CN104020784B

CN104020784B - Automatic positioning mounting system for monocular vision detection

Info

Publication number: CN104020784B
Application number: CN201410216121.XA
Authority: CN
Inventors: 郭希娟; 王玉镇; 刘洋
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2014-05-21
Filing date: 2014-05-21
Publication date: 2017-01-11
Anticipated expiration: 2034-05-21
Also published as: CN104020784A

Abstract

An automatic positioning mounting system for monocular vision detection is disclosed. The mounting system is composed of a video signal acquisition and processing part, a control part, a motor driving module and a stepping motor. The video signal acquisition and processing part contains a CCD camera and a DSP core-board. The control part contains a CPLD chip, a GPS module and a proximity sensor positioning module. The CCD camera and the DSP core-board are connected through a bnc wire. The DSP core-board and the CPLD chip are connected with each other. The CPLD chip and the GPS module are in connection communication through a serial port. The CPLD chip and the proximity sensor positioning module are in connection communication through an I2C protocol. An output end of the CPLD chip is connected with the motor driving module. The motor driving module is connected with the stepping motor. The automatic positioning mounting system has advantages as follows: positioning is accurate; algorithm and complexity are simplified; and accuracy and stability of the system are raised.

Description

What a kind of monocular vision detected is automatically positioned carry system

Technical field

The present invention relates to a kind of location carry system, especially one is carried out certainly by monocular vision detection mode The carry system of dynamic location.

Background technology

It is known that location carry system has critically important application, respectively in fields such as military project national defence, industry manufactures The research worker in individual field has also carried out a lot of research to location carry system correlation technique.But technique exists Domestic development is the most ripe, and traditional carry system that is automatically positioned is broadly divided into three kinds, the first: utilizing can Carry out carry is positioned manually depending on changing interface, although this system may insure that carry accuracy, but be dependent on people Hands operates, it is impossible to completing automatic carry, work efficiency is relatively low；The second: utilize various sensor to carry out fixed The carry system of position, its advantage is that simple structure, complexity are low, and shortcoming is that robustness is poor, and carry is accurate Spend poor；The third: utilize the automatic carry system that vision-based detection positions, utilize camera collection image to believe Breath carries out positioning carry, the advantage of this method be carry accurately, strong robustness, shortcoming is to realize complexity, And closely carry can only be carried out.

Summary of the invention

Present invention aim at providing a kind of carry accuracy height, system stability is strong, utilize monocular vision to examine Survey method closely positions carry, utilizes GPS module and Proximity Sensor locating module to carry out farther out What the monocular vision that Distance positioning controls detected is automatically positioned carry system.

For achieving the above object, have employed techniques below scheme: carry system of the present invention is by video signal Acquisition process part, the part that controls, motor drive module and stepper motor composition；At video signal collective Reason part include CCD camera and DSP core core, video signal collective process part carry out image acquisition and Image procossing, utilizes monocular vision detection algorithm to carry out framing；Control part include CPLD chip, GPS module and Proximity Sensor locating module, control part mainly completes Distance positioning, parsing DSP refers to Make, at different levels interruption controls and controls motor drive module；Described CCD camera passes through with DSP core core Bnc line connects, and DSP core core is connected with each other with CPLD chip, and CPLD chip passes through with GPS module Serial ports is connected with each other communication, and CPLD chip is connected communication with Proximity Sensor module by I2C agreement, CPLD chip output is connected with motor drive module；Motor drive module is connected with stepper motor, can enter The corresponding of X, Y, Z all directions that row is controlled by carry system is moved, and completes carry task.

Described carry system uses closed-loop control system, after the most corresponding mobile or carry action completes, all One signal of DSP core core can be fed back to by CPLD chip, make DSP core core carry out figure next time As information gathering, till carry Mission Success completes.By the feedback of image information, accomplish precisely to hang Carry, it is possible to make up motor and the inaccurate error brought of frame for movement, make whole system complete more accurately Carry task, improves the accuracy of system.Greatly reduce the complexity of control, make system to depart from Artificial Control, completes automatic carry.

Described carry system uses real-time control mode, by all kinds of time-constrains, it is ensured that data real-time Property and the work efficiency of system；Interrupt Embedded process mechanism, it is ensured that the preferential place to emergency The safety of reason and carry task completes.

Compared with prior art, present invention have the advantage that

1, finely position based on monocular vision detection technique, while ensureing to be accurately positioned, simplify calculation Method and the complexity of realization；

2, when labelling image cannot be detected, GPS module and Proximity Sensor locating module is utilized to carry out Coarse localization, compensate for vision positioning system can not the shortcoming of long distance positioning；

3, the present invention uses closed loop real-time system, reaches precise controlling by data feedback, is automatically performed relevant Carry task, by time-constrain, minimizes error rate, improves the accuracy of system, reliability.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of the present invention.

Fig. 2 is the system flow chart of the present invention.

Detailed description of the invention

The present invention will be further described below in conjunction with the accompanying drawings:

In the structured flowchart of the present invention as shown in Figure 1, carry system of the present invention is by video signal collective Process part, control part, motor drive module and stepper motor composition；Video signal collective process portion Divide and include CCD camera and DSP core core；Control part includes CPLD chip, GPS module and near Range sensor locating module；Described CCD camera is by the vp interface phase of bnc line with DSP core core Even, the frame image information collected for transmission camera；DSP core core is connected with each other with CPLD chip, Sending related control data to CPLD chip, CPLD chip is also to DSP core core feedback control information； CPLD chip and GPS module are connected with each other communication, transmission of location information by serial ports；CPLD chip with Proximity Sensor module connects communication, transmission of location information by I2C agreement；CPLD chip output with Motor drive module connects, and motor drive module is connected with stepper motor, and CPLD chip is by resolving position Information and image information, control accordingly to motor drive module, thus control motor and complete to hang accordingly Load task.

Described carry system uses closed-loop control system, after each carry action completes, by CPLD chip Feed back to one signal of DSP core core, make DSP core core carry out image information collecting next time, until Till carry task completes.

In the system flow chart of the present invention as shown in Figure 2, after system electrification is run, board port initialization After completing, CCD camera starts to gather image information, and DSP captures image information by vp0 port, enters Can row number image procossing, then carry out monocular vision detection to the image after processing, see and labelling be detected Image, if can not detect, then starts long distance positioning module, controls motor according to location information and drive Dynamic model block, until being able to detect that labelling image, it is fixed then to carry out according to the testing result of labelling image Position, sees the center that whether targeted by labelling image, and continues according to labelling figure without alignment the most again Image position information controls motor drive module and carries out the corresponding movement of X, Y, Z-direction, release feedback coefficient According to DSP core core, Resurvey framing, until alignment mark image center location, finally carry out Carry action, and complete carry task.

Embodiment described above is only to be described the preferred embodiment of the present invention, not to this Bright scope is defined, on the premise of designing spirit without departing from the present invention, and those of ordinary skill in the art The various deformation making technical scheme and improvement, all should fall into claims of the present invention and determine Protection domain in.

Claims

1. monocular vision detection be automatically positioned carry system, it is characterised in that: described carry system by Video signal collective processes part, controls part, motor drive module and stepper motor composition；Video is believed Number acquisition process part includes CCD camera and DSP core core；Control part include CPLD chip, GPS module and Proximity Sensor locating module；Described CCD camera and DSP core core pass through bnc Line connects, and DSP core core is connected with each other with CPLD chip, and CPLD chip and GPS module pass through serial ports Being connected with each other communication, CPLD chip is connected communication, CPLD with Proximity Sensor module by I2C agreement Chip output is connected with motor drive module, and motor drive module is connected with stepper motor.

What a kind of monocular vision the most according to claim 1 detected is automatically positioned carry system, its feature It is: described carry system uses closed-loop control system, after each carry action completes, by CPLD core Sheet feeds back to one signal of DSP core core, makes DSP core core carry out image information collecting next time, directly Completing to carry task.

What a kind of monocular vision the most according to claim 1 detected is automatically positioned carry system, its feature It is: described carry system uses real-time control mode.