A visual sensing two-dimensional pan-tilt color tracking and path fitting device

Abstract

The utility model relates to the technical field of automation and intelligent monitoring, and provides a visual sensing two-dimensional pan-tilt color tracking and path fitting device, which is characterized by comprising a laser pen, a first bracket, a servo one, a first base, a pan-tilt, a servo two, a second base, a two-dimensional pan-tilt base, a main control module, an independent power supply, a third base, a programmable camera and a second bracket, wherein the second base is arranged on the top of the two-dimensional pan-tilt base, the servo two is arranged on one side of the second base, the pan-tilt is respectively arranged on both sides of the servo two, the first base is arranged on the top of the pan-tilt on both sides, and the servo one is arranged on the top of the first base.

Description

Technical Field

[0001] The utility model relates to the technical field of automation and intelligent monitoring, and in particular to a visual sensing type two-dimensional pan-tilt color tracking and path fitting device. Background Art

[0002] In the field of automation and intelligent monitoring, target tracking technology is one of the core components. It involves capturing the position and movement of target objects through visual sensors and processing the captured information to achieve real-time tracking and control. Existing technical solutions usually include a visual sensing system (such as a camera), a data processing unit (such as a computer or embedded processor), a control algorithm (such as a PID control algorithm), and an actuator (such as a motor-driven pan / tilt). These components work together to form a system that can sense, analyze, and respond to the movement of external target objects.

[0003] Existing target tracking technologies have the following defects:

[0004] 1. High system integration complexity: Many existing solutions rely on complex hardware configuration and software debugging, which not only increases the cost of the system, but also increases the difficulty of maintenance and upgrades;

[0005] 2. Slow response speed: In a dynamic environment, the rapid changes of target objects require the system to have a fast response capability. However, existing technologies often have delays in data processing and control command generation, which limits the application effect of the system in rapidly changing scenarios;

[0006] 3. Insufficient precision: Since traditional tracking algorithms are prone to errors when dealing with high-speed motion or environmental interference, resulting in reduced tracking precision, existing systems often find it difficult to maintain high precision when tracking fast-moving or small-sized targets. In view of this, this application is hereby filed. Utility Model Content

[0007] This application proposes a visual sensing two-dimensional pan-tilt color tracking and path fitting device to solve the technical problems of high system integration complexity, slow response speed and insufficient precision in the prior art. The above technical objectives of the utility model are achieved through the following technical solutions:

[0008] A visual sensing two-dimensional pan-tilt color tracking and path fitting device comprises a laser pen, a first bracket, a servo 1, a first base, a pan-tilt, a servo 2, a second base, a third base, a main control module, an independent power supply, a fourth base, a programmable camera and a second bracket, wherein the second base is arranged on the top of the third base, the servo 2 is arranged on one side of the second base, the pan-tilt is arranged on both sides of the servo 2, the first base is arranged on the top of the pan-tilt on both sides, the servo 1 is arranged on the top of the first base, the first bracket is arranged on the servo 1, the laser pen is arranged on the first bracket, the fourth base is located on the side of the second base, the main control module and the independent power supply are both arranged on the fourth base, the second bracket is located on the side of the fourth base, and the programmable camera is arranged on the second bracket.

[0009] Preferably, the laser pen and the programmable camera are facing the same direction.

[0010] Preferably, the main control module is connected to an OLED display module.

[0011] Preferably, four copper pillars are arranged on the top of the third base, the main control module is fixed on the four copper pillars, and the independent power supply is located between the main control module and the fourth base.

[0012] Preferably, the main control module is electrically connected to the first servo and the second servo respectively.

[0013] Preferably, the main control module is electrically connected to the programmable camera.

[0014] Preferably, the third base is in the shape of a regular octagonal prism and is placed on the ground.

[0015] Preferably, the fourth base and the second bracket are both rectangular and placed on the ground.

[0016] Compared with the prior art, the beneficial effects of the present invention include:

[0017] First, determine the tracking target point through the programming camera, turn on the device switch, and the device can identify and track the target point through the camera. The motion path of the tracking laser emitted by the servo two-dimensional gimbal will be fitted with the motion path of the tracking target point. The fitting method is PID calibration fitting, and the fitting error generated is between (1+K) and (1-K). Within the controllable error range, it can achieve more accurate target tracking and path fitting, thereby improving the accuracy.

[0018] Second, it adopts high-precision laser point tracking and motion straight line fitting technology, combined with advanced PID control system and optimized mechanical structure design, which significantly improves the tracking accuracy, response speed and adaptability of the system itself;

[0019] Third, the system adopts a modular design, which reduces the complexity of integration and makes maintenance and upgrades easier, thus having obvious technical advantages and broad application prospects in the fields of automated control and intelligent monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the utility model;

[0021] Figure 2 This is a block diagram of the system hardware structure of the utility model;

[0022] Figure 3 It is the system software flow chart of the utility model;

[0023] Figure 4 This is the PID fitting flow chart of the utility model;

[0024] In the figure: 1. Laser pen; 2. Laser pen bracket; 3. Servo 1; 4. Servo 1 base; 5. Pan / tilt; 6. Servo 2; 7. Servo 2 base; 8. 2D pan / tilt base; 9. Main control module; 10. Independent power supply; 11. Main control module base; 12. Programmable camera; 13. Camera bracket. DETAILED DESCRIPTION

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0028] Please see attached Figure 1-4 A visual sensing two-dimensional pan-tilt color tracking and path fitting device comprises a laser pen 1, a first bracket 2, a steering gear 1 3, a first base 4, a pan-tilt 5, a steering gear 2 6, a second base 7, a third base 8, a main control module 9, an independent power supply 10, a fourth base 11, a programmable camera 12 and a second bracket 13. The second base 7 is arranged on the top of the third base 8, the steering gear 2 6 is arranged on one side of the second base 7, the pan-tilt 5 is respectively arranged on both sides of the steering gear 2 6, the first base 4 is arranged on the top of the pan-tilt 5 on both sides, the bottom of the first base 4 is fixed to the pan-tilt 5 by screws, and the steering gear 1 3 is fixed by screws. It is arranged on the top of the first base 4, the first bracket 2 is arranged on the servo 1 3 by screws, the laser pen 1 is arranged on the first bracket 2, the fourth base 11 is located on the side of the second base 7, the main control module 9 and the independent power supply 10 are both arranged on the fourth base 11, the main control module 9 is connected with an OLED display module, the main control module 9 is electrically connected to the servo 1 3 and the servo 2 6 respectively, the main control module 9 is electrically connected to the programmable camera 12, the second bracket 13 is located on the side of the fourth base 11, the programmable camera 12 is arranged on the second bracket 13, and the laser pen 1 and the programmable camera 12 have the same orientation.

[0029] In this embodiment, the laser pen 1 is first fixed with the laser pen 1 bracket, and the fixing method is to put the laser pen 1 into the two halves of the 3D printed laser pen 1 base, and then close the two halves of the laser pen 1 base by rotating the screws. Then it is installed on the steering plate of the servo 2 6, and the bottom of the laser pen 1 bracket is connected to the steering plate by screws. Then the servo 2 6 is placed in the second base 7, and then the second base 7 is also connected to the servo arm of the servo 1 3 by screws, and finally the servo 1 3 is placed in its corresponding first base 4 to form the above device;

[0030] Then, the servo and the single-chip microcomputer of the above device are powered by the battery box stabilized by the voltage stabilizing module, and the signal line is connected to the single-chip microcomputer, and the programmable camera 12 is fixed, and the pins for data communication between the single-chip microcomputer and the programmable camera 12 are connected, and these parts are placed on the same plane to form the whole device;

[0031] It should be noted that the device as a whole is powered by an external independent power supply 10, and the system stabilizes the voltage into two different voltages of 3.3V and 5V to respectively power the main control module 9, the OLED display module, the programmable camera 12 and the two-dimensional pan-tilt platform 5. The main control module 9 receives the measured data through serial communication with the programmable camera 12 module, and then sends it to the OLED display module after processing by the main control module 9. The data is displayed intuitively through the OLED screen, and the output PWM values ​​required by the two servos of the two-dimensional pan-tilt platform 5 are obtained according to the corresponding calculations, and the two servos in different directions are controlled to rotate to the corresponding positions to realize the color tracking of the visual sensing two-dimensional pan-tilt platform 5;

[0032] In the process of laser point tracking and motion line fitting by the camera, the initial laser point coordinates are first set as the origin (0,0), and then the programmable camera 12 identifies the current coordinates of the laser point (x0,y0) and the tracking target point coordinates (xA,yA);

[0033] First, the whole process is divided into two stages: E (tracking) stage and F (PID adjustment fitting) stage, as well as the logic of fitting different times based on the distance between the laser point and the target point; in the E stage, first determine whether the distance between the laser point and the target point is less than the preset threshold 1. If so, calculate the displacement difference of the laser point relative to the target point on the x-axis and y-axis, and calculate the angles of rotation of the x-axis and y-axis servos and the corresponding PWM wave duty cycle based on this, so as to achieve preliminary tracking of the laser point to the target point; then, in the F stage, determine whether PID adjustment is needed based on the ratio of x0 / y0 to xA / yA; if x0 / y0 deviates from If the range is within the range of , the deviations between the x-axis and the y-axis (xcha, ycha) are calculated, these deviations are converted into angle deviations, and the PID algorithm is applied to calculate the adjusted angle value, and the servo duty cycle is adjusted accordingly to achieve more accurate tracking.

[0034] In the process of laser point tracking and motion line fitting, the distance between the laser point and the target point must also be considered. When this distance is less than threshold 1, it directly enters the E stage for tracking; when the distance is between threshold 1 and threshold 2, the target point is divided into three stages (i.e. (xA / 3, yA / 3), (2xA / 3, 2yA / 3), (xA, yA)) for tracking and fitting. After each stage point is reached, the E and F stages are performed again; when the distance is greater than threshold 2, the target point is divided into five stages for tracking and fitting, and the E and F stages are also performed at each stage point. This step-by-step fitting process helps to track the laser point more accurately, and adjust the tracking strategy according to the real-time position of the laser point to ensure that the laser point can be effectively tracked to the target position. In this process, by continuously adjusting the duty cycle of the servo, the laser point can be accurately controlled, and the purpose of efficiently and accurately tracking the laser point can be achieved.

[0035] The formula is as follows:

[0036] Motion straight line fitting;

[0037] The programmable camera 12 identifies the coordinates of the laser point (x0, y0);

[0038] The first recognition laser point is located at the origin of coordinates (0,0); the coordinates of the tracking target point are identified (xA, yA);

[0039] Determine the length of the moving line;

[0040]

[0041] E(Tracking):

[0042] Calculate the rotation angle of the x-axis and y-axis servos;

[0043] anglex=(arctan(xA÷h)×rad2deg)+90;

[0044] angley=(arctan(yA÷h)×rad2deg)+90;

[0045] Calculate the duty cycle of the PWM wave required by the x and y axis servos; the duty cycle of the servos is 2500;

[0046] PWMx=(anglex÷180×2000)+500;

[0047] PWMy=(angley÷180×2000)+500;

[0048] F (PID adjustment fitting), such as Figure 4 As shown:

[0049] Determine the magnitude relationship between x0 / y0 and xA / yA;

[0050] if,

[0051]

[0052] Skip this stage;

[0053]

[0054] or,

[0055]

[0056] Get the x-axis deviation;

[0057] xcha=x0-xA;

[0058] Converted into angular deviation;

[0059] Agenowx=(arctan(xcha÷h)×rad2deg);

[0060] Cumulative angle error;

[0061]

[0062] Get the adjusted angle value;

[0063]

[0064] Record this error for next adjustment;

[0065] Ageagox = Agenowx;

[0066] Get the y-axis deviation;

[0067] ycha=y0-yA;

[0068] Converted into angular deviation;

[0069] Agenowy=(arctan(ycha÷h)×rad2deg);

[0070] Cumulative angle error;

[0071]

[0072] Get the adjusted angle value;

[0073]

[0074] Record this error for next adjustment

[0075] Ageagoy = Agenowy;

[0076] Output servo duty cycle

[0077] PWMx=(Agex÷180×2000)+PWMx;

[0078] PWMy=(Agey÷180×2000)+PWMy;

[0079] Determine the relationship between x0 / y0 and xA / yA again

[0080] if

[0081]

[0082] Then proceed to the next stage;

[0083] whether to repeat the process again;

[0084] Finish.

[0085] in,

[0086] rad2deg is the radian conversion coefficient;

[0087] h is the distance of the laser pointer 1 facing the coordinate plane;

[0088] angley,anglex are the rotation angles of the x-axis and y-axis servos respectively;

[0089] PWMx0 and PWMy0 are the duty cycles provided to the x-axis servo and y-axis servo in E respectively;

[0090] PWMx and PWMy are the duty cycles provided to the x-axis servo and y-axis servo in F respectively;

[0091] When the first F operation is performed after the E operation, the PWMx and PWMy values ​​added to the output servo duty cycle are the values ​​of PWMx0 and PWMy0 calculated in E.

[0092] xcha, ycha are the x-axis and y-axis deviations;

[0093] Agenowx, Agenowy are the angle deviations of this adjustment;

[0094] Agex, Agey are the servo rotation angles output after PID adjustment;

[0095] Ageagox, Ageagoy are the previous x-axis and y-axis angle deviations;

[0096] Kp, Ki, Kd are the proportional term, integral term, and differential term coefficients respectively, and K is the error coefficient.

[0097] First perform the operation in E, identify the laser point coordinates again and refresh (x0, y0), then perform the operation in F

[0098]

[0099] Re-identify the laser point coordinates and refresh (x0, y0)

[0100] First get the coordinates (xA / 3,yA / 3), (2xA / 3,2yA / 3), (xA,yA)

[0101] Substitute the coordinates in (xA / 3, yA / 3) into (xA, yA) in E for operation

[0102] Refresh (x0, y0) for F calibration

[0103] Substitute the coordinates in (2xA / 3, 2yA / 3) into (xA, yA) in E for operation

[0104] Refresh (x0, y0) for F calibration

[0105] Substitute the coordinates in (xA, yA) into (xA, yA) in E for operation

[0106] Refresh (x0, y0) for F calibration

[0107] Perform three fittings in this way

[0108]

[0109] Get coordinates (xA / 5,yA / 5), (2xA / 5,2yA / 5), (3xA / 5,3yA / 5), (4xA / 5,4yA / 5), (xA,yA)

[0110] Perform the same operation as in 2 and perform 5 fittings.

[0111] After the whole device is assembled, the tracking target point is determined by programming the camera, and the device switch is turned on. The device can identify and track the target point through the camera, and the motion path of the tracking laser emitted by the 6-dimensional gimbal 5 of the servo 2 will be fitted with the motion path of the tracking target point. The fitting method is PID calibration fitting, and the fitting error generated is between (1+K) and (1-K). Within the controllable error range, target tracking and path fitting can be achieved more accurately.

[0112] In some embodiments, four copper pillars are disposed on the top of the third base 8 , the main control module 9 is fixed on the four copper pillars, and the independent power supply 10 is located between the main control module 9 and the fourth base 11 .

[0113] In some embodiments, the third base 8 is in the shape of a regular octagonal prism and is placed on the ground, and the fourth base 11 and the second bracket 13 are both in the shape of a rectangle and are placed on the ground.

[0114] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation on the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the claims attached to the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or the equivalent forms of such scope and boundaries.

Claims

1. A visual sensing two-dimensional pan-tilt color tracking and path fitting device, characterized in that: The invention comprises a laser pen (1), a first bracket (2), a steering gear 1 (3), a first base (4), a pan-tilt platform (5), a steering gear 2 (6), a second base (7), a third base (8), a main control module (9), an independent power supply (10), a fourth base (11), a programmable camera (12) and a second bracket (13), wherein the second base (7) is arranged on the top of the third base (8), the steering gear 2 (6) is arranged on one side of the second base (7), the pan-tilt platform (5) is arranged on both sides of the steering gear 2 (6), and the first base (4) is arranged on both sides. The first base (4) is provided at the top of the gimbal (5), the first support (2) is provided on the first support (3), the laser pen (1) is provided on the first support (2), the fourth base (11) is provided on the side of the second base (7), the main control module (9) and the independent power supply (10) are provided on the fourth base (11), the second support (13) is provided on the side of the fourth base (11), and the programmable camera (12) is provided on the second support (13).

2. A visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 1, characterized in that: The laser pen (1) and the programmable camera (12) are facing the same direction.

3. The visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 1, characterized in that: The main control module (9) is connected to an OLED display module.

4. The visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 1, characterized in that: Four copper pillars are arranged on the top of the third base (8), the main control module (9) is fixed on the four copper pillars, and the independent power supply (10) is located between the main control module (9) and the fourth base (11).

5. A visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 4, characterized in that: The main control module (9) is electrically connected to the first steering gear (3) and the second steering gear (6) respectively.

6. A visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 5, characterized in that: The main control module (9) is electrically connected to the programmable camera (12).

7. The visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 1, characterized in that: The third base (8) is in the shape of a regular octagonal prism and is placed on the ground.

8. The visual sensing two-dimensional pan-tilt color tracking and path fitting device according to claim 1, characterized in that: The fourth base (11) and the second bracket (13) are both rectangular and placed on the ground.

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