CN107976685A - A kind of infrared sensor indoor human body Target Tracking System based on Internet of Things - Google Patents
A kind of infrared sensor indoor human body Target Tracking System based on Internet of Things Download PDFInfo
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- CN107976685A CN107976685A CN201711153839.9A CN201711153839A CN107976685A CN 107976685 A CN107976685 A CN 107976685A CN 201711153839 A CN201711153839 A CN 201711153839A CN 107976685 A CN107976685 A CN 107976685A
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention relates to a kind of infrared sensor indoor human body Target Tracking System based on Internet of Things.Build the internet of things sensors platform based on Contiki systems, can by serial ports carry out on-the-spot test or by Ethernet card carry out remote testing, solve traditional sensors network can only on-the-spot test limitation；Devise side view and overlook the comprehensive sensor model of infrared sensor network, synthesis is using the side view node of double layer design and the vertical view node of detection zone approximation donut, to obtain the positional information of human body target；Divided with reference to sensor survey line interior extrapolation method and detection zone, human body target is positioned, reduces system installation difficulty and calculation amount；Track is smoothed using Kalman filtering algorithm, further the motion tracking track of target is matched with object module, realizes human body target tracking；According to the arrangement of the tracking information of target, motion model and actual scene, the behavior for carrying out human body target is inferred and is predicted.
Description
Technical field
The present invention relates to a kind of human body target tracking system, specifically a kind of infrared sensor room based on Internet of Things
Interior human body target tracking system.
Background technology
In recent years, human body target tracking technology continues to develop and is successfully applied to military and civilian field, in early warning and peace
Anti- context of detection is with a wide range of applications.Human body target tracking is led to more using the method for video and image procossing at present
The characteristics of image for crossing extraction target realizes tracking, needs high-definition video camera, larger memory space and high-performance for this
Processor, tracking system price, and height, in low visibility, the target based on visible ray are required to environmental factors such as light
Perception and tracking will be difficult to realize.In addition, the human body target tracking based on video is needed to the specific figure such as the face of people and action
As feature is preserved, in some occasions, there are security.And pyroelectric infrared sensor as a kind of low cost, just
In the passive infrared sensor largely produced, the environmental factors such as light are not required excessively, and are not related to invasion of privacy, it is non-
The often tracking of suitable human body target.But the sensor can only obtain target bearing information, lack range information, it is therefore necessary to
It is laid out using distributed networked, ingehious design sensor detection model, is perceived using multi-sensor cooperation, realized to human body mesh
Demarcate position and tracking.
In distributed data acquisition field, there is the wireless sensor network quilt of low-power consumption, low cost and ad hoc network
Widely use.But existing wireless sensor network uses Zigbee systems mostly, communication is only completed between sensors,
Therefore the collection of data can only can not be at the scene carried out with internet Direct Communication.And Contiki systems are specific to Internet of Things
The operating system of net and Design of Wireless Sensor Network, including uIP protocol stacks, can be seamlessly connected with internet,
Both on-site data gathering can be carried out, also remote data acquisition can be carried out by internet.Currently used for indoor human body target following
Wireless sensor network node, perceived using the vertical view perceptive mode of infrared sensor combination Fresnel Lenses or side view
Mode.In existing side view sensory perceptual system, otherwise node is small and visual field is excessive, cause human body target tracking precision low,
In order to refine visual field and special node, node volume is excessive to be not easy to install.In addition, perceived using single side view, may
Human body target occlusion issue occurs.And use single vertical view to perceive, in order to improve positioning accuracy need that many nodes are installed
To refine detection zone, number of nodes is more, adds installation difficulty and handles the calculation amount of data.For this reason, it may be necessary to current
Infrared perception mode carries out brand-new design, accomplish between system dimension, installation difficulty, positioning accuracy and calculation amount balance and
Optimization.
The characteristics of two kinds of perceptive modes of the invention according to side view and vertical view and limitation, it is proposed that a kind of side view-vertical view phase
With reference to infrared sensor network indoor human body Target Tracking System.Wherein side view infrared sensor node uses infrared sensor
Optical reflection unit is equipped with, by the reasonable deployment of sensor, further refinement visual field has been reached while volume is reduced
Purpose.In order to solve human body target occlusion issue, auxiliary has used a small amount of vertical view infrared sensor node, and is perceived overlooking
Sensor field of view region division be combined with the survey line interior extrapolation method that side view perceives, reduced while more location informations are obtained
Calculation amount.
The content of the invention
The present invention proposes that a kind of infrared sensor indoor human body Target Tracking System based on Internet of Things, including Internet of Things pass
The building of sensor platform, the side view-design of the comprehensive sensor model of vertical view infrared sensor network, the positioning of human body target and with
Track and the human body target behavior prediction for combining actual scene.
Building for internet of things sensors platform based on Contiki systems is the base for carrying out data acquisition and data transfer
Plinth, platform includes multiple information collection nodes and the information collected is sent to remittance by an aggregation node, information collection node
The information received is directly attached by serial ports or with internet and is delivered to host computer by poly- node, aggregation node, is led to
Cross tracking and behavior prediction that scene or remote human body target are realized in further information processing.
Further, information collection node includes infrared sensor module, one-chip computer module, radio-frequency module and power supply mould
Block, aggregation node include one-chip computer module, radio-frequency module, serial port module, Ethernet card module and power module.
Further, infrared sensor module is used for the collection of human body target information, changes in human body target motion state
When sensor output voltage change therewith；One-chip computer module carries Contiki systems, ad hoc network between supporting node and
With being directly connected to for internet, the data for being collected to infrared sensor carry out preliminary treatment, including sensor is exported
Signal carries out binary conversion treatment, is represented to perceive human body target with " 1 ", is represented not perceive human body target with " 0 "；Radio-frequency module
The communication being used for realization between information collection node and aggregation node, includes the data sending and aggregation node of information collection node
Data receiver；Serial port module and Ethernet card module are realized aggregation node by way of serial ports or Ethernet respectively
Information is transferred to host computer, to meet field data or remote data acquisition needs；Power module using dry cell to node into
Row power supply.
The comprehensive target apperception model of infrared sensor side view-vertical view includes side view node and overlooks node two parts,
In the interior space, node location is fixed, and space surrounding arranges multiple side view nodes, can uniformly be installed on wall according to actual environment
On wall, using overlooking, node is fixed on the ceiling or 3m eminences, side view node can with the number for overlooking node in the middle part of space
Adjust, being subject to detection zone being capable of all position for being likely to occur of coverage goal.By being adopted to side view node and vertical view node
The information collected carries out collaboration processing, obtains the positional information of human body target.
Further, side view node uses double layer design, and pyroelectric infrared sensor is equipped with special infrared optics reflection
Device realizes lateral perception, and side view node installation is less than 1m apart from ground level, is designed altogether in 180 ° of sensing range on wall
For upper and lower two layers, every layer of 4 infrared sensor, the perception angle of each sensor is 90 °, and sensing range is handed between different sensors
Poststack refinement sensing range is 22.5 °；, it is necessary to 90 ° of total sensing range when side view node is placed at corner position, then the position
At least every layer of 2 sensor are needed, altogether 4 sensors, in order to leave surplus, the present invention uses every layer of 3 sensor, altogether
6 sensors；Node is overlooked to hang on the ceiling or use 4 infrared sensors away from ground 3m eminences, each node, each
Sensor is equipped with Fresnel lens and realizes that vertical view perceives, and ground region is divided into 4 approximate circular concentrics, for human body
Target positions line trace of going forward side by side.
Further, human body target tracking comprises the following steps that：
(1) according to the output of side view sensors node, corresponding survey line is activated, using sensor node position as base
Standard, if the endpoint of corresponding refinement sensing region includes the reference position just, the longer angle for activating the refinement sensing region is put down
Otherwise separated time makes the extended line of the refinement sensing region just past the diagonal of reference position as survey line as survey line,
The crosspoint produced between these surveys line is considered as primary measuring point, and for a human body target, only partial intersection point can react
Go out target actual position, remaining crosspoint is that false measuring point needs to be rejected；
(2) region is known as by primary perceive there are mesh target area according to the output for overlooking sensor node, activation
Domain, rejects and the primary primary measuring point perceived in domain is not present in step (1), remaining measuring point is retained and is used as secondary
Level measuring point；
(3) if a secondary measuring point is in the refinement sensing range where certain side view node activates survey line, or
The secondary measuring point exceeds total sensing range of the side view node, then increases the secondary measuring point reliability；It is secondary for each
Measuring point, travels through all side view nodes, respectively obtains its reliability；
(4) the highest secondary measuring point of reliability in step (3) is left effective measuring point, using multidimensional distribution method,
Effective measuring point is matched with corresponding target, and then obtains the anchor point of each target；
(5) track is smoothed using Kalman filtering algorithm, further by the motion tracking track of target with
Object module is matched, and realizes target following.
Further, can be to human body according to the arrangement of the tracking information of human body target, corresponding model and actual scene
The behavior of target is predicted.Its to target carry out behavior prediction basis be, by the previous behavior of human body target into
Row study is artificially inferred and is predicted to target trajectory and respective behavior.
Further, when target enters sensing region, sensor information is preserved, mesh was perceived when continuous 3 seconds
Timestamp, starts to track to human body target；When not perceiving continuing to move to for human body target in 5 seconds, then target following terminates.
The present invention solves the problems, such as that traditional infrared sensor network can only carry out on-site data gathering；At the same time by side view sense
To know and overlook perception and combine, realize and have complementary advantages, wherein side view perceives the positional information that can more effectively obtain target,
Calculation amount can largely be reduced by overlooking perception, and the combined use of the two reduces the single peace for overlooking and perceiving and being perceived with single side view
Fill difficulty and difficulty in computation；Pervious human body target tracking system is confined to only to be directed to target into line trace, the system
The tracking information and actual scene of target, and then the behavior to human body target is inferred and is predicted.
Brief description of the drawings
Fig. 1 is the overall structure diagram of indoor human body Target Tracking System of the present invention；
Fig. 2 is infrared sensor schematic diagram of the present invention；
Fig. 3 is side view of the present invention (vertical view) node perceived angle (region) schematic diagram；
Fig. 4 produces schematic diagram for side view node survey line of the present invention；
Fig. 5 puts schematic diagram for side view of the present invention-vertical view infrared sensor network sensor model three-dimensional；
Fig. 6 puts schematic diagram for side view of the present invention-vertical view infrared sensor network sensor model two dimension；
Fig. 7 is multi-target orientation method schematic diagram of the present invention；
Fig. 8 is human body target tracking of the present invention and behavior prediction schematic diagram.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
It is the overall structure diagram of this indoor human body Target Tracking System as shown in Figure 1,11 show information gathering section
Point composition schematic diagram, 12 show aggregation node composition schematic diagram.Information collection node can have multiple, and aggregation node only has one
It is a.Information collection node includes side view node and overlooks two kinds of node.Side view node is equipped with special using pyroelectric infrared sensor
Different infrared optics reflection unit realize it is lateral perceive, respectively its side view and top view as shown in Fig. 2 21 and 22, in figure
Dark parts represent pyroelectric infrared sensor, and light-colored part represents optical reflection unit, both can realize Fig. 2 at combined use
In sensing range shown in 23.Overlook node and realize that vertical view perceives using infrared sensor outfit Fresnel lens, as 24 in Fig. 2
Shown in 25, by adjusting the shielded area of dark parts shown in Fig. 2 25, it can be carried out to perceiving angle in Fig. 2 26 Suo Shi
Adjustment, and then adjust sensing range.
A sensor coordinates the sensing range of infrared optics reflection unit in 31 expression side view nodes in Fig. 3.Side view section
Point is designed using upper and lower two layers, and when every layer of 4 infrared sensor, its total sensing range can be more than 180 °, difference sensing
It is 22.5 ° that sensing range is refined after sensing range overlaps between device, as shown in Fig. 3 32.Overlook node and use 4 infrared sensings
Device, each sensor are equipped with Fresnel lens and realize that vertical view perceives, and ground region is divided into 4 approximate circular concentrics,
As shown in Fig. 3 33.When perceiving human body target, respective sensor output is 1, is otherwise 0.Fig. 3 intermediate cam shapes region represents
Human body target, for side view node, sensor senses signal is sequentially output according to 321~328 order, corresponding with Fig. 3 32
Output signal is 0110-0110, and first 4 represent the output of first layer sensor binaryzation, and latter 4 represent second layer output；For
Node is overlooked, according to order from inside to outside, sensor output is 0011.
Information collection node sends sensor output signal to aggregation node, then is transmitted to host computer.For each
Side view node, first judges first layer overlapping region, further according to the two of the second layer according to the output of the binaryzation of first layer sensor
Second layer overlapping region is judged in value output, finally ship calculating by two layers of overlapping region and tries to achieve last refinement perception model
Enclose；For each vertical view node, directly the annulus scope according to residing for sensor output judges target.
For each side view node, it is necessary to activate corresponding survey line after the sensing range residing for target is judged.
When target is in the scope shown in 41,42, using a diagonal of the scope as survey line, cornerwise extended line warp
Cross respective side and regard node, as shown in Fig. 4 44 and 45；When human body target is in the refinement sensing range shown in 43, with longer
Angular bisector is as survey line, as shown in Fig. 4 46.
The information collection node number of actual arrangement is determined by the size of required perception total size, with all inspections of sensor
Surveying region can be subject to all position for being likely to occur of coverage goal.In the indoor environment of 10m*10m sizes, 9 sections can be used
Row information collection is clicked through, arrangement is as shown in Figure 5.51 show vertical view node, and when the node installation is in 3m high, 4 near
1m, 1.7m, 3m, 6m are set to from inside to outside like the radius of circular sensing range.52nd, 53 side view node, 52 placements are shown
In 1 meter of wall centre position eminence, 53 are placed at corner, its excess-three face wall places side view node in the same way.
Fig. 6 show side view of the present invention-vertical view infrared sensor network sensor model two dimension and puts schematic diagram, and 61 show
Node is overlooked, schematic top plan view is as shown in Fig. 6 611；62~69 be side view node, and schematic side view is as shown in Fig. 6 621.
Human body target is represented to scheme intermediate cam shape, and the tracking step of corresponding human body target is as follows：
Step 1：According to the output of side view sensors node, activate each side view node infrared sensor and correspond to refinement sense
Know the survey line of scope, as 63~No. 69 nodes can perceive target in Fig. 6, then activate its corresponding survey line respectively, these surveys
Many crosspoints can be produced between line, these crosspoints are known as primary measuring point, for a human body target, only part is handed over
Crunode can reflect target actual position, remaining crosspoint farther out, is considered as false measuring point, it is necessary to reject away from real goal；
Step 2：According to the output for overlooking sensor node, which is known as primary sense by activation there are mesh target area
Know domain, reject and the primary primary measuring point perceived in domain is not present in step 1, i.e. a~g the measuring points marked in Fig. 3, to it
Surplus measuring point is retained and is known as secondary measuring point；
Step 3：If a secondary measuring point is in the refinement sensing range of certain side view node activation survey line, should
The reliability increase by 1 of secondary measuring point, if the secondary measuring point exceedes total sensing range of certain side view node, also measures the secondary
The reliability increase by 1 of point；For each secondary measuring point, all side view nodes are traveled through, respectively obtain its reliability, to realize more mesh
During mark tracking, each target has the secondary measuring point of identical highest confidence level；As shown in fig. 7, target 1 (figure intermediate cam shape)
Crossing points of surveying line b, d can be detected by 4 sensors and its activate survey line refinement sensing range in, its reliability be 4,
Crossing points of surveying line f, g of target 2 (circular in figure) can be detected by 3 sensors activates the refinement sensing range of survey line at it
Interior, its reliability is 3, but since it is beyond total sensing range of sensor node 73, then its reliability is added 1 again, such mesh
2 final reliabilities are marked as 4；
Step 4：The reliability of secondary measuring point in step 3 is sorted, the highest measuring point of reliability is known as effective measuring point, i.e.,
B, d point and f, g point obtained in step 3, then using multidimensional distribution method, effective measuring point is carried out with corresponding target
Matching, and then obtain the anchor point of each target；
Step 5：Track is smoothed using Kalman filter tracking algorithm, further by the motion tracking of target
Track is matched with object module, realizes target following.
Fig. 8 is the tracking of human body target and behavior prediction schematic diagram in the present invention.Wherein kth moment position is prediction bits
Put, which obtained after being predicted according to the position (each point in figure in solid line) before the k moment.According to various in figure
The layout of furniture and the predicted position of target subsequent time, can be predicted the behavior of target, dashed lines part institute
Show, the most possible behavior of target is to move towards the position of sofa.
The foregoing is merely a kind of explanation for being applicable in scene of the present invention, protection scope of the present invention not limited to this, Ren Heben
The simple change and equivalent substitution that those skilled in the art make in the essential scope of the present invention also belong to the present invention
Protection domain.
Claims (5)
- A kind of 1. infrared sensor indoor human body Target Tracking System based on Internet of Things, it is characterised in that including：Build the Internet of Things infrared sensor platform based on Contiki systems, can by serial ports carry out on-site data gathering or Person carries out remote data acquisition by Ethernet card；Design the comprehensive indoor human body target apperception model of side view-vertical view infrared sensor network, sensor survey line interior extrapolation method and Detection zone division is combined, and carries out human body target positioning, and then realize human body target tracking；With reference to the track of actual scene and human body target tracking, the behavior to target is predicted.
- 2. a kind of infrared sensor human body target tracking system based on Internet of Things according to claim 1, its feature exist In devising pyroelectric infrared sensor information collection node and aggregation node based on Contiki systems, information collection node The human body target information collected is sent to aggregation node, aggregation node by the information received by serial ports or directly with Internet, which is attached, passes to host computer, and live and long-range tracking can be carried out to human body target.
- A kind of 3. infrared sensor human body target tracking system based on Internet of Things according to claim 1 and claim 2 System, it is characterised in that devise the comprehensive target apperception model of side view-vertical view infrared sensor network, wherein side view node makes With double layer design, special infrared optics reflection unit is equipped with using pyroelectric infrared sensor and realizes lateral perception, side view node It is placed on wall, is less than 1m apart from ground level, the sensing range that 180 ° of node is designed as two layers up and down, every layer of 4 infrared sensing Device, the perception angle of each sensor is 90 °, and it is 22.5 ° that sensing range is refined after sensing range overlaps between different sensors；Side , it is necessary to which 90 ° of total sensing range, in order to realize the sensing range of bigger, the present invention uses when being placed at corner position depending on node Every layer of 3 sensor, altogether 6 sensors；Node is overlooked to hang on the ceiling or use 4 away from ground 3m eminences, each node A infrared sensor, each sensor are equipped with Fresnel lens and realize that vertical view perceives, and it is same that ground region is divided into 4 approximations The heart is circular, and for line trace of going forward side by side to human body target positioning, the number of side view node and vertical view node adjusts, with detection zone It can comprise the following steps subject to all positions for being likely to occur of coverage goal：(1) according to the output of side view sensors node, corresponding survey line is activated, on the basis of sensor node position, if The endpoint of corresponding refinement sensing region includes the reference position just, then the longer angular bisector for activating the refinement sensing region is made For survey line, the extended line of the refinement sensing region is otherwise made just past the diagonal of reference position as survey line, these surveys The crosspoint produced between line is considered as primary measuring point, and for a human body target, only partial intersection point can reflect target Actual position, remaining crosspoint are that false measuring point needs to be rejected；(2) region is considered as primary perception domain, is picked there are mesh target area according to the output for overlooking sensor node, activation Except the primary primary measuring point perceived in domain is not present in step (1), remaining measuring point is retained and is used as secondary measure Measuring point；(3) if a secondary measuring point is in the refinement sensing range where certain side view node activates survey line, or this time Level measuring point exceedes total sensing range of certain side view node, increases the secondary measuring point reliability；For each secondary measuring point, All side view nodes are traveled through, obtain its reliability；(4) the highest secondary measuring point of reliability in step (3) is left effective measuring point, using multidimensional distribution method, will had Effect measuring point is matched with corresponding target, and then obtains the anchor point of each target；(5) target trajectory is smoothed using Kalman filtering algorithm, further by the motion tracking track of target with Object module is matched, and realizes target following.
- 4. a kind of infrared sensor indoor human body target based on Internet of Things according to claim 1 and claim 3 with Track system, it is characterised in that according to the arrangement of the tracking information of target, motion model and actual scene, by human body mesh Previous behavior is marked to be learnt or artificially target trajectory and respective behavior are inferred and predicted.
- 5. a kind of infrared sensor indoor human body target based on Internet of Things according to claim 2 and claim 3 with Track system, when target enters sensing region, proceeds by sensor information preservation, right when perceiving target within continuous 3 seconds Human body target starts to track；When not perceiving continuing to move to for human body target in 5 seconds, then target following terminates.
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