CN104677203A - Photoelectric tracking system based on turntable control - Google Patents
Photoelectric tracking system based on turntable control Download PDFInfo
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- CN104677203A CN104677203A CN201310610842.4A CN201310610842A CN104677203A CN 104677203 A CN104677203 A CN 104677203A CN 201310610842 A CN201310610842 A CN 201310610842A CN 104677203 A CN104677203 A CN 104677203A
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Abstract
The invention provides a photoelectric tracking system based on turntable control. The photoelectric tracking system comprises a three-axis table equipped with a camera and a detected visible light target circuit, wherein the three-axis table is formed by connecting a mechanical table body and a servo control system; and the mechanical table body comprises a base, an inner frame axis, a middle frame axis and an outer frame axis. Photoelectric tracking system software based on the turntable control is designed, so that tracking of a visible light target is realized. The three-axis table equipped with the camera simulates a missile seeker, so as to realize detection and tracking of the visible light target. According to the invention, firstly, detection of the visible light target by the camera is realized, and the fact that the visible light target is tracked relatively accurately by the three-axis table is realized on the basis that the visible light target is accurately detected by the camera. A reliable effective closed loop PID control algorithm is compiled on the basis of completion of turntable basic position control. Finally, a software platform of the photoelectric tracking system based on the turntable control is designed, and integrates two aspects of visible light target detection and tracking, so that the tasks of detecting and tracking the visible light target can be completed well by the turntable.
Description
Technical field
What the present invention relates to is a kind of positional servosystem, particularly a kind of photoelectric follow-up.
Background technology
Television homing guidance is the one in the multiple aiming means of guided missile, it refer to guided missile by missile-borne TV seeker automatically find target, processing target positional information and adjust self attitude.TV seeker refers generally to the television camera that guided missile projectile nose is installed, and it is used for the visible ray information that receiving target reflects, and therefore television homing guidance is a kind of aiming means of passive type.The television homing guidance system of guided missile forms primarily of television camera, error signal processor, missile control system, optical-electrical converter and servo control mechanism.
The general process of television homing guidance is as described below: when guided missile is after the direction transmitting of target, the video camera of missile airframe head will photograph the image containing target and its surrounding environment, and automatically can extract target from having the background of certain contrast.Ideally, guided missile video camera central optical axis should run-home center always, but along with the movement of target, the optical axis of guided missile video camera can depart from target, and this departure will be utilized generation steering instruction, and this steering instruction makes guided missile carry out adjusting the direction towards making this departure reduce, under the effect of steering instruction, there is corresponding motion in servo control mechanism, video camera central optical axis finally can be made again to aim at the mark center, the simultaneously flight of robot.
Television homing guidance has very outstanding advantage.Because the positional information being extracted target acquisition target by image procossing is reliable, television homing guidance often has very high guidance precision, can be operated in boundless spectral band.The ability that television homing guidance does not find target and anti-radio interference by the energy of receiving target radiation is strong, and therefore it both can be used to the target tackling Low emissivity energy, also can tackle the treetop level targets such as cruise missile.Television homing guidance is also applicable to miniature missile, has the advantages such as power consumption is low, volume is little, quality is light.Therefore, television homing guidance becomes developing direction and the Hot spots for development of precision guided weapon, is inherently obtaining extensive use more in the future.However, television homing guidance still also exists some shortcomings part, the visible ray that it requires video camera can receive target to reflect, fog precipitation weather and night this point be all greatly limited, can not apply, therefore television homing guidance requires very high to meteorology.In addition, because it belongs to passive homing guidance mode, so make the range of missile armament be greatly limited.
Summary of the invention
To the object of the invention is with guided missile television homing guidance, for background, to design the photoelectric follow-up software based on turning table control, realize the tracking of turntable to visible ray target.
The object of the present invention is achieved like this:
Based on a photoelectric follow-up for turning table control, its composition comprises the three-axle table that video camera is housed, tested visible ray objective circuit.Wherein: three-axle table is connected to form by mechanical stage body and servo-control system, mechanical stage body comprises base, inner axis, center axle, housing axle composition.
Described a kind of photoelectric follow-up based on turning table control, it is characterized in that the circuit structure of tested visible ray target: each red light emitting diodes and the resistant series of 500 ohm, be connected on the both ends of power of 5 volts, used herein is 7.2 volts of power supplys, so will use voltage-stabiliser tube 7,805 7.2 volts of Power convert are become 5 volts.
The described photoelectric follow-up based on turning table control, it is characterized in that image processing process, comprise and greyscale transformation, binaryzation, burn into expansion, top cap algorithm, rim detection, Hough transformation are carried out to original image, the video of the visible ray target containing movement that process camera is filmed, video is converted into the image that a frame connects a frame, if visible ray target can be detected in single two dimensional image by image procossing, also visible ray target can be detected so in video.
Adopt the target seeker that the three-axle table simulated missile of video camera is housed, realize the detection to visible ray target and tracking.First the present invention achieves with the detection of camera to visible ray target, realizes, on the basis to visible ray target accurately detecting, achieving the tracking visible ray target that three-axle table is more accurate at camera.Reliable and effective closed loop PID control algorithm has been write on the basis completing the control of turntable home position.Finally design a software platform based on the photoelectric follow-up of turning table control, the above visible ray target acquisition of this software platform set and follow the tracks of the content of two aspects, the task of turntable to visible ray target acquisition and tracking can be completed well.
The circuit structure of visible ray target is probably as described below: each red light emitting diodes and the resistant series of 500 ohm, be connected on the both ends of power of 5 volts, used herein is 7.2 volts of power supplys, so will use voltage-stabiliser tube 7,805 7.2 volts of Power convert are become 5 volts.
In real visible ray clarification of objective leaching process, the video of visible ray target containing movement that the not single image of our process but camera are filmed, but we can regard video as the image of an one frame then frame, if we can detect visible ray target by image procossing in single two dimensional image, so we also can detect visible ray target in video.Image procossing comprise greyscale transformation is carried out to original image, binaryzation, burn into expand, top cap algorithm, rim detection, Hough transformation etc.Through above-mentioned a series of image processing process, can successfully extract visible ray clarification of objective, its feature is exactly two crossing straight lines, try every possible means to utilize computer programming to obtain visible ray target positional information in the picture.The intersection point of these straight lines is almost in the midpoint of every straight line, because the straight line detected not only has one, averages every straight line obtains midrange, and this result can as the positional information of visible ray target's center on image.
The present invention also comprises:
Turntable is made up of mechanical stage body and servo-control system.Machinery stage body is made up of base, inner axis, center axle, housing axle.Inner ring is O type, and middle ring is O type, and outer shroud is U-shaped.Three axles are all made up of parts such as mechanical axis system, direct current permanent magnetic torque motor, photoelectric code disk, slip rings.Servo-control system is made up of three cover angle measuring systems, a set of computer system.
Accompanying drawing explanation
Fig. 1 is revolving table position servo system structure figure;
Fig. 2 is the flow chart obtaining visible ray target positional information on image;
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Based on a photoelectric follow-up for turning table control, its composition comprises the three-axle table that video camera is housed, tested visible ray objective circuit.Wherein: three-axle table is connected to form by mechanical stage body and servo-control system, mechanical stage body comprises base, inner axis, center axle, housing axle composition.
It is characterized in that the circuit structure of tested visible ray target: each red light emitting diodes and the resistant series of 500 ohm, be connected on the both ends of power of 5 volts, used herein is 7.2 volts of power supplys, so will use voltage-stabiliser tube 7,805 7.2 volts of Power convert are become 5 volts.
It is characterized in that image processing process, comprise and greyscale transformation, binaryzation, burn into expansion, top cap algorithm, rim detection, Hough transformation are carried out to original image, the video of the visible ray target containing movement that process camera is filmed, video is converted into the image that a frame connects a frame, if visible ray target can be detected in single two dimensional image by image procossing, also visible ray target can be detected so in video.
Composition graphs 1, Fig. 1 is revolving table position servo system structure figure.Turntable is made up of mechanical stage body and servo-control system.Machinery stage body is made up of base, inner axis, center axle, housing axle.Inner ring is O type, and middle ring is O type, and outer shroud is U-shaped.Three axles are all made up of parts such as mechanical axis system, direct current permanent magnetic torque motor, photoelectric code disk, slip rings.Servo-control system is made up of three cover angle measuring systems, a set of computer systems, has automated location, speed, waves, the function such as servo.
Turntable the key technical indexes is as follows:
A load request: weight 10KG volume 200mm200mm100mm
B maximum speed: ring 100 °s/sec of outer shrouds 100 °s/sec in inner ring 150 °s/sec
The most high acceleration of c: ring 50 °/sec of 2 outer shroud 50 °/sec 2 in inner ring 100 °/sec 2
D positional precision: inner ring, middle ring, outer shroud ± 10 jiao point
E speed range: 1 °/sec ~ 150 °s/sec
F swinging condition: amplitude inner ring, middle ring, outer shroud 360 °
G turntable environment for use temperature: 20 DEG C ± 5 DEG C
Composition graphs 2, Fig. 2 is the flow chart obtaining visible ray target positional information on image.Through carrying out greyscale transformation, binaryzation, burn into expansion, top cap algorithm, rim detection, Hough transformation to original image, successfully extracted visible ray clarification of objective, its feature is exactly two crossing straight lines, try every possible means to utilize computer programming to obtain visible ray target positional information in the picture.The intersection point of these straight lines is almost in the midpoint of every straight line, because the straight line detected not only has one, averages every straight line obtains midrange, and this result can as the positional information of visible ray target's center on image.
Claims (3)
1., based on a photoelectric follow-up for turning table control, its composition comprises the three-axle table that video camera is housed, tested visible ray objective circuit.Wherein: three-axle table is connected to form by mechanical stage body and servo-control system, mechanical stage body comprises base, inner axis, center axle, housing axle composition.
2. a kind of photoelectric follow-up based on turning table control according to claim 1, it is characterized in that the circuit structure of tested visible ray target: each red light emitting diodes and the resistant series of 500 ohm, be connected on the both ends of power of 5 volts, used herein is 7.2 volts of power supplys, so will use voltage-stabiliser tube 7,805 7.2 volts of Power convert are become 5 volts.
3. the photoelectric follow-up based on turning table control according to claim 1, it is characterized in that image processing process, comprise and greyscale transformation, binaryzation, burn into expansion, top cap algorithm, rim detection, Hough transformation are carried out to original image, the video of the visible ray target containing movement that process camera is filmed, video is converted into the image that a frame connects a frame, if visible ray target can be detected in single two dimensional image by image procossing, also visible ray target can be detected so in video.
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| CN201310610842.4A CN104677203A (en) | 2013-11-26 | 2013-11-26 | Photoelectric tracking system based on turntable control |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105371701A (en) * | 2015-12-01 | 2016-03-02 | 中国科学院长春光学精密机械与物理研究所 | Television guidance seeker dynamic simulator |
| CN106875430A (en) * | 2016-12-31 | 2017-06-20 | 歌尔科技有限公司 | Single movement target method for tracing and device based on solid form under dynamic background |
| CN108170139A (en) * | 2017-12-12 | 2018-06-15 | 武汉华之洋科技有限公司 | A kind of photoelectricity multitask system for unmanned boat and perform method |
| CN109669460A (en) * | 2018-12-29 | 2019-04-23 | 西安电子科技大学 | The intelligent control method of the middle-size and small-size photoelectric turntable of target detection |
| CN110220415A (en) * | 2019-05-14 | 2019-09-10 | 中国人民解放军海军工程大学 | Guided munition outer trajectory Closed-cycle correction analog platform and analogy method |
| CN111970886A (en) * | 2020-08-06 | 2020-11-20 | 贵州振华群英电器有限公司（国营第八九一厂） | Analog deputy device for double-redundancy transient pulse input |
-
2013
- 2013-11-26 CN CN201310610842.4A patent/CN104677203A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105371701A (en) * | 2015-12-01 | 2016-03-02 | 中国科学院长春光学精密机械与物理研究所 | Television guidance seeker dynamic simulator |
| CN105371701B (en) * | 2015-12-01 | 2017-02-01 | 中国科学院长春光学精密机械与物理研究所 | television guidance seeker dynamic simulator |
| CN106875430A (en) * | 2016-12-31 | 2017-06-20 | 歌尔科技有限公司 | Single movement target method for tracing and device based on solid form under dynamic background |
| CN106875430B (en) * | 2016-12-31 | 2020-04-24 | 歌尔科技有限公司 | Single moving target tracking method and device based on fixed form under dynamic background |
| CN108170139A (en) * | 2017-12-12 | 2018-06-15 | 武汉华之洋科技有限公司 | A kind of photoelectricity multitask system for unmanned boat and perform method |
| CN109669460A (en) * | 2018-12-29 | 2019-04-23 | 西安电子科技大学 | The intelligent control method of the middle-size and small-size photoelectric turntable of target detection |
| CN109669460B (en) * | 2018-12-29 | 2021-09-03 | 西安电子科技大学 | Intelligent control method for small and medium-sized photoelectric turntable for target detection |
| CN110220415A (en) * | 2019-05-14 | 2019-09-10 | 中国人民解放军海军工程大学 | Guided munition outer trajectory Closed-cycle correction analog platform and analogy method |
| CN110220415B (en) * | 2019-05-14 | 2020-07-10 | 中国人民解放军海军工程大学 | Closed-loop correction simulation platform and simulation method for outer trajectory of guided ammunition |
| CN111970886A (en) * | 2020-08-06 | 2020-11-20 | 贵州振华群英电器有限公司（国营第八九一厂） | Analog deputy device for double-redundancy transient pulse input |
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Application publication date: 20150603 |