the zoom function of the visible light camera, the focal length in the Z-axis direction is adjusted to achieve positioning on the Z-axis;

[0012] Calibrate the accuracy of the positioning results.

[0013] The data processing unit is also used to collect angle values ​​in real time and compare them with the angle values ​​set for positioning, and adjust and maintain the current angle until the difference value is reduced to a predetermined range.

[0014] The present invention also provides a three-dimensional positioning method based on sensor ratio and three-axis positioning, comprising the following steps:

[0015] Use a visible light camera to collect images and focal length values;

[0016] The focal length value is transmitted to the photoelectric turntable control board through the serial port line;

[0017] In the photoelectric turntable control board, a digital filter is used to filter the focal length value;

[0018] Use the data processing unit to fit the optimal field of view angle according to the field of view angle fitting formula, and perform three-dimensional positioning calculation according to the field of view angle and the proportion of the target in the image;

[0019] Generate positioning commands and send them to the visible light camera for control and accuracy calibration.

[0020] Wherein, the three-dimensional positioning calculation step includes:

[0021] Calculate the exact position and direction of the X-axis and Y-axis of the frame selection target in space;

[0022] Generate positioning instructions based on the calculated target position and direction to achieve positioning of the X-axis and Y-axis;

[0023] By controlling the zoom function of the visible light camera, the focal length in the Z-axis direction is adjusted to achieve positioning on the Z-axis;

[0024] Calibrate the accuracy of the positioning results.

[0025] The following steps are also included: collecting the angle value in real time and comparing it with the angle value set for positioning, adjusting and maintaining the current angle until the difference value is reduced to a predetermined range.

[0026] Beneficial effects:

[0027] 1. The system of the present invention calculates the distribution of the sensor's field of view angle in the horizontal, vertical and longitudinal directions, and combines the calculation of the target proportion to achieve accurate positioning of the target in space; by optimizing the proportion calculation algorithm and three-axis positioning technology, high-precision and high-stability target positioning is achieved, and at the same time it has the advantages of economic benefits and resource conservation.

[0028] 2. The proportion calculation in the system of the present invention is optimized, and a digital filtering algorithm is used to effectively reduce random signal interference. The proportion of the target on the three axes is accurately calculated, and the sensor data and target characteristics are combined to achieve more accurate and faster proportion calculation. The proportion calculation algorithm can be optimized according to different target types and environmental conditions to improve positioning accuracy and stability.

[0029] 3. The system of the present invention improves the accuracy of three-axis positioning, and combines the sensor field of view angle and the ratio calculation results to achieve high-precision three-axis positioning; by optimizing the positioning algorithm and adjusting parameters, the accuracy and reliability of positioning on the X-axis and Y-axis are improved, and three-axis positioning in a variety of positioning scenarios and complex environments is supported to meet different needs and application scenarios.

[0030] 4. The present invention can make real-time adjustments and feedback, realize real-time ratio calculation and three-axis positioning, and support dynamic target tracking and positioning. It adjusts sensor parameters and field of view according to real-time data to achieve rapid response and accurate positioning, and provides real-time feedback and visual display of positioning results, which is convenient for users to monitor and adjust.

[0031] 5. The system of the present invention can be applied to the fields of optoelectronic system positioning, unmanned driving, augmented reality, etc., to achieve accurate three-dimensional positioning and environmental perception, and to improve the accuracy and stability of positioning and the clarity and stability of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The figure is a schematic diagram of the positioning process of the system of the present invention.

[0033] Figure 2 It is a schematic diagram of the positioning accuracy calibration process of the system of the present invention. DETAILED DESCRIPTION

[0034] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0035] Sensor technology is a technology that senses and collects environmental information, while positioning technology determines the position of an object or person in space through various means. The sensor-based three-dimensional positioning method uses the data collected by the sensor to calculate the position coordinates of an object or person in three-dimensional space through algorithms and models. This method combines sensor technology and positioning technology and integrates the positioning of the three axes of the target space.

[0036] The present invention provides a three-dimensional positioning system and method based on sensor ratio and three-axis positioning, which realizes accurate positioning of the target in space by calculating the distribution of the sensor (visible light camera) field of view angle in the horizontal, vertical and longitudinal directions, combined with the calculation of the target ratio. The present invention realizes high-precision and high-stability target positioning by optimizing the ratio calculation algorithm and three-axis positioning technology, and has the advantages of economic benefits and resource conservation. It can be applied to the fields of optoelectronic system positioning, unmanned driving, augmented reality, etc., to realize accurate three-dimensional positioning and environmental perception, improve the accuracy and stability of positioning, and make the target clear and stable.

[0037] The three-dimensional positioning system based on sensor ratio and three-axis positioning of the present invention includes a visible light camera, a serial port line and an optoelectronic turntable control board, wherein the optoelectronic turntable control board includes a digital filter and a data processing unit; the serial port line of the visible light camera is connected to the optoelectronic turntable control board, and the visible light camera transmits the focal length value and the image to the optoelectronic turntable control board through the serial port according to the communication protocol; the optoelectronic turntable control board inputs the received focal length value into the digital filter for filtering processing; the data processing unit fits the optimal field of view angle based on the fitting field of view angle formula provided by the manufacturer, and performs visible light camera field of view angle analysis target ratio calculation, as well as three-dimensional positioning calculation, to obtain a positioning instruction, and sends the positioning instruction to the visible light camera, controls the visible light camera and performs precision calibration.

[0038] The photoelectric turntable control board includes a control chip. Specifically, the photoelectric turntable control board receives the focal length value fed back from the visible light camera, filters and processes the focal length value based on the control chip using a digital filtering algorithm, and substitutes the fitting field of view angle formula provided by the manufacturer to obtain the corresponding field of view angle. In the control algorithm, the lengths of the X-axis and Y-axis on the field of view angle are set, and the proportion of the rectangular target selected on the X-axis and Y-axis is calculated. These data are used to calculate the position and size of the target in space.

[0039] The three-dimensional positioning calculation is: combining the calculation results of the sensor field of view angle and the target ratio, calculating the accurate position of the frame-selected positioning target on the X-axis and the Y-axis in space, and determining the direction and size of the target, so as to perform accurate positioning and image zooming. Based on the calculated target position and direction, a positioning instruction is generated to achieve positioning of the X-axis and the Y-axis. By controlling the zoom function of the visible light camera and adjusting the focal length in the Z-axis direction, the field of view changes to achieve positioning on the Z-axis, thereby achieving three-dimensional positioning of the target in space. At the same time, the positioning results are precisely calibrated to ensure the accuracy and reliability of positioning. According to the visible light camera data and the calculation results, the visible light camera parameters and algorithms are adjusted to improve positioning accuracy and stability. In the program algorithm, the angle value collected in real time is compared with the angle value set for positioning, and the difference value is reduced as much as possible. When it is reduced to a certain extent, the current angle is maintained unchanged. The positioning process of the system of the present invention is as follows: Figure 1 shown.

[0040] The present invention also provides a three-dimensional positioning method based on sensor ratio and three-axis positioning, which is implemented based on the system of the present invention and includes the following steps:

[0041] Use a visible light camera to collect images and focal length values;

[0042] The focal length value is transmitted to the photoelectric turntable control board through the serial port line;

[0043] In the photoelectric turntable control board, a digital filter is used to filter the focal length value;

[0044] Use the data processing unit to fit the optimal field of view angle according to the field of view angle fitting formula, and perform three-dimensional positioning calculation according to the field of view angle and the proportion of the target in the image;

[0045] Generate positioning commands and send them to the visible light camera for control and accuracy calibration.

[0046] Wherein, the three-dimensional positioning calculation step includes:

[0047] Calculate the exact position and direction of the X-axis and Y-axis of the frame selection target in space;

[0048] Generate positioning instructions based on the calculated target position and direction to achieve positioning of the X-axis and Y-axis;

[0049] By controlling the zoom function of the visible light camera, the focal length in the Z-axis direction is adjusted to achieve positioning on the Z-axis;

[0050] Perform precision calibration on the positioning results to ensure the accuracy and reliability of positioning.

[0051] Furthermore, the method of the present invention also includes the steps of collecting the angle value in real time and comparing it with the angle value set for positioning, and adjusting and maintaining the current angle until the difference value is reduced to a predetermined range. Figure 2 It is a schematic diagram of the positioning accuracy calibration process of the system of the present invention.

[0052] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional positioning system based on sensor ratio and three-axis positioning, characterized in that: Includes visible light camera, serial port line and photoelectric turntable control panel; Wherein, the visible light camera is used to collect images and focal length values; The photoelectric turntable control board is connected to the visible light camera through a serial port line, and the photoelectric turntable control board includes a digital filter and a data processing unit. The digital filter is used to filter the focal length value, and the data processing unit is used to fit the optimal field of view based on the fitting field of view formula, and perform three-dimensional positioning calculation according to the field of view and the proportion of the target in the image to generate a positioning instruction; wherein, the data processing unit fits the optimal field of view according to the fitting field of view formula provided by the manufacturer, performs visible light camera field of view analysis, target proportion calculation and three-dimensional positioning calculation, obtains the positioning instruction, and sends the positioning instruction to the visible light camera for control and precision calibration.

2. The three-dimensional positioning system according to claim 1, characterized in that: The photoelectric turntable control board also includes a control chip, which is used to receive the focal length value from the visible light camera, filter and process the error of the focal length value using a digital filtering algorithm, and substitute it into the fitting field of view angle formula to calculate the corresponding field of view angle.

3. The three-dimensional positioning system according to claim 1 or 2, characterized in that: The three-dimensional positioning calculation includes: calculating the accurate position and direction of the frame-selected positioning target on the X-axis and Y-axis in space; Generate positioning instructions based on the calculated target position and direction to achieve positioning of the X-axis and Y-axis; By controlling the zoom function of the visible light camera and adjusting the focal length in the Z-axis direction, positioning on the Z-axis is achieved; the positioning result is accurately calibrated.

4. The three-dimensional positioning system according to claim 3, characterized in that: The data processing unit is also used to collect angle values ​​in real time and compare them with the angle values ​​set for positioning, and adjust and maintain the current angle until the difference value is reduced to a predetermined range.

5. A three-dimensional positioning method based on sensor ratio and three-axis positioning, characterized in that: The following steps are involved: Use a visible light camera to collect images and focal length values; The focal length value is transmitted to the photoelectric turntable control board through the serial port line; In the photoelectric turntable control board, a digital filter is used to filter the focal length value; Use the data processing unit to fit the optimal field of view angle according to the field of view angle fitting formula, and perform three-dimensional positioning calculation according to the field of view angle and the proportion of the target in the image; Generate positioning commands and send them to the visible light camera for control and accuracy calibration.

6. The three-dimensional positioning method according to claim 5, characterized in that: The three-dimensional positioning calculation step comprises: Calculate the exact position and direction of the X-axis and Y-axis of the frame selection target in space; Generate positioning instructions based on the calculated target position and direction to achieve positioning of the X-axis and Y-axis; By controlling the zoom function of the visible light camera and adjusting the focal length in the Z-axis direction, positioning on the Z-axis is achieved; the positioning result is accurately calibrated.

7. The three-dimensional positioning method according to claim 5 or 6, characterized in that: The method also includes the following steps: collecting angle values ​​in real time and comparing them with the angle values ​​set for positioning, and adjusting and maintaining the current angle until the difference value is reduced to a predetermined range.

Images