Dynamic tracking device and automatic guidance method based on 3D time-of-flight camera

摘要

A beacon device uniquely identified by a Time-of-Flight camera. A dynamic tracking device [FIG. 1, (3)] includes a photoreceptor sensitive to light emission within a specific wavelength range, and a first optical signal [FIG. 1, (2c)]. A microcomputer [Fig. 1, Fig. 1, (2c)] that controls and controls the first light emitter [Fig. 1, (2c)] while contacting and calculating the light emitter and the three-dimensional information coming from the photo detector [Fig. 2a] and a second computer internal or external [FIG. 1 (2d)] incorporating data analysis, database services, media control and external mediation, and local or global data communication services. It has a three-dimensional camera [FIGS. 1 and 2] based on an of flight technology. In addition, the tracking device includes a beacon [FIG. 1, (1)] sensitive to an optical signal emitted from the first light emitter [FIG. 1 (2c)] of the three-dimensional camera [FIG. 1, (2)]. The beacon [FIG. 1, (1)] itself emits the second light of the optical signal [FIG. 2, (1b)] having a wavelength corresponding to the sensitivity of the three-dimensional camera [FIG. 1, (2)]. A beacon with a body. The beacon [FIG. 1, (1)] is an optical signal [FIG. 2, (1c, c ′, d)] emitted from the first light emitter of the optical signal [FIG. 1, (2c)]. Means for modulating. The three-dimensional camera is configured to measure a return time of a signal re-emitted by the beacon. The modulation is achieved by the beacon [FIG. 1, (1) in the three-dimensional volume covered by the field of view of the three-dimensional camera [FIG. 1, (2)] by the three-dimensional camera and at least two measured frames. ] Specific identification and simultaneous position determination are allowed. Unique identification of the beacon [FIG. 1, (1)] is achieved in the microcomputer by analysis of the apparent distance of the beacon in successive frames of the three-dimensional camera [FIG. 1, (2)]. [Selection] Figure 1