CN106210061A - A kind of automatic recognition system of undercarriage folding and unfolding - Google Patents
A kind of automatic recognition system of undercarriage folding and unfolding Download PDFInfo
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- CN106210061A CN106210061A CN201610554460.8A CN201610554460A CN106210061A CN 106210061 A CN106210061 A CN 106210061A CN 201610554460 A CN201610554460 A CN 201610554460A CN 106210061 A CN106210061 A CN 106210061A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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Abstract
The present invention relates to a kind of undercarriage folding and unfolding automatic recognition system, this system belongs to outdoor day and night monitoring device, with auxiliary machine Ground observer whether undercarriage during aircraft landing can be put down and judge, it is possible to realize multispectral conditions and get off the plane all the period of time high definition binocular observation of drop zone.It includes aobvious control computer, The Cloud Terrace and shooting front end, and wherein shooting front end includes video camera movement, rain brush, image processing board and data transit plate.During aircraft landing, this system can tracking aircraft target identify undercarriage automatically, recognition result is shown to observer, it is possible to auxiliary observation person grasps undercarriage folding and unfolding information in real time, sensitive event is made fast reaction, is the visual plant of auxiliary airport safety management.
Description
Technical field
The present invention relates to safe flight field, be specifically related to the automatic recognition system of a kind of undercarriage folding and unfolding.
Background technology
Without drop it would appear that serious aviation accident during aircraft landing.
Currently in order to guarantee that aircraft landing nose-gear has put down, in addition to the instruction equipment on machine, also by control tower
If an observer monitors with telescope, once finding that undercarriage does not put down, observer can notify pilot immediately.Now with side
In method, observer is easily caused eye strain owing to observing aircraft by telescope for a long time, so that error increases.Additionally
This method is easily subject to weather impact, can affect the observing effect of observer in the case of night or non-fine day, holds
Observer is easily made to produce erroneous judgement.In recent years, malfunctioning because of airborne equipment and observer neglects one's duty wrong diagnosis and the flying grade thing that causes
Therefore time have circular.
At present, the domestic research for using the method for machine vision detection undercarriage whether to put down is considerably less, almost locates
In the blank stage." the intelligent undercarriage control monitoring system " that domestic scholars is delivered for 1998 in " Chinese journal of scientific instrument "
In, use aircraft and imageing sensor distance, aircraft length-width ratio, the characteristic vector of aircraft elevation angle composition aircraft, and utilize artificial
Neutral net judges whether undercarriage puts down.The judging characteristic that the method is used is affected very by aircraft flight attitude
Greatly, False Rate is high.It addition, the method can only judge that aircraft, either with or without drop, can not detect the position of undercarriage
The quantity of undercarriage can not be given.
Summary of the invention
Judging the problem that the method whether undercarriage puts down exists during for currently used aircraft landing, the present invention is wanted
Solve the technical problem that the automatic recognition system being to provide a kind of undercarriage folding and unfolding.
The technical scheme is that a kind of undercarriage folding and unfolding identifies system automatically
System, including The Cloud Terrace, shooting front end, image processing board, data relay plate and aobvious control computer；
Described shooting front end includes video camera movement, and it gathers video image by described video camera movement；
Described image processing board, it is used for realizing Aircraft Targets and follows the tracks of and undercarriage automatic identification algorithm；
Described data relay plate, it is for realizing the data exchange between The Cloud Terrace and image processing board and shooting front end；
Described The Cloud Terrace, it is transferred to aobvious control computer for the video exported shooting front end and control signal, image regards
Frequently signal decoding is changed and to shooting front-end power and SERVO CONTROL shooting front end；
Described aobvious control computer, it for showing the video image of shooting front-end collection by The Cloud Terrace, also by The Cloud Terrace
Control to image the orientation rotation of front end and pitch rotation and by the focusing to shooting front-end collection image of the data relay plate
And zoom.
The invention has the beneficial effects as follows: (1) this system photographs is to video image than the video image seen with telescope more
It is clear to add, and observed range is farther；(2) this system can shoot Infrared video image, is affected little by night and weather condition；
(3) the undercarriage automatic identification algorithm that this system carries Direct Recognition can go out undercarriage and be in most cases
No put down, and undercarriage recognition result is shown in video image, alleviate the workload of observer, reduce observer's
Fault rate.
Further, described The Cloud Terrace includes power supply rectification filter device, Servo Control Board, azimuth-drive motor and pitching motor, described
Power supply rectification filter device regards for by the switching from shooting front end to aobvious control computer of video and control signal, image video signal
Decoding conversion；Described Servo Control Board realizes the control rotating shooting orientation, front end, described SERVO CONTROL by azimuth-drive motor
Plate realizes the pitch control to shooting front end also by pitching motor.
Further, described image processing board uses DSP hardware and FPGA hardware to build the information of MIMD architecture
Processing system.
Use above-mentioned further technical scheme has the beneficial effect that the tracking achieving Aircraft Targets is known automatically with undercarriage
Other function.
Further, described data relay plate includes that switch, string turn net, decoding circuit and power supply, is The Cloud Terrace and video camera
Movement, image processing board carry out the intermediate plate of data exchange；Described switch is before The Cloud Terrace with image processing board and shooting
Transmission of video images between end, described string turns net for realizing the focusing to video camera and zoom；Described decoding circuit realizes
Decoded back to coded image.
Further, described shooting front end also includes for wiping water droplet and the rain brush of raindrop on camera lens.
Use above-mentioned further technical scheme has the beneficial effect that guarantee shooting front end normal acquisition video image.
Further, described video camera movement includes SDI visible ray high-definition camera machine core and radar stealthy materials movement.
Use having the beneficial effect that of above-mentioned further technical scheme can gather visible light video image simultaneously and infrared regard
Frequently image, it is achieved that round-the-clock monitoring.
Accompanying drawing explanation
Fig. 1 is that the function of the present invention constitutes schematic diagram；
Fig. 2 is hardware connection figure of the present invention；
Fig. 3 is that The Cloud Terrace internal hardware connects block diagram；
Fig. 4 is image processing algorithm flow chart；
Fig. 5 is that the inside of data relay plate connects block diagram.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
Non-for limiting the scope of the present invention.
As illustrated in fig. 1 and 2, the automatic recognition system of a kind of undercarriage folding and unfolding, including The Cloud Terrace, shooting front end, shooting
Machine core, image processing board, data relay plate and aobvious control computer.
Described shooting front end includes video camera movement, and it gathers video image by described video camera movement.Described shooting
Machine core includes SDI visible ray high-definition camera machine core and radar stealthy materials movement.For shooting visible light video image and infrared regarding
Frequently image.After the energising of SDI video camera movement by the visible images that collects respectively in the way of network signal and analogue signal
Pass to data relay plate, and analogue signal is sent to signal-processing board.SDI video camera movement can be imaged by the control of diaphragm
The focal length size of camera lens.After the energising of radar stealthy materials movement, the infrared image collected is divided three tunnel outputs, a wherein road analogue signal
Being directly transmitted to data relay plate, another road analogue signal passes to signal-processing board, changes into after the 3rd tunnel analogue signal is encoded
Network signal is sent to data relay plate.
Shooting front end externally has power supply to control interface, network interface, three air plugs of video interface.Power supply is from " power supply controls
Interface " enter shooting front end power module after, rectifier transformer adaptation goes out each module running voltage.Video transmits from " video interface "
To The Cloud Terrace end and aobvious control computer, for analog video camera and SDI video camera.Control signal connects from " power supply control interface "
On decoding deck, decoding deck decode control protocol.Network control/video signal is received web camera by " network interface "
LAN mouth.
Described shooting front end also includes for wiping water droplet and the rain brush of raindrop on camera lens.Front end protective cover with
Detachable Wiper motor, for driving water droplet and the rain brush of raindrop on rain brush erasing camera lens.Protective cover housing is with excellent
Matter 1.5mm steel plate carries out pressing mold welding forming and seals, and external installation mainly has front gate and upper cover envelope window, with upper cover
Between use rubber strip compress carry out seal waterproof and dustproof.External interface is waterproof port, simultaneously for convenience of front-end camera
Installing, inside is adjustable installing plate, and gear heat and cap layer of keeping off the rain are installed in protective cover top.
Described image processing board, it is used for realizing Aircraft Targets and follows the tracks of and undercarriage automatic identification algorithm.Image processing board
DSP hardware and FPGA hardware is used to build the information processing system of MIMD architecture.In system designs, have employed TI public
The TMS320C6455 of department is as core processing DSP, the selected EP2S60.FPGA execution figure that FPGA model is Altrea company
As pretreatment work, mainly Image semantic classification and adapting to image binarization.FPGA is except undertaking two-path video image
Outside preprocessing tasks, the overall logic being also responsible for image processing system controls, it is ensured that the operation of whole image processing system.
As shown in Figure 4, the function of image pre-processing module is to suppress the internal noise of detector and impulse disturbances, mesh
Be to improve picture quality.In order to suppress noise and eliminate impulse disturbances, the technology of employing is it is proposed that in " cross " shape
Value filter, is characterized in fast operation, good wave filtering effect.Concrete operation formula is:
F (i, j)=midean (f (i-l, j) ..., f (i+l, j), f (i, j-k) ..., f (i, j+k)) (1)
For Aircraft Targets detection module, owing to the video of shooting is the aircraft brake disc with sky as background, image background
Complexity is little, and system employs method based on background suppression and image is carried out self-adaption binaryzation.Extract in binary image
The area of each connected domain, position feature, extract and meet the target of specified criteria as Aircraft Targets.By set video camera with
Position relationship between runway, it can be ensured that the aircraft brake disc of shooting background of undercarriage when landing gear locking into place is
Sky.For this image, if landing gear locking into place, undercarriage region is the projection of Aircraft Targets lower area.Pin
To this characteristic, the raised zones being extracted aircraft bottom by the chain code feature extracting aircraft lower limits is risen and fallen as suspicious
Frame region.After obtaining suspicious undercarriage region, extract the HOG feature in suspicious undercarriage region and use ELM grader to this spy
Levy and carry out judging to identify whether this region is undercarriage.
Image processing board obtains the miss distance of aircraft according to the Aircraft Targets positional information extracted and miss distance information is passed
Being defeated by The Cloud Terrace, The Cloud Terrace is according to the tracking of miss distance information realization Aircraft Targets.After obtaining the undercarriage information of Aircraft Targets, image
Processing plate and this information is sent to aobvious control computer, aobvious control computer is added to undercarriage recognition result in video image and shows
To observer.
Described data relay plate, it is for realizing the data exchange between The Cloud Terrace and image processing board and shooting front end.Number
Include that switch, string turn net, decoding circuit, power supply etc. according to transit plate, be that The Cloud Terrace is with video camera movement, image processing board number
According to the intermediate plate of exchange, described switch is used for the transmission of video images between The Cloud Terrace and image processing board and shooting front end,
Described string turns net for realizing the focusing of video camera and zoom, and described decoding circuit realizes the decoded back to coded image.
As shown in Figure 5.Data relay plate after powered up, filtered circuit and Switching Power Supply step-down rectifier to video camera movement, image at
The reason power supply such as plate, decoding circuit.Camera is controlled after the RS485 signal received is turned net and decoding circuit decoding by string
Core and rain brush, and the RS485 signal that video camera movement and image processing board send is turned net by string be sent to The Cloud Terrace.Switch
The network signal that video camera movement sends is intercoursed with the network signal that The Cloud Terrace sends.Decoding circuit uses STM32 chip
Controlling, Cortex-M3 kernel closely cooperates with ST Optimization-type flash interface, it is only necessary to increase a small amount of external component, periphery
Equipment can process external time, and STM32 chipset has PWM intervalometer and the most important element of analog-digital converter the two,
Can realize SERVO CONTROL by the control of the two components and parts, analog digital conversion controls and discrete control, decoding control unit
Core as this product controls, and decreases the complexity between components and parts.
Described The Cloud Terrace, it is used for the switching from shooting front end to aobvious control computer of video and control signal, image/video letter
Number decoding conversion and to shooting front-end power and SERVO CONTROL shooting front end.As it is shown on figure 3, The Cloud Terrace includes power supply rectification filter
Device, Servo Control Board, azimuth-drive motor and pitching motor, described power supply rectification filter device depending on for by video and control signal from taking the photograph
As front end to the aobvious control switching of computer, image video signal decoding conversion, described Servo Control Board pass through respectively azimuth-drive motor,
Pitching motor realizes rotating shooting orientation, front end and pitch control.The Cloud Terrace acts primarily as circuit switching, signal decoding conversion, power supply
With SERVO CONTROL effect.The Cloud Terrace externally has power supply to control interface, network interface, three air plugs of video interface.Power supply is from " power supply control
Interface processed " entrance The Cloud Terrace is after power module, and rectifier transformer adaptation there emerged a module running voltage；RS485 control signal is from " power supply
Control interface " receive on decoding deck, decoding deck decode control protocol.Simulation. video/SDI video is straight from " video interface "
Switch through the video end being connected to front-end camera.Web camera video and control are directly forwarded to by decoding deck from " network interface "
On the LAN mouth of front-end camera.
The Cloud Terrace is the critical piece in video camera, and for reducing its weight, The Cloud Terrace shell body all uses precision aluminium-alloy to cast,
Ensure its intensity simultaneously, use aerofoil structural strengthening at its main portions.
In the driven Design of The Cloud Terrace, The Cloud Terrace mainly has orientation to rotate and pitch rotation two large divisions.The motor of transmission uses
Exchange gear deceleration synchronization motor, it is ensured that when location with certain auto-lock function.For satisfied rotation requirement, rotate in orientation
The upper direct driven gear of employing motor rotates, and requires that when pitch rotation rotating speed is slow, therefore adopts in pitch rotation more
With a starshaped reducing gear, while its gear reduction can be ensured, more strengthen its pitching and take the photograph because installing protective cover and front end
The auto-lock function of camera, starshaped reducing gear decreases transmission to a greater extent simultaneously.
In the Seal Design of The Cloud Terrace, it is critical only that the sealing of rotary part when orientation rotates, design mainly uses minimizing
Gap prevents water from spattering, and rotary part adds boss and prevents water penetration inflow etc..Key equipment such as motor loads rotation chamber, orientation simultaneously
In, what possible seepage part was installed is unrelated sealing member, such as backing plate, rebound class, all rotary parts such as pitching rotating shaft
Install waterproof lining additional.The Cloud Terrace appearance schematic diagram is as shown in Figure 5.
Described aobvious control computer, it is taken the photograph for the video image and control being shown shooting front-end collection by The Cloud Terrace respectively
As the orientation of front end rotate and pitch rotation and by data relay plate to the shooting focusing of front-end collection image and zoom.Aobvious
Control computer receives analog video signal and the network video signal that shooting front end sends, and analog video or digital video is shown
Show to observer.The aircraft landing video image that observer is photographed by viewing judges whether undercarriage puts down.Observe
Member can control rain brush by aobvious control computer and image processing board works.If observer opens undercarriage automatic identification function,
Aobvious control computer can be added to recognition result in video image and be shown to observer.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (6)
1. the automatic recognition system of a undercarriage folding and unfolding, it is characterised in that include The Cloud Terrace, shooting front end, image procossing
Plate, data relay plate and aobvious control computer；
Described shooting front end includes video camera movement, and it gathers video image by described video camera movement；
Described image processing board, it is used for realizing Aircraft Targets and follows the tracks of and undercarriage automatic identification algorithm；
Described data relay plate, it is for realizing the data exchange between The Cloud Terrace and image processing board and shooting front end；
Described The Cloud Terrace, it for being transferred to aobvious control computer, image/video letter by the video of shooting front end output and control signal
Number decoding conversion and to shooting front-end power and SERVO CONTROL shooting front end；
Described aobvious control computer, it, for being shown the video image of shooting front-end collection by The Cloud Terrace, is controlled also by The Cloud Terrace
Make orientation rotation and the pitch rotation of shooting front end and pass through focusing and the change to imaging front-end collection image of the data relay plate
Times.
Automatic recognition system the most according to claim 1, it is characterised in that described The Cloud Terrace include power supply rectification filter device,
Servo Control Board, azimuth-drive motor and pitching motor, described power supply rectification filter device regard for by video and control signal from shooting
Front end is to the aobvious control switching of computer, image video signal decoding conversion；It is right that described Servo Control Board is realized by azimuth-drive motor
The control that shooting orientation, front end rotates, described Servo Control Board realizes the pitch control to shooting front end also by pitching motor.
Automatic recognition system the most according to claim 1, it is characterised in that described image processing board uses DSP hardware
With the information processing system that FPGA hardware builds MIMD architecture.
Automatic recognition system the most according to claim 1, it is characterised in that described data relay plate includes switch, string
Turn net, decoding circuit and power supply, be The Cloud Terrace and video camera movement, the image processing board intermediate plate that carries out data exchange；Described
Switch is for the transmission of video images between The Cloud Terrace and image processing board and shooting front end, and described string turns net for realizing taking the photograph
The focusing of camera and zoom；Described decoding circuit realizes the decoded back to coded image.
5. according to the arbitrary described automatic recognition system of Claims 1-4, it is characterised in that described shooting front end also includes using
Water droplet and the rain brush of raindrop on erasing camera lens.
6. according to the arbitrary described automatic recognition system of Claims 1-4, it is characterised in that described video camera movement includes SDI
Visible ray high-definition camera machine core and radar stealthy materials movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610554460.8A CN106210061A (en) | 2016-07-14 | 2016-07-14 | A kind of automatic recognition system of undercarriage folding and unfolding |
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| CN201610554460.8A CN106210061A (en) | 2016-07-14 | 2016-07-14 | A kind of automatic recognition system of undercarriage folding and unfolding |
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Cited By (7)
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| CN106951823A (en) * | 2017-02-06 | 2017-07-14 | 中国电子科技集团公司第二十八研究所 | A kind of infrared image undercarriage automatic identifying method |
| CN107392941A (en) * | 2017-07-25 | 2017-11-24 | 哈尔滨理工大学 | A kind of takeoff and landing tracking system and method |
| CN107633505A (en) * | 2017-08-24 | 2018-01-26 | 南京理工大学 | A kind of undercarriage detection method based on target gray distribution character |
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| CN108875572A (en) * | 2018-05-11 | 2018-11-23 | 电子科技大学 | The pedestrian's recognition methods again inhibited based on background |
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| CN111891372A (en) * | 2020-09-02 | 2020-11-06 | 淮阴工学院 | Land-air berthing and transporting system between airport and main city area |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106951823A (en) * | 2017-02-06 | 2017-07-14 | 中国电子科技集团公司第二十八研究所 | A kind of infrared image undercarriage automatic identifying method |
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| CN108762828A (en) * | 2018-04-24 | 2018-11-06 | 桂林长海发展有限责任公司 | A kind of DSP multi-core arrays two level startup method and apparatus |
| CN108875572A (en) * | 2018-05-11 | 2018-11-23 | 电子科技大学 | The pedestrian's recognition methods again inhibited based on background |
| CN108875572B (en) * | 2018-05-11 | 2021-01-26 | 电子科技大学 | Pedestrian re-identification method based on background suppression |
| CN110758759A (en) * | 2019-09-10 | 2020-02-07 | 广州大瀚光电技术有限公司 | Positioning system and method for aircraft landing safety channel |
| CN111891372A (en) * | 2020-09-02 | 2020-11-06 | 淮阴工学院 | Land-air berthing and transporting system between airport and main city area |
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Application publication date: 20161207 |