Human body following device and tracking method based on pyroelectric infrared sensor array
A technology of pyroelectric infrared and sensor array, which is applied in the direction of measuring devices, electromagnetic wave re-radiation, instruments, etc., can solve the problem of large distance error between man and machine, the inability to distinguish whether the measured object is a person or other obstacles, and the missed detection rate. Advanced problems, achieve good versatility, achieve low-cost upgrades, and easy installation
Inactive Publication Date: 2017-03-29
张永宇
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Problems solved by technology
The scanning infrared pyroelectric detection method cannot distinguish between the human body and the interference heat source, and the false detection rate is high
The ultrasonic sensor cannot distinguish whether the measured object is a person or other obstacles, and the distance error between the human and the machine is relatively large
The computer vision detection method has high missed detection rate, poor real-time performance, high hardware cost and system complexity
In addition, traditional tracking methods are difficult to obtain the exact lateral orientation of the tracking object (human body)
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[0031] like Figure 1 to Figure 4 As shown, the human body following device based on the pyroelectric infrared sensor array of the present invention includes an infrared human body tracking device 1, an analog signal acquisition device 2, an A / D converter 3, a signal processing module 4 and an electronic control device 5 of the robot;
[0032] Infrared body tracking device 1 includes a circular base 6 and a top cover 7, the base 6 and the top cover 7 are plugged together; the upper surface of the base 6 is evenly provided with 12 pyroelectric infrared sensors along the circumference, along the base 6 In the radial direction of each pyroelectric infrared sensor, a Fresnel lens is provided on the radially outer base 6 of each pyroelectric infrared sensor; the inner circle of the upper cover 7 is connected downward with a socket 8 ( image 3 The viewing direction is from the lower side of the upper cover 7 to the upper cover 7), the lower end of the socket 8 is adapted to the inn...
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The invention discloses a human body following device based on a pyroelectric infrared sensor array. The device comprises an infrared human body tracking device, an analog signal collection device, an A / D converter, a signal processing module and an electric control device, the infrared human body tracking device comprises a pedestal and an upper cover, the upper surface of the pedestal is provided with 12 pyroelectric infrared sensors, the pedestal is provided with 12 Fresnel Lenses outside the pyroelectric infrared sensors in the radial directions respectively, the inner circle of the upper cover is connected with a plugging cylinder downwardly, a connecting line of the pyroelectric infrared sensors is connected with the analog signal collection device, the analog signal collection device is connected with the A / D converter, the A / D converter is connected with the signal processing module, and the signal processing module is connected with an electric control device of a robot. According to the invention, the structure is simple, the cost is lower, the defect that a single detection can only determine the edge of the human body but cannot know the horizontal position of the human body exactly during static detection is overcome, the horizontal position of the tracking object can be obtained more accurately, and the device and method are suitable for robots.
Description
technical field [0001] The invention relates to the technical field of infrared detection and tracking, in particular to a human body following device based on a pyroelectric infrared sensor array. Background technique [0002] Existing robots all have electric control device, and the kinematic mechanism of electric control device controls robot carries out various actions such as advancing, turning to, retreating. After receiving the signal from the sensor, the electronic control device of the robot controls the action of the motion mechanism according to the position of the tracking object, so that the robot moves toward the tracking object. [0003] Currently known robot body following methods are mainly based on infrared pyroelectric sensors, ultrasonic sensors and computer vision. The scanning infrared pyroelectric detection method cannot distinguish between the human body and the interference heat source, and the false detection rate is high. Ultrasonic sensors canno...
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IPC IPC(8): G01S17/66
CPCG01S17/66
Inventor 张永宇刘丽兰焦丽
Owner 张永宇
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