单目红外目标跟踪机器人视觉系统设计

Design of a Vision System in Monocular Robot for Infrared Target Tracking

针对特定红外目标跟踪机器人设计的需求,以3种不同频率的信号,合成了可以被一体化红外传感器连续解调的目标特征信号,设计了基于特征信号模型的机器人视觉系统,包括单目复眼的信号检测阵列和2级序列的信号调理电路.试验表明,系统工作稳定可靠,实现了对目标的智能搜索、连续跟踪,信号抗干扰性强,可用于多目标的识别跟踪.

For the demands of specific infrared targets tracing robots, a characteristic signal that can be continuously demodulated by the integrated infrared sensor is synthesized by signals in three different frequencies. The robot vision system which is based on characteristic signal models is designed. This system includes monocular with compound-eye structure which is used as signal test arrays and two-step signal processing circuits. The experiment demonstrates that the system works steady and reliable. Intelligence searches for targets and continuously tracking has been accomplished. The signal has great ability against noises. It can be used for tracking to multi-target.