CN102591014B - Panoramic vision observing system and work method thereof - Google Patents
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Abstract
本发明揭示了一种观察系统，包括外部视频收发系统和内部显示收发系统。所述外部视频收发系统包括可见光视频传感器、红外线视频传感器、传感器运动控制机构和传感器无线信号收发器；内部显示收发系统优选为一头盔，头盔上设有无线信号收发器、头盔转动角度传感器、微处理器电路和显示屏。所述外部视频传感器通过传感器无线信号收发器将外部景象信号发给头盔无线信号收发器；头盔无线信号收发器将外部景象信号传给微处理器电路；设置在头盔上的头盔转动角度传感器实时监测头盔在X、Y、Z三个轴向的转动角度并将转动角度信号传给头盔上的微处理器电路；微处理器电路根据头盔实际位置(角度)实时合成或切换到适宜的外部景象并在显示器上显示出来，同时还可通过外部视频传感器运动控制机构控制视频传感器实时转动到需要的位置。
The invention discloses an observation system, which includes an external video transceiver system and an internal display transceiver system. The external video transceiver system includes a visible light video sensor, an infrared video sensor, a sensor motion control mechanism and a sensor wireless signal transceiver; the internal display transceiver system is preferably a helmet, and the helmet is provided with a wireless signal transceiver, a helmet rotation angle sensor, a micro Processor circuit and display screen. The external video sensor sends the external scene signal to the helmet wireless signal transceiver through the sensor wireless signal transceiver; the helmet wireless signal transceiver transmits the external scene signal to the microprocessor circuit; the helmet rotation angle sensor arranged on the helmet monitors in real time The rotation angle of the helmet in the three axes of X, Y, and Z and the rotation angle signal is transmitted to the microprocessor circuit on the helmet; the microprocessor circuit synthesizes or switches to a suitable external scene in real time according to the actual position (angle) of the helmet and It is displayed on the display, and at the same time, the video sensor can be controlled to rotate to the required position in real time through the external video sensor motion control mechanism.
Description
技术领域 technical field
本发明涉及全景视觉系统，特别是一种用在具有高度机动性且外部视野不足的移动装备上的、可全天候、全方位显示外部景象的实时观察系统及其工作方法。 The invention relates to a panoramic vision system, in particular to a real-time observation system capable of all-weather and all-round display of external scenes and its working method, which is used on mobile equipment with high mobility and insufficient external field of view.
背景技术 Background technique
人类感知客观世界有70％的信息是由视觉获取的，眼睛是人类最主要的感觉器官，图像视觉信息是人类从客观世界获得信息的主要来源之一。众所周知，视觉是一种感知周围环境最复杂的手段，也是最有效的手段。随着科学技术的发展，计算机视觉的应用范围日益扩大，其目的就是使用计算机代替人眼及大脑对周边环境进行感知、解释和理解，例如在军用或安全车辆上，驾驶员通常需要观察其车辆周围所发生的情况又尽量避免将自己暴露给敌人，所述计算机视觉便是应用于此。 70% of the information that humans perceive in the objective world is obtained through vision. Eyes are the most important sensory organ for humans, and image visual information is one of the main sources for humans to obtain information from the objective world. As we all know, vision is the most complex and effective means of perceiving the surrounding environment. With the development of science and technology, the scope of application of computer vision is expanding day by day. Its purpose is to use computers to replace human eyes and brains to perceive, interpret and understand the surrounding environment. For example, in military or security vehicles, drivers usually need to observe their vehicles What is happening around you and try to avoid exposing yourself to the enemy, the computer vision is applied to this.
随着成像技术和图像并行处理技术的飞速发展，全景视觉系统将在对运动目标检测和跟踪、对空间目标探测与跟踪、对外部空间探测及视频监控等军用、民用领域获得广泛的应用前景。在外太空探测领域，如登陆火星、月球进行探测，视觉环境感知更是必不可少的重要技术手段之一，像这样全方位的获取周围环境视觉信息的要求，是传统视觉环境感知系统所不能够满足的。传统视觉主要依赖视野有限的局部信息，存在精度差、视景范围小、作用距离短、实时性差等不足，缺乏获取全局与大尺度信息的手段，所以当视觉传感器或被观察物体突然移动时会导致目标物体移出视觉传感器的视野范围。 With the rapid development of imaging technology and image parallel processing technology, panoramic vision system will gain wide application prospects in military and civilian fields such as detection and tracking of moving targets, detection and tracking of space targets, detection of external space and video surveillance. In the field of outer space exploration, such as landing on Mars and the moon for exploration, visual environment perception is one of the indispensable and important technical means. The requirement of obtaining visual information of the surrounding environment in an all-round way like this is beyond the reach of traditional visual environment perception systems. fulfilled. Traditional vision mainly relies on local information with limited field of view, which has shortcomings such as poor precision, small field of vision, short operating distance, and poor real-time performance. It lacks the means to obtain global and large-scale information, so when the visual sensor or the observed object suddenly moves Causes the target object to move out of the vision sensor's field of view.
与传统视觉环境感知系统的可视范围较小不同，全景成像指大于半球视场(360°×180°)的球面成像。它的主要功能即为将透视全景图像还原成符合人眼观察习惯的展开图像，以便于监控观察。由于全景成像可视范围大于半球这一特殊的视场优势，成为了视觉环境感知领域的研究热点，并且在军事和民用等领域有着广阔的应用前景。通常，全景图像处理使用计算机作为平台，完整的计算机图像处理系统一般包括视频输入装置、图像采集卡、计算机系统(包括处理器，主板，内存，以及硬盘)等。由摄像头产生的模拟视频信号经过图像采集卡后，变为数字图像信号，存储于计算机的内存中，根据计算机操作员的指令或者预先编制的程序，计算机调用实时图像处理程序进行处理。处理结果以文件形式存于计算机硬盘上或者在计算机监视器上显示。但是这种视觉系统成本较高而且体积较大，能耗较高，在一些移动平台或高可靠性的场合并不适用。 Different from the small visual range of traditional visual environment perception systems, panoramic imaging refers to spherical imaging larger than the hemispherical field of view (360°×180°). Its main function is to restore the perspective panoramic image into an unfolded image that conforms to the observation habits of the human eye, so as to facilitate monitoring and observation. Due to the special field of view advantage of panoramic imaging, which is larger than the hemisphere, it has become a research hotspot in the field of visual environment perception, and has broad application prospects in military and civilian fields. Generally, a computer is used as a platform for panoramic image processing, and a complete computer image processing system generally includes a video input device, an image acquisition card, a computer system (including a processor, a motherboard, a memory, and a hard disk) and the like. After the analog video signal generated by the camera passes through the image acquisition card, it becomes a digital image signal and is stored in the memory of the computer. According to the computer operator's instruction or the pre-programmed program, the computer calls the real-time image processing program for processing. The processing results are saved as files on the computer hard disk or displayed on the computer monitor. However, this kind of vision system has high cost, large volume, and high energy consumption, so it is not suitable for some mobile platforms or high-reliability occasions.
最近，已有使用万向架安装的摄像机来提供展示于平板显示器或头盔显示器上的全景视觉系统。在所述系统中，取景方向通常可通过改变所述万向架安装的摄像机的取景方向来调节。通常，诸如控制杆或头部跟踪器的指向装置控制取景方向。但由于固有的机械运动延迟限制了改变所需图像的速度，所以万向架安装的摄像机是有缺点的。此外，其需要巨大、笨重、高度复杂且昂贵的专用计算机用以图像俘获和处理也是其不足之处。 More recently, gimbal-mounted cameras have been used to provide panoramic vision systems displayed on flat-panel or head-mounted displays. In such systems, the viewing direction is typically adjustable by changing the viewing direction of the gimbal-mounted camera. Typically, a pointing device such as a joystick or a head tracker controls the viewing direction. But gimbal-mounted cameras are disadvantageous because inherent mechanical motion delays limit the speed at which the desired image can be changed. Furthermore, it requires a large, bulky, highly complex and expensive special-purpose computer for image capture and processing is also a disadvantage.
因此，不需要专用计算机并可平稳地将所述多台摄像机的邻近视野混合在一起，且能使驾驶员在全景取景区域内跟踪移动目标的多摄像机全景可视系统将是有益的。 Therefore, a multi-camera panoramic vision system that does not require a dedicated computer, smoothly blends adjacent views of the multiple cameras, and enables the driver to track moving objects within the panoramic viewing area would be beneficial.
为了提高现代一些军事设施的电子信息识别能力和信息化操作的整体水平，本发明充分发挥了现代电子影象技术在信息采集、传输、反馈和记录方面的积极作用，提供了一种在移动装备上应用的观察系统，以进行实时场景影象信息的即时采集、传输、反馈和记录，为军事决策和指挥协调提供直观依据。它包括一种可全方位显示外部景象的实时观察系统及其工作方法，可应用于坦克、装甲车、飞机、直升机、潜艇、太空设备等移动的装备上，能够稳定、高效的观察周围环境及自动跟踪目标物体。此观察系统不仅能够减少安装的摄像机数量、有效降低能量消耗、减轻重量，而且使用无线传输，使得布线的复杂性、散热等关键指标得以改善，与传统方法相比具有更大的优势。 In order to improve the electronic information identification ability and the overall level of informatization operation of some modern military facilities, the present invention gives full play to the active role of modern electronic image technology in information collection, transmission, feedback and recording, and provides a mobile device The observation system applied on the Internet is used to collect, transmit, feed back and record real-time scene image information in real time, providing intuitive basis for military decision-making and command coordination. It includes a real-time observation system that can display external scenes in all directions and its working method. It can be applied to mobile equipment such as tanks, armored vehicles, aircraft, helicopters, submarines, and space equipment. It can observe the surrounding environment stably and efficiently and automatically Track the target object. This observation system can not only reduce the number of installed cameras, effectively reduce energy consumption, and reduce weight, but also uses wireless transmission, which improves key indicators such as wiring complexity and heat dissipation, and has greater advantages compared with traditional methods.
根据本发明，其观察系统包括多个视觉传感器，每个视觉传感器从其摄像机的视野产生图像数据。此外，每个摄像机的视野与一邻近视野重叠。所述微处理器电路混合编辑处理来自所述重叠视野的图像数据以生成全景数据。 According to the invention, its observation system comprises a plurality of vision sensors, each of which produces image data from the field of view of its camera. In addition, each camera's field of view overlaps with an adjacent field of view. The microprocessor circuit blends and edits image data from the overlapping fields of view to generate panoramic data.
本发明还包括一内部显示控制系统，优选为一头盔，在所述头盔上设有一无线信号收发器、一微处理 器电路、一头盔角度传感器和一显示屏。所述微处理器电路实现了更快的数据更新速度和数据信息的智能显像，优选地，头盔上还设有一显示屏旋转轴。 The present invention also includes an internal display control system, preferably a helmet, on which a wireless signal transceiver, a microprocessor circuit, a helmet angle sensor and a display screen are arranged. The microprocessor circuit realizes faster data update speed and intelligent display of data information. Preferably, a display screen rotation axis is also provided on the helmet.
该系统可以为移动装备驾驶员或成员间的合作及实施有效打击威胁目标提供360°视觉态势感知能力，它可以让驾驶员在驾驶的同时全面了解作战情况。该系统的另一个特别的能力是，可以在各种天气条件下，昼夜提供360°景象，让驾驶员能够在极限环境中持续作战。 The system can provide 360° visual situational awareness for the cooperation between mobile equipment drivers or members and the implementation of effective strikes against threat targets. It allows drivers to fully understand the combat situation while driving. Another special capability of the system is that it can provide a 360° view day and night in all weather conditions, allowing the driver to continue to fight in extreme environments.
优选地，红外线视频传感器将被应用于本发明之中，它是利用红外探测器和光学成相物镜接收被测目标的红外辐射能量分布图形，从而形成红外热像图，这种热像图与物体表面的热分布场相对应。通俗地讲红外热像仪就是将物体发出的不可见红外能量转变为可见的热图象，热图象上的不同颜色代表被测物体的不同温度。由于红外成像技术能够进行非接触式的、高分辨率的温度成像，能够生成高质量的图像，可提供测量目标的众多信息，弥补了人类肉眼在光线不足或暗夜环境中的局限，因此已经在电力系统、土木工程、汽车、冶金、石化、医疗等诸多行业得到广泛的应用，未来发展前景更不可限量。 Preferably, an infrared video sensor will be applied to the present invention, which uses an infrared detector and an optical phase-forming objective lens to receive the infrared radiation energy distribution pattern of the measured target, thereby forming an infrared thermal image, which is consistent with Corresponds to the heat distribution field on the surface of the object. In layman's terms, an infrared thermal imager converts the invisible infrared energy emitted by an object into a visible thermal image. Different colors on the thermal image represent different temperatures of the measured object. Because infrared imaging technology can perform non-contact, high-resolution temperature imaging, can generate high-quality images, can provide a lot of information on measurement targets, and make up for the limitations of human eyes in insufficient light or dark night environments, it has been used in Power system, civil engineering, automobile, metallurgy, petrochemical, medical and many other industries have been widely used, and the future development prospect is even more limitless.
目前，全景视觉已经成为现代战车的共同要求。在现代军事供给和设备展上，一系列系统得到了展示的机会。现有的大部分系统是基于综合视频图象之上，为战车提供一个全景浏览周边环境的能力。全景视觉系统被看成是周边保护和态势感知的重要组成部分，这也进一步提升了军事武器上火炮探测系统和远程控制武器站以及其它一些装备的作战能力。 At present, panoramic vision has become a common requirement of modern tanks. At the Modern Military Supplies and Equipment Exhibition, a range of systems got the chance to be showcased. Most of the existing systems are based on integrated video images, providing the tank with a panoramic view of the surrounding environment. The panoramic vision system is seen as an important part of perimeter protection and situational awareness, which further improves the combat capabilities of artillery detection systems and remote control weapon stations and other equipment on military weapons.
发明内容 Contents of the invention
如上所述，本发明提供了一种新型全景观察系统(可视电子设备)，能够在可见光、夜晚和能见度差的条件下实时显示外部全景图像，并且以“带在头上”的形式出现。 As mentioned above, the present invention provides a new type of panoramic observation system (visual electronic device), which can display external panoramic images in real time under visible light, night and poor visibility conditions, and appear in the form of "on the head".
本发明解决其相关技术问题所采用的主要技术方案是：在有驾驶舱的装备如坦克、装甲车、飞机、直升机、潜艇、太空装备、火车等相关位置设置或安装一种可全方位显示外部景象的实时观察系统，包括：外部视频收发系统和内部显示控制系统。其中，外部视频收发系统包括：可见光视频传感器、红外线视频传感器、传感器运动控制机构和传感器无线信号收发器；内部显示控制系统优选为一头盔，头盔上设有无线信号收发器、头盔转动角度传感器、微处理器电路和显示屏，显示屏还可以以眼镜的形式出现；其中，所述可见光视频传感器用于在日间或光线充足的环境中实时摄录外部景象；所述红外线视频传感器用于在夜间及光线昏暗时实时摄录外部景象；所述传感器运动控制机构用于控制传感器在水平方向及垂直方向旋转；所述传感器无线信号收发器用于向头盔无线发射外部图像信号，并接收内部控制系统发出的控制可见光视频及红外线视频传感器转动的信号；头盔中设置的所述无线信号收发器用于向外部视频收发系统中的传感器无线信号收发器发出控制可见光视频传感器及红外线视频传感器运动的信号，接收由传感器无线信号收发器发出的外部图像信号；所述头盔转动角度传感器用于实时监测头盔在X、Y、Z三个方向的转动角度；所述微处理器电路用于接收头盔转动角度传感器信号，根据头盔实际位置实时合成外部景象并在显示屏上显示外部景象。同时此电路还用于控制外部可见光视频传感器及红外线视频传感器根据头盔的位置实时转动；所述显示屏用于实时显示外部图像。所述头盔上还设有显示器旋转轴。所述外部视频收发系统安装在所述装备的外部，所述内部显示控制系统安装在所述装备内部的头盔上。 The main technical solution adopted by the present invention to solve its related technical problems is: to set or install a kind of equipment that can display the external scene in all directions at relevant positions such as tanks, armored vehicles, airplanes, helicopters, submarines, space equipment, trains, etc. with cockpits. The real-time observation system includes: external video transceiver system and internal display control system. Wherein, the external video transceiver system includes: a visible light video sensor, an infrared video sensor, a sensor motion control mechanism and a sensor wireless signal transceiver; the internal display control system is preferably a helmet, and the helmet is provided with a wireless signal transceiver, a helmet rotation angle sensor, A microprocessor circuit and a display screen, the display screen can also appear in the form of glasses; wherein, the visible light video sensor is used to record external scenes in real time during the day or in an environment with sufficient light; the infrared video sensor is used to record external scenes at night And when the light is dim, the external scene is recorded in real time; the sensor motion control mechanism is used to control the sensor to rotate in the horizontal direction and the vertical direction; the sensor wireless signal transceiver is used to wirelessly transmit external image signals to the helmet, and receive the internal control system The signal for controlling the rotation of the visible light video sensor and the infrared video sensor; the wireless signal transceiver provided in the helmet is used to send a signal to control the movement of the visible light video sensor and the infrared video sensor to the sensor wireless signal transceiver in the external video transceiver system, and receive the signal received by The external image signal sent by the sensor wireless signal transceiver; the helmet rotation angle sensor is used to monitor the rotation angle of the helmet in three directions of X, Y, and Z in real time; the microprocessor circuit is used to receive the helmet rotation angle sensor signal, Synthesize the external scene in real time according to the actual position of the helmet and display the external scene on the display screen. At the same time, the circuit is also used to control the external visible light video sensor and infrared video sensor to rotate in real time according to the position of the helmet; the display screen is used to display external images in real time. The helmet is also provided with a display rotation axis. The external video transceiver system is installed on the outside of the equipment, and the internal display control system is installed on the helmet inside the equipment.
一种全景视觉观察系统的工作方法，其中，该系统的外部视频收发系统被安装在一装备外部相关位置上，驾驶员在该装置内部进行相关操作的同时佩戴着该系统的内部显示控制系统优选为一头盔，其工作方法如下： A working method of a panoramic visual observation system, wherein the external video transceiver system of the system is installed on a relevant position outside the equipment, and the driver wears the internal display control system of the system while performing relevant operations inside the device. For a helmet, its working method is as follows:
(a)外部视频传感器通过传感器无线信号收发器将外部景象信号发给内部无线信号收发器。 (a) The external video sensor sends the external scene signal to the internal wireless signal transceiver through the sensor wireless signal transceiver.
(b)内部无线信号收发器将外部景象信号传给微处理器电路。 (b) The internal wireless signal transceiver transmits the external scene signal to the microprocessor circuit.
(c)微处理器电路将邻近视频传感器的重叠视野进行混合编辑生成全景图像并显示在显示屏上。 (c) The microprocessor circuit mixes and edits the overlapping fields of view of adjacent video sensors to generate a panoramic image and displays it on the display screen.
(d)设置在头盔上的头盔转动角度传感器实时监测头盔在X、Y、Z三个轴向的转动角度并将转动角度信号传给微处理器电路。 (d) The helmet rotation angle sensor arranged on the helmet monitors the rotation angle of the helmet in the three axes of X, Y, and Z in real time and transmits the rotation angle signal to the microprocessor circuit.
(e)微处理器电路根据头盔实际位置将视野位置信号通过无线信号收发系统发送到传感器控制机构。 (e) The microprocessor circuit sends the field of view position signal to the sensor control mechanism through the wireless signal transceiver system according to the actual position of the helmet.
(f)传感器控制机构根据头盔位置信号控制外部视频传感器在水平方向及垂直方向旋转。 (f) The sensor control mechanism controls the external video sensor to rotate in the horizontal direction and the vertical direction according to the helmet position signal.
附图说明 Description of drawings
图1为外部视觉传感器安装在一装备外部相关位置上； Figure 1 shows that the external vision sensor is installed on a relevant position outside the equipment;
图2为外部视觉传感器安装在一装备外部支架上； Fig. 2 is that the external vision sensor is installed on an equipment external bracket;
图3为所述全景视觉观察系统的系统结构图； Fig. 3 is the system structural diagram of described panoramic visual observation system;
图4为一头盔上显示器与旋转轴的位置结构图。 Fig. 4 is a position structure diagram of a display and a rotating shaft on a helmet.
其中，附图上标明的外部视觉传感器的数量仅为举例之用，且不限于附图。 Wherein, the quantity of the external vision sensor marked on the drawings is only for example, and is not limited to the drawings.
为了更好的理解本发明，现把附图中的标号说明如下： In order to better understand the present invention, the labeling in the accompanying drawings is now described as follows:
具体实施方式 Detailed ways
实施方式1： Implementation mode 1:
如图3所示，一种全景视觉观察系统，包括：外部视频收发系统和内部显示控制系统。其中，外部视频收发系统包括：可见光视频传感器3-1、红外线视频传感器3-2、传感器运动控制机构3-3和传感器无线信号收发器3-4；内部显示控制系统优选为一头盔，头盔上设有无线信号收发器3-5、头盔转动角度传感器3-6、微处理器电路3-7和显示屏3-8；其中， As shown in Figure 3, a panoramic visual observation system includes: an external video transceiver system and an internal display control system. Wherein, the external video transceiver system includes: visible light video sensor 3-1, infrared video sensor 3-2, sensor motion control mechanism 3-3 and sensor wireless signal transceiver 3-4; the internal display control system is preferably a helmet, on the helmet It is provided with a wireless signal transceiver 3-5, a helmet rotation angle sensor 3-6, a microprocessor circuit 3-7 and a display screen 3-8; wherein,
所述可见光视频传感器3-1用于在日间或光线充足时实时摄录外部景象； The visible light video sensor 3-1 is used to record external scenes in real time during daytime or when the light is sufficient;
所述红外线视频传感器3-2用于在夜间及光线昏暗时实时摄录外部景象； The infrared video sensor 3-2 is used to record external scenes in real time at night and when the light is dim;
所述传感器运动控制机构3-3用于控制传感器在水平方向和垂直方向的旋转； The sensor movement control mechanism 3-3 is used to control the rotation of the sensor in the horizontal direction and the vertical direction;
所述传感器无线信号收发器3-4用于向头盔无线发射外部图像信号，接收头盔发出的控制可见光视频传感器及红外线视频传感器运动的信号； The sensor wireless signal transceiver 3-4 is used to wirelessly transmit external image signals to the helmet, and receive signals from the helmet to control the movement of the visible light video sensor and the infrared video sensor;
所述头盔无线信号收发器3-5用于向外部视频传感器无线信号收发器3-4发出控制可见光视频传感器3-1及红外线视频传感器3-2运动的信号，接收由外部视频传感器无线信号收发器3-4发出的外部图像信号； The helmet wireless signal transceiver 3-5 is used to send signals to the external video sensor wireless signal transceiver 3-4 to control the movement of the visible light video sensor 3-1 and the infrared video sensor 3-2, and receive the wireless signal sent and received by the external video sensor. The external image signal sent by the device 3-4;
所述头盔转动角度传感器3-6用于实时监测头盔在X、Y、Z三个方向的转动角度； The helmet rotation angle sensor 3-6 is used for real-time monitoring of the rotation angle of the helmet in three directions of X, Y, and Z;
所述微处理器电路3-7用于接收头盔转动角度传感器3-6发出的信号，根据头盔实际位置实时合成外部景象并在显示屏3-8上显示外部景象，同时此电路还通过传感器运动控制机构3-3控制外部可见光视频传感器3-1及红外线视频传感器3-2根据头盔实际位置实时转动； Described microprocessor circuit 3-7 is used for receiving the signal that helmet rotation angle sensor 3-6 sends, synthesizes external scene in real time according to helmet actual position and shows external scene on display screen 3-8, simultaneously this circuit also moves through sensor The control mechanism 3-3 controls the external visible light video sensor 3-1 and the infrared video sensor 3-2 to rotate in real time according to the actual position of the helmet;
所述显示屏3-8用于实时显示外部图像，也可以做成眼镜供驾驶员佩戴。 The display screen 3-8 is used to display external images in real time, and can also be made into glasses for the driver to wear.
图1是本发明的实施方式1，在例如具有视窗1-1这种视野极为有限的密闭装备1-2外部设置视觉传感器1-3至1-7和1-11。所述视频传感器的数量及位置仅为举例之用且不限于此。其中，所述外部视觉传感器如图3所示包括可见光视频传感器3-1、红外线视频传感器3-2、可见光视频传感器及红外线视频传感器运动控制机构3-3和外部视觉传感器无线信号收发器3-4； Fig. 1 is Embodiment 1 of the present invention, in which visual sensors 1-3 to 1-7 and 1-11 are installed outside a closed device 1-2 having a very limited field of view such as a window 1-1. The number and positions of the video sensors are for example only and are not limited thereto. Wherein, as shown in Figure 3, the external visual sensor includes a visible light video sensor 3-1, an infrared video sensor 3-2, a visible light video sensor and an infrared video sensor motion control mechanism 3-3 and an external visual sensor wireless signal transceiver 3- 4;
在密闭装置1-2内部设有一头盔1-10，头盔1-10上设有显示屏1-9。其中，如图3所示，头盔上设有头盔无线信号收发器3-5、头盔转动角度传感器3-6、微处理器电路3-7、显示屏3-8。其中，显示屏3-8也可以做成眼镜形式。 A helmet 1-10 is arranged inside the airtight device 1-2, and a display screen 1-9 is arranged on the helmet 1-10. Wherein, as shown in Figure 3, the helmet is provided with a helmet wireless signal transceiver 3-5, a helmet rotation angle sensor 3-6, a microprocessor circuit 3-7, and a display screen 3-8. Wherein, the display screen 3-8 can also be made into the form of glasses.
如图4所示，优选地，所述头盔4-2上还设有显示器旋转轴4-3，当驾驶员需要对密闭装置内部进行操作或无需观察外部景象时，所述显示屏4-1可借助于显示屏旋转轴4-3向上推起，方便驾驶员操作。 As shown in Figure 4, preferably, the helmet 4-2 is also provided with a display rotation axis 4-3, when the driver needs to operate the inside of the airtight device or does not need to observe the external scene, the display screen 4-1 It can be pushed up by means of the display screen rotating shaft 4-3, which is convenient for the driver to operate.
一种全景视觉观察系统的工作方法，见图1和图3。其中，该系统的外部视频收发系统被固定于一密闭装备1-2外部相关位置。驾驶员1-8在该装备内部，佩戴该系统的内部显示控制系统优选为一头盔1-10。其工作方法如下： A working method of a panoramic visual observation system is shown in Fig. 1 and Fig. 3 . Wherein, the external video transceiver system of the system is fixed at an external relative position of a closed equipment 1-2. The driver 1-8 is inside the equipment, wearing the system's internal display control system, preferably a helmet 1-10. It works as follows:
(a)外部视频传感器1-3至1-7、1-11通过传感器无线信号收发器3-4将外部景象信号发给内部无线信号收发器3-5。 (a) The external video sensors 1-3 to 1-7, 1-11 send external scene signals to the internal wireless signal transceiver 3-5 through the sensor wireless signal transceiver 3-4.
(b)内部无线信号收发器3-5将外部景象信号传给微处理器电路3-7。 (b) The internal wireless signal transceiver 3-5 transmits the external scene signal to the microprocessor circuit 3-7.
(c)微处理器电路3-7将邻近视频传感器的重叠视野进行混合编辑生成全景图像并显示在显示屏3-8上。 (c) The microprocessor circuit 3-7 mixes and edits the overlapping fields of view of adjacent video sensors to generate a panoramic image and displays it on the display screen 3-8.
(d)设置在头盔上的头盔转动角度传感器3-6实时监测头盔在X、Y、Z三个轴向的转动角度并将转动角度信号传给微处理器电路3-7。 (d) The helmet rotation angle sensor 3-6 arranged on the helmet monitors the rotation angle of the helmet in the three axes of X, Y, and Z in real time and transmits the rotation angle signal to the microprocessor circuit 3-7.
(e)微处理器电路3-7根据头盔实际位置(角度)将视野位置信号通过无线信号收发系统3-5发送到传感器控制机构3-3。 (e) The microprocessor circuit 3-7 sends the field of view position signal to the sensor control mechanism 3-3 through the wireless signal transceiver system 3-5 according to the actual position (angle) of the helmet.
(f)传感器控制机构3-3根据头盔位置信号控制外部视频传感器1-3—1-7、1-11在水平方向及垂直方向旋转。 (f) The sensor control mechanism 3-3 controls the external video sensors 1-3-1-7, 1-11 to rotate in the horizontal and vertical directions according to the helmet position signal.
实施方式2： Implementation mode 2:
如图3所示，一种可全方位显示外部景象的实时观察系统。包括：外部视频收发系统和内部显示控制系统，其中，外部视频收发系统包括：可见光视频传感器3-1、红外线视频传感器3-2、传感器运动控制机构3-3和传感器无线信号收发器3-4；内部显示控制系统优选为一头盔，头盔上设有无线信号收发器3-5、头盔转动角度传感器3-6、微处理器电路3-7和显示屏3-8。其中， As shown in Figure 3, a real-time observation system that can display external scenes in all directions. Including: external video transceiver system and internal display control system, wherein the external video transceiver system includes: visible light video sensor 3-1, infrared video sensor 3-2, sensor motion control mechanism 3-3 and sensor wireless signal transceiver 3-4 The internal display control system is preferably a helmet, and the helmet is provided with a wireless signal transceiver 3-5, a helmet rotation angle sensor 3-6, a microprocessor circuit 3-7 and a display screen 3-8. in,
所述可见光视频传感器3-1用于在日间或光线充足时实时摄录外部景象； The visible light video sensor 3-1 is used to record external scenes in real time during daytime or when the light is sufficient;
所述红外线视频传感器3-2用于在夜间及光线昏暗时实时摄录外部景象； The infrared video sensor 3-2 is used to record external scenes in real time at night and when the light is dim;
所述传感器运动控制机构3-3用于控制传感器在水平方向和垂直方向旋转； The sensor movement control mechanism 3-3 is used to control the rotation of the sensor in the horizontal direction and the vertical direction;
所述传感器无线信号收发器3-4用于向头盔无线发射外部图像信号，接收头盔发出的控制可见光视频传感器及红外线视频传感器运动的信号； The sensor wireless signal transceiver 3-4 is used to wirelessly transmit external image signals to the helmet, and receive signals from the helmet to control the movement of the visible light video sensor and the infrared video sensor;
所述头盔无线信号收发器3-5用于向外部视频传感器无线信号收发器3-4发出控制可见光视频传感器3-1及红外线视频传感器3-2转动的信号，接收由外部视频传感器无线信号收发器3-4发出的外部图像信号； The helmet wireless signal transceiver 3-5 is used to send signals to the external video sensor wireless signal transceiver 3-4 to control the rotation of the visible light video sensor 3-1 and the infrared video sensor 3-2, and receive the wireless signal sent and received by the external video sensor. The external image signal sent by the device 3-4;
所述头盔转动角度传感器3-6用于实时监测头盔在X、Y、Z三个方向的转动角度； The helmet rotation angle sensor 3-6 is used for real-time monitoring of the rotation angle of the helmet in three directions of X, Y, and Z;
所述微处理器电路3-7用于接收头盔转动角度传感器3-6的信号，根据头盔实际位置实时合成外部景象并在显示屏3-8上显示外部景象，同时此电路还通过传感器运动控制机构3-3控制外部可见光视频传感器3-1及红外线视频传感器3-2根据头盔实际位置实时转动； The microprocessor circuit 3-7 is used to receive the signal of the helmet rotation angle sensor 3-6, synthesizes the external scene in real time according to the actual position of the helmet and displays the external scene on the display screen 3-8, and simultaneously this circuit is also controlled by the sensor motion The mechanism 3-3 controls the external visible light video sensor 3-1 and the infrared video sensor 3-2 to rotate in real time according to the actual position of the helmet;
所述显示屏3-8用于实时显示外部图像，也可以做成眼镜供驾驶员佩戴。 The display screen 3-8 is used to display external images in real time, and can also be made into glasses for the driver to wear.
图2是本发明的实施方式2，在例如具有视窗2-12这种视野极为有限的密闭装备2-1外部设置视觉传感器2-2—2-7，被固定于外部支架2-8上。所述外部支架2-8设置在密闭装备2-1外部的相关位置上，所述视频传感器及外部支架的数量及位置仅为举例之用且不限于此。其中，所述外部视觉传感器如图3所示包括可见光视频传感器3-1、红外线视频传感器3-2、传感器运动控制机构3-3和传感器无线信号收发器3-4。 2 is Embodiment 2 of the present invention. Visual sensors 2-2-2-7 are arranged on the outside of the airtight equipment 2-1 with a very limited field of view such as the window 2-12, and are fixed on the external bracket 2-8. The external bracket 2-8 is arranged at a relevant position outside the airtight device 2-1, and the number and positions of the video sensors and the external bracket are for example only and are not limited thereto. Wherein, the external visual sensor includes a visible light video sensor 3-1, an infrared video sensor 3-2, a sensor motion control mechanism 3-3 and a sensor wireless signal transceiver 3-4 as shown in FIG. 3 .
在密闭装备2-1内部设有一头盔2-11，头盔2-11上设有显示屏2-10。其中，如图3所示，头盔上设有头盔无线信号收发器3-5、头盔转动角度传感器3-6、微处理器电路3-7、显示屏3-8。 A helmet 2-11 is arranged inside the airtight equipment 2-1, and a display screen 2-10 is arranged on the helmet 2-11. Wherein, as shown in Figure 3, the helmet is provided with a helmet wireless signal transceiver 3-5, a helmet rotation angle sensor 3-6, a microprocessor circuit 3-7, and a display screen 3-8.
如图4所示，优选地，所述头盔4-2上还设有显示屏旋转轴4-3，当驾驶员需要对密闭装置内部进行操作或无需观察外部景象时，所述显示屏4-1可借助于显示屏旋转轴4-3向上推起，方便驾驶员的操作。 As shown in Figure 4, preferably, the helmet 4-2 is also provided with a display screen rotation axis 4-3, when the driver needs to operate the inside of the airtight device or does not need to observe the external scene, the display screen 4- 1 can be pushed up by means of the display screen rotating shaft 4-3, which is convenient for the driver to operate.
一种全景视觉观察系统的工作方法，见图2和图3。其中，该系统的外部视频收发系统被安装在一外部支架2-8上，所述外部支架2-8被设置于所述密闭装备2-1外部的相关位置上。驾驶员2-9在该装备内部，佩戴着该系统的内部显示控制系统优选为一头盔2-11。其工作方法如下： A working method of the panoramic visual observation system is shown in Fig. 2 and Fig. 3 . Wherein, the external video transceiver system of the system is installed on an external bracket 2-8, and the external bracket 2-8 is arranged at a relevant position outside the airtight equipment 2-1. The driver 2-9 is inside the equipment, wearing the system's interior display control system, preferably a helmet 2-11. It works as follows:
(a)外部视频传感器2-2—2-7通过传感器无线信号收发器3-4将外部景象信号发给内部无线信号收发器3-5。 (a) The external video sensors 2-2-2-7 send external scene signals to the internal wireless signal transceiver 3-5 through the sensor wireless signal transceiver 3-4.
(b)内部无线信号收发器3-5将外部景象信号传给微处理器电路3-7。 (b) The internal wireless signal transceiver 3-5 transmits the external scene signal to the microprocessor circuit 3-7.
(c)微处理器电路3-7将邻近视频传感器的重叠视野进行混合编辑生成全景图像并显示在显示屏3-8上。 (c) The microprocessor circuit 3-7 mixes and edits the overlapping fields of view of adjacent video sensors to generate a panoramic image and displays it on the display screen 3-8.
(d)设置在头盔上的头盔转动角度传感器3-6实时监测头盔在X、Y、Z三个轴向的转动角度并将转动角度信号传给微处理器电路3-7。 (d) The helmet rotation angle sensor 3-6 arranged on the helmet monitors the rotation angle of the helmet in the three axes of X, Y, and Z in real time and transmits the rotation angle signal to the microprocessor circuit 3-7.
(e)微处理器电路3-7根据头盔实际位置将视野位置信号通过无线信号收发系统3-5发送到传感器控制机构3-3。 (e) The microprocessor circuit 3-7 sends the field of view position signal to the sensor control mechanism 3-3 through the wireless signal transceiver system 3-5 according to the actual position of the helmet.
(f)传感器控制机构3-3根据头盔位置信号控制外部视频传感器2-2—2-7在水平方向及垂直方向旋转。 (f) The sensor control mechanism 3-3 controls the external video sensors 2-2-2-7 to rotate in the horizontal and vertical directions according to the helmet position signal.
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| CN101231752A (en) * | 2008-01-31 | 2008-07-30 | 北京航空航天大学 | Calibration-free true 3D panoramic display and interactive device |
| CN201369788Y (en) * | 2009-02-23 | 2009-12-23 | 杭州开锐电子电气有限公司 | Multi-eye panorama infrared lock-tracing image-shooting system |
| CN101881580A (en) * | 2010-06-29 | 2010-11-10 | 浙江工业大学 | Artillery Rapid Automatic Aiming Device |
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| CN102591014A (en) | 2012-07-18 |
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