Dynamic target tracking device

Abstract

The utility model relates to the field of tracking equipment, and provides a dynamic target tracking device, which comprises a laser tracker, a base, a camera, a PCB (printed circuit board) and a first display, and is characterized in that the laser tracker is provided with a fixed frame and a power unit; a driving unit is arranged on the base, the top surface of the base is a horizontal mounting surface, the fixing frame is perpendicular to the base, and the camera is independently arranged; the PCB is electrically connected with the power unit and the driving unit in parallel, the camera is electrically connected with the input end of the PCB, and the laser tracker is in communication connection or electric connection with the PCB; and the first display is electrically connected with the first output end of the PCB. After the assembly precision is improved, the mechanical error can be reduced, and the tracking precision is improved. Especially, the farther the distance from the dynamic target tracking device is, the error value is amplified to form intuitive representation, so that the higher the precision of the device is, the more accurate the device is, and a high-precision tracking effect can be formed by matching with a high-performance tracking system.

Description

Technical Field

[0001] The utility model relates to the field of tracking equipment, in particular to a dynamic target tracking device. Background Art

[0002] In recent years, the application of moving target tracking has become more and more widespread, especially with the rise of drone applications, the corresponding target tracking methods have become more and more important. Tracking can be mainly divided into three categories: area-based tracking, contour-based tracking and feature-based tracking. The premise of accurate tracking is to accurately detect the tracked target in the background.

[0003] In the fields of autonomous navigation, urban modeling, robotics, and virtual reality, dynamic target objects often need to be identified and located. However, existing devices have relatively poor response speed or positioning accuracy, and are easily affected by environmental factors, such as low light or interference targets, which can easily lead to the problem of losing track of the target object. Utility Model Content

[0004] The utility model aims to provide a dynamic target tracking device, aiming to improve the problem of relatively poor tracking accuracy of existing dynamic target tracking devices.

[0005] To achieve the above purpose, the utility model adopts the following technical solution: a dynamic target tracking device, comprising:

[0006] The laser tracker is provided with a fixing frame for installing the laser tracker and a power unit for driving the fixing frame to swing vertically;

[0007] A base, on which a driving unit for driving the power unit to rotate horizontally is arranged, the top surface of the base is a horizontal mounting surface, and the fixing frame and the base are arranged perpendicular to each other, and the roughness Ra of the matching surface between the base and the mounting surface is less than 0.2 μm;

[0008] Camera, its independent setting;

[0009] A PCB board, which is electrically connected to the power unit and the drive unit in parallel, the camera is electrically connected to an input end of the PCB board, and the laser tracker is communicatively connected or electrically connected to the PCB board; and

[0010] The first display is electrically connected to the first output terminal of the PCB board.

[0011] Preferably, a battery for supplying the power unit and the drive unit is arranged in the base.

[0012] Preferably, a counter is further included, and the counter is electrically connected to the second output terminal of the PCB board.

[0013] Preferably, the power unit is a steering gear, and the power unit is provided with a timer for turning on or off its own and a second display for displaying the time and number of times of the timer.

[0014] Preferably, it also includes a power controller, the power unit and the driving unit are electrically connected to the power controller in parallel, and the power controller is electrically connected to the PCB board.

[0015] Preferably, a drawer-type slide groove with an open top surface is provided on the mounting surface, and a sliding seat movably engaged with the drawer-type slide groove is provided at the bottom of the fixing frame.

[0016] Preferably, the camera is provided with an identification circuit electrically connected to the input terminal of the PCB board;

[0017] The identification circuit includes a single-chip microcomputer U2 and an adjustment chip IC2, wherein the 10th pin of the single-chip microcomputer U2 is electrically connected to a capacitor C23, and the capacitor C23 is grounded; the 5th pin of the single-chip microcomputer U2 is electrically connected to a resistor R4, and the 3rd pin of the single-chip microcomputer U2 is electrically connected to a resistor R5, and the other end of the resistor R5 and the other end of the resistor R4 are connected to an external power supply;

[0018] Pin 1 and pin 3 of the adjustment chip IC2 are electrically connected to a capacitor C6, and the capacitor C6 is grounded; pin 4 of the adjustment chip IC2 is electrically connected to a capacitor C24, and the capacitor C24 is grounded; pin 5 of the adjustment chip IC2 is electrically connected in parallel to pins 4 and 11 of the microcontroller U2.

[0019] Preferably, the power controller is provided with a drive circuit, and the drive circuit includes a single chip microcomputer U3 and an interface J1;

[0020] Pins 5 and 7 of the single-chip microcomputer U3 are electrically connected to the chip output end of the PCB board, and pins 6 and 11 of the single-chip microcomputer U3 are electrically connected to an external power supply; Pin 9 of the single-chip microcomputer U3 is provided with a capacitor C4 with one end grounded, and pin 9 of the single-chip microcomputer U3 is provided with a polarized capacitor C3 with a negative end grounded, and the polarized capacitor C3 and the capacitor C4 are arranged in parallel, and the positive electrode of the polarized capacitor C3 is electrically connected to the external power supply;

[0021] The 4th pin of the single-chip microcomputer U3 is provided with a capacitor C6 with one end grounded, and the 4th pin of the single-chip microcomputer U3 is provided with a polarized capacitor C5 with a negative end grounded, and the polarized capacitor C5 and the capacitor C6 are arranged in parallel, and the positive electrode of the polarized capacitor C5 is electrically connected to an external power supply;

[0022] Pins 1 and 15 of the single-chip microcomputer U3 are grounded, and a diode D5 and a diode D1, a diode D6 and a diode D2, a diode D7 and a diode D3, and a diode D8 and a diode D4 are connected in series in sequence, and the positive poles of the diodes D5, D6, D7, and D8 are grounded, and the negative poles of the diodes D1, D2, D3, and D4 are electrically connected to the positive terminal of the polar capacitor C5.

[0023] Pin 1 of the interface J1 is electrically connected to pin 2 of the microcontroller U3, pin 2 of the interface J1 is electrically connected to pin 3 of the microcontroller U3, pin 3 of the interface J1 is electrically connected to pin 13 of the microcontroller U3, and pin 4 of the interface J1 is electrically connected to pin OUT4 of the microcontroller U3.

[0024] After adopting the above technical solution, the utility model has the following advantages compared with the background technology:

[0025] 1. For tracking equipment, the design of the main structure of the device is also crucial under the premise of ensuring the superior performance of the system. Therefore, high assembly accuracy can reduce mechanical errors and improve tracking accuracy. In particular, the farther away from the dynamic target tracking device, the error value will be magnified, forming an intuitive manifestation. Therefore, the higher the accuracy of the device, the more accurate it is. With a high-performance tracking system, a high-precision tracking effect can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the dynamic target tracking device described in the utility model;

[0027] Figure 2 It is a partial diagram of the dynamic target tracking device described in the utility model;

[0028] Figure 3 A circuit diagram related to the single chip microcomputer U2 of the identification circuit of the dynamic target tracking device described in the utility model;

[0029] Figure 4 A circuit diagram of an adjustment chip IC2 of the identification circuit of the dynamic target tracking device described in the utility model;

[0030] Figure 5 This is a circuit diagram of a driving circuit of the dynamic target tracking device described in the present utility model.

[0031] Description of reference numerals:

[0032] 10. Laser tracker; 101. Fixing frame; 102. Power unit;

[0033] 1011, slide seat;

[0034] 1021. A second display;

[0035] 20. base; 201. drive unit; 202. mounting surface; 203. battery;

[0036] 2021, drawer slide;

[0037] 30. Camera; 40. PCB board; 50. First display; 60. Power controller. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0039] In addition, it should be noted that the terms "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element of the present invention must have a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] When an element is referred to as being “fixed to” or “disposed on” or “provided on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0041] Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0042] Example

[0043] Please refer to Figure 1 and Figure 2As shown, this embodiment provides a dynamic target tracking device, including a laser tracker 10, a base 20, a camera 30, a PCB board 40 and a first display 50. The laser tracker 10 is provided with a fixing frame 101 for installing itself and a power unit 102 for driving the fixing frame 101 to swing vertically; the base 20 is provided with a driving unit 201 for driving the power unit 102 to rotate horizontally, the top surface of the base 20 is a horizontal mounting surface 202, and the fixing frame 101 and the base 20 are arranged perpendicular to each other, and the roughness Ra of the mating surface between the base 20 and the mounting surface 202 is less than 0.2μm; the camera 30 is independently arranged; the PCB board 40 is electrically connected in parallel with the power unit 102 and the driving unit 201, the camera 30 is electrically connected to the input end of the PCB board 40, the laser tracker 10 is communicatively connected or electrically connected to the PCB board 40; the first display 50 is electrically connected to the first output end of the PCB board 40. The PCB board 40 is installed with a single-chip microcomputer of the MSP430F5529 model.

[0044] Specifically, by controlling the assembly accuracy between the fixing frame 101 and the base 20, it is ensured that the fixing frame 101 and the base 20 are perpendicular to each other after assembly, and the initial position accuracy is ensured. In addition, it is driven by a power unit (which can be a steering gear) and a rotating unit (which can be a servo motor) to achieve relatively accurate tracking. At the same time, the tracking picture is taken by the camera 30, the target object has been identified, and the image is input into the control chip of the PCB board 40, so that the laser tracker 10 can perform real-time tracking. Achieve the effect of more accurate tracking of dynamic targets.

[0045] At the same time, the tracked target object can be displayed through the first display 50, and the first display 50 can be a liquid crystal display or an LED display, or a mobile phone terminal or a computer terminal, so as to know the target object and the tracking route, which has good practicality.

[0046] Furthermore, a battery 203 for supplying power to the power unit 102 and the driving unit 201 is disposed in the base 20. The battery 203 can provide stable electric energy to ensure stable operation of the dynamic target tracking device, and can also be connected to the mains for use, thereby improving practicality.

[0047] The present embodiment further includes a counter (not shown in the figure), which may be a DHC11J-2DL counter, and is electrically connected to the second output terminal of the PCB board 40. The counter can count the number of detected targets, so as to obtain information on the number of captures, thereby improving practicality. Figure 1As shown, in this embodiment, the power unit 102 is a steering gear, and the power unit 102 is provided with a timer (not shown in the figure) for opening or closing itself and a second display 1022 for displaying the time and number of the timer. The timer can be a TIMER model timer, and the second display 1022 can be a liquid crystal display or an LED display, or a mobile phone terminal or a computer terminal. The steering gear has good round-trip performance and can provide accurate tracking angles. At the same time, the setting of the timer can stop charging the steering gear when the timer is interrupted and enable the steering gear to automatically track the moving target. In this way, when using the dynamic target tracking device, the power of the steering gear can be guaranteed and the sensitivity of the reaction can be improved.

[0048] like Figure 1 As shown, the present embodiment further includes a power controller 60, the power unit 102 and the driving unit 201 are electrically connected in parallel to the power controller 60, and the power controller 60 is electrically connected to the PCB board 40. The setting of the power controller 60 can better regulate the power to ensure the stability of the power output and the accuracy of its tracking.

[0049] Furthermore, if Figure 5 As shown, in this embodiment, the power controller 60 is provided with a drive circuit, and the drive circuit includes a single-chip microcomputer U3 (the model can be L298N) and an interface J1; the 5th and 7th pins of the single-chip microcomputer U3 are electrically connected to the chip output end of the PCB board 40, and the 6th and 11th pins of the single-chip microcomputer U3 are electrically connected to the external power supply, and the external power supply can be 5V; the 9th pin of the single-chip microcomputer U3 is provided with a capacitor C4 with one end grounded, and the 9th pin of the single-chip microcomputer U3 is provided with a polar capacitor C3 with a negative terminal grounded, and the polar capacitor C3 and the capacitor C4 are arranged in parallel, and the positive electrode of the polar capacitor C3 is electrically connected to the external power supply, and the external power supply can be 5V. The 4th pin of the single-chip microcomputer U3 is provided with a capacitor C6 with one end grounded, and the 4th pin of the single-chip microcomputer U3 is provided with a polar capacitor C5 with a negative terminal grounded, and the polar capacitor C5 and the capacitor C6 are arranged in parallel, and the positive electrode of the polar capacitor C5 is electrically connected to the external power supply. Pin 1 and pin 15 of the single-chip microcomputer U3 are grounded, and diode D5 and diode D1, diode D6 and diode D2, diode D7 and diode D3, and diode D8 and diode D4 are connected in series in sequence with positive poles in parallel between pin 1 and pin 4 of the single-chip microcomputer U3. The positive poles of the diodes D5, D6, D7, and D8 are grounded, and the negative poles of the diodes D1, D2, D3, and D4 are electrically connected to the positive terminal of the polar capacitor C5. Pin 1 of the interface J1 is electrically connected to pin 2 of the single-chip microcomputer U3, pin 2 of the interface J1 is electrically connected to pin 3 of the single-chip microcomputer U3, pin 3 of the interface J1 is electrically connected to pin 13 of the single-chip microcomputer U3, and pin 4 of the interface J1 is electrically connected to pin OUT4 of the single-chip microcomputer U3.

[0050] like Figure 2 As shown, in this embodiment, a drawer-type slide 2021 with an open top surface is provided on the mounting surface 202, and a slide seat 1011 that is movably engaged with the drawer-type slide 2021 is provided at the bottom of the fixing frame 101. The drawer-type slide 2021 can form a fast engagement during assembly, and the engagement of the slide seat 1011 and the drawer-type slide 2021 can form a stable and accurate installation under high-precision matching (i.e., the roughness Ra of the matching surface is less than 0.2 μm), thereby achieving the purpose of convenient installation.

[0051] Furthermore, if Figure 3 and Figure 4 As shown, in this embodiment, an identification circuit electrically connected to the input end of the PCB board 40 is provided in the camera 30; the identification circuit includes a single-chip microcomputer U2 (the model may be a STM32H743LQFP100 single-chip microcomputer) and an adjustment chip IC2 (the model is a single-chip microcomputer of XC6204B332MR), and a capacitor C23 is electrically connected to the pin 10 of the single-chip microcomputer U2, and the capacitor C23 is grounded; a resistor R4 is electrically connected to the pin 5 of the single-chip microcomputer U2, and a resistor R5 is electrically connected to the pin 3 of the single-chip microcomputer U2, and the other end of the resistor R5 and the other end of the resistor R4 are connected to an external power supply, and the external power supply may be 3.3V; a capacitor C6 is electrically connected to the pin 1 and the pin 3 of the adjustment chip IC2, and the capacitor C6 is grounded; a capacitor C24 is electrically connected to the pin 4 of the adjustment chip IC2, and the capacitor C24 is grounded, and the pin 5 of the adjustment chip IC2 is electrically connected in parallel to the pins 4 and 11 of the single-chip microcomputer U2.

[0052] The above is only a preferred specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A dynamic target tracking device, characterized in that: include: The laser tracker is provided with a fixing frame for installing the laser tracker and a power unit for driving the fixing frame to swing vertically; A base, on which a driving unit for driving the power unit to rotate horizontally is arranged, the top surface of the base is a horizontal mounting surface, and the fixing frame and the base are arranged perpendicular to each other, and the roughness Ra of the matching surface between the base and the mounting surface is less than 0.2 μm; Camera, its independent setting; A PCB board, which is electrically connected to the power unit and the drive unit in parallel, the camera is electrically connected to an input end of the PCB board, and the laser tracker is communicatively connected or electrically connected to the PCB board; and The first display is electrically connected to the first output terminal of the PCB board.

2. The dynamic target tracking device according to claim 1, characterized in that: The base is provided with a storage battery for the power unit and the drive unit.

3. The dynamic target tracking device according to claim 1, characterized in that: A counter is also included, and the counter is electrically connected to the second output terminal of the PCB board.

4. The dynamic target tracking device according to claim 1, characterized in that: The power unit is a steering gear, and is provided with a timer for turning on or off the power unit and a second display for displaying the time and number of times of the timer.

5. The dynamic target tracking device according to claim 1 or 4, characterized in that: It also includes a power controller, the power unit and the driving unit are electrically connected to the power controller in parallel, and the power controller is electrically connected to the PCB board.

6. The dynamic target tracking device according to claim 1, characterized in that: The mounting surface is provided with a drawer-type slide groove with an open top surface, and the bottom of the fixing frame is provided with a sliding seat movably engaged with the drawer-type slide groove.

7. The dynamic target tracking device according to claim 1, characterized in that: The camera is provided with an identification circuit electrically connected to the input terminal of the PCB board; The identification circuit includes a single-chip microcomputer U2 and an adjustment chip IC2, wherein the 10th pin of the single-chip microcomputer U2 is electrically connected to a capacitor C23, and the capacitor C23 is grounded; the 5th pin of the single-chip microcomputer U2 is electrically connected to a resistor R4, and the 3rd pin of the single-chip microcomputer U2 is electrically connected to a resistor R5, and the other end of the resistor R5 and the other end of the resistor R4 are connected to an external power supply; Pin 1 and pin 3 of the adjustment chip IC2 are electrically connected to a capacitor C6, and the capacitor C6 is grounded; pin 4 of the adjustment chip IC2 is electrically connected to a capacitor C24, and the capacitor C24 is grounded; pin 5 of the adjustment chip IC2 is electrically connected in parallel to pins 4 and 11 of the microcontroller U2.

8. The dynamic target tracking device according to claim 5, characterized in that: The power controller is provided with a driving circuit, and the driving circuit includes a single chip microcomputer U3 and an interface J1; Pins 5 and 7 of the single-chip microcomputer U3 are electrically connected to the chip output end of the PCB board, and pins 6 and 11 of the single-chip microcomputer U3 are electrically connected to an external power supply; Pin 9 of the single-chip microcomputer U3 is provided with a capacitor C4 with one end grounded, and pin 9 of the single-chip microcomputer U3 is provided with a polarized capacitor C3 with a negative end grounded, and the polarized capacitor C3 and the capacitor C4 are arranged in parallel, and the positive electrode of the polarized capacitor C3 is electrically connected to the external power supply; The 4th pin of the single-chip microcomputer U3 is provided with a capacitor C6 with one end grounded, and the 4th pin of the single-chip microcomputer U3 is provided with a polarized capacitor C5 with a negative end grounded, and the polarized capacitor C5 and the capacitor C6 are arranged in parallel, and the positive electrode of the polarized capacitor C5 is electrically connected to an external power supply; Pins 1 and 15 of the single-chip microcomputer U3 are grounded, and a diode D5 and a diode D1, a diode D6 and a diode D2, a diode D7 and a diode D3, and a diode D8 and a diode D4 are connected in series in sequence, and the positive poles of the diodes D5, D6, D7, and D8 are grounded, and the negative poles of the diodes D1, D2, D3, and D4 are electrically connected to the positive terminal of the polar capacitor C5. Pin 1 of the interface J1 is electrically connected to pin 2 of the microcontroller U3, pin 2 of the interface J1 is electrically connected to pin 3 of the microcontroller U3, pin 3 of the interface J1 is electrically connected to pin 13 of the microcontroller U3, and pin 4 of the interface J1 is electrically connected to pin OUT4 of the microcontroller U3.

Images