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CN-116953613-B - Infrared positioning system

CN116953613BCN 116953613 BCN116953613 BCN 116953613BCN-116953613-B

Abstract

The invention discloses an infrared positioning system which comprises an electronic tag, a camera base station and a processor, wherein the camera base station comprises a first camera, a second camera and a light filtering device, the light filtering device comprises a switching component and a narrow-band light filter, the narrow-band light filter and the switching component are connected to move under the action of the switching component, the electronic tag is used for periodically radiating infrared coding information, the first camera is used for shooting a first visible light image, the second camera is used for shooting a second visible light image when the narrow-band light filter is positioned at one side of the second camera, the infrared image is shot when the narrow-band light filter is positioned at the front to capture a target carrying the electronic tag, and the processor is used for obtaining the mapping relation between the infrared image and the pixel position coordinates of the first visible light image and processing the infrared image to obtain the center pixel coordinates of the target and the number of the carried electronic tag, so that the position of the target is obtained according to the mapping relation and the center pixel coordinates of the target.

Inventors

  • LIU JUPING

Assignees

  • 刘炬坪

Dates

Publication Date
20260505
Application Date
20230727

Claims (8)

  1. 1. The infrared positioning system is characterized by comprising at least one electronic tag, at least one camera base station and a processor, wherein the camera base station comprises a first camera and a second camera which are arranged in parallel, one side of the second camera is provided with a light filtering device, the light filtering device comprises a switching component and a narrow-band light filter used for allowing infrared light to pass through, the narrow-band light filter is connected with the switching component so as to move to the front of the second camera or one side of the second camera under the action of the switching component, The electronic tag is provided with infrared light with specific wavelength and is used for periodically radiating infrared coding information; the first camera is used for shooting a first visible light image in real time; the second camera is used for shooting a second visible light image when the narrow-band optical filter is positioned at one side of the second camera, and is also used for shooting an infrared image in real time when the narrow-band optical filter is positioned in front of the second camera so as to capture a target carrying an electronic tag; The processor is connected with the first camera and the second camera, and is used for mapping the appointed pixel coordinates in the second visible light image into the first visible light image so as to obtain the mapping relation between the infrared image and the pixel position coordinates of the first visible light image, processing the infrared image from the second camera so as to obtain the central pixel coordinates of the target in the infrared image and the number of the carried electronic tag, and obtaining the actual physical position of the target according to the mapping relation between the pixel position coordinates of the infrared image and the first visible light image and the central pixel coordinates of the target.
  2. 2. The infrared positioning system of claim 1, wherein the processor comprises: the communication module is used for receiving a first visible light image from the first camera and a second visible light image and an infrared image from the second camera; The calibration mapping module is used for selecting specified pixel coordinates at a plurality of corresponding specific positions in the second visible light image and the first visible light image, acquiring the relation between the specified pixel coordinates in the second visible light image and the specified pixel coordinates at the corresponding specific positions in the first light image, and accordingly acquiring the mapping relation between the pixel position coordinates of the infrared image and the first visible light image; The processing module is used for processing the infrared image from the second camera to obtain the central pixel coordinate of the target in the infrared image and the number of the carried electronic tag; And the coordinate positioning module is used for obtaining the actual physical position of the target according to the mapping relation of the pixel position coordinates of the infrared image and the first visible light image and the central pixel coordinate of the target.
  3. 3. The infrared positioning system of claim 2, wherein the processing module comprises: The image processing unit is used for filtering the infrared image from the second camera, and performing binarization processing on the filtered infrared image to obtain a black-and-white image so as to separate the electronic tag from a black background and obtain the central pixel coordinate of the electronic tag in the infrared image; The decoding unit is used for continuously acquiring the flash information of the electronic tag in the infrared image in real time according to the preset bit sending time length of the electronic tag and the preset sampling frequency of the camera base station, and acquiring the infrared coding information radiated by the electronic tag according to the acquired flash information, so that the number of the electronic tag is acquired.
  4. 4. The infrared positioning system of claim 2, wherein the processor further comprises a memory module storing the first visible image, the second visible image, the infrared image, the obtained center pixel coordinates of the object, and the number of the electronic tag carried by the object.
  5. 5. Infrared positioning system according to claim 2, wherein the communication module comprises a 4G module and/or a wifi module and/or a USB module and/or a DVP module.
  6. 6. The infrared positioning system of claim 1, wherein the processor is further configured to calculate a displacement of the target according to a number of the electronic tag carried by the target, a moving speed of the target, and a shooting speed of the second camera, so as to track the target.
  7. 7. The infrared positioning system of claim 1, further comprising a server for receiving the first visible light image, the actual physical location of the object, and the number of the electronic tag carried by the object, so as to mark and display the actual physical location of the object and the number of the electronic tag carried in the first visible light image.
  8. 8. The infrared positioning system of claim 1, wherein the infrared positioning system comprises two camera base stations that each capture two planes that are perpendicular to each other.

Description

Infrared positioning system Technical Field The invention relates to the technical field of positioning, in particular to an infrared positioning system. Background In recent years, with the development of the mobile internet, location awareness and object coding have become more and more important. The location-based services have great demands and market prospects in the fields of learning, rescue, medical treatment, monitoring and the like. It is known that there are global satellite navigation systems outdoors that provide positioning, but the positioning accuracy is only up to the order of meters and cannot be applied to indoor positioning for reasons of occlusion. Indoor positioning technology has become a research and development hotspot and an emphasis. In the prior art, a plurality of indoor positioning technologies such as WiFi indoor positioning, radio frequency tag indoor positioning, bluetooth indoor positioning, auxiliary indoor positioning based on a mobile communication network, UWB ultra-wideband indoor positioning, zigBee indoor positioning, ultrasonic positioning, computer vision indoor positioning, traditional infrared positioning and the like appear. The method comprises the steps of positioning a target in a wireless mode, wherein the positioning technology in a wireless mode such as WiFi, radio frequency, bluetooth and UWB is high in penetrating power, the chip hardware technology is complex, the algorithm is complex, the cost is high, ultrasonic positioning needs to be deployed with a plurality of base stations, the range of action is very limited, the ultrasonic positioning is not suitable for positioning a plurality of targets, therefore, ultrasonic positioning is suitable for distance positioning but is not suitable for positioning of a plurality of target plane positions, the machine vision positioning needs to use a complex vision tracking algorithm, the requirement on hardware computing power is increased, the traditional infrared indoor positioning technology generally attaches an electronic tag capable of emitting infrared rays to a positioning target, the distance or the angle of a signal source is measured through a plurality of infrared receivers arranged indoors and outdoors, and the position of the target is calculated, or the target is positioned through covering a space to be detected through an infrared network woven by a plurality of pairs of transmitters and receivers, however, the defects that a large quantity of sensors are required to be densely deployed, and high hardware and construction cost are caused exist. Disclosure of Invention The invention aims to solve the technical problem of providing an infrared positioning system which is simple in hardware and algorithm, low in cost and capable of realizing accurate positioning. In order to solve the technical problems, the invention provides an infrared positioning system, which comprises at least one electronic tag, at least one camera base station and a processor, wherein the camera base station comprises a first camera and a second camera which are arranged in parallel, one side of the second camera is provided with a light filtering device, the light filtering device comprises a switching component and a narrow-band light filter used for allowing infrared light to pass through, the narrow-band light filter is connected with the switching component so as to move to the front of the second camera or one side of the second camera under the action of the switching component, The electronic tag is provided with infrared light with specific wavelength and is used for periodically radiating infrared coding information; the first camera is used for shooting a first visible light image in real time; the second camera is used for shooting a second visible light image when the narrow-band optical filter is positioned at one side of the second camera, and is also used for shooting an infrared image in real time when the narrow-band optical filter is positioned in front of the second camera so as to capture a target carrying an electronic tag; The processor is connected with the first camera and the second camera, and is used for mapping the appointed pixel coordinates in the second visible light image into the first visible light image so as to obtain the mapping relation between the infrared image and the pixel position coordinates of the first visible light image, processing the infrared image from the second camera so as to obtain the central pixel coordinates of the target in the infrared image and the number of the carried electronic tag, and obtaining the actual physical position of the target according to the mapping relation between the pixel position coordinates of the infrared image and the first visible light image and the central pixel coordinates of the target. The further technical scheme is that the processor comprises: the communication module is used for receiving a first visible light image from the fir