CN102591014B - Panoramic vision observing system and work method thereof - Google Patents
Panoramic vision observing system and work method thereof Download PDFInfo
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Abstract
The invention discloses an observing system, which comprises an external video transceiving system and an internal display transceiving system. The external video transceiving system comprises a visible light video sensor, an infrared video sensor, a sensor motion control mechanism and a sensor wireless signal transceiver. The internal display transceiving system is preferably a helmet which is provided with a wireless signal transceiver, a helmet rotation angle sensor, a microprocessor circuit and a display screen. The external video sensor sends an external picture signal to the wireless signal transceiver of the helmet through the wireless signal transceiver of the sensor. The wireless signal transceiver of the helmet transfers the external picture signal to the microprocessor circuit. The helmet rotation angle sensor arranged on the helmet monitors the rotation angles of the helmet in X, Y and Z axis in real time and transfers the rotation angle signal to the microprocessor circuit on the helmet. The microprocessor circuit synthesizes appropriate external picture or switches to appropriate external picture in real time according to the actual position (angle) of the helmet and displays the external picture on the display. Furthermore, the video sensor can be further controlled by the external video sensor motion control mechanism to rotate to needed positions in real time.
Description
Technical field
The present invention relates to overall view visual system, particularly a kind of be used in there is high mobility and on the Mobile Equipment of outside visual field deficiency, can the real time viewing system of round-the-clock, comprehensive display external sights and method of work thereof.
Background technology
Human perception objective world has the information of 70% to be obtained by vision, and eyes are the topmost sense organs of the mankind, and image vision information is that the mankind are from one of objective world main source obtaining information.As everyone knows, vision is the means that a kind of perception surrounding environment is the most complicated, is also the most effective means.Along with the development of science and technology, the range of application expanding day of computer vision, its object uses computer generation to replace human eye and brain to carry out perception, explanation and understanding to surrounding enviroment exactly, such as on military or safety vehicle, driver usually needs to observe its vehicle periphery what happens and avoids again oneself to be exposed to enemy as far as possible, and described computer vision is applied to this.
Along with the develop rapidly of imaging technique and image Parallel Processing technology, overall view visual system will to moving object detection and tracking, obtain application prospect widely to Space Object Detection and tracking, civil area military to outside space exploration and video monitoring etc.Deep space probing field outside, as logged in Mars, the moon detects, visual environment perception is more absolutely necessary the requirement of one of important technical, omnibearing like this acquisition ambient vision information, is that Conventional visual context aware systems can not meet.Conventional visual mainly relies on the local message of limited view, there is low precision, field of view be little, operating distance is short, the deficiency such as poor real, lack the means obtaining the overall situation and large scale information, so target object can be caused to shift out the field range of vision sensor when vision sensor or observed object move suddenly.
Less different from the visual range of Conventional visual context aware systems, panoramic imagery refers to the spherical imaging being greater than hemisphere visual field (360 ° × 180 °).Its major function is the unfolded image being reduced into by perspective image and meeting eye-observation custom, so that monitoring is observed.Because panoramic imagery visual range is greater than this special visual field advantage of hemisphere, becomes the study hotspot in visual environment perception field, and have broad application prospects in fields such as military and civilians.Usually, panoramic picture process uses computing machine as platform, and complete Computerized image processing system generally comprises video input device, image pick-up card, computer system (comprise processor, mainboard, internal memory, and hard disk) etc.The analog video signal produced by camera, after image pick-up card, becomes data image signal, is stored in the internal memory of computing machine, and according to instruction or the program prepared in advance of computer operator, computing machine calls scan picture program and processes.Result is stored on hard disc of computer or on the computer monitor with document form and shows.But this vision system cost is higher and volume is comparatively large, and energy consumption is higher, inapplicable in the occasion of some mobile platforms or high reliability.
Recently, the existing video camera using gimbal to install provides the overall view visual system be showed on flat-panel monitor or Helmet Mounted Display.In the system, the view direction of view direction usually by changing the video camera that described gimbal is installed regulates.Usually, the indicator device of such as control lever or head-tracker controls view direction.But because intrinsic mechanical motion delays limits the speed changing required image, so the video camera that gimbal is installed is imperfect.In addition, huge, heavy, the high complexity of its needs and the special purpose computer of costliness is also its weak point in order to image capture and process.
Therefore, do not need special purpose computer and can reposefully the contiguous visual field of described multiple cameras be mixed, and the multiple-camera panoramic visualization system that can make driver's tracked mobile target in panoramic viewing area will be useful.
In order to improve the electronic information recognition capability of more modern military installations and the information-based integral level operated, the present invention has given full play to the positive role of hyundai electronics Image technology in information acquisition, transmission, feedback and record, provide a kind of observing system applied on Mobile Equipment, to carry out the instantaneous acquiring of real-time scene video information, transmission, feedback and record, for military decision-making and orchestration provide foundation directly perceived.It comprises a kind of can the real time viewing system of comprehensive display external sights and method of work thereof, can be applicable on the equipment of the movements such as tank, panzer, aircraft, helicopter, submarine, space equipment, can stablize, observe surrounding environment and automatically track target object efficiently.This observing system can not only reduce installation number of cameras, effectively reduce energy ezpenditure, weight reduction, and use wireless transmission, make connect up the key index such as complicacy, heat radiation be improved, there is larger advantage compared with classic method.
According to the present invention, its observing system comprises multiple vision sensor, and each vision sensor produces view data from the visual field of its video camera.In addition, the visual field of each video camera is overlapping with a contiguous visual field.The process of described microcontroller circuit mixed editorial from the view data of described overlapped view to generate panoramic view data.
The present invention also comprises an inner display control program, is preferably a helmet, the described helmet is provided with a wireless signal transceiver, a microcontroller circuit, a helmet angular transducer and a display screen.Described microcontroller circuit achieves the intelligent visualizations of Data Update speed and data message faster, preferably, the helmet is also provided with a display screen turning axle.
This system effectively can be hit for the cooperation between Mobile Equipment driver or member and enforcement and be threatened target to provide 360 ° of vision situational awareness, and it can allow driver fully understand operation situation while driving.Another special ability of this system is, under various weather condition, can provide 360 ° of scenes round the clock, and driver can be continued to fight in extreme environment.
Preferably, infrared video sensor will be applied among the present invention, it utilizes infrared eye to become phase objective to receive the infrared energy distribution pattern of measured target with optics, thus form Infrared Thermogram, and this thermography is corresponding with the heat distribution field of body surface.Generally thermal infrared imager is exactly that the invisible infrared energy sent by object changes visible thermal pattern into, and the different colours on thermal pattern represents the different temperatures of testee.Because infrared imagery technique can carry out contactless, high-resolution temperature imaging, high-quality image can be generated, numerous information of measurement target can be provided, compensate for the limitation of human eye in insufficient light or dark night environment, therefore be widely used in all conglomeraties such as electric system, civil engineering work, automobile, metallurgy, petrochemical industry, medical treatment, developing prospect is more limitless.
At present, panoramic vision has become the common prescription of modern battlebus.In modern military supply and equipment exhibition, a series of system obtains the chance of displaying.Existing most of system is based on comprehensive video image, for battlebus provides a panorama to browse the ability of surrounding enviroment.Overall view visual system is regarded as the important component part of periphery protection and Situation Awareness, and this also improves the fight capability of cannon detection system and Long-distance Control weapon station and some other equipment on military weapon further.
Summary of the invention
As mentioned above, the invention provides a kind of novel panoramic viewing system (visible electronic equipment), under the condition of visible ray, night and poor visibility, external panoramic images can be shown in real time, and occur with the form of " with on head ".
The present invention solves the main technical schemes that its Related Technical Issues adopts: to arrange as relevant positions such as tank, panzer, aircraft, helicopter, submarine, space equipment, trains there being the equipment of driving cabin or install a kind of can the real time viewing system of comprehensive display external sights, comprising: external video receive-transmit system and inner display control program.Wherein, external video receive-transmit system comprises: visible light video sensor, infrared video sensor, sensor movement control gear and sensor wireless signal transceiver; Inner display control program is preferably a helmet, and the helmet is provided with wireless signal transceiver, helmet rotation angle sensor, microcontroller circuit and display screen, and display screen can also occur with the form of glasses; Wherein, described visible light video sensor is used for shooting with video-corder external sights in real time in the daytime or in well-lighted environment; Described infrared video sensor be used for night and rather dark time shoot with video-corder external sights in real time; Described sensor movement control gear for control sensor in the horizontal direction and vertical direction rotate; Described sensor wireless signal transceiver is used for helmet wireless transmit external image signal, and receives the signal of control visible light video that internal control system sends and infrared video sensor rotation; The described wireless signal transceiver arranged in the helmet sends the signal controlling visible light video sensor and infrared video sensor movement for the sensor wireless signal transceiver in externally video receiving system, receive the external image signal sent by sensor wireless signal transceiver; Described helmet rotation angle sensor is used for the rotational angle of the Real-Time Monitoring helmet in X, Y, Z tri-directions; Described microcontroller circuit, for receiving helmet rotation angle sensor signal, synthesizes external sights in real time according to helmet physical location and shows external sights on a display screen.Simultaneously this circuit is also for controlling outside visible light video sensor and infrared video sensor rotates in real time according to the position of the helmet; Described display screen is used for showing external image in real time.The described helmet is also provided with display turning axle.Described external video receive-transmit system is arranged on the outside of described equipment, and described inner display control program is arranged on the inner helmet of described equipment.
A kind of method of work of panoramic vision observing system, wherein, the external video receive-transmit system of this system is installed on the outside relevant position of an equipment, the inside display control program that driver adorns oneself with this system while associative operation is carried out in this device inside is preferably a helmet, and its method of work is as follows:
A external sights signal is issued internal wireless signal transceiver by sensor wireless signal transceiver by () external video sensor.
B external sights signal is passed to microcontroller circuit by () internal wireless signal transceiver.
C the overlapped view of contiguous video sensor is carried out mixed editorial generating panorama image and shows on a display screen by () microcontroller circuit.
D () is arranged on the helmet rotation angle sensor Real-Time Monitoring helmet on the helmet at the rotational angle of X, Y, Z tri-axis and rotational angle signal is passed to microcontroller circuit.
E visual field position signalling is sent to sensor control gear by wireless signal receive-transmit system according to helmet physical location by () microcontroller circuit.
(f) sensor control gear according to helmet position signal control external video sensor in the horizontal direction and vertical direction rotate.
Accompanying drawing explanation
Fig. 1 is that external view sensor is arranged on the outside relevant position of an equipment;
Fig. 2 is that external view sensor is arranged on an equipment outside support;
Fig. 3 is the system construction drawing of described panoramic vision observing system;
Fig. 4 is the position assumption diagram of display and turning axle on a helmet.
Wherein, the quantity of the external view sensor that accompanying drawing is indicated is only the use of citing, and is not limited to accompanying drawing.
For a better understanding of the present invention, existing as follows for the label declaration in accompanying drawing:
Embodiment
Embodiment 1:
As shown in Figure 3, a kind of panoramic vision observing system, comprising: external video receive-transmit system and inner display control program.Wherein, external video receive-transmit system comprises: visible light video sensor 3-1, infrared video sensor 3-2, sensor movement control gear 3-3 and sensor wireless signal transceiver 3-4; Inner display control program is preferably a helmet, and the helmet is provided with wireless signal transceiver 3-5, helmet rotation angle sensor 3-6, microcontroller circuit 3-7 and display screen 3-8; Wherein,
Described visible light video sensor 3-1 be used in the daytime or bright and clear time shoot with video-corder external sights in real time;
Described infrared video sensor 3-2 be used for night and rather dark time shoot with video-corder external sights in real time;
Described sensor movement control gear 3-3 for control sensor in the horizontal direction with the rotation of vertical direction;
Described sensor wireless signal transceiver 3-4 is used for helmet wireless transmit external image signal, the signal of the control visible light video sensor that the reception helmet sends and infrared video sensor movement;
Described helmet wireless signal transceiver 3-5 is used for externally video sensor wireless signal transceiver 3-4 and sends the signal controlling visible light video sensor 3-1 and infrared video sensor 3-2 and move, and receives the external image signal sent by external video sensor wireless signal transceiver 3-4;
Described helmet rotation angle sensor 3-6 is used for the rotational angle of the Real-Time Monitoring helmet in X, Y, Z tri-directions;
The signal that described microcontroller circuit 3-7 sends for receiving helmet rotation angle sensor 3-6, synthesize external sights in real time according to helmet physical location and show external sights on display screen 3-8, simultaneously this circuit also controls outside visible light video sensor 3-1 by sensor movement control gear 3-3 and infrared video sensor 3-2 rotates in real time according to helmet physical location;
Described display screen 3-8 is used for showing external image in real time, also can make glasses and wear for driver.
Fig. 1 is embodiments of the present invention 1, such as, have the extremely limited airtight equipment 1-2 outer setting vision sensor 1-3 to 1-7 and 1-11 in this visual field of form 1-1.The quantity of described video sensor and position are only the use of citing and are not limited thereto.Wherein, described external view sensor comprises visible light video sensor 3-1, infrared video sensor 3-2, visible light video sensor and infrared video sensor movement control gear 3-3 and external view sensor wireless signal transceiver 3-4 as shown in Figure 3;
Be provided with a helmet 1-10 in obturator 1-2 inside, helmet 1-10 is provided with display screen 1-9.Wherein, as shown in Figure 3, the helmet is provided with helmet wireless signal transceiver 3-5, helmet rotation angle sensor 3-6, microcontroller circuit 3-7, display screen 3-8.Wherein, display screen 3-8 also can make glasses form.
As shown in Figure 4, preferably, described helmet 4-2 is also provided with display turning axle 4-3, when driver need to operate obturator inside or without the need to observing external sights time, described display screen 4-1 upwards can boost by means of display screen turning axle 4-3, facilitates driver to operate.
A method of work for panoramic vision observing system, is shown in Fig. 1 and Fig. 3.Wherein, the external video receive-transmit system of this system is fixed in the outside relevant position of an airtight equipment 1-2.Driver 1-8 is inner at this equipment, and the inside display control program wearing this system is preferably a helmet 1-10.Its method of work is as follows:
A external sights signal is issued internal wireless signal transceiver 3-5 by sensor wireless signal transceiver 3-4 by () external video sensor 1-3 to 1-7,1-11.
B external sights signal is passed to microcontroller circuit 3-7 by () internal wireless signal transceiver 3-5.
C the overlapped view of contiguous video sensor is carried out mixed editorial generating panorama image and is presented on display screen 3-8 by () microcontroller circuit 3-7.
D () is arranged on the helmet rotation angle sensor 3-6 Real-Time Monitoring helmet on the helmet at the rotational angle of X, Y, Z tri-axis and rotational angle signal is passed to microcontroller circuit 3-7.
E visual field position signalling is sent to sensor control gear 3-3 by wireless signal receive-transmit system 3-5 according to helmet physical location (angle) by () microcontroller circuit 3-7.
(f) sensor control gear 3-3 according to helmet position signal control external video sensor 1-3-1-7,1-11 in the horizontal direction and vertical direction rotate.
Embodiment 2:
As shown in Figure 3, a kind of can the real time viewing system of comprehensive display external sights.Comprise: external video receive-transmit system and inner display control program, wherein, external video receive-transmit system comprises: visible light video sensor 3-1, infrared video sensor 3-2, sensor movement control gear 3-3 and sensor wireless signal transceiver 3-4; Inner display control program is preferably a helmet, and the helmet is provided with wireless signal transceiver 3-5, helmet rotation angle sensor 3-6, microcontroller circuit 3-7 and display screen 3-8.Wherein,
Described visible light video sensor 3-1 be used in the daytime or bright and clear time shoot with video-corder external sights in real time;
Described infrared video sensor 3-2 be used for night and rather dark time shoot with video-corder external sights in real time;
Described sensor movement control gear 3-3 rotates with vertical direction in the horizontal direction for controlling sensor;
Described sensor wireless signal transceiver 3-4 is used for helmet wireless transmit external image signal, the signal of the control visible light video sensor that the reception helmet sends and infrared video sensor movement;
Described helmet wireless signal transceiver 3-5 is used for externally video sensor wireless signal transceiver 3-4 and sends the signal controlling visible light video sensor 3-1 and infrared video sensor 3-2 and rotate, and receives the external image signal sent by external video sensor wireless signal transceiver 3-4;
Described helmet rotation angle sensor 3-6 is used for the rotational angle of the Real-Time Monitoring helmet in X, Y, Z tri-directions;
Described microcontroller circuit 3-7 is for receiving the signal of helmet rotation angle sensor 3-6, synthesize external sights in real time according to helmet physical location and show external sights on display screen 3-8, simultaneously this circuit also controls outside visible light video sensor 3-1 by sensor movement control gear 3-3 and infrared video sensor 3-2 rotates in real time according to helmet physical location;
Described display screen 3-8 is used for showing external image in real time, also can make glasses and wear for driver.
Fig. 2 is embodiments of the present invention 2, such as having the extremely limited airtight equipment 2-1 outer setting vision sensor 2-2-2-7 in this visual field of form 2-12, is fixed on outside support 2-8.Described outside support 2-8 is arranged on the relevant position of airtight equipment 2-1 outside, and the quantity of described video sensor and outside support and position are only the use of citing and are not limited thereto.Wherein, described external view sensor comprises visible light video sensor 3-1, infrared video sensor 3-2, sensor movement control gear 3-3 and sensor wireless signal transceiver 3-4 as shown in Figure 3.
Be provided with a helmet 2-11 in airtight equipment 2-1 inside, helmet 2-11 is provided with display screen 2-10.Wherein, as shown in Figure 3, the helmet is provided with helmet wireless signal transceiver 3-5, helmet rotation angle sensor 3-6, microcontroller circuit 3-7, display screen 3-8.
As shown in Figure 4, preferably, described helmet 4-2 is also provided with display screen turning axle 4-3, when driver need to operate obturator inside or without the need to observing external sights time, described display screen 4-1 upwards can boost by means of display screen turning axle 4-3, facilitates the operation of driver.
A method of work for panoramic vision observing system, is shown in Fig. 2 and Fig. 3.Wherein, the external video receive-transmit system of this system is installed on an outside support 2-8, and described outside support 2-8 is arranged on the relevant position of described airtight equipment 2-1 outside.Driver 2-9 is inner at this equipment, and the inside display control program adorning oneself with this system is preferably a helmet 2-11.Its method of work is as follows:
A external sights signal is issued internal wireless signal transceiver 3-5 by sensor wireless signal transceiver 3-4 by () external video sensor 2-2-2-7.
B external sights signal is passed to microcontroller circuit 3-7 by () internal wireless signal transceiver 3-5.
C the overlapped view of contiguous video sensor is carried out mixed editorial generating panorama image and is presented on display screen 3-8 by () microcontroller circuit 3-7.
D () is arranged on the helmet rotation angle sensor 3-6 Real-Time Monitoring helmet on the helmet at the rotational angle of X, Y, Z tri-axis and rotational angle signal is passed to microcontroller circuit 3-7.
E visual field position signalling is sent to sensor control gear 3-3 by wireless signal receive-transmit system 3-5 according to helmet physical location by () microcontroller circuit 3-7.
(f) sensor control gear 3-3 according to helmet position signal control external video sensor 2-2-2-7 in the horizontal direction and vertical direction rotate.
Claims (4)
1. a panoramic vision observing system, comprising:
External video receive-transmit system and inner display control program; Wherein,
External video receive-transmit system comprises: visible light video sensor, infrared video sensor, sensor movement control gear and sensor wireless signal transceiver;
Inner display control program is preferably a helmet, and the helmet is provided with wireless signal transceiver, helmet rotation angle sensor, microcontroller circuit and display screen;
Wherein,
Described visible light video sensor be used in the daytime or bright and clear time shoot with video-corder external sights in real time;
Described infrared video sensor be used for night and rather dark time shoot with video-corder external sights in real time;
Described sensor movement control gear for control sensor in the horizontal direction with the rotation of vertical direction;
Described sensor wireless signal transceiver is used for helmet wireless transmit external image signal, the signal of the control visible light video sensor that the reception helmet sends and infrared video sensor movement;
The described wireless signal transceiver arranged in the helmet sends the signal controlling visible light video sensor and infrared video sensor movement for the sensor wireless signal transceiver in externally video receiving system, receive the external image signal sent by the sensor wireless signal transceiver in external video receive-transmit system;
Described helmet rotation angle sensor is used for the rotational angle of the Real-Time Monitoring helmet in X, Y, Z tri-directions;
The signal that described microcontroller circuit sends for receiving helmet rotation angle sensor, synthesize external sights show external sights on a display screen in real time according to helmet physical location, this circuit also controls outside visible light video sensor and infrared video sensor according to helmet physical location real time kinematics by sensor movement control gear simultaneously;
Described display screen is used for showing external image in real time, also can make glasses and wear for driver.
2. panoramic vision observing system according to claim 1, is characterized in that: sensor >=1 in described external video receive-transmit system.
3. panoramic vision observing system according to claim 1, is characterized in that: the described helmet is also provided with a display screen turning axle, for regulating the position of described display screen, and regulates direction to be vertical direction.
4. the method for work for panoramic vision observing system according to claim 1, it is characterized in that: the external video receive-transmit system of this panoramic vision observing system is installed on the relevant position of an equipment outside, one driver wears the inside display control program of this panoramic vision observing system in this equipment inside, this inner display control program is preferably a helmet, and the method for work of this panoramic vision observing system is as follows:
A external sights signal is issued the wireless signal transceiver be arranged in the helmet by () external video receive-transmit system by sensor wireless signal transceiver;
External sights signal is passed to microcontroller circuit by b wireless signal transceiver that () is arranged in the helmet;
C the overlapped view of contiguous visible light video sensor and infrared video sensor is carried out mixed editorial generating panorama image and shows on a display screen by () microcontroller circuit;
D () is arranged on the helmet rotation angle sensor Real-Time Monitoring helmet on the helmet at the rotational angle of X, Y, Z tri-axis and rotational angle signal is passed to microcontroller circuit;
E visual field position signalling is sent to sensor movement control gear by the wireless signal transceiver in the helmet according to helmet physical location by () microcontroller circuit;
(f) sensor movement control gear according to helmet position signal control visible light video sensor and infrared video sensor in the horizontal direction and vertical direction rotate.
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| CN104280124A (en) * | 2013-07-09 | 2015-01-14 | 杭州美盛红外光电技术有限公司 | Helmet device |
| CN110650241B (en) | 2014-06-16 | 2021-01-29 | 华为技术有限公司 | Method for presenting panoramic photo in mobile terminal and mobile terminal |
| CN105405093B (en) * | 2015-11-12 | 2019-03-15 | 中国商用飞机有限责任公司 | Aircraft cockpit visual field enhances system and method |
| CN106937143A (en) * | 2015-12-31 | 2017-07-07 | 幸福在线（北京）网络技术有限公司 | The control method for playing back and device and equipment of a kind of virtual reality video |
| DE102019105855A1 (en) * | 2019-03-07 | 2020-09-10 | Deutsche Post Ag | Vehicle with display device |
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