CN102853721B - System used for avoiding accidentally injuring hostage and automatically tracking and sniping criminal offenders - Google Patents
System used for avoiding accidentally injuring hostage and automatically tracking and sniping criminal offenders Download PDFInfo
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- CN102853721B CN102853721B CN201210341646.7A CN201210341646A CN102853721B CN 102853721 B CN102853721 B CN 102853721B CN 201210341646 A CN201210341646 A CN 201210341646A CN 102853721 B CN102853721 B CN 102853721B
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Abstract
The invention relates to a system used for avoiding accidentally injuring hostages and automatically tracking and sniping criminal offenders. The system comprises a CCD (charge coupled device) detector, an electronic computer, an electric control turnplate, a sniping gun, a sniping controller and an image display, wherein the detector is fixed on the sniping gun, and the sniping gun is fixed on the electric control turnplate; the detector collects images, and people use hands to mark targets (hostages and offenders) on the display; the computer adopts an algorithm which combines a mean-shift algorithm and a particle filtering tracking algorithm to track the hostages and the tracks, an offender picture centre is pulled back to the position concurrent with a site centre through rotating the electric control turnplate, and the offenders are a collimation state all the time; and the computer can calculate the distance between the hostages and the offenders in real time, people judge whether to send a sniping instruction to the sniping controller, and the sniping controller receives the instruction and automatically pulls a trigger. The system provided by the invention can realize the situation that offenders and the hostages can be observed and tracked together, can automatically send out a gunshot instruction under the condition of ensuring of the safety of the hostage safe, and can automatically complete a gunshot action.
Description
Technical field
The invention belongs to video image from motion tracking and weapon technical field of automation, particularly a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking.
Technical background
Public security organ's point period of the day from 11 p.m. to 1 a.m of fighting crime, run into criminal and seize hostage's situation on both sides by the arms, offender tends to hostage to keep off before body, there is the situation of blocking in hostage and criminal, public security officer tends to offender to negotiate, negotiate unsuccessful needs and snipe at a distance action, the behavior of sniping under current this situation is all that sniper or mechanical operation member wait for that criminal is from hostage exposes after one's death, whether artificial observe and decide shooting opportunity is ripe and then shoot action, and this shooting action tends to because human factors such as personnel psychology anxieties, to holding on shooting opportunity bad or aiming at and occur deviation, to such an extent as to offender is shot inaccurate, even there is injuring hostage's situation.
Summary of the invention
Object of the present invention: the present invention proposes a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking, its objective is the problem that can not break away from the factors such as artificial psychological stress when the fire at a target of scene of a crime the behavior of sniping is caused adverse effect in order to solve existing sniper, realize hostage and offender are followed the tracks of simultaneously, target and hostage's spacing are sniped in calculating, guaranteeing that, under the condition of hostage's safety, distance is greater than hostage's secure threshold gap T
xwhen (artificially setting), sniping gun automatic fire offender.
The object of the invention is to realize by following structure.
Avoid accidentally injuring the system of hostage from motion tracking shooting offender, comprise ccd detector, computer, computer display, automatically controlled turntable, sniping gun and snipe controller.
Ccd detector is fixed in sniping gun; Ccd detector collection image object center is sniped target's center with sniping gun and is overlapped; Sniping gun is fixed on electrical turntable.Snipe controller and be fixed on rifle body, the shooting instruction of sending for receiving computer the trigger of pulling sniper rifle.
Ccd detector gathers vision signal and exports to computer, by computer, vision signal is processed and displayed.
On display, manually demarcate and need the hostage of tracking and offender's image to be sniped, the track algorithm that computer adopts Mean-Shift algorithm to combine with particle filter tracking algorithm is followed the tracks of hostage and offender.
Computer calculates not offender's position deviation in the same time according to track algorithm, be transferred to again electrical turntable controller, control turntable rotates, and target image center is withdrawn into the position overlapping with field of view center, makes target to be sniped all the time in by aiming state.
Computer tracking system is calculated horizontal direction gap between two tracked targets in real time, with the artificial hostage's secure threshold gap T setting in advance
xrelatively, judge whether that output shooting instruction is to sniping controller.The controller of sniping being fixed on rifle body receives shooting instruction cocking execution shooting behavior.In the time being seized on both sides by the arms hostage for many people, computer calculates respectively horizontal range between every hostage and offender in real time, only has in the time that all distances are all greater than hostage's secure threshold gap computer export shooting instruction.
Beneficial effect of the present invention:
In the event that the present invention can be seized on both sides by the arms hostage, make to snipe system on human matter and offender and carry out from motion tracking simultaneously, and aim in real time offender, can improve sniper and take aim at inaccurate situation due to what the human factors such as psychology caused;
The track algorithm that Mean-Shift algorithm is combined with particle filter tracking algorithm is applied in system to be followed the tracks of, can effectively solve offender by the inaccurate problem of the tracking of hostage's occlusion state, quick-recovery is tracked soon after being blocked by hostage on the basis of real-time tracking, to have guaranteed offender;
Computer is by calculating in real time target gap, and distance is greater than hostage's secure threshold gap T
xtime, computer sends shooting instruction, has guaranteed fully hostage's safety;
In the time that shooting condition meets, computer sends after shooting instruction, snipe controller can automatically receive instruction and automatically cocking crime target is sniped to behavior, avoided human factor to hold opportunity shooting bad, cause the situation that injures hostage to occur.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is structural representation of the present invention;
Fig. 2 system flow block diagram of the present invention;
Fig. 3 is track algorithm flow chart in the present invention.
The specific embodiment
As shown in Figure 1, a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking, comprises ccd detector 1, electronic computer 2, automatically controlled turntable 3, sniping gun 4, snipes controller 5, image display 6; Wherein ccd detector 1 gathers transmission of video images to computer 2, and computer 2 is processed and operational objective track algorithm vision signal, calculates target location deviation, and target location deviation is transferred to automatically controlled turntable 3 by computer 2.
Ccd detector 1 is fixed in sniping gun 4; Ccd detector 1 gathers image object center and snipes target's center with sniping gun 4 and overlap; Sniping gun 4 is fixed on automatically controlled turntable 3.
Automatically controlled turntable 3, can be in level and vertically both direction rotation under computer control instruction.
Wholely snipe flow process as shown in Figure 2 from motion tracking.
The transmission of video images that ccd detector 1 collects is to computer 2, be presented on display 6, choose the two field picture that can obviously distinguish hostage and offender as the first frame, manually calibrate the hostage and the offender that need tracking, follow the tracks of as To Template.
The track algorithm that track algorithm adopts Mean-Shift track algorithm to combine with particle filter tracking algorithm.
As shown in Figure 3, in the frame sequence of tracing process, first utilize Mean-Shift track algorithm can rapidly converge to the characteristic of local maximum to the To Template in present frame (t-1 moment), in next frame (t moment), find out candidate target, utilize the similarity of gained candidate target and To Template to judge whether Mean-Shift tracking is followed the tracks of correct; If gained similarity is greater than a certain threshold value T(people for setting), Mean-Shift tracking results is correct, and upgrades To Template, continue to follow the tracks of, otherwise, be converted to particle filter tracking in the t-1 moment; Also particle filter acquired results and To Template are calculated to similarity simultaneously, if similarity is greater than threshold value T again, upgrades To Template and recover Mean-Shift and follow the tracks of, otherwise continuing to follow the tracks of with particle filter algorithm.
Be basis according to above-mentioned tracking algorithm, system is followed the tracks of two targets, computer 2 passes through comparing calculation, determine offender's center deviation, then be converted to optical axis orientation and the angle of pitch error of automatically controlled turntable 3, export to automatically controlled turntable 3, drive turntable to rotate, drive ccd detector 1 to rotate, tracked offender center is retracted to the center of ccd detector 1 visual field.
Computer 2 calculates in tracked image horizontal clearance δ between hostage and offender's two targets
x, that is:
, wherein X
a_C, X
b_Cbe respectively offender and hostage's centre coordinate horizontal direction numerical value, L
a, L
bbe respectively offender and hostage's the search window length of side, δ
xbe presented in real time on display 6.
Relatively δ of computer 2
xwith hostage's secure threshold gap T
x(following the tracks of beginning forefathers for setting hostage's secure threshold gap T
x, the setting of this threshold value can not be too large, can not be too little, be too littlely difficult to guarantee hostage's safety, too large shooting condition be difficult to reach, and determine according to actual conditions) size, if δ
x≤ T
x, computer 2 continues to process the image that 1 collection comes from ccd detector and follows the tracks of calculating; Work as δ
x>=T
xtime, computer 2 sends shooting instruction to sniping controller 5, and stops the processing of image and tracking to calculate.
Snipe controller 5 and receive the shooting instruction that computer 2 sends, cocking is shot offender.
When being seized on both sides by the arms hostage and being two people or more people, computer calculates respectively horizontal distance delta between every hostage and offender in real time
x1, δ
x2, δ
x3, only have all distances of working as to be all greater than hostage's secure threshold gap T
xtime, computer export shooting instruction.
Claims (5)
1. the system avoiding accidentally injuring hostage and snipe offender from motion tracking, comprises ccd detector, electronic computer, automatically controlled turntable and controller, sniper rifle for gathering image, snipes controller, image display; It is characterized in that: ccd detector is fixed on sniper rifle; Ccd detector collection image object center is sniped target's center with sniping gun and is overlapped; Sniper rifle is fixed on electric rotary platform; Ccd detector gathers vision signal and exports to computer, by computer, vision signal is processed and displayed; Computer calculates target location deviation according to track algorithm, then is transferred to electrical turntable, controls turntable and rotates, and offender's image is retracted to field of view center position; Computer tracking system is calculated target gap in real time, judges whether that output shooting instruction is to sniping controller, thereby completes goal behavior;
The track algorithm that described track algorithm adopts Mean-Shift algorithm to combine with particle filter tracking algorithm is followed the tracks of hostage and offender simultaneously, when offender and hostage occur after circumstance of occlusion, also can follow the tracks of;
Described target gap is on display, manually to demarcate offender and hostage, as track algorithm computing template, two targets is followed the tracks of.
2. a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking as claimed in claim 1, is characterized in that: what tracked target image was real-time is shown on display.
3. a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking as claimed in claim 1, it is characterized in that: computer calculates target pitch position deviation to be sniped in real time, and send the automatically controlled turntable that instruction can be rotated to level and vertical direction, target image center is withdrawn into the position that field of view center overlaps, keeps target image to be sniped all the time in by aiming state.
4. a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking as claimed in claim 1, it is characterized in that: artificially set hostage's secure threshold gap that can guarantee hostage's safety, computer calculates horizontal direction gap between tracked target in real time, computer is by big or small to actual hostage and criminal's gap and hostage's secure threshold Gap-Ratios, and whether judgement output snipes instruction.
5. a kind of system of avoiding accidentally injuring hostage and sniping offender from motion tracking as claimed in claim 1, it is characterized in that: computer is by contrasting behind actual gap and threshold value gap, what generate snipes instruction, automatically exports to and snipes controller, carries out shooting behavior by controller bales catch trigger action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210341646.7A CN102853721B (en) | 2012-09-14 | 2012-09-14 | System used for avoiding accidentally injuring hostage and automatically tracking and sniping criminal offenders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210341646.7A CN102853721B (en) | 2012-09-14 | 2012-09-14 | System used for avoiding accidentally injuring hostage and automatically tracking and sniping criminal offenders |
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| Publication Number | Publication Date |
|---|---|
| CN102853721A CN102853721A (en) | 2013-01-02 |
| CN102853721B true CN102853721B (en) | 2014-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210341646.7A Expired - Fee Related CN102853721B (en) | 2012-09-14 | 2012-09-14 | System used for avoiding accidentally injuring hostage and automatically tracking and sniping criminal offenders |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105605967B (en) * | 2015-12-25 | 2017-09-01 | 广州市刑事科学技术研究所 | New shooting sample collection equipment |
| CN106454108B (en) * | 2016-11-04 | 2019-05-03 | 北京百度网讯科技有限公司 | Track up method, apparatus and electronic equipment based on artificial intelligence |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200989749Y (en) * | 2006-12-22 | 2007-12-12 | 潍坊学院 | Sniping rifle remote-control aiming mechanism |
| CN201050963Y (en) * | 2007-05-29 | 2008-04-23 | 陈志文 | Remote control automatic weapon fire platform |
| CN101858710B (en) * | 2010-05-18 | 2014-09-17 | 王元知 | Intelligent infantry weapon robot device |
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