Intelligence development education laser tracking vehicle based on dynamic visual identification and multi-target switching

Abstract

The invention discloses an intelligence development education laser tracking vehicle based on dynamic visual identification and multi-target switching, and the vehicle comprises a vehicle body, a visual identification module which generates feature data, a microcontroller which receives and analyzes the feature data to generate a steering adjustment amount and a forward / backward distance amount, and a laser tracking module which outputs the steering adjustment amount and the forward / backward distance amount. The motor and the transmission system control the vehicle body to advance according to the steering adjustment amount and the advancing / backing distance amount, the key module receives a tracking target switching instruction of a user and triggers parameter resetting and recognition model switching of the visual recognition module, the Bluetooth module receives a remote control instruction of terminal equipment, and the serial port communication module is used for data interaction. The power supply module provides power. The control method comprises the steps of setting the visual identification module, setting features of laser signals, setting features of objects and setting a tracking target switching program. Therefore, the system has the advantages of diversified functions, simple operation, high educational value, strong adaptability and the like.

Description

Technical Field

[0001] The present invention relates to the field of power electronics technology, and specifically refers to an educational laser tracking vehicle for intellectual development based on dynamic vision recognition and multi-target switching. Background Art

[0002] With the continuous development of educational concepts, the educational method of combining education with entertainment has received increasing attention, and the market demand for educational equipment for intellectual development is also continuously growing. At present, although there are some tracking vehicle products on the market, they generally have the problem of single function. Existing tracking vehicles usually can only fixedly track a certain specific target, for example, they can only track a laser, or can only recognize a certain type of simple pattern, and cannot flexibly switch tracking targets according to different teaching scenarios and actual needs.

[0003] In the actual process of intellectual development education, diverse tracking functions are of great significance for stimulating children's learning interest and exploration spirit, and cultivating their observation ability, reaction ability, and logical thinking ability. Taking science experiment courses and art enlightenment courses as examples, in science experiment courses, it is expected that the vehicle can track a laser to demonstrate the propagation path of light; in art enlightenment courses, the vehicle needs to switch to tracking colored graphic cards to assist children in recognizing colors and graphics. However, existing tracking vehicles cannot meet these diverse teaching needs. Therefore, there is an urgent need to develop a new type of educational laser tracking vehicle for intellectual development based on dynamic vision recognition and multi-target switching and its control method to enrich educational means for intellectual development and improve educational effects. Summary of the Invention

[0004] The present invention aims to solve at least to some extent the technical problems in the above-mentioned technology.

[0005] To this end, on the one hand, the present invention discloses an educational laser tracking vehicle for intellectual development based on dynamic vision recognition and multi-target switching, including:

[0006] A vehicle body;

[0007] A vision recognition module, arranged on the vehicle body, for recognizing the characteristics of laser signals and the characteristics of set items to generate characteristic data;

[0008] A microcontroller, arranged on the vehicle body, for receiving and analyzing the characteristic data to generate a steering adjustment amount and a forward / backward distance amount;

[0009] A motor and a transmission system, arranged on the vehicle body, for controlling the vehicle body to move forward according to the steering adjustment amount and the forward / backward distance amount;

[0010] A key module, arranged on the vehicle body, for receiving a user's tracking target switching instruction and triggering parameter reset and recognition model switching of the vision recognition module through the microcontroller;

[0011] A Bluetooth module, configured to receive remote control instructions from a terminal device and transmit them to a microcontroller for execution;

[0012] A serial communication module, configured for data interaction between a vision recognition module and a microcontroller;

[0013] A power module, configured to supply power to each module of the laser vehicle.

[0014] In addition, the educational laser tracking vehicle based on dynamic vision recognition and multi-target switching disclosed in the present invention may further have the following additional technical features:

[0015] In an embodiment of the present invention, the photosensitive element of the vision recognition module includes: OV5640.

[0016] In an embodiment of the present invention, the microcontroller includes: an STM32 single-chip microcomputer.

[0017] In an embodiment of the present invention, the power module includes: a charge-discharge lithium battery pack.

[0018] On the other hand, the present invention discloses a control method for an educational laser tracking vehicle based on dynamic vision recognition and multi-target switching, including the following steps:

[0019] S1. Set up the vision recognition module;

[0020] S2. Set the characteristics of the laser signal and the characteristics of the set items;

[0021] S3. Set the tracking target switching program.

[0022] In addition, the control method for the educational laser tracking vehicle based on dynamic vision recognition and multi-target switching disclosed in the present invention may further have the following additional technical features:

[0023] In an embodiment of the present invention, step S1 includes the following steps:

[0024] S1.1. Initialize the system and the vision recognition module;

[0025] S1.2. Set the white balance and gain parameters to complete the initial condition setting for the vision recognition module to collect images;

[0026] S1.3. Capture each frame of the image and perform filtering and denoising processing on the image;

[0027] S1.4. Set the gray threshold for the tracking object and perform binarization processing;

[0028] S1.5. Separate the tracking object from the background and extract the feature information of the object's position, area, and circularity;

[0029] S1.6. Analyze multiple frames of images;

[0030] S1.7. Complete object recognition and track according to the object's position.

[0031] In an embodiment of the present invention, step S2 includes the following steps:

[0032] S2.1. The visual recognition module recognizes the infrared laser or a set object to generate feature data;

[0033] S2.2. The feature data is transmitted to the microcontroller through the serial communication module;

[0034] S2.3. The microcontroller performs checksum and rationality analysis on the received feature data;

[0035] S2.4. The microcontroller calculates the steering adjustment amount and the forward / backward distance amount of the drive motor and the transmission system according to the feature data.

[0036] In an embodiment of the present invention, step S3 includes the following steps:

[0037] When the key module is pressed or the Bluetooth module receives a remote control instruction from the terminal device, the microcontroller detects the trigger signal or the remote control instruction of the key module and triggers the target switching program.

[0038] In an embodiment of the present invention, when the target switching program is triggered, the current tracking task is first paused, and then the setting parameters and the recognition model of the visual recognition module are reconfigured, and the recognition target is switched from the laser to the next other item.

[0039] According to the puzzle education laser tracking vehicle and its control method based on dynamic visual recognition and multi-target switching disclosed by the present invention, the following beneficial effects are achieved:

[0040] (1). The laser vehicle of the present invention has the functions of laser tracking and tracking of multiple items, can meet the needs of different puzzle education scenarios, provides rich choices for teaching activities, and greatly expands the application range of the laser vehicle.

[0041] (2). The switching of the tracking target can be realized through simple key operations or Bluetooth instructions, without complex settings and debugging, reducing the use threshold, facilitating the operation of children and educators, and effectively improving the user experience.

[0042] (3) Diverse tracking functions can effectively stimulate children's curiosity and desire for exploration. During the tracking process, children need to observe the movement of the laser car and analyze the characteristics of the tracking target, thereby exercising their observation ability, thinking ability, and practical ability. This helps children learn knowledge and enhance their abilities in interesting activities, strengthening the effect of educational benefits.

[0043] (4) By adopting advanced image recognition algorithms and high-performance hardware modules, the laser car can operate stably under different lighting conditions and environmental backgrounds, accurately identify the tracking target, have strong environmental adaptability, and can be widely applied to various indoor and outdoor educational scenarios.

[0044] The additional content and advantages of the present invention will be given in the following description or understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The technical solutions and beneficial effects of the present invention will become obvious and easy to understand from the following content in conjunction with the drawings, where:

[0046] Figure 1 is a working block diagram of the educational laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching of the present invention;

[0047] Figure 2 is another working block diagram of the educational laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching of the present invention;

[0048] Figure 3 is another working block diagram of the educational laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching of the present invention;

[0049] Figure 4 is another working block diagram of the educational laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching of the present invention;

[0050] Figure 5 is another working block diagram of the educational laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0052] Next, the educational laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching disclosed by the present invention will be described with reference to the drawings;

[0053] AsFigure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown in Figure 5 , a puzzle education laser tracking vehicle based on dynamic vision recognition and multi-target switching includes:

[0054] A vehicle body;

[0055] A vision recognition module, arranged on the vehicle body, for recognizing the characteristics of laser signals and the characteristics of set items to generate characteristic data;

[0056] The photosensitive element of the vision recognition module includes: OV5640;

[0057] Specifically, the vision recognition module selects an image sensor with high resolution and high sensitivity. For example, OV5640 is used as the photosensitive element, so that the image acquisition and image processing algorithm can be stable at 50FPS when the resolution is set to QVGA, and it can accurately recognize the laser signal and the relevant characteristics of other set items, making the tracking function of the system more accurate and fast.

[0058] When this module is working, first, initialize the system and the vision recognition module S11, then set parameters such as white balance and gain. Since the system working environment is diverse and the ambient light is in an unstable state, parameters such as white balance, exposure time, and gain can be automatically adjusted first and then fine-tuned to complete the initial condition setting of the module for image acquisition S12. After that, capture each frame of the image and perform processing such as filtering and denoising on the image to suppress the noise of the image while retaining details and improve the reliability of image analysis S13. Then, set the gray threshold for the tracking object and perform binary processing S14 to separate the tracking object from the background and extract feature information such as the position, area, and circularity of the object S15. By analyzing multiple frames of images, reduce the false detection rate and improve the recognition accuracy S16. Finally, complete the object recognition and can track according to the object position S17;

[0059] A microcontroller, arranged on the vehicle body, for receiving and analyzing the characteristic data to generate a steering adjustment amount and a forward / backward distance amount;

[0060] The microcontroller includes: an STM32 single-chip microcomputer;

[0061] Specifically, the microcontroller uses a high-performance STM32F1 microcontroller, which has rich peripheral interfaces and powerful computing capabilities, and can meet the tracking tasks of lasers and other objects in the daily environment.

[0062] The microcontroller receives the feature signals such as position, roundness, and area transmitted by the visual recognition module, analyzes and processes them, converts them into the steering and distance amounts of the laser vehicle, precisely controls the operation of the drive motor, and realizes the tracking movement of the laser vehicle. At the same time, the microcontroller also receives Bluetooth or button signals to achieve function switching;

[0063] The motor and transmission system are arranged on the vehicle body and are used to control the vehicle to move forward according to the steering adjustment amount and the forward / backward distance amount;

[0064] The drive motor and transmission system are equipped with a high-torque and low-noise DC motor to ensure that the laser vehicle can respond to the instructions of the microcontroller smoothly and quickly, and achieve precise motion control;

[0065] The button module is arranged on the vehicle body and is used to receive the tracking target switching instruction from the user, and trigger the parameter reset and recognition model switching of the visual recognition module through the microcontroller;

[0066] The button module is arranged on the surface of the laser vehicle body, and touch buttons or tactile buttons are selected and connected to the microcontroller;

[0067] The buttons mainly realize system initialization, function switching, etc. The button module can power on the system and complete the initialization task. It can also be used to receive the switching instruction from the user. When the user presses the button, the microcontroller switches the recognition program of the visual recognition module according to the button signal to achieve the switching of the tracking target;

[0068] The Bluetooth module is used to receive the remote control instructions from the terminal device and transmit them to the microcontroller for execution;

[0069] The Bluetooth module mainly realizes the terminal remote control system. By configuring the Bluetooth protocol between the remote terminal and the microcontroller, Bluetooth communication can be achieved, and the system initialization and tracking target switching functions can be remotely realized;

[0070] The serial communication module is used for data transceiver between the visual recognition module and the microcontroller. After setting the corresponding serial communication protocol, the target feature signal after image acquisition can be sent to the microcontroller through the serial port to complete the data transmission between the visual recognition module and the microcontroller;

[0071] The serial communication module is used for data interaction between the visual recognition module and the microcontroller;

[0072] The power supply module is used to provide power for each module of the laser vehicle;

[0073] The power supply module includes: a charge-discharge lithium battery pack;

[0074] Specifically, the power module uses a rechargeable lithium battery pack as the power supply module of the system. During the operation of the entire laser vehicle, the power supply module provides stable and lasting power support. At the same time, there are multiple modules in the system that require stable power supply. The efficient power management circuit can realize the power management of the entire system, allocate the required power for each module, ensure that all modules of the system are online, and complete the corresponding system functions.

[0075] A control method for an educational laser tracking vehicle based on dynamic vision recognition and multi-target switching, comprising the following steps:

[0076] S1. Set up a vision recognition module;

[0077] Specifically, step S1 includes the following steps:

[0078] S1.1. Initialize the system and the vision recognition module;

[0079] S1.2. Set the white balance and gain parameters to complete the initial condition setting for the vision recognition module to collect images;

[0080] S1.3. Capture each frame of image and perform filtering and denoising processing on the image;

[0081] S1.4. Set the gray threshold for the tracking object and perform binary processing;

[0082] S1.5. Separate the tracking object from the background and extract the feature information of the object's position, area, and circularity;

[0083] S1.6. Analyze multiple frames of images;

[0084] S1.7. Complete object recognition and can track according to the object's position;

[0085] S2. Set the characteristics of the laser signal and the characteristics of the set items;

[0086] Specifically, S2.1. The vision recognition module recognizes the infrared laser or the set object to generate feature data;

[0087] S2.2. The feature data is transmitted to the microcontroller through the serial communication module;

[0088] S2.3. The microcontroller performs checksum and rationality analysis on the received feature data;

[0089] S2.4. The microcontroller calculates the steering adjustment amount and the forward / backward distance amount of the drive motor and the transmission system according to the feature data;

[0090] Design the workflow for laser tracking and tracking of other specified objects. The visual recognition module recognizes feature information such as the position of the infrared laser or the specified object. The feature information is transmitted to the main controller through the serial communication module. The main controller performs verification and rationality analysis on the received feature information. First, it will judge whether the recognized information conforms to the relevant parameters of the currently set tracking target according to feature information such as circularity and area. If the feature information is within a reasonable range, it indicates that the currently recognized object is the object to be tracked. The x coordinate in the position information represents the direction, and the y coordinate represents the forward distance of the laser vehicle. If the x and y coordinates in the received feature signal conform to the range of the four coordinate data set, it is judged as reasonable data. The microcontroller, based on the position characteristics of the infrared laser and the specified object, if the tracking target is in front of the laser vehicle, converts the x coordinate into the steering adjustment amount of the laser vehicle through an algorithm, and converts the data of the y coordinate into the forward distance amount of the laser vehicle through an algorithm. If the tracking target is behind the laser vehicle, the x coordinate continues to be converted into the steering adjustment amount, and the data of the y coordinate is converted into the backward distance amount of the laser vehicle through an algorithm;

[0091] After outputting the steering and distance data, the system will perform verification and rationality analysis on the data again. If the converted steering amount and distance amount do not conform to the actual driving behavior of the laser vehicle, the data is unreasonable data, and the system continues to convert the new coordinate data until reasonable data is obtained to control the laser vehicle to drive towards the target object, realizing the precise tracking of the laser and the specified object;

[0092] S3. Set the tracking target switching program;

[0093] Specifically, when the key module is pressed or the Bluetooth module receives a remote control instruction from the terminal device, the microcontroller detects the trigger signal of the key module or the remote control instruction to trigger the target switching program;

[0094] When the target switching program is triggered, first pause the current tracking task, then reconfigure the setting parameters and recognition model of the visual recognition module, and switch the recognition target from the laser to the next other item;

[0095] Specifically, for designing the tracking target switching program, when the key is pressed or the Bluetooth sends instruction information, the system detects the key interruption or the Bluetooth instruction signal to trigger the target switching program;

[0096] This program first pauses the current tracking task, then initializes the relevant parameters of the visual recognition module, and performs reconfiguration of the parameters, re-sets the tracking target, restarts the tracking task, constantly detects the object in the acquisition frame, replaces the sent feature signals, including parameters such as circularity and area, and the system also switches the verification data to re-track the target object, completing the switching of the tracking target of the system.

[0097] In summary, according to the puzzle education laser tracking vehicle and its control method based on dynamic vision recognition and multi-target switching disclosed in the present invention, first, the laser vehicle of the present invention has functions of laser tracking and tracking of various items, which can meet the needs of different puzzle education scenarios, provide rich choices for teaching activities, and greatly expand the application scope of the laser vehicle. Then, the switching of the tracking target can be achieved through simple button operations or Bluetooth commands without complex settings and debugging, which reduces the usage threshold, facilitates the operation of children and educators, and effectively improves the user experience. Then, the diverse tracking functions can effectively stimulate children's curiosity and desire for exploration. During the tracking process, children need to observe the movement of the laser vehicle and analyze the characteristics of the tracking target, thereby exercising their observation ability, thinking ability and hands-on ability, helping children learn knowledge and improve their abilities in fun activities, and enhancing the effect of puzzle education. Finally, advanced image recognition algorithms and high-performance hardware modules are adopted, enabling the laser vehicle to work stably under different lighting conditions and environmental backgrounds, accurately identify the tracking target, and have strong environmental adaptability, and can be widely applied to various indoor and outdoor education scenarios.

[0098] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An educational laser tracking vehicle based on dynamic visual recognition and multi-target switching, characterized in that: include: Vehicle body; A visual recognition module, disposed on the vehicle body, for recognizing the characteristics of the laser signal and the characteristics of the set object to generate characteristic data; A microcontroller is disposed on the vehicle body and is used to receive and analyze the characteristic data to generate a steering adjustment amount and a forward / reverse distance amount; The motor and transmission system are arranged on the vehicle body and are used to control the movement of the vehicle body according to the steering adjustment amount and the forward / reverse distance amount; A button module is arranged on the vehicle body, and is used to receive a user's tracking target switching instruction, and trigger the parameter reset and recognition model switching of the visual recognition module through the microcontroller; The Bluetooth module is used to receive remote control instructions from the terminal device and transmit them to the microcontroller for execution; Serial communication module, used for data exchange between the visual recognition module and the microcontroller; The power module is used to provide power to each module of the laser vehicle.

2. The educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 1, characterized in that: The photosensitive elements of the visual recognition module include: OV5640.

3. The educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 1, characterized in that: Microcontroller, including: STM32 microcontroller.

4. The educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 1, characterized in that: The power module includes a chargeable and dischargeable lithium battery pack.

5. A control method for an educational laser tracking vehicle based on dynamic visual recognition and multi-target switching, characterized in that: The following steps are involved: S1. Setting up visual recognition module; S2. Setting the characteristics of the laser signal and the characteristics of the object; S3. Set the tracking target switching procedure.

6. The control method of the educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 5, characterized in that: Step S1 includes the following steps: S1.1, initialize the system and visual recognition module; S1.2, set white balance and gain parameters to complete the initial condition setting of the image collected by the visual recognition module; S1.3, capturing each frame of the image and performing filtering and denoising on the image; S1.4, setting the grayscale threshold of the tracked object and performing binarization processing; S1.5, separate the tracked object from the background, and extract the feature information of the object's position, area and circularity; S1.6, analyzing multiple frames of images; S1.

7. After object recognition is completed, tracking can be performed based on the object's position.

7. The control method of the educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 6, characterized in that: Step S2 includes the following steps: S2.1, the visual recognition module recognizes the infrared laser or the set object to generate feature data; S2.2, the characteristic data is transmitted to the microcontroller through the serial communication module; S2.3, the microcontroller verifies and performs rationality analysis on the received characteristic data; S2.4, the microcontroller calculates the steering adjustment amount and forward / reverse distance of the drive motor and transmission system based on the characteristic data.

8. The control method of the educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 7, characterized in that: Step S3 includes the following steps: When the key module is pressed or the Bluetooth module receives a remote control instruction from the terminal device, the microcontroller detects a trigger signal from the key module or the remote control instruction and triggers a target switching program.

9. The control method of the educational laser tracking vehicle based on dynamic visual recognition and multi-target switching as claimed in claim 8, characterized in that: When the target switching procedure is triggered, the current tracking task is first paused, and then the setting parameters and recognition model of the visual recognition module are reconfigured to switch the recognition target from laser to the next object.

Images