CN105550996A - Miniaturized panoramic-viewing optical search and track device - Google Patents
Miniaturized panoramic-viewing optical search and track device Download PDFInfo
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- CN105550996A CN105550996A CN201610117929.1A CN201610117929A CN105550996A CN 105550996 A CN105550996 A CN 105550996A CN 201610117929 A CN201610117929 A CN 201610117929A CN 105550996 A CN105550996 A CN 105550996A
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- optical imaging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10052—Images from lightfield camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20224—Image subtraction
Abstract
The invention discloses a miniaturized panoramic-viewing optical search and track device. The device mainly comprises a control box, an indexing mechanism, a pitching mechanism, an information-processing mechanism and a core component. The device is mainly used for detecting a low-altitude object of 360-degree airspace, achieving panorama infrared image splicing, movement dim and small object detection, tracking and recognizing and others and providing a stable and reliable detection platform and a stable and reliable detection result for function realization. Meanwhile, the device can achieve free pitching adjustment for a detector and is convenient to carry to rapidly respond to the low-altitude object.
Description
Technical field
The invention belongs to optical search and follow the tracks of field, particularly relate to a kind of miniaturization panorama optical search tracking means.
Background technology
For a long time, reason in restriction panorama optical search tracker is: during panorama scanning, time much smaller than integral time of device of a width scene image static stop on the detector in visual field itself, there is serious hangover in the panorama picture that surface array device is exported, system cannot clear out the Space Angle coordinate of point target by image, apply in panorama scanning search system for making optical imaging device, must ensure to stare in the time of integration at device, scene image is keep static relative to device itself.
Most systems is all ensureing under the prerequisite that panorama turntable can rotate continuously both at home and abroad at present, design a kind of scanister and stare compensation to the scene realized in each visual field, to make in a visual field scene image keep static relative to device itself within device integral time, eliminate " hangover " of panorama picture.This scene compensation needs scanning reflection mirror, compensatory reflex mirror, needs to carry out strict synchro control to rotation and imaging simultaneously, and whole optical-mechanical system is complicated, involves great expense.
In present stage, reach the heavy then hundreds of kilogram weight of optical gathering and tracking system equipment of same sweep limit and speed, general more than 50 kilograms, mobile dirigibility is low, and involve great expense, the modern Times ' Demand that wide area low altitude airspace is monitored cannot be met, be difficult to carry out rapid deployment, and wide area is deployed to ensure effective monitoring and control of illegal activities.
Summary of the invention
The present invention is directed to prior art Problems existing, under the prerequisite not reducing system performance, the invention provides a kind of miniaturization panorama optical search tracking means, the arrangement achieves volume little, cost is low, and the above calibration of secondary regulates, and can 360 ° of rotary luffings, reach accurate positioning, the function of response fast.
The present invention mainly comprises control casing structure, indexing mechanism, luffing mechanism, information handling system and optical imaging probe, as shown in Figure 1.
Described control casing comprises adjustable support pin, spirit bubble, main frame back up pad, and front and back can the door of folding, the handle of both sides and the protective cover for optical imaging probe protection.
Concrete described adjustable support foot is used for height and the Level tune of whole device, to be applicable to various geographical environment.
Concrete described spirit bubble is used for the reference data of Level tune, and its position is connected with actuating mechanism in device, and relative with casing visual windows.
Concrete described main frame back up pad is used for information processing system and unifies the support of equipment, and its position is positioned at bottom half, and equipment of can being unified by information processing system is with the need separated.
Concrete front and back can folding door be used for the layout of device interior circuit and the assembling of miscellaneous part, facilitate later debugging and maintenance.
The handle of concrete both sides is used for the movement of complete machine configuration.
The concrete protective cover for optical imaging probe protection can realize the protection of optical imaging probe, simultaneously not for fear of or do not weaken, do not affect the scope of detection area; and the transmitting and receiving of signal; make core component from dust, rain and dew, the Frost's Descent etc. other rugged surroundings impact.
Described indexing mechanism comprises drive motor, indexing attachment and calibration regulating device.
Concrete drive motor is used for for complete machine configuration provides power.
Concrete indexing attachment is used for 360 ° and rotates location, realizes precise positioning.
Concrete calibration regulating device is used for realizing indexing attachment and splits at any angle when rotating for 360 ° and locate.
Described luffing mechanism comprises core component support bar, governor motion.
Concrete described core component support bar center is empty, and one end has revolute pair to connect supporting disk, and the other end is connected with indexing attachment rotating shaft.Support bar outer rim has thrust bearing to be used to mutually, and thrust bearing upper surface is connected with supporting disk by another one support bar.
Concrete governor motion includes gear, and back up pad installed by tooth bar and bearing.Bearing will be realized by rack-and-pinion and the moving up and down of back up pad will be installed, and then by the effect of revolute pair, realize the pitching motion of core component.
Described optical imaging probe, is generally LONG WAVE INFRARED FPA detector, also can be visible light wave range industrial camera.The resolution of Long Wave Infrared Probe is 640*480, and frame frequency is 25 frames/second.The resolution of Visible Light Camera is: 768*576, and frame frequency is 25 frames/second.Detector mainly realizes the collection of 360 degree of spatial domain picture, and view data directly exports information handling system to.
Described information handling system is the industrial computer be integrated in one, or other hardware circuits be integrated in one.Mainly realize the splicing of 360 degree of panoramic pictures and the detection of target, wherein Panorama Mosaic comprises: Scale invariant accelerates that robust features (SURF feature) is extracted, used the images match of stochastic sampling unification algorism (RANSAC), the calculating of the basis matrix of the adjacent image of angle orientation data that provides based on secondary indexing mechanism and image mosaic.Target detection comprises: adaptive background suppression, the moving object detection based on mixed Gauss model, dbjective state extraction.The workflow of whole information handling system is illustrated in fig. 2 shown below.
The present invention can realize and meet the operation platform that core component optical imaging probe carries out required by circular scan, safe and reliable service condition is provided as the target object in detection area for accurately catching and being stable into, and can the optical imagery collected be processed in real time, Moving Small Targets in detected image, and user is exported in the orientation of target.
The function of apparatus of the present invention and light carrying or mounting means thereof, can be applicable to various application.It is little that apparatus of the present invention achieve volume, and cost is low, and the above calibration of secondary regulates, and can 360 ° of rotary luffings, reaches accurate positioning, the function of response fast.And the real-time detection of the splicing that can realize 360 degree of panoramic pictures and moving small target.Can realize the function such as target image acquisition, target detection of sweeping reconnaissance probe system existing week, and cost is only 1/10th of existing system.And the surveillance utilizing the present invention to develop, its weight is only 1/20 of existing system, is easy to carry, and cost is only 1/10, and low in energy consumption.Under identical fund input, more multi-site can be realized and deploy to ensure effective monitoring and control of illegal activities, larger spatial domain can be monitored.
Accompanying drawing explanation
Fig. 1 is apparatus of the present invention composition structural drawing;
Fig. 2 is information handling system process flow diagram of the present invention;
Fig. 3 is integral installation figure of the present invention;
Fig. 4 is motion schematic diagram of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further illustrated.Wherein, accompanying drawing only for exemplary illustration, expression be only schematic diagram, but not pictorial diagram, can not be interpreted as the restriction to this patent; In order to better embodiments of the invention are described, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product; For a person skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
The corresponding same or analogous parts of same or analogous label in the accompanying drawing of the embodiment of the present invention, in describing the invention, it will be appreciated that, if have term " on ", D score, " left side ", orientation or the position relationship of the instruction such as " right side " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore the term of position relationship is described only for exemplary illustration in accompanying drawing, the restriction to this patent can not be interpreted as, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
Fig. 1 is device composition structural drawing, and the present invention mainly comprises control casing 200, indexing mechanism 300, luffing mechanism 400, information handling system 500 and optical imaging probe 600 structure.
Described control casing comprises adjustable support pin 201, spirit bubble 202, main frame back up pad 203, and front and back can the door 204 of folding, the handle 205 of both sides and the protective cover 206 for optical imaging probe protection.
Concrete described adjustable support foot 201 for the height of whole device and Level tune, to be applicable to various geographical environment.
Concrete described spirit bubble 202 is for the reference data of Level tune, and its position is connected with actuating mechanism in device, and relative with casing visual windows.
Concrete described main frame back up pad 203 is unified for information processing system the support of equipment, and its position is positioned at bottom half, and equipment of can being unified by information processing system is with the need separated.
Concrete front and back can the layout of door 204 for device interior circuit of folding and the assembling of miscellaneous part, facilitates later debugging and maintenance.
The movement that the handle 205 of concrete both sides configures for complete machine.
The concrete protective cover 206 for optical imaging probe protection can realize the protection of optical imaging probe, simultaneously not for fear of or do not weaken, do not affect the scope of detection area; and the transmitting and receiving of signal; make core component from dust, rain and dew, the Frost's Descent etc. other rugged surroundings impact.
Described indexing mechanism comprises drive motor 301, indexing attachment 302 and calibration regulating device 303.
Concrete drive motor 301 is for providing power for complete machine configuration.
Concrete indexing attachment 302 rotates location for 360 °, realizes precise positioning.
Concrete calibration regulating device 303 is split for realizing indexing attachment at any angle when rotating for 360 ° and locates.
Described luffing mechanism comprises core component support bar 401, governor motion 402.
Concrete described core component support bar 401 center is empty, and one end has revolute pair to connect supporting disk, and the other end is connected with indexing attachment rotating shaft.Support bar outer rim has thrust bearing to be used to mutually, and thrust bearing upper surface is connected with supporting disk by another one support bar.
Concrete governor motion includes gear 403, and back up pad 405 installed by tooth bar 404 and bearing.Bearing will be realized by rack-and-pinion and the moving up and down of back up pad will be installed, and then by the effect of revolute pair, realize the pitching motion of core component.
Described optical imaging probe 600, is generally LONG WAVE INFRARED FPA detector, also can be visible light wave range industrial camera.The resolution of Long Wave Infrared Probe is 640*480, and frame frequency is 25 frames/second.The resolution of Visible Light Camera is: 768*576, and frame frequency is 25 frames/second.Detector mainly realizes the collection of 360 degree of spatial domain picture, and view data directly exports information handling system to.
Described information handling system 500 is the industrial computer be integrated in one, or other hardware circuits be integrated in one.Mainly realize the splicing of 360 degree of panoramic pictures and the detection of target, wherein Panorama Mosaic comprises: Scale invariant accelerates that robust features (SURF feature) is extracted, used the images match of stochastic sampling unification algorism (RANSAC), the calculating of the basis matrix of the adjacent image of angle orientation data that provides based on secondary indexing mechanism and image mosaic.Target detection comprises: adaptive background suppression, the moving object detection based on mixed Gauss model, dbjective state extraction.The workflow of whole information handling system is illustrated in fig. 2 shown below.
The data such as the Angle Position that described optical imaging probe rotates by described indexing mechanism and angular velocity send to information handling system by the speed of 10ms, when angular velocity be zero meet detector image-forming condition time, information handling system obtains the image of the current collection of described optical imaging probe, if do not met, infosystem waits for not more new images;
After collecting new image, information handling system processes present image, first carry out tophat pre-service to suppress background, then mixed Gauss model is utilized to detect the moving target in image, finally extract the attribute (target azimuth, highly, flight path, type etc.) of the target detected;
Complete in processing procedure 360 degree sweep in week after, the image collected is carried out panoramic mosaic, first utilize Scale invariant to accelerate robust features and extract the significant feature of every width figure, then use stochastic sampling unification algorism (RANSAC) to utilize the significant feature of described every width figure obtained to mate all images, the basis matrix that the angle orientation data finally provided according to indexing mechanism calculate adjacent image completes Panorama Mosaic;
The information of all targets in the panoramic picture of acquisition and image is carried out fusion and is sent to client by final described information handling system, completes whole message processing flow.
The present invention can realize the real-time splicing of 360 degree of panoramic pictures and the real-time detecting and tracking of aerial target and identification, and forms the flight path of multiple target.Utilize the surveillance of this technological development, its weight is only 1/20 of existing system, is easy to carry, and cost is only 1/10 of equal performance equipment, and low in energy consumption.Under identical fund input, more multi-site can be realized and deploy to ensure effective monitoring and control of illegal activities, wider spatial domain can be monitored.
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do in the spirit and principles in the present invention any amendment, equivalent to replace and improvement etc., all should be included in the protection domain of the claims in the present invention.
Claims (4)
1. a miniaturization panorama optical search tracking means, is characterized in that, comprising: control box, indexing mechanism, luffing mechanism, information handling system and optical imaging probe.
2. miniaturization panorama optical search tracking means according to claim 1, is characterized in that, described control box is used for the protection of critical component in described device;
Described indexing mechanism is used for 360 ° of rotations of the optical imaging probe in described device, and can realize accurately locating at any angle by calibration not at the same level;
Described luffing mechanism for realize optical imaging probe in described device with the angular adjustment himself rotated on perpendicular direction;
Described information handling system is used for the process of the optical image data that the optical imaging probe in described device collects;
Described optical imaging probe carries out editing and processing for gathering the image data that is detected in region and described image data being reached described information handling system.
3. miniaturization panorama optical search tracking means according to claim 2, it is characterized in that, described control casing comprises adjustable support pin, spirit bubble, main frame back up pad, front and back can the door of folding, the handle of both sides and the protective cover that protects for described optical imaging probe;
Described indexing mechanism comprises drive motor, indexing attachment and calibration regulating device;
Described luffing mechanism comprises support bar, governor motion;
Described information handling system is the industrial computer be integrated in one, or other hardware circuits for information processing be integrated in one.
4. miniaturization panorama optical search tracking means according to claim 3, is characterized in that, described adjustable support pin is used for height and the Level tune of whole device, to be applicable to various geographical environment;
Described spirit bubble is used for the reference data as Level tune, and it is connected with indexing mechanism described in device, and is oppositely arranged with casing visual windows;
Described main frame back up pad is used for information processing system and unifies the support of described miniaturization panorama optical search tracking means, and it is positioned at bottom half, and described device of can being unified by information processing system is as required separated;
Described front and back can folding door be used for the described layout of miniaturization panorama optical search tracking means internal wiring and the assembling of miscellaneous part;
The handle of described both sides is used for the movement of complete machine configuration;
Described drive motor is used for providing power for device;
Described indexing attachment is used for 360 ° and rotates location, realizes precise positioning;
Described calibration regulating device is used for realizing indexing attachment and splits at any angle when rotating for 360 ° and locate;
Described support bar center is empty, and one end has revolute pair to connect supporting disk, and the other end is connected with indexing attachment rotating shaft; Support bar outer rim has thrust bearing to be used to mutually, and thrust bearing upper surface is connected with supporting disk by another one support bar;
Described governor motion includes gear, and back up pad installed by tooth bar and bearing, realizes bearing install moving up and down of back up pad by rack-and-pinion, and then by the effect of revolute pair, realizes the pitching motion of optical imaging probe;
Described optical imaging probe is LONG WAVE INFRARED FPA detector, or visible light wave range industrial camera; The resolution of Long Wave Infrared Probe is 640*480, and frame frequency is 25 frames/second; The resolution of Visible Light Camera is: 768*576, and frame frequency is 25 frames/second;
Described optical imaging probe realizes the collection of 360 degree of spatial domain picture data, and view data directly exports information handling system to.
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| CN201610117929.1A CN105550996A (en) | 2016-03-02 | 2016-03-02 | Miniaturized panoramic-viewing optical search and track device |
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| CN201610117929.1A CN105550996A (en) | 2016-03-02 | 2016-03-02 | Miniaturized panoramic-viewing optical search and track device |
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| CN109815925A (en) * | 2019-01-30 | 2019-05-28 | 合肥特尔卡机器人科技股份有限公司 | A kind of intelligent infrared road image identifying system |
| CN114070984A (en) * | 2021-11-16 | 2022-02-18 | 英飞睿(成都)微系统技术有限公司 | Stepping type panoramic imaging device, method and system |
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