CN1953547A - A low-altitude follow-up system and method aiming at the mobile ground object by unmanned aircraft - Google Patents
A low-altitude follow-up system and method aiming at the mobile ground object by unmanned aircraft Download PDFInfo
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Abstract
The invention relates to a low-attitude tracking system of unmanned aircraft on ground movable target and relative method. Wherein, said system comprises carrier system and ground system; the carrier system is formed by camera, table, carrier image sender and carrier data transmitter; the ground system is formed by image receiver, image collector, PC, and ground data transmitter; the tracking method comprises that extracting target via threshold value division, calculating out the position of target gravity center to find its position in track field, and manually interfering the track state. It uses several threshold values, which can be replaced to improve the track stability. The invention has high real-time property and stability.
Description
Technical field
The present invention relates to follow the tracks of, be specifically related to a kind of unmanned gyroplane or unmanned airship low-altitude follow-up system and method mobile surface targets based on the vision of unmanned vehicle.
Background technology
Based on the target identification of vision, tracking is a key technology of visual monitor system.In concrete supervisory control system, the purpose that vision is followed the tracks of mainly is that auxiliary monitor staff traces and monitors suspicious object, has enlarged the scope of monitoring, has alleviated monitor staff's labour intensity, has strengthened the reliability of monitoring.
The present supervisory control system based on vision mainly concentrates on some public places, important department etc., monitoring camera all is hard-wired usually, the scene domain of monitoring is more limited, operate camera motion (pan-tilt-zoom) by the monitor staff and follow the tracks of suspicious object, basically do not have identification and, belong to PASSIVE SURVEILLANCE from the function of motion tracking.In order to enlarge monitoring range, often adopt the multi-cam monitoring, the monitoring range of adjacent camera is overlapped, and scene is fixed, and camera can not be traced and monitored suspicious object.Existing automatic recognition and tracking technology all is to set up the background model of monitored site earlier simultaneously, cuts apart the moving region then, the pursuit movement zone, and these characteristics all are not suitable for mobile surface targets is grown distance, on a large scale maneuver tracking.
Summary of the invention
The object of the present invention is to provide low-altitude follow-up system and the method for a kind of unmanned vehicle, realize that the low latitude unmanned vehicle carries camera mobile surface targets is grown distance, on a large scale maneuver tracking mobile surface targets.
For achieving the above object, the present invention adopts following technical proposals:
A kind of mobile surface targets low-altitude follow-up system of unmanned vehicle is made up of mobile system and ground system, it is characterized in that:
Described mobile system is made up of the camera of a band cloud platform, an airborne image emissions module and an airborne digital transmission module; Described camera is fixed on the The Cloud Terrace, and the camera output is connected with airborne image emissions module input, and the cradle head control serial ports is connected with airborne digital transmission module serial ports;
Described ground system is made up of a ground image receiver module, an image acquisition and processing module, a PC and a ground digital transmission module; Described PC is connected with the image acquisition and processing module by the PCI slot, is connected with the ground digital transmission module by serial ports; The output of ground image receiver module is connected with the input of image acquisition and processing module;
Described airborne image emissions module is got in touch by analog signal and ground image receiver module, and the ground digital transmission module is got in touch by radiofrequency signal and airborne digital transmission module.
Above-mentioned system, require the mobile system of institute to be positioned at above the both sides of mobile surface targets of tracking and the back upper place, apart from tracking target air line distance 8～20 times of target length, mobile system and target link and Horizon angle are spent less than 75 greater than 30 degree, allow to exist the partial occlusion phenomenon, shielded area must not be greater than 2/3rds of target area.
Above-mentioned camera adopts the VC-C50iR of Canon camera, and airborne image emissions module adopts PT-609/1000mw wireless audio and video reflector, and airborne digital transmission module adopts the 9XStream-PKG-R wireless digital broadcasting station.
Above-mentioned ground image receiver module adopts PT-603SN wireless audio and video receiver, and the image acquisition and processing module adopts Matrox Meteor-II image pick-up card, and the ground digital transmission module adopts the 9XStream-PKG-R wireless digital broadcasting station.
A kind of low latitude tracking that is used for the described unmanned vehicle of claim 1 to mobile surface targets adopts above-mentioned unmanned vehicle that the low-altitude follow-up system of mobile surface targets is followed the tracks of, and it is characterized in that the job step of requirement tracking is as follows:
(1) mobile system and ground system initialization enter tracking mode;
(2) manual intervention ferret out, camera carries out video acquisition to the search scene, obtains original image, and image reaches PC again and goes up demonstration by passing to the image sampling processing module under airborne image emissions module and the ground image receiver module;
(3) after following the tracks of visual field discovery target, manual intervention lock onto target, and the gray value of extraction target carry out threshold value to target and cut apart binaryzation, obtain the location parameter of target in following the tracks of the visual field, and convert the cradle head control order to;
(4) the cradle head control order is uploaded to The Cloud Terrace by ground digital transmission module and airborne digital transmission module, the motion of control The Cloud Terrace, thus drive the camera tracking target;
(5) during track rejection, manual intervention guiding target frame is lock onto target again;
(6) click the different zone of gray scale on the target at the target block diagram in as the viewing area, can obtain a plurality of threshold values, complete extraction target;
If change tracking target, repeat (2), (3), (4) step.
In above-mentioned tracking, the locking of target mainly is that passing threshold is cut apart the extraction target, calculate the position of target center of gravity, the line trace thereby go forward side by side in definite its position in following the tracks of the visual field, in tracing process, can obtain the position of mouse in following the tracks of the visual field at any time, and with the position of this alternative target, this makes and can carry out manual intervention at any time under tracking mode, so the locking again behind the locking of native system primary objective and the track rejection is all carried out under tracking mode.
In above-mentioned tracking, consider the zone that may have a plurality of different gray scales on the target, and target in the shade of building or trees the time gray scale have certain variation, adopt a plurality of threshold values to extract target, guaranteeing to follow the tracks of under the successional prerequisite, further improving the stability of following the tracks of.And in tracing process, can also revise easily and replace these threshold values as required.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: system divides airborne and ground two parts, and structure is very simple, and each module is commercialization all, need not oneself and design and produce control board, this makes system building easy; Reach on the PC under the image and handle, detail programming is convenient, can use than complicated algorithm, and be easy to carry out manual intervention.Manual intervention and Automatic Target Tracking two states can carry out seamless switching at any time, based on manual intervention, but do not stop automatic tracking mode, and this system that makes has operability; Based on the target extraction of many threshold values and the modification one by one of threshold value, increased the stability of tracking system.The present invention realizes that easily real-time and stability are better, and is workable, alleviated monitor staff's labour intensity.
Description of drawings
Fig. 1 is an application scenarios schematic diagram of the present invention.
Fig. 2 is a tracking system structural representation block diagram of the present invention.
Fig. 3 is a tracking system operation interface schematic diagram of the present invention.
Fig. 4 is a tracking workflow diagram of the present invention.
Embodiment
A preferred embodiment of the present invention is:
See figures.1.and.2, this unmanned vehicle comprises mobile system 2 and ground system 1 two parts to the low-altitude follow-up system of mobile surface targets, and wherein mobile system 2 is made up of the camera 4 and 5 of band cloud platform, airborne image emissions module 3, airborne number biography mould 6.Ground system 1 is made up of image receiver module 10, image acquisition and processing module 9, PC 8, ground digital transmission module 7.It is characterized in that airborne portion camera 4 outputs are connected with airborne transmitter module 3 inputs, The Cloud Terrace 5 control serial ports are connected with airborne digital transmission module 6 serial ports; Above ground portion PC 8 is connected with image acquisition and processing module 9 by the PCI slot, and PC 8 is connected with ground digital transmission module 7 by serial ports, and image receiver module 10 outputs are connected with image acquisition and processing module 9 inputs.Between mobile system 2 and the ground system 1, airborne image emissions module 3 is by analog signal and 10 contacts of ground image receiver module, and ground digital transmission module 7 is got in touch by radiofrequency signal and airborne digital transmission module 6.Mobile system 2 is positioned at the both sides tops and the back upper place of tracking target, is 8 to 20 times of target length apart from tracking target air line distance, and mobile system 2 is spent less than 75 greater than 30 degree with target link and ground angle, allows to exist the partial occlusion phenomenon.
With reference to Fig. 3, the operation interface of the mobile surface targets low-altitude follow-up system of this unmanned vehicle, six districts of main branch, four video viewing areas are respectively to follow the tracks of of the visual field 11, follow the tracks of center image viewing area, the visual field 12, and the target block diagram is as viewing area 13, the target block diagram is as result viewing area 14, the square frame of wherein following the tracks of 11 centers, the visual field is a Main subrack, and another one is the target frame, and target frame position can change.Also having two order controlled areas, is respectively The Cloud Terrace serial port command controlled area 16 and image processing command controlled area 15.
With reference to Fig. 1, Fig. 2 and Fig. 3 and Fig. 4, this unmanned vehicle is to the low latitude tracking of mobile surface targets, and its job step is as follows:
1) mobile system 2 and ground system 1 initialization enter tracking mode;
2) manual intervention ferret out, 4 pairs of search of camera scene is carried out video acquisition, obtains original image, and image passes to image acquisition and processing module 9 10 times by image emissions module 3 and image receiver module, shows on PC 8;
3) in following the tracks of the visual field 11, find target after, artificial lock onto target, and extract the gray value of target carries out threshold value to target and cuts apart binaryzation, obtains the location parameter of target in the tracking visual field 11, and converts the control command of The Cloud Terrace 5 to;
4) control command of The Cloud Terrace 5 is uploaded to The Cloud Terrace 5 by ground and airborne digital transmission module 7 and 6,5 motions of control The Cloud Terrace, thus drive camera 4 tracking targets;
5) during track rejection, in following the tracks of the visual field 11, manually guide target frame lock onto target again;
6) click the different zone of gray scale on the target at the target block diagram in as viewing area 13, obtain a plurality of threshold values, complete extraction target;
If the replacing tracking target repeats 2), 3), 4) step.
In above-mentioned tracking, the locking of target mainly is that passing threshold is cut apart the extraction target, calculate the position of target center of gravity, thereby determine its position in following the tracks of the visual field 11, in tracing process, can obtain the position of mouse in following the tracks of the visual field 11 at any time, and carry out manual intervention with the position of this alternative target.
In above-mentioned tracking, can click the zone of a plurality of different gray scales with mouse in as viewing area 13 at the target block diagram, obtain a plurality of threshold values and extract target, in tracing process, revise one by one in can also image processing command controlled area 15 and replace these threshold values.
With reference to Fig. 1, the mobile surface targets low-altitude follow-up system of this unmanned vehicle is used for the microminiature rotor craft SUAV-X160 and the small-sized controlled dirigible SUAV-F11 of Shanghai arrow micro-electromechanical technology Co., Ltd development, tracking effect to automobile mobile on the highway is good, and tracking validity has been described.
Claims (5)
1. a unmanned vehicle is made up of mobile system (2) and ground system (1) the low-altitude follow-up system of mobile surface targets, it is characterized in that:
Described mobile system (2) is made up of camera (4), an airborne image emissions module (3) and an airborne digital transmission module (6) of a band cloud platform (5); Described camera (4) is fixed on the The Cloud Terrace (5), and camera (4) output is connected with airborne image emissions module (3) input, and The Cloud Terrace (5) control serial ports is connected with airborne digital transmission module (6) serial ports;
Described ground system (1) is made up of a ground image receiver module (10), an image acquisition and processing module (9), a PC (8) and a ground digital transmission module (7); Described PC (8) is connected with image acquisition and processing module (9) by the PCI slot, is connected with ground digital transmission module (7) by serial ports; The output of ground image receiver module (10) is connected with the input of image acquisition and processing module (9);
Described airborne image emissions module (3) is by analog signal and ground image receiver module (10) contact, and ground digital transmission module (7) is by radiofrequency signal and airborne digital transmission module (6) contact.
2. unmanned vehicle according to claim 1 is to the low-altitude follow-up system of mobile surface targets, it is characterized in that the described mobile system of requirement (2) is positioned at the top, both sides and the back upper place of the mobile surface targets of tracking, apart from tracking target air line distance 8～20 times of target length, mobile system (2) is spent less than 75 greater than 30 degree with target link and Horizon angle, allow to exist the partial occlusion phenomenon, shielded area must not be greater than 2/3rds of target area.
3. unmanned vehicle according to claim 1 is to the low-altitude follow-up system of mobile surface targets, it is characterized in that the described camera of requirement (4) adopts the VC-C50iR of Canon camera, airborne image emissions module (3) adopts PT-609/1000mw wireless audio and video reflector, and airborne digital transmission module (6) adopts the 9XStream-PKG-R wireless digital broadcasting station.
4. unmanned vehicle according to claim 1 is to the low-altitude follow-up system of mobile surface targets, it is characterized in that the described ground image receiver module of requirement (10) adopts PT-603SN wireless audio and video receiver, image acquisition and processing module (9) adopts Matrox Meteor-II image pick-up card, and ground digital transmission module (7) adopts the 9XStream-PKG-R wireless digital broadcasting station.
5. a unmanned vehicle adopts unmanned vehicle according to claim 1 that the low-altitude follow-up system of mobile surface targets is followed the tracks of to the low latitude tracking of mobile surface targets, it is characterized in that the job step that requirement follows the tracks of is as follows:
(1) mobile system (2) and ground system (1) initialization enter tracking mode;
(2) manual intervention ferret out, camera (4) carries out video acquisition to the search scene, obtain original image, image reaches PC (8) again and goes up demonstration by passing to image sampling processing module (9) under airborne image emissions module (3) and the ground image receiver module (10);
(3) after following the tracks of visual field discovery target, manual intervention lock onto target, and the gray value of extraction target carry out threshold value to target and cut apart binaryzation, obtain the location parameter of target in following the tracks of the visual field, and convert the cradle head control order to;
(4) the cradle head control order is uploaded to The Cloud Terrace (5) by ground digital transmission module (7) and airborne digital transmission module (6), control The Cloud Terrace (5) motion, thus drive camera (4) tracking target;
(5) during track rejection, manual intervention guiding target frame is lock onto target again;
(6) click the different zone of gray scale on the target at the target block diagram in as the viewing area, can obtain a plurality of threshold values, complete extraction target;
If change tracking target, repeat (2), (3), (4) step.
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