视线驱动的云台跟踪技术  

Sight driven pan⁃tilt tracking technology

作　　者：王建中[1] 王洪枫 刘弘扬 张晟 WANG Jianzhong;WANG Hongfeng;LIU Hongyang;ZHANG Sheng(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机电学院,北京100081

出　　处：《现代电子技术》2020年第24期166-169,共4页Modern Electronics Technique

基　　金：国防基础科研计划项目(JCKY2017602C016)。

摘　　要：人在回路的遥操作是未来相当长时期内无人武器云台的主要操控方式。针对无人武器云台手动遥操作控制方法存在的负担重、效率低等问题,提出一种视线驱动跟踪方法,通过检测眼球运动来追踪人眼视线,捕获操控人员对特定目标的注视信息,建立操控人员眼动与无人武器云台目标跟踪的随动关系,实现“看哪打哪”。给出了眼动检测、视线估计、无人武器云台运动映射模型及随动跟踪瞄准等的实现方法和流程,并进行了相关试验验证。结果表明,该方法可使无人武器云台的目标跟踪瞄准操控摆脱对肢体的需求,用视线操作代替传统的手动操作,可有效减轻手动操控负担,提高操控及时性、准确性和人机交互效率,将成为无人武器的重要操控方式。The teleoperation of man in the loop is the main operation mode of unmanned weapon platform for a long time in the future.In allusion to the problems of heavy burden and low efficiency existing in the manual remote operation control method of unmanned weapon cradle head,a sight driven pan⁃tilt tacking method is proposed.In this method,the sight of the human eyes is tracked by detecting the eye movement to capture the information of the operator′s gaze at a specific target,and the follow⁃up relationship between the operator′s eye movement and the target tracking of the unmanned weapon is established,so as to realize the“hit where you see it”.The realization methods and processes such as eye movement detection,gaze estimation,motion mapping model of unmanned weapon pan⁃tilt,and follow⁃up tracking and sighting are given,and the relevant experimental verification are carried out.The results show that the method can make the target tracking and sighting of the unmanned weapon platform get rid of the remand of body,and replace traditional manual operation with sight operation,which can effectively reduce the burden of manual control,improve the timeliness and accuracy of the operation and the efficiency of the human⁃computer interaction.It will be an important means of control for unmanned weapons.

关 键 词：无人武器 云台跟踪 视线驱动 眼动检测 随动跟踪 实验验证 

分 类 号：TN820.4-34[电子电信—信息与通信工程] TP23[自动化与计算机技术—检测技术与自动化装置]