CN102818543A - Target free multi-optical axis parallelism detection system based on digital image - Google Patents

Abstract

The invention discloses a target free multi-optical axis parallelism detection system based on a digital image, which relates to the field of photoelectronic imaging. A back to back laser scene video collector collects laser and scene images simultaneously, the laser and scene images are input to a fusion module to generate a laser scene fusing image, a projectile launching shaft vidicon collects a first scene image with a cross division line, and a viewing vidicon obtains a second scene image with a cross division line. The laser scene fusing image, the first scene image with the cross division line and the second scene image with the cross division line are input to a parallelism calculation module to obtain a registering image with two cross division lines and a laser sport. The parallelism between the laser shaft and the projectile launching shaft, between the laser shaft and the view optical axis as well as between the projectile launching shaft and the view optical axis can be calculated by the registering image. The target free multi-optical axis parallelism detection system based on the digital image provided by the invention is suitable for detection of multi-optical axis parallelism, and includes but not limited to detection of parallelism of the view shaft, the laser shaft and the projectile launching shaft of weaponry.

Description

No many parallelisms of optical axis of target detection system based on digital picture

Technical field

The present invention relates to a kind of no many parallelisms of optical axis of target detection system, belong to the photoelectronic imaging field based on digital picture.

Background technology

Along with science and technology development, the armament systems that integrate such as photo electric imaging systems such as laser range finders are being applied among the modernized war equipment more and more.Armament systems self have guidance axis and bullet emission shaft; Wherein, guidance axis is used photo electric imaging system (like CCD, thermal imaging system etc.) usually, and its optical axis is considered to the center of image device; Mark the scene image of output band cross-graduation by crosshair at display end; For cannon, the bullet emission shaft is the big gun axle.After increasing laser range finder, armament systems have increased laser axis again, have formed the system of many optical axises.In order to bring into play the usefulness of photo electric imaging system to greatest extent, must guarantee the parallel of each optical axis in many optical axises system.

For armament systems,, just need detect and calibration three depth of parallelisms of carrying out between any two in order to guarantee to be parallel to each other between guidance axis, bullet emission shaft and the laser axis.Laser axis and bullet emission shaft are being carried out the detection and the correction of the depth of parallelism, then laser axis and guidance axis are being carried out can obtaining the nonparallelism between guidance axis and the bullet emission shaft through the transformational relation of laser axis after the depth of parallelism detects and proofread and correct.

At present, carry out the depth of parallelism between any two to laser axis, bullet emission shaft and guidance axis three and detect, can consider to adopt existing domestic and international many parallelisms of optical axis of typical case detection method, for example: projection plate target method, heavy caliber parallel light tube method, branch light path method etc.

(1) projection plate target method; The parallelism of optical axis that both can be used for the telescope lens barrel detects, and also is applicable to the detection of range finder using laser optical axis and other device parallelisms of optical axis, and this method adopts target; Subjectivity according to human eye is declared knowledge; Therefore complicated operation can not guarantee reliable precision, and needs to rely on a large amount of manually-operateds;

(2) heavy caliber parallel light tube method and branch light path method have all adopted complicated branch light channel structure, because the strictness adjustment that divides light channel structure need carry out light path in use, so inconvenient operation; They all relate to light pipe and divide light channel structure, and are high to environmental requirement, and when environment can not reach it and requires, system stability can not be protected, and therefore can have influence on depth of parallelism calibration accuracy; And, because parallax range is bigger between laser axis and the bullet emission shaft (or guidance axis), require system light path longer, systems bulky, poor for applicability.

This shows that can be applied to laser beam axis, bullet emission shaft and see the existing scheme of taking aim at optical axis depth of parallelism detection between any two, it has complicated operation, and is strong to environmental factor dependence, can not guarantee the problem of the calibration accuracy of the system stability and the depth of parallelism.

Summary of the invention

The objective of the invention is to propose a kind of no many parallelisms of optical axis of target detection system based on digital picture; Be mainly used in and detect the depth of parallelism between the optical axis in the weaponry; Can reduce the complexity of operation; Reduce dependence simultaneously, can guarantee the calibration accuracy of the system stability and the depth of parallelism environment.

In order to achieve the above object, the invention provides a kind of no many parallelisms of optical axis of target detection system, comprise back-to-back formula laser scene video collector, bullet emission shaft photo electric imaging system, Fusion Module and depth of parallelism detection module based on digital picture;

Before described back-to-back formula laser scene video collector is installed in the laser exit of range finder using laser; Comprise first photo electric imaging system and second photo electric imaging system, both are coaxial and back-to-back fixing, and wherein first photo electric imaging system is in the face of the laser emitting mouth of range finder using laser; Be used to gather representation of laser facula; Second photo electric imaging system is used to gather scene image in the face of scene, collects to such an extent that representation of laser facula and scene image all send to Fusion Module;

Described bullet emission shaft photo electric imaging system is fixed on bullet emission cavity exit; Have cross-graduation in the camera lens of bullet emission shaft photo electric imaging system; Gather the scene image of first width of cloth band cross-graduation with bullet emission shaft photo electric imaging system; The center of cross-graduation is characterizing the direction of bullet emission shaft, and the scene image of said first width of cloth band cross-graduation is sent to depth of parallelism detection module;

Described Fusion Module is used for the LASER SPECKLE image and the scene image that are input to Fusion Module are carried out the image co-registration processing, obtains laser scene fused images, and said laser scene fused images is sent to depth of parallelism detection module;

Described depth of parallelism detection module; Be used for scene image and the laser scene fused images of first width of cloth band cross-graduation of input are carried out the image registration processing; Cross-graduation in the scene image of first width of cloth band cross-graduation is projected in the laser scene fused images, obtain registering images;

Described registering images; Comprise a cross-graduation, a LASER SPECKLE; On behalf of laser axis, cross-graduation center, the LASER SPECKLE position represent the bullet emission shaft; According to departure between the center of the cross-graduation in the registering images and the LASER SPECKLE position, calculate laser axis and bullet emission shaft horizontal sextant angle and vertical angle, promptly obtain the laser axis and the bullet emission shaft depth of parallelism.

See the depth of parallelism take aim at optical axis and above-mentioned laser axis and bullet emission shaft in order to detect, this system comprises that further sight takes aim at the optical axis photo electric imaging system;

Described sight is taken aim at the optical axis photo electric imaging system and is fixed on to see and takes aim on the optical axis; Gather the scene image of second width of cloth band cross-graduation through gun sight; The center of cross-graduation is characterizing and is seeing the direction take aim at optical axis in the image, and the scene image of said second width of cloth band cross-graduation is sent to depth of parallelism detection module;

Described depth of parallelism detection module further adopts the scene image of second width of cloth band cross-graduation of input that the cross-graduation in the scene image of second width of cloth band cross-graduation is projected in the said laser scene fused images, obtains final registering images;

Said final registering images; Comprise two cross-graduations, a LASER SPECKLE; On behalf of laser axis, two cross-graduation centers, the LASER SPECKLE position represent bullet emission shaft and sight to take aim at optical axis respectively; According to the center of two cross-graduations in the registering images and LASER SPECKLE position departure between any two; Calculate laser axis, bullet emission shaft and sight and take aim at optical axis horizontal sextant angle and vertical angle between any two, promptly obtain laser axis, bullet emission shaft and sight and take aim at the optical axis depth of parallelism between any two.

The present invention also provides a kind of no many parallelisms of optical axis of target detection system based on digital picture, comprises back-to-back formula laser scene video collector, sees and take aim at optical axis photo electric imaging system, Fusion Module and depth of parallelism detection module;

Before described back-to-back formula laser scene video collector is installed in the laser exit of range finder using laser; Comprise first photo electric imaging system and second photo electric imaging system, both are coaxial and back-to-back fixing, and wherein first photo electric imaging system is in the face of the laser emitting mouth of range finder using laser; Be used to gather representation of laser facula; Second photo electric imaging system is used to gather scene image in the face of scene, collects to such an extent that representation of laser facula and scene image all send to Fusion Module;

Described sight is taken aim at the optical axis photo electric imaging system and is fixed on to see and takes aim on the optical axis; Scene image through gun sight collection band cross-graduation; The center of cross-graduation is characterizing and is seeing the direction take aim at optical axis in the image, and the scene image of said band cross-graduation is sent to depth of parallelism detection module;

Described Fusion Module is used for the LASER SPECKLE image and the scene image that are input to Fusion Module are carried out the image co-registration processing, obtains laser scene fused images, and said laser scene fused images is sent to depth of parallelism detection module;

Described depth of parallelism detection module; Being used for that scene image and the laser scene fused images of the band cross-graduation of input are carried out image registration handles; Cross-graduation in the scene image of band cross-graduation is projected in the laser scene fused images, obtain final registering images;

Described registering images; Comprise a cross-graduation, a LASER SPECKLE; On behalf of laser axis, the representative of cross-graduation center, the LASER SPECKLE position see and take aim at optical axis; According to departure between the center of the cross-graduation in the registering images and the LASER SPECKLE position, calculate laser axis and see the horizontal sextant angle taken aim between the optical axis and vertical angle, promptly obtain laser axis and take aim at the depth of parallelism between the optical axis with sight.

Wherein, have for some and to see the weaponry take aim at the video signal collective system, described sight is taken aim at the sight that the optical axis photo electric imaging system can directly adopt weaponry to carry and is taken aim at the video signal collective system.

Beneficial effect of the present invention: ⑴ the present invention does not have complicated branch light channel structure, and easy to operate, system stability is good, and precision is reliable; ⑵ the present invention does not use target, need not rely on a large amount of manually-operated bases, can realize not having the many parallelisms of optical axis of the online detection of target; ⑶ the present invention adopts digital image processing method, and is little to the dependence of environment and human eye subjective judgement, thereby can improve accuracy of detection; ⑷ the present invention all has certain applicability to weaponrys such as the range finder using laser of different model and bullet emission shafts.

Description of drawings

Fig. 1 is a fundamental diagram of the present invention;

Fig. 2 is coaxial back to fixed light electric imaging system imaging matching principle;

Fig. 3 is laser facula and a cross-graduation relative position synoptic diagram in the registering images;

Embodiment

The invention provides a kind of no many parallelisms of optical axis of target detection system based on digital picture, the laser beam axis, the bullet emission shaft that are used for detecting armament systems are taken aim at the optical axis depth of parallelism between any two with sight.

The basic ideas that the depth of parallelism detects are: utilize back-to-back laser scene video collector to gather laser and scene image simultaneously; The input Fusion Module generates laser scene fused images; Utilize bullet emission shaft photo electric imaging system to gather the scene image of first width of cloth band cross-graduation, take aim at the scene image that the optical axis photo electric imaging system obtains second width of cloth band cross-graduation with seeing.With the scene image input depth of parallelism computing module of the laser scene fused images and first width of cloth band cross-graduation, obtain the depth of parallelism of laser beam axis and bullet emission shaft; Scene image input depth of parallelism computing module with the laser scene fused images and second width of cloth band cross-graduation obtains laser beam axis and sees the depth of parallelism of taking aim at optical axis; With the laser beam axis is benchmark, utilizes the geometric transformation relation, obtains bullet emission optical axis and sees the depth of parallelism of taking aim at optical axis.

It is thus clear that the present invention has realized the detection to many parallelisms of optical axis under the situation of not using complicated branch light channel structure and target; Dependence to environment and human eye subjective judgement is little, and weaponrys such as the range finder using laser of different model and bullet emission shaft are all had certain applicability.

Detail below in conjunction with accompanying drawing and to many parallelisms of optical axis testing process of a kind of more excellent embodiment pin of native system:

This method detects range finder using laser optical axis, big gun axle and sight in the cannon, and to take aim at the process of the depth of parallelism between optical axis following:

As shown in Figure 1, no many parallelisms of optical axis of the target detection system based on digital picture of present embodiment comprises: optical axis photo electric imaging system, Fusion Module and depth of parallelism detection module are taken aim in back-to-back formula laser scene video collector, bullet emission shaft photo electric imaging system, sight.

The first step: before back-to-back formula laser scene video collector is installed in the laser exit of range finder using laser; Back-to-back formula laser scene video collector is made up of first photo electric imaging system and second photo electric imaging system; Both are coaxial and back-to-back fixing, and wherein first photo electric imaging system is used to gather representation of laser facula in the face of the laser emitting mouth of range finder using laser; Second photo electric imaging system is used to gather scene image in the face of scene.Wherein, first photo electric imaging system adopts laser sensitive image device, and second photo electric imaging system is the visible light photo electric imaging system; In the present embodiment, selecting first photo electric imaging system is the near infrared light electric imaging system.

Second step:, generate laser scene fused images with representation of laser facula and scene image input Fusion Module.Because by mechanical fixation, there are not relative motion in first photo electric imaging system and second photo electric imaging system, thus there is unique geometric maps relation between the image that two photo electric imaging systems collect, and this mapping relations can be through the system calibrating acquisition.Deposit above-mentioned mapping relations in Fusion Module, utilize Fusion Module just can representation of laser facula and scene image be merged generation laser scene fused images, wherein laser spot position characterizes laser direction.

The mapping relations of representation of laser facula and scene image are as shown in Figure 2.The principal plane of the laser beam AB and the first photo electric imaging system camera lens meets at the B point, converges to image planes C point through camera lens.According to how much image-forming principles, obviously have

AB//O ₁C (1)

If C point pixel ranks coordinate in the representation of laser facula matrix is (m _Laser, n _Laser), the instantaneous field of view of first photo electric imaging system is p ₁* q ₁.

Like Fig. 2, set up the first photo electric imaging system coordinate system O respectively ₁-x ₁y ₁z ₁With the second photo electric imaging system coordinate system O ₂-x ₂y ₂z ₂, then the C point is at coordinate system O ₁-x ₁y ₁z ₁In coordinate be f ₁＇ (m _Laserp ₁, n _Laserq ₁,-1), and then the direction of laser can be used vector

Expression

$\stackrel{\→}{O_{1}C}=f_1^{\′}(m_{\mathrm{laser}}{p}_1,n_{\mathrm{laser}}{q}_1,-1)---\left(2\right)$

If O ₁-x ₁y ₁z ₁Coordinate system and O ₂-x ₂y ₂z ₂The rotational transform matrix of coordinate system is R, and motion vector is T, promptly

${\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]}_2=R{\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]}_1+T---\left(3\right)$

Then vectorial

At O ₂-x ₂y ₂z ₂Can be expressed as in the coordinate system

$\stackrel{\→}{O_{1}C}={\left[\begin{array}{c}{x}_C\\ y_C\\ z_C\end{array}\right]}_2-{\left[\begin{array}{c}{x}_{O_1}\\ y_{O_1}\\ z_{O_1}\end{array}\right]}_2=R{\left[\begin{array}{c}{x}_C\\ y_C\\ z_C\end{array}\right]}_1=R{f}_1^{\′}{\left[\begin{array}{c}{m}_{\mathrm{laser}}{p}_1\\ n_{\mathrm{laser}}{q}_1\\ -1\end{array}\right]}_1---\left(4\right)$

In the formula, ${\left[\begin{array}{c}{x}_C\\ y_{\mathrm{<figure-callout\; id="2"\; label="C\; z\; C"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">C</figure-callout>}}& \\ z_C{}_{}\end{array}\right]}_2$ Expression point C is at O ₂-x ₂y ₂z ₂Coordinate under the coordinate system, ${\left[\begin{array}{c}{x}_{O_1}\\ y_{O_1}\\ z_{O_1}\end{array}\right]}_2$ Expression point O ₁At O ₂-x ₂y ₂z ₂Coordinate under the coordinate system, ${\left[\begin{array}{c}{x}_C\\ y_C\\ z_C\end{array}\right]}_1$ Expression point C is at O ₁-x ₁y ₁z ₁Coordinate under the coordinate system, ${\left[\begin{array}{c}{m}_{\mathrm{Laser}}{p}_1\\ n_{\mathrm{Laser}}{q}_1\\ -1\end{array}\right]}_1$ Expression point (m _Laserp ₁, n _Laserq ₁,-1) at O ₁-x ₁y ₁z ₁Coordinate under the coordinate system, (m _Laser, n _Laser) be the ranks coordinate of D point pixel in the scene image array.

If

then

$\stackrel{\&RightArrow;}{{\mathrm{<figure-callout\; id="2"\; label="DO"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">DO</figure-callout>}}_2}=-{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^{\&prime;}{\left[\begin{array}{ccc}{m}_{\mathrm{Scene}}{p}_2& n_{\mathrm{Scene}}{q}_2& -1\end{array}\right]}_2^T=\mathrm{\&lambda;}{f}_1^{\&prime;}R{\left[\begin{array}{ccc}{m}_{\mathrm{Laser}}{p}_1& n_{\mathrm{Laser}}{q}_1& -1\end{array}\right]}_1^T---\left(5\right)$ ${\left[\begin{array}{ccc}{m}_{\mathrm{Scene}}{p}_2& n_{\mathrm{Scene}}{q}_2& -1\end{array}\right]}_2^T$ Expression point (m _Scenep ₂n _Sceneq ₂-1) at O ₂-x ₂y ₂z ₂Coordinate under the coordinate system;

Promptly

${\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^{\&prime;}\left[\begin{array}{ccc}{p}_0& 0& 0\\ 0& {\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">q</figure-callout>}}_2& 0\\ 0& 0& -1\end{array}\right]\left[\begin{array}{c}{m}_{\mathrm{scene}}\\ n_{\mathrm{scene}}\\ 1\end{array}\right]=-\mathrm{\&lambda;}{f}_1^{\&prime;}R\left[\begin{array}{ccc}{p}_1& 0& 0\\ 0& q_1& 0\\ 0& 0& -1\end{array}\right]\left[\begin{array}{c}{m}_{\mathrm{laser}}\\ n_{\mathrm{laser}}\\ 1\end{array}\right]---\left(6\right)$

Can get following formula:

$\left[\begin{array}{c}{m}_{\mathrm{scene}}\\ n_{\mathrm{scene}}\\ 1\end{array}\right]=-\frac{\mathrm{\&lambda;}{f}_1^{\&prime;}}{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^{\&prime;}}\left[\begin{array}{ccc}{p}_2^{-1}& 0& 0\\ 0& q_2^{-1}& 0\\ 0& 0& -1\end{array}\right]R\left[\begin{array}{ccc}{p}_1& 0& 0\\ 0& q_1& 0\\ 0& 0& -1\end{array}\right]\left[\begin{array}{c}{m}_{\mathrm{laser}}\\ n_{\mathrm{laser}}\\ 1\end{array}\right]=H\left[\begin{array}{c}{m}_{\mathrm{laser}}\\ n_{\mathrm{laser}}\\ 1\end{array}\right]---\left(7\right)$

Wherein,

$H=-\frac{\mathrm{\&lambda;}{f}_1^{\&prime;}}{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^{\&prime;}}\left[\begin{array}{ccc}{p}_2^{-1}& 0& 0\\ 0& q_2^{-1}& 0\\ 0& 0& -1\end{array}\right]R\left[\begin{array}{ccc}{p}_1& 0& 0\\ 0& q_1& 0\\ 0& 0& -1\end{array}\right]---\left(8\right)$

$\mathrm{\&lambda;}=-\frac{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002033497200012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^{\&prime;}}{f_1^{\&prime;}}{r}_{33}---\left(9\right)$

R wherein ₃₃Value for the 3rd row the 3rd row of third-order matrix R;

Obviously, H only with the intrinsic parameter (p of first photo electric imaging system ₁, q ₁, f ＇ ₁), the intrinsic parameter (p of second photo electric imaging system ₂, q ₂, f ＇ ₂), p wherein ₁, q ₁Be the instantaneous field of view of first photo electric imaging system, f ₁＇ is the focal length of first photo electric imaging system, p ₂, q ₂Be the instantaneous field of view of second photo electric imaging system, f ＇ ₂It is the focal length of second photo electric imaging system; And the rotation matrix R of two coordinate systems is relevant.Because first photo electric imaging system and second photo electric imaging system are by mechanical fixation, so R is the systematic parameter of fixing, and then matrix H is the mapping matrix of fixing.Obviously, there is unique and fixing mapping relations H between representation of laser facula and scene image.Set the fusion program of two images based on these mapping relations at Fusion Module, and then can two images that be input to Fusion Module be merged by certain rule.

The 3rd step: bullet emission shaft photo electric imaging system is installed in the bore, gathers the scene image of band cross-graduation, be designated as the scene image of first width of cloth band cross-graduation.Bullet emission shaft photo electric imaging system rear end links to each other with fixed bar, because fixed bar and bore bore mate each other, can guarantee that through mechanical fixation the optical axis of bullet emission shaft photo electric imaging system overlaps with the big gun axle.Bullet emission shaft photo electric imaging system camera lens band cross-graduation, the scene image that makes bullet emission shaft photo electric imaging system collect also is with cross-graduation, and wherein the position at cross-graduation center has characterized the direction of big gun axle.

The 4th step: the optical axis photo electric imaging system is taken aim in sight be installed in to see and take aim at after the mirror, gather the scene image of band cross-graduation, be designated as the scene image of second width of cloth band cross-graduation.Wherein the position of cross-graduation has characterized and has seen the direction of taking aim at optical axis.

The 5th step:, calculate the depth of parallelism of laser axis and bullet emission shaft with the scene image input depth of parallelism detection module of the laser scene fused images and first width of cloth band cross-graduation.With the scene image input depth of parallelism detection module of the laser scene fused images and second width of cloth band cross-graduation, calculate optical axis and see the depth of parallelism of taking aim at optical axis again.With the laser axis is benchmark, utilizes geometric transformation can try to achieve the bullet emission shaft and sees the depth of parallelism take aim at optical axis.

In depth of parallelism detection module; At first use existing method for registering; The scene image of the laser scene fused images and first width of cloth band cross-graduation and the scene image of second width of cloth band cross-graduation are carried out registration; Cross-graduation in two width of cloth images is projected to respectively in the laser scene fused images, obtain situation as shown in Figure 3 this moment.The P point is represented laser facula center, P among Fig. 3 ₁The center of the cross-graduation in the scene image 1 of representative band cross-graduation, P ₂The center of the cross-graduation in the scene image 2 of representative band cross-graduation.If P and P ₁(or P ₂) overlap, explain that laser axis and bullet emission shaft (or see and take aim at optical axis) are parallel to each other.P and P ₁(or P ₂) apart from far away more, explain that the depth of parallelism of laser axis and bullet emission shaft (or see and take aim at optical axis) is poor more.It is thus clear that the relative position at spot center and cross-graduation center can be described the depth of parallelism of laser axis and bullet emission shaft (or see and take aim at optical axis).Based on same principle, the relative position at two cross-graduation centers can be described the bullet emission shaft and see the depth of parallelism of taking aim at optical axis.

If the P point coordinate be (m, n), P ₁Point coordinate is (m ₁, n ₁), P ₂Point coordinate is (m ₂, n ₂), p ₂* q ₂Be the instantaneous field of view of second photo electric imaging system in the laser scene video collector, then the bullet emission shaft is obtained through following formula with respect to the level angle of laser axis:

α ₁＝arctan[(m ₁-m)p ₂] (10)

Then vertically the drift angle is:

β ₁＝arctan[(n ₁-n)q ₂] (11)

In like manner, see and to take aim at optical axis and be respectively with respect to the level angle of laser axis and vertical drift angle

α ₂＝arctan[(m ₂-m)p ₂] (12)

β ₂＝arctan[(n ₂-n)q ₂] (13)

Sight is taken aim at optical axis and is respectively with respect to the level of bullet emission shaft and vertical drift angle

α ₁₂＝arctan[(m ₂-m ₁)p ₂] (14)

β ₁₂＝arctan[(n ₂-n ₁)q ₂] (15)

Three's depth of parallelism between any two can be represented in level angle and vertical drift angle relatively between any two to take aim at optical axis, big gun axle and laser axis three by sight.

The preferred embodiment of the present invention of having given an example in the foregoing description, this embodiment can the detection laser axle, see and take aim at optical axis, the big gun axle three depth of parallelism between any two.In practice, also can a detection laser axle and the big gun axle between unevenness, then need not see among Fig. 1 and take aim at the optical axis photo electric imaging system; Take aim at the unevenness between optical axis and the big gun axle if only detect to see, then do not need bullet emission shaft photo electric imaging system among Fig. 1.

Claims (5)

1. no many parallelisms of optical axis of the target detection system based on digital picture is characterized in that: comprise back-to-back formula laser scene video collector, bullet emission shaft photo electric imaging system, Fusion Module and depth of parallelism detection module;

Before described back-to-back formula laser scene video collector is installed in the laser exit of range finder using laser; Comprise first photo electric imaging system and second photo electric imaging system, both are coaxial and back-to-back fixing, and wherein first photo electric imaging system is in the face of the laser emitting mouth of range finder using laser; Be used to gather representation of laser facula; Second photo electric imaging system is used to gather scene image in the face of scene, collects to such an extent that representation of laser facula and scene image all send to Fusion Module;

Described bullet emission shaft photo electric imaging system is fixed on bullet emission cavity exit; Have cross-graduation in the camera lens of bullet emission shaft photo electric imaging system; Gather the scene image of first width of cloth band cross-graduation with bullet emission shaft photo electric imaging system; The center of cross-graduation is characterizing the direction of bullet emission shaft, and the scene image of said first width of cloth band cross-graduation is sent to depth of parallelism detection module;

Described Fusion Module is used for the LASER SPECKLE image and the scene image that are input to Fusion Module are carried out the image co-registration processing, obtains laser scene fused images, and said laser scene fused images is sent to depth of parallelism detection module;

Described depth of parallelism detection module; Be used for scene image and the laser scene fused images of first width of cloth band cross-graduation of input are carried out the image registration processing; Cross-graduation in the scene image of first width of cloth band cross-graduation is projected in the laser scene fused images, obtain registering images;

Described registering images; Comprise a cross-graduation, a LASER SPECKLE; On behalf of laser axis, cross-graduation center, the LASER SPECKLE position represent the bullet emission shaft; According to departure between the center of the cross-graduation in the registering images and the LASER SPECKLE position, calculate laser axis and bullet emission shaft horizontal sextant angle and vertical angle, promptly obtain the laser axis and the bullet emission shaft depth of parallelism.

2. a kind of no many parallelisms of optical axis of target detection system based on digital picture as claimed in claim 1 is characterized in that: this system further comprises seeing and takes aim at the optical axis photo electric imaging system;

Described sight is taken aim at the optical axis photo electric imaging system and is fixed on to see and takes aim on the optical axis; Gather the scene image of second width of cloth band cross-graduation through gun sight; The center of cross-graduation is characterizing and is seeing the direction take aim at optical axis in the image, and the scene image of said second width of cloth band cross-graduation is sent to depth of parallelism detection module;

Described depth of parallelism detection module further adopts the scene image of second width of cloth band cross-graduation of input that the cross-graduation in the scene image of second width of cloth band cross-graduation is projected in the said laser scene fused images, obtains final registering images;

Said final registering images; Comprise two cross-graduations, a LASER SPECKLE; On behalf of laser axis, two cross-graduation centers, the LASER SPECKLE position represent bullet emission shaft and sight to take aim at optical axis respectively; According to the center of two cross-graduations in the registering images and LASER SPECKLE position departure between any two; Calculate laser axis, bullet emission shaft and sight and take aim at optical axis horizontal sextant angle and vertical angle between any two, promptly obtain laser axis, bullet emission shaft and sight and take aim at the optical axis depth of parallelism between any two.

3. a kind of no many parallelisms of optical axis of target detection system based on digital picture as claimed in claim 2, it is characterized in that: it is that the video signal collective system is taken aim in the sight that weaponry carries that the optical axis photo electric imaging system is taken aim in said sight.

4. no many parallelisms of optical axis of the target detection system based on digital picture is characterized in that: comprise back-to-back formula laser scene video collector, see and take aim at optical axis photo electric imaging system, Fusion Module and depth of parallelism detection module;

Before described back-to-back formula laser scene video collector is installed in the laser exit of range finder using laser; Comprise first photo electric imaging system and second photo electric imaging system, both are coaxial and back-to-back fixing, and wherein first photo electric imaging system is in the face of the laser emitting mouth of range finder using laser; Be used to gather representation of laser facula; Second photo electric imaging system is used to gather scene image in the face of scene, collects to such an extent that representation of laser facula and scene image all send to Fusion Module;

Described sight is taken aim at the optical axis photo electric imaging system and is fixed on to see and takes aim on the optical axis; Scene image through gun sight collection band cross-graduation; The center of cross-graduation is characterizing and is seeing the direction take aim at optical axis in the image, and the scene image of said band cross-graduation is sent to depth of parallelism detection module;

Described Fusion Module is used for the LASER SPECKLE image and the scene image that are input to Fusion Module are carried out the image co-registration processing, obtains laser scene fused images, and said laser scene fused images is sent to depth of parallelism detection module;

Described depth of parallelism detection module; Being used for that scene image and the laser scene fused images of the band cross-graduation of input are carried out image registration handles; Cross-graduation in the scene image of band cross-graduation is projected in the laser scene fused images, obtain final registering images;

Described registering images; Comprise a cross-graduation, a LASER SPECKLE; On behalf of laser axis, the representative of cross-graduation center, the LASER SPECKLE position see and take aim at optical axis; According to departure between the center of the cross-graduation in the registering images and the LASER SPECKLE position, calculate laser axis and see the horizontal sextant angle taken aim between the optical axis and vertical angle, promptly obtain laser axis and take aim at the depth of parallelism between the optical axis with sight.

5. a kind of no many parallelisms of optical axis of target detection system based on digital picture as claimed in claim 4, it is characterized in that: it is that the video signal collective system is taken aim in the sight that weaponry carries that the optical axis photo electric imaging system is taken aim in said sight.

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