CN107861127A - High-precision and high-stability photoelectricity real-time tracking system and method - Google Patents
High-precision and high-stability photoelectricity real-time tracking system and method Download PDFInfo
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- CN107861127A CN107861127A CN201711052476.XA CN201711052476A CN107861127A CN 107861127 A CN107861127 A CN 107861127A CN 201711052476 A CN201711052476 A CN 201711052476A CN 107861127 A CN107861127 A CN 107861127A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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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
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Closed-Circuit Television Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to tracking system and aleatory variable control system to be used cooperatively technology, and in particular to high-precision and high-stability photoelectricity real-time tracking system and method, system include optics cabin module, electronic compartment module, operation control display system module and power system modules；Electronic compartment module is connected with optics cabin module, operation control display system module respectively, and power system modules are operation control display system module, electronic compartment module and optics cabin module for power supply.The real-time tracking system is directed to different carriers, varying environment, using aleatory variable control system and high stable platform base, with reference to gyro servo control system and high spatial resolution, the focus planar detector of high distinctness of image, the course of work has the characteristics of high accuracy, high stability.The system can complete the real-time monitoring to carrier surrounding objects, can both take automatic mode, also manual mode can be taken to be caught, amplified, locked and tracked to target, and automaticity is high.
Description
Technical field
The invention belongs to tracking system and aleatory variable control system to be used cooperatively technical field, more particularly to high accuracy height
Stability photoelectricity real-time tracking system and method.
Background technology
Traditional tracking system mainly has：Locating and tracking system, radio tracking system and image tracking system etc., they
Respective function is single, and precision is low, and use occasion and environment are also limited, can not obtain universal application.It is difficult to meet increasingly to increase
The technical need of long high-precision and high-stability photoelectricity real-time tracking system.
High-precision and high-stability photoelectricity real-time tracking system be optics and electronics intersect fusion and is formed, be collect
The modern technologies product that the multiple technologies such as laser, computer, information processing and control are integrated.Installed on servo stabilized platform
By the sensor of visible ray to infrared band, it is real to form the photoelectricity with round-the-clock effect, high accuracy, high stability feature
When tracking system.
Photoelectricity real-time tracking system can be loaded in aircraft, ship, mobile vehicle or be fixed on battle array position, carrier state
The factors such as change, vibrations and windage that the Photodetection system optical axis can be caused to point to is unstable, cause to the automatic of target
Identification increases with dynamic tracking error, reduces the ability of system tracking target, reduces the operating distance of system；Cause the optical axis and mesh
Angular movement between mark has two kinds of situations：A kind of is the motion of target, and a kind of is the motion of carrier；Generally work as target range farther out
When, relative motion is smaller as caused by moving target, and the change of carrier state can be entirely delivered to the sight line of imaging system, make
Into relative angular speed it is very big；When target range is larger compared near or relative velocity, the relative motion as caused by moving target
It is larger：This set high-precision and high-stability photoelectric follow-up can be solved effectively by factors shadow by the design in structure
Stability problem caused by sound, the precision of tracking system is improved with this.
High-precision and high-stability photoelectricity real-time tracking system is a revolution of tracking system technical field, and it has tradition
The incomparable advantage of tracking system：It combines the functional characteristics of conventional tracking systems, vdiverse in function, is controlled using automation
System processed, conveniently realizes remote operation, can apply to a variety of occasions.
The content of the invention
It is an object of the invention to provide one kind can be directed to variety carrier and complex environment, use photoelectric sensor and detector
Real-time capture and tracking are carried out to target, and there is the tracking system of higher stability and accuracy during tracking.
The core of the present invention is to be directed to different carriers, varying environment, it is proposed that a kind of high-precision and high-stability photoelectricity
Real-time tracking system and tracking, using aleatory variable control system and high stable platform base, controlled with reference to gyro servo
System and high spatial resolution, the focus planar detector of high distinctness of image, the course of work have high-precision, high stability
Feature.The system can complete the real-time monitoring to carrier surrounding objects, can both take automatic mode, can also take manual mould
Formula is caught to target, is amplified, locked and tracked, and automaticity is high.
To achieve the above object, the technical solution adopted by the present invention is：High-precision and high-stability photoelectricity real-time tracking system,
Including optics cabin module, electronic compartment module, operation control display system module and power system modules；Electronic compartment module respectively with optics
Cabin module, the connection of operation control display system module, power system modules are operation control display system module, electronic compartment module and optics cabin
Module for power supply.
In above-mentioned high-precision and high-stability photoelectricity real-time tracking system, optics cabin includes servo stabilized platform and photoelectricity
Detection system；
Servo stabilized platform uses gyro-stabilized platform, including tilting component and level orientation component；Tilting component includes pitching
Shafting, pitch gyro part, pitching motor part, pitching encoder, carrier, U-shaped support and side cover plate, for realizing optics cabin
Luffing angle rotate, and go out by pitching encoder real-time resolving the luffing angle in optics cabin；Level orientation component includes water
Flat azimuth axle, level orientation motor, level orientation gyro, level orientation locking feature, orientation housing, for realizing optics cabin
Level orientation angle rotate, and go out by azimuth encoder real-time resolving the level orientation angle in optics cabin；
Photodetection system is located among carrier, including infrared sensor, TV sensor and laser range finder；Infrared sensor
The infrared band information from scene is received by the infrared optical lens of front end, is believed infrared band by built-in detector
Breath is converted into video standard signal；TV sensor receives the visible light wave range from scene by the ordinary optical camera lens of front end
Information, it will be seen that light wave segment information is converted into the vision signal of standard by built-in detector；TV sensor is also equipped with light
Learn continuous vari-focus and Electronic magnification function；Laser range finder by launch laser measure target and photoelectric follow-up away from
From.
In above-mentioned high-precision and high-stability photoelectricity real-time tracking system, electronic compartment includes computer generalization plate, secondary
Power panel, orientation locking mechanism, motherboard, image trace plate and power board；
Computer generalization plate be used for servo stabilized platform control, sensor control, image trace control, man-machine interface communication and
Workflow management；Universal Power includes DC-DC module and power-supply filter；Orientation locking mechanism is installed on inside electronic compartment, is led to
Cross turbine worm transmission whole optics cabin is locked on a horizontal azimuth；Motherboard is used for external cable input signal, defeated
Enter the connection of power supply and internal circuit board；Image trace plate is used to be tracked control to the locked target in optics cabin；Power board
For amplifying the command signal of servo stabilized platform control system with motor, the behaviour for completing servo stabilized platform control system
Make.
In above-mentioned high-precision and high-stability photoelectricity real-time tracking system, operation control display system is user and optics cabin
Man-machine interface, including display screen and operation bench, display screen are used for the target picture that real-time display optics cabin captures；Operation bench bag
Power switch, button, LED state indicator lamp and rocker lever are included, is instructed for issuing；Operation bench and display screen use overall shape
Formula or absolute version.
In above-mentioned high-precision and high-stability photoelectricity real-time tracking system, the bottom of electronic compartment is installed on high stable platform
Pedestal or fixed pedestal；High stable platform base uses the mechanical structure form of the more frameworks of multiaxis, photoelectricity real-time tracking system peace
High stable platform base is used during loaded on mobile vehicle；Photoelectric follow-up uses fixed pedestal when being fixedly mounted.
Present invention also offers the operating method of high-precision and high-stability photoelectricity real-time tracking system, comprise the following steps：
Step 1, photoelectricity real-time tracking system be powered, system initialization, optics cabin is unlocked, after the completion of unblock, give tacit consent into
Enter manual mode, system carries out self-test and result is shown on display screen；Operating personnel judge according to the result of System self-test
Whether the work of system is normal；If normal, follow-up work SBR is carried out, system is automatically into manual mode；If no
Normally, that is, cut off the electricity supply, trouble point is repaired according to failure code, aforesaid operations are re-started after the completion of maintenance；
TV sensor, infrared sensor and laser range finder in step 2, startup optics cabin, when carrying out target acquisition, are pressed
Follower model button on lower operation bench, the region that the optical axis of Photodetection system occurs to target is adjusted in real time；When optics cabin regards
After axle enters designated area, follower model button is pressed again and enters manual mode；If it was found that target, by Electronic magnification and
The means such as continuous vari-focus, obtain the image of more visible recognizable verification；The switch of laser range finder is pressed, obtains target to reality
When the distance between tracking system；If distance is more than Security alert distance, ignore the action of target；If distance is less than safety
Distance is guarded against, then switches to tracing mode, presses the capture on operation bench and track button；As that need to give a warning, people is manipulated
Member can be given a warning information by radio or other optical signallings to target, target is corrected working line in time；If mesh
Mark is fallen back on outside Security alert distance, and operator presses the stopping track button of operation bench, and system exits tracing mode, automatically
Into manual mode, real-time tracking system enters armed state；Conversely, real-time tracking system continues to stare target, and send
Warning message；The target bearing and range information that operator obtains real-time tracking system are sent to corresponding control commander
System；
When step 3, the power cut-off of photoelectricity real-time tracking system enter holding state, the zero mode button on operation bench is pressed,
The optical axis for adjusting optics cabin is pointed to immediately ahead of carrier；Zero mode button is pressed again enters manual mode；Press on operation bench
Lock mode button, start lock pin and complete mechanical lock, after fixing optics cabin, system is automatically into manual mode；Close power supply
System and the power-off of operation bench power switch system.
Beneficial effects of the present invention：1st, variety carrier, a variety of environment are can be applied to, uses photoelectric sensor and detection system
Real-time capture and tracking are carried out to target；Different instructions is sent according to target status information during seizure and tracking,
Target can be tracked in real time, track efficiency high, tracking effect is good, has high-precision advantage；
2nd, Stability Analysis of Structures is reliable, power consumption is few, small volume, good concealment, high resolution and strong interference immunity.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention photoelectricity real-time tracking system：
In figure：1- optics cabin module；2- electronic compartment modules；3- operation control display system modules；4- power system modules；5- communication numbers
According to cable；6- high stable platform bases.
Embodiment
Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.
The example of the embodiment is shown in the drawings, wherein same or similar label represents identical or class from beginning to end
As element or with same or like function element.The embodiments described below with reference to the accompanying drawings are exemplary, only
For explaining the present invention, and it is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the part and setting of specific examples are described.They are only example, and purpose is not
It is to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.This repetition be for
Simplify and clear purpose, itself do not indicate the relation between discussed various embodiments and/or setting.In addition, this hair
The bright example for providing various specific techniques and material, but those of ordinary skill in the art can be appreciated that other techniques
The use of applicability and/or other materials.In addition, fisrt feature described below second feature it " on " structure can be with
The embodiment for being formed as directly contacting including the first and second features, other feature can also be included and formed first and second
Embodiment between feature, such first and second feature may not be direct contact.
, it is necessary to which explanation, unless otherwise prescribed and is limited, term " connected " " connection " should be done extensively in description of the invention
Reason and good sense solution, for example, it may be mechanical connection or electrical connection or the connection of two element internals, can be joined directly together,
It can also be indirectly connected by intermediary, for those of ordinary skill in the related art, can managed as the case may be
Solve the concrete meaning of above-mentioned term.
The present embodiment will solve the problems, such as it is tracking system is had higher stability simultaneously during tracking
Ensure higher precision, therefore propose a kind of high-precision and high-stability photoelectricity real-time tracking system and method, tradition can be overcome
The drawbacks of tracking system method；For variety carrier, complex environment, target is carried out using photoelectric sensor and detector real-time
Catch and track；Different instructions is sent according to target status information during seizure and tracking, can be in real time to mesh
Mark is tracked, and reaches good tracking effect.
The photoelectricity real-time tracking system that the present embodiment proposes, using the servo control module of high automation and high stability,
Aleatory variable control system cooperates and high spatial resolution, the focus planar detector of high distinctness of image, it is intended to solves
Stability and precision problem of the tracking system during tracking, are specifically included：Optics cabin module, electronic compartment module, manipulation are aobvious
Show system module, power system modules and high stable platform base.
Optics cabin module includes servo stabilized platform and Photodetection system, and the part employs gyro-stabilized platform, light
Electric transducer is located inside Photodetection system, perceives scene information through optical lens, Photodetection system is servo-actuated in servo
Stabilized platform, realize motion of the sight line in pitching, level orientation both direction.Servo stabilized platform is Photodetection system
A rotatable platform with line-of-sight stabilization function is provided, the part includes tilting component and level orientation component：Tilting component
By parts groups such as pitching shafting, pitch gyro part, pitching motor part, pitching encoder, carrier, U-shaped support and side cover plates
Into mainly realizing that the luffing angle in optics cabin rotates, and can go out that optics cabin turned over by pitching encoder real-time resolving bows
Elevation angle degree；Level orientation component by level orientation shafting, level orientation motor, level orientation gyro, level orientation locking feature,
The components such as orientation housing form, and mainly realize that the level orientation angle in optics cabin rotates, and can be solved in real time by azimuth encoder
Calculate the level orientation angle that optics cabin is turned over；Photodetection system is located among carrier, including infrared sensor, TV pass
Three parts of sensor and laser range finder；Infrared sensor receives the infrared waves from scene by the infrared optical lens of front end
Segment information, the infrared band information received is converted into video standard signal by built-in detector and supplies eye recognition；TV
Sensor then receives the visible light wave segment information from scene by the ordinary optical camera lens of front end, will be connect by built-in detector
The vision signal that the visible light wave segment information received is converted into standard supplies eye-observation and judgement；Laser range finder is swashed by launching
Light measures the distance of target and photoelectric follow-up；TV sensor in optical detection system possess optics continuous vari-focus and
Electronic magnification function, the target that can be directed to different distance adjust different observation visual fields, and more careful point is carried out to target
Distinguish and identify, confirm target object attribute and azimuth information etc..
Electronic compartment module include computer generalization plate, Universal Power, orientation locking mechanism, motherboard, image trace plate and
Power board.Computer generalization plate is the significant components of whole system, completion SERVO CONTROL, sensor control, image trace controls,
The function such as man-machine interface communication and workflow management；Universal Power provides stabilization for the circuit board in electronic compartment and sensor
Input service voltage, functions as miniature transformer, and the high voltage that power-supply system inputs is changed into optics cabin module, electronics
The low-voltage of cabin module, operation control display system module normal work, circuit are made up of DC-DC module and power-supply filter, can be had
Imitate the power input noise of reduction system；Level orientation locking mechanism belongs to one of the flat orientation assembly of servo stabilized platform reclaimed water
Point, it is installed on inside electronic compartment, whole optics cabin is locked on a horizontal azimuth by the mechanism by electronics chains, works as light
Learn cabin and be in and await orders or during off-mode, the mechanism can prevent optics nacelle in orientation due to inertia arbitrarily rotates and in damaging
The photoelectric sensor in portion, it is also equipped with automatic/hand unlocking function；Motherboard is used for the cable input signal and input power of outside
It is attached with internal circuit board, there is provided reliable electrical connection ensures；Image trace plate is used for having been locked in the module of optics cabin
Set the goal and be tracked control；Power board be the command signal by servo-control system after power amplifier amplifies, reach
The power requirement of pitching motor and level orientation motor, and then motor, complete the operation of servo-control system requirement.
Operation control display system module is the man-machine interface of user and optics cabin, the mesh that the part primary recipient optics cabin is beamed back
Mark information and show the state in optics cabin etc., complete the allocation of upper electric, upper bit instruction and the control panel instruction of system, including
Display screen and operation bench.Display screen is mainly used in the target picture that real-time display optics cabin is captured；Operation bench is mainly used in
Issue instruction, there is four kinds of power switch, button, LED state indicator lamp and rocker lever functional parts；Operation bench and display screen were both
Can be an overall or independent two parts.
Power system modules, it is optics cabin module, electronic compartment module, operation control display system in photoelectricity real-time tracking system
Module and high stable platform base provide stable input voltage, to ensure their normal works.
High stable platform base is the important component for ensureing tracking system steady operation, electronic compartment and optics cabin is risen stable
The effect of support, the mechanical structure form of the more frameworks of multiaxis is used in structure, and this mechanical structure form can guarantee that optics cabin regards
Axle sight is under complex environment（Such as the various environment for causing optics cabin shaking amplitude bigger）There is enough stability and sweep
Retouch scope so that tracking system has very high stability during tracking, is typically mounted at electronic compartment bottom；When photoelectricity with
For track system loading when on mobile vehicle, high stable platform base is the essential part of whole system, when photoelectric tracking system
System is then not required to use high stable platform base when being fixedly mounted.
The photoelectricity real-time tracking system can both be equipped on various motion carriers（Such as aircraft, ship, vehicle）On, to mesh
Mark is scanned for, observed, aiming at, tracking and early warning etc.；Also it can be fixedly mounted, target area is carried out to search in real time, monitored
With warning etc..
As shown in figure 1, the present embodiment is i.e. for installation, used high-precision and high-stability photoelectricity is real on enclosure wall at the prison
When tracking system, cooperated using height automation, the servo control module of high stability and aleatory variable control system and height
The focus planar detector of spatial resolution, high distinctness of image, it is intended to solve stability of the tracking system during tracking and
Precision problem.The photoelectricity real-time tracking system includes：Optics cabin module, electronic compartment module, operation control display system module, power supply system
Module of uniting and high stable platform base.The photoelectricity real-time tracking system can be monitored and search for the target around carrier,
When finding suspicious object, target can be caught, amplified, locked and tracked according to instruction, to take corresponding measure, really
Protect the safety of carrier.
Also, optics cabin module includes servo stabilized platform and Photodetection system, and the part employs gyrocontrol and put down
Platform, photoelectric sensor are located inside Photodetection system, through optical lens perceive scene information, Photodetection system be servo-actuated in
Servo stabilized platform, realize motion of the sight line in pitching, level orientation both direction.Servo stabilized platform is photodetection
System provides a rotatable platform with line-of-sight stabilization function, and the part includes tilting component and level orientation component：Pitching
Component is by portions such as pitching shafting, pitch gyro part, pitching motor part, pitching encoder, carrier, U-shaped support and side cover plates
Part forms, and mainly realizes that the luffing angle in optics cabin rotates, and can go out optics cabin by pitching encoder real-time resolving and be turned over
Luffing angle；Level orientation component is locked by level orientation shafting, level orientation motor, level orientation gyro, level orientation
The components such as part, orientation housing form, and mainly realize that the level orientation angle in optics cabin rotates, and can be real by azimuth encoder
When calculate the level orientation angle that optics cabin is turned over；Photodetection system is located among carrier, including infrared sensor, electricity
Three parts of view sensor and laser range finder；Infrared sensor is received from the red of scene by the infrared optical lens of front end
External wave segment information, the infrared band information received is converted into video standard signal by built-in detector and supplies eye recognition；
TV sensor then receives the visible light wave segment information from scene by the ordinary optical camera lens of front end, by built-in detector
The vision signal that the visible light wave segment information received is converted into standard supplies eye-observation and judgement；Laser range finder passes through hair
Laser is penetrated to measure the distance of target and photoelectric follow-up；TV sensor in optical detection system possesses optics and continuously become
Burnt and Electronic magnification function, the target that can be directed to different distance adjust different observation visual fields, and it is more careful that target is carried out
Resolution and identification, confirm target object attribute and azimuth information etc..
Also, electronic compartment module includes computer generalization plate, Universal Power, orientation locking mechanism, motherboard, image trace
Plate and power board.Computer generalization plate is the significant components of whole system, completes SERVO CONTROL, sensor control, image trace
The functions such as control, man-machine interface communication and workflow management；Universal Power provides for the circuit board in electronic compartment and sensor
Stable input service voltage, functions as miniature transformer, and the high voltage that power-supply system inputs is changed into optics cabin mould
Block, electronic compartment module, the low-voltage of operation control display system module normal work, circuit is by DC-DC module and power-supply filter structure
Into can effectively reduce the power input noise of system;Level orientation locking mechanism belongs to servo stabilized platform reclaimed water square hyte
A part for part, is installed on inside electronic compartment, and whole optics cabin is locked in a level orientation by the mechanism by electronics chains
On angle, awaited orders or during off-mode when optics cabin is in, the mechanism can prevent optics nacelle in orientation because inertia arbitrarily turns
Move and the photoelectric sensor inside damage, be also equipped with automatic/hand unlocking function；Motherboard is used for the cable input signal of outside
It is attached with input power and internal circuit board, there is provided reliable electrical connection ensures；Image trace plate is used for optics cabin
Locked target is tracked control in module；Power board is to put the command signal of servo-control system by power amplifier
After big, reach the power requirement of pitching motor and level orientation motor, and then motor, complete servo-control system requirement
Operation.
Also, operation control display system module is the man-machine interface of user and optics cabin, part primary recipient optics cabin hair
The target information returned and the state in display optics cabin etc., upper electric, upper bit instruction and the control panel instruction for completing system are matched somebody with somebody
Hair, including display screen and operation bench.Display screen is mainly used in the target picture that real-time display optics cabin is captured；Operation bench master
It is used to issue instruction, there is four kinds of power switch, button, LED state indicator lamp and rocker lever functional parts；Operation bench and aobvious
Display screen both can be an overall or independent two parts.
Also, power system modules, it is aobvious for the optics cabin module in photoelectricity real-time tracking system, electronic compartment module, manipulation
Show that system module and high stable platform base provide stable input voltage, to ensure their normal works.
The present embodiment photoelectric follow-up is by the way of being fixedly mounted, so being not required to use high stable platform base.
In the present embodiment, typically enclosure wall surrounding installs multiple high-precision and high-stability photoelectricity real-time tracking systems at the prison,
Networking connectivity works, and can switch different visual angles, and angular field of view covers the safety zone in whole prison, its specific real-time tracking
Method is as follows：
1. startup power supply system module, presses the power switch of operation bench, whole real-time tracking system is powered；Electronic compartment module 2
In Universal Power the 220V high voltages that power-supply system inputs are converted into optics cabin module, electronic compartment module normal work
24V low-voltages, now all modules be in init state, after system electrification, optics cabin is unlocked, it is ensured that locking mechanism
Have disengaged from locking position, ensure system operatio safety, after the completion of unblock, giving tacit consent to can be 2 automatically into manual mode, whole system
Self-test work is completed in minute；State after display screen meeting automatic display system self-test, operating personnel are according to display screen after self-test
The report provided, judge whether the work of system is normal；It is if normal, it is possible to complete subsequently to monitor and to mesh target area
Target is caught, the early-stage preparations of tracking, and system is automatically into manual mode operation state；If abnormal it is necessary to cut off the electricity supply,
Trouble point is repaired according to failure code, re-starts aforesaid operations after the completion of maintenance again.
2. starting TV sensor, infrared sensor and the laser range finder in optics cabin, operator adjusts light in real time
The region that the optical axis of electrical resistivity survey examining system occurs to suspicious object, after the optics cabin optical axis enters designated area, pass through built-in spy
Device is surveyed to monitor prison surrounding environment in real time, when finding a suspect, by means such as Electronic magnification and continuous vari-focus,
A suspect is caught, obtains the target image of more visible, recognizable verification, and passes real-time image information back display
Screen；Operator presses the switch of the laser range finder on operation bench rocker lever, and laser range finder is obtained by launching laser
A suspect is the distance between to photoelectric follow-up：If a suspect is more than the safety of jails to the distance of photoelectric follow-up
Distance is guarded against, the action of a suspect can be ignored；If a suspect is less than prison to the distance between photoelectric follow-up
Security alert distance, switches to tracing mode by system model immediately, and operator presses amplification and tracking on operation bench
Button, real-time tracking system continue through Electronic magnification and continuous vari-focus function and amplify the further high definition of target image information,
And moved with the motion of a suspect, target is implemented to track；Operator simultaneously will be by voice signal to suspicious people
Member gives a warning information, allows a suspect to leave warning region immediately：Warning region is left when a suspect receives warning message,
The blind area of this tracking system is soon entered, now this tracking system passes to the azimuth information of a suspect neighbouring
Other tracking systems, continue the work traced and monitored, until warning region of a suspect away from all tracking systems, far
From the safe distance in prison, operator can press the stopping track button of operation bench, and system exits tracing mode, automatically into
Manual mode, real-time tracking system enter armed state；When a suspect receives warning message but during not away from warning region,
Real-time tracking system may proceed to track target, and alert, the target side that operator obtains real-time tracking system
Position and range information are sent to Security Services, and a suspect is taken and expelled.
3. when entering holding state after photoelectricity real-time tracking system power cut-off, press zero pattern on operation bench by
Button, the optical axis in optics cabin is pointed to immediately ahead of carrier, the stable state that optics cabin is under carrier coordinate, can prevent optics cabin from existing
Impact of the movement of optical axis to mechanical position limitation under manual mode, zero mode button is pressed again and enters manual mode；Press behaviour
Lock mode button on platform is controlled, optics cabin present position is adjusted and locks position, starts lock pin and completes mechanical lock, now optics
Cabin is fixed, and system is automatically into manual mode；Power system modules 4 are closed, press the power switch on operation bench, photoelectricity
Real-time tracking system powers off.
It should be appreciated that the part that this specification does not elaborate belongs to prior art.
Although describing the embodiment of the present invention above in association with accompanying drawing, those of ordinary skill in the art should
Understand, these are merely illustrative of, and various deformation or modification can be made to these embodiments, without departing from the original of the present invention
Reason and essence.The scope of the present invention is only limited by the claims that follow.
Claims (6)
1. high-precision and high-stability photoelectricity real-time tracking system, it is characterised in that including optics cabin module, electronic compartment module, behaviour
Control display system module and power system modules；Electronic compartment module is connected with optics cabin module, operation control display system module respectively,
Power system modules are operation control display system module, electronic compartment module and optics cabin module for power supply.
2. high-precision and high-stability photoelectricity real-time tracking system as claimed in claim 1, it is characterised in that optics cabin includes watching
Take stabilized platform and Photodetection system；
Servo stabilized platform uses gyro-stabilized platform, including tilting component and level orientation component；Tilting component includes pitching
Shafting, pitch gyro part, pitching motor part, pitching encoder, carrier, U-shaped support and side cover plate, for realizing optics cabin
Luffing angle rotate, and go out by pitching encoder real-time resolving the luffing angle in optics cabin；Level orientation component includes water
Flat azimuth axle, level orientation motor, level orientation gyro, level orientation locking feature, orientation housing, for realizing optics cabin
Level orientation angle rotate, and go out by azimuth encoder real-time resolving the level orientation angle in optics cabin；
Photodetection system is located among carrier, including infrared sensor, TV sensor and laser range finder；Infrared sensor
The infrared band information from scene is received by the infrared optical lens of front end, is believed infrared band by built-in detector
Breath is converted into video standard signal；TV sensor receives the visible light wave range from scene by the ordinary optical camera lens of front end
Information, it will be seen that light wave segment information is converted into the vision signal of standard by built-in detector；TV sensor is also equipped with light
Learn continuous vari-focus and Electronic magnification function；Laser range finder by launch laser measure target and photoelectric follow-up away from
From.
3. high-precision and high-stability photoelectricity real-time tracking system as claimed in claim 2, it is characterised in that electronic compartment includes meter
Calculation machine synthesis plate, Universal Power, orientation locking mechanism, motherboard, image trace plate and power board；
Computer generalization plate be used for servo stabilized platform control, sensor control, image trace control, man-machine interface communication and
Workflow management；Universal Power includes DC-DC module and power-supply filter；Orientation locking mechanism is installed on inside electronic compartment, is led to
Cross turbine worm transmission whole optics cabin is locked on a horizontal azimuth；Motherboard is used for external cable input signal, defeated
Enter the connection of power supply and internal circuit board；Image trace plate is used to be tracked control to the locked target in optics cabin；Power board
For amplifying the command signal of servo stabilized platform control system with motor, the behaviour for completing servo stabilized platform control system
Make.
4. high-precision and high-stability photoelectricity real-time tracking system as claimed in claim 1, it is characterised in that operation control display system
For the man-machine interface in user and optics cabin, including display screen and operation bench, display screen is used for what real-time display optics cabin captured
Target picture；Operation bench includes power switch, button, LED state indicator lamp and rocker lever, is instructed for issuing；Operation bench
Integral form or absolute version are used with display screen.
5. high-precision and high-stability photoelectricity real-time tracking system as claimed in claim 1, it is characterised in that the bottom of electronic compartment
It is installed on high stable platform base or fixed pedestal；High stable platform base uses the mechanical structure form of the more frameworks of multiaxis, light
Sewing platform base is allocated using high stable when electric real-time tracking system is installed on mobile vehicle；Photoelectric follow-up uses when being fixedly mounted
Fixed pedestal.
6. the operating method of high-precision and high-stability photoelectricity real-time tracking system, it is characterised in that comprise the following steps：
Step 1, photoelectricity real-time tracking system be powered, system initialization, optics cabin is unlocked, after the completion of unblock, give tacit consent into
Enter manual mode, system carries out self-test and result is shown on display screen；Operating personnel judge according to the result of System self-test
Whether the work of system is normal；If normal, follow-up work SBR is carried out, system is automatically into manual mode；If no
Normally, that is, cut off the electricity supply, trouble point is repaired according to failure code, aforesaid operations are re-started after the completion of maintenance；
TV sensor, infrared sensor and laser range finder in step 2, startup optics cabin, when carrying out target acquisition, are pressed
Follower model button on lower operation bench, the region that the optical axis of Photodetection system occurs to target is adjusted in real time；When optics cabin regards
After axle enters designated area, follower model button is pressed again and enters manual mode；If it was found that target, by Electronic magnification and
The means such as continuous vari-focus, obtain the image of more visible recognizable verification；The switch of laser range finder is pressed, obtains target to reality
When the distance between tracking system；If distance is more than Security alert distance, ignore the action of target；If distance is less than safety
Distance is guarded against, then switches to tracing mode, presses the capture on operation bench and track button；As that need to give a warning, people is manipulated
Member can be given a warning information by radio or other optical signallings to target, target is corrected working line in time；If mesh
Mark is fallen back on outside Security alert distance, and operator presses the stopping track button of operation bench, and system exits tracing mode, automatically
Into manual mode, real-time tracking system enters armed state；Conversely, real-time tracking system continues to stare target, and send
Warning message；The target bearing and range information that operator obtains real-time tracking system are sent to corresponding control commander
System；
When step 3, the power cut-off of photoelectricity real-time tracking system enter holding state, the zero mode button on operation bench is pressed,
The optical axis for adjusting optics cabin is pointed to immediately ahead of carrier；Zero mode button is pressed again enters manual mode；Press on operation bench
Lock mode button, start lock pin and complete mechanical lock, after fixing optics cabin, system is automatically into manual mode；Close power supply
System and the power-off of operation bench power switch system.
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|---|---|---|---|
| CN201711052476.XA CN107861127A (en) | 2017-10-30 | 2017-10-30 | High-precision and high-stability photoelectricity real-time tracking system and method |
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| CN201711052476.XA CN107861127A (en) | 2017-10-30 | 2017-10-30 | High-precision and high-stability photoelectricity real-time tracking system and method |
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| CN108803672A (en) * | 2018-04-25 | 2018-11-13 | 武汉高德红外股份有限公司 | Photoelectric follow-up |
| CN111880482A (en) * | 2020-06-17 | 2020-11-03 | 中国人民解放军陆军军事交通学院镇江校区 | High-precision sensor visual axis servo control system and method thereof |
| CN112051584A (en) * | 2020-08-13 | 2020-12-08 | 哈尔滨工业大学 | Airborne dual-wavelength area array imaging laser radar structure |
| CN112268551A (en) * | 2020-10-15 | 2021-01-26 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and aiming device based on optical inner channel and double-seal ring dynamic seal |
| CN114114985A (en) * | 2021-10-21 | 2022-03-01 | 浙江大立科技股份有限公司 | Integrated control system |
| CN117495914A (en) * | 2023-12-29 | 2024-02-02 | 中国科学院长春光学精密机械与物理研究所 | Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system |
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| CN112268551A (en) * | 2020-10-15 | 2021-01-26 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and aiming device based on optical inner channel and double-seal ring dynamic seal |
| CN114114985A (en) * | 2021-10-21 | 2022-03-01 | 浙江大立科技股份有限公司 | Integrated control system |
| CN114114985B (en) * | 2021-10-21 | 2023-12-12 | 浙江大立科技股份有限公司 | Comprehensive control system |
| CN117495914A (en) * | 2023-12-29 | 2024-02-02 | 中国科学院长春光学精密机械与物理研究所 | Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system |
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