CN109600532A - Unmanned plane multi-channel video seamless switch-over system and method - Google Patents
Unmanned plane multi-channel video seamless switch-over system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
- H04N5/06—Generation of synchronising signals
- H04N5/067—Arrangements or circuits at the transmitter end
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The technical problem that there are video output timing stability to solve the existing video handoff technique based on digital device is bad, video data is easy to be lost, inconvenient, the present invention provides a kind of unmanned plane multi-channel video seamless switch-over system and methods.Method includes: 1) to send synchronization pulse；2) reception includes that video frame is enabled, exercises the road the N video data of energy and video image data；3) road the N video data received is pre-processed, making subsequent buffering isolation is since first pixel data of first frame the first row；4) buffering isolation；5) video data that reading buffering is isolated respectively regenerates video frame and enables, exercises energy, and the video frame regenerated is enabled, enforcement energy and the video image data read are exported to channel selecting module；6) video channel switching command is received；7) corresponding data channel is gated；8) the data channel output video image data being strobed.
Description
Technical field
The invention belongs to technical field of video processing, it is related to a kind of unmanned plane multi-channel video switching system and method.
Background technique
As unmanned air vehicle technique continues to develop, more and more unmanned plane are equipped with a plurality of types of on fuselage both at home and abroad
Monitoring camera device.Due to being limited by unmanned plane telemetering transmission device, i.e., remote-measuring equipment can only transmission of one line vision signal, and
It needs that the multi-channel video signal in entire flight system is monitored in real time and recorded when unmanned plane during flying, it is more that therefore, it is necessary to one kind
Road video switching system, during unmanned plane airflight, ground staff can switch between multiple airborne image pick-up devices, in real time
Extraneous circumstance is monitored, solution is taken according to the problem of discovery in time.
There are mainly two types of modes for video handoff technique at present:
The first is that video switching is realized based on analog device, and analog switch implementation is not flexible；
Second is to be switched over based on digital device using combinational logic, and it is existing metastable state easily occur for cross clock domain processing
As image data and resolution ratio cannot ensure that system stability substantially reduces.Such as the patent of Publication No. CN103647907B
" a kind of unmanned plane multi-channel video switch " is disclosed in document, it is more using thumbwheel switch or industrial personal computer control main control unit driving
Road selects switch unit, and the main switching for using digital circuit hardware realization video system lacks system control, from video all the way
It is switched in addition all the way during video there are video output timing stability is bad, video data loss problem；In addition, this is more
Road video switcher circuit comprising modules are more, cause system unstable, and realization operates also inconvenient.
Summary of the invention
There are video output timing stability to solve the existing video handoff technique based on digital device bad, video counts
According to easy to be lost, inconvenient technical problem, the present invention provides a kind of unmanned plane multi-channel video seamless switch-over system and methods.
The technical solution of the invention is as follows:
Unmanned plane multi-channel video seamless switch-over system, is characterized in that including hardware and software；
The hardware includes FPGA and the lock-out pulse output interface unit, the video output interface that are connected with FPGA
Unit, switching command reception interface unit and N number of video input interface unit；FPGA is as master controller；Lock-out pulse is defeated
Outgoing interface unit is used to export the synchronization pulse of FPGA generation；Video output interface unit is strobed video for output and leads to
Video image data in road；Switching command reception interface unit is used to receive the video channel switching outside switching system
Instruction；N number of video input interface unit is used to acquire the road the N vision signal that the airborne road N video unit issues；N be greater than etc.
In 2 integer；
The software is the program operated on the FPGA, for realizing following steps:
1) video switching system initial reset powers on；
2) synchronization pulse is sent to the airborne road N video unit；
3) receive the sending of the road N video unit includes the road N that video frame enabled, exercised energy and video image data
Video data；
4), enforcement enabled to the video frame in the road the N video data received can be carried out pretreatment respectively, so that subsequent slow
It is to carry out buffering isolation since first pixel data of first frame the first row when the road the N video data is isolated in punching；
5) buffering isolation is carried out respectively to the road N video data；
6) master clock signal that the PLL frequency multiplication based on FPGA generates, difference read step 5) video data being isolated is buffered,
According to the video data of reading regenerate the video frame in the video data of the road N is enabled, exercise can, and the video that will be regenerated
The video image data that frame is enabled, exercises in energy and institute's reading video data is exported to channel selecting module, waits subsequent choosing
It is logical；
7) the reception video channel switching command that external piloting control unit is sent is received；
8) according to the video channel switching command that receives, when detecting data corresponding to the video channel switching command
When the video frame in channel enables failing edge and data channel number, the corresponding data channel of the data channel number is gated, into step
It is rapid 9)；Otherwise, the corresponding data channel of the data channel number is not gated, and it is logical to continue to test selected Taoist monastic name corresponding data all
The video frame in road enables failing edge；
9) the data channel output video image data being strobed.
Further, in the step 6) -7) between, it is additionally provided with and carries out the step of buffering isolated data empties, specifically:
Detecting step 6) video frame that regenerates enables failing edge, if detecting, failing edge is enabled to having buffered using video frame
The data of isolation are emptied, subsequently into step 7)；If being not detected, it is directly entered step 7).
Invention also provides a kind of unmanned plane multi-channel video seamless handover methods, are characterized in that, including with
Lower step:
1) synchronization pulse is sent to the airborne road N video unit；
2) receive the sending of the road N video unit includes the road N that video frame enabled, exercised energy and video image data
Video data；
3), enforcement enabled to the video frame in the road the N video data received can be carried out pretreatment respectively, so that subsequent slow
It is to carry out buffering isolation since first pixel data of first frame the first row when the road the N video data is isolated in punching；
4) buffering isolation is carried out respectively to the road N video data；
5) master clock signal that the PLL frequency multiplication based on FPGA generates, difference read step 5) video data being isolated is buffered,
According to the video data of reading regenerate the video frame in the video data of the road N is enabled, exercise can, and the video that will be regenerated
The video image data that frame is enabled, exercises in energy and reading video data is exported to channel selecting module, waits subsequent gating；
6) the reception video channel switching command that external piloting control unit is sent is received；
7) according to the video channel switching command that receives, when detecting data corresponding to the video channel switching command
When the video frame in channel enables failing edge and data channel number, the corresponding data channel of the data channel number is gated, into step
It is rapid 8)；Otherwise, the corresponding data channel of the data channel number is not gated, and it is logical to continue to test selected Taoist monastic name corresponding data all
The video frame in road enables failing edge；
8) the data channel output video image data being strobed.
Further, it between the step 5) and step 6), is additionally provided with and carries out the step of buffering isolated data empties, tool
Body are as follows: detecting step 5) video frame that regenerates enables failing edge, if detecting, failing edge is enabled to using video frame
The data of buffering isolation are emptied, subsequently into step 6)；If being not detected, it is directly entered step 6).
Further, the preprocess method in the step 3) specifically:
3.1) video frame enable signal reset sets 1；
3.2) logic detection video frame enable rising edge and exercise can high level, when detecting that frame enables rising edge and enforcement
Can high level when, by frame it is enabled with exercise can mutually and, the write enable signal that the result of Xiang Yuhou is isolated as subsequent buffering.
Further, video frame is enabled, exercises and can and read video image data for regenerating in the step 5)
And the method exported specifically:
5.1) setting FIFO cache threshold is more than or equal to the byte of a line video data；
5.2) frame enable signal sets 1, counts setting time；
5.3) 1 can be set by exercising, and after counting setting time makes buffering that a line video data be isolated, enforcement can set 0, then count
Number setting time；
5.4) it exercises after capable of repeating to generate S, frame is enabled to set 0, and the frame regenerated is enabled；S is perpendicular for video image
To the number of pixel；
5.5) step 5.4) is repeated the enforcement generated can be as the reading enable signal of buffering isolated operation；
5.6) the reading enable signal obtained using step 5.5) reads video image data；
5.7) the enabled frame regenerated, enforcement energy and the video image data of step 5.6) reading are exported to channel
Selecting module waits subsequent gating.
Beneficial effects of the present invention:
1, video camera multipath video source arbitrary switch on the achievable unmanned plane of the present invention, hardware circuit integrated level is high, internal
Without compressing and losing frame frequency during video data transmission, multipath video source seamless switching is realized, and in handoff procedure
Previous frame data and next frame data are without losing data, it is ensured that a frame image completely exports before the handover, switching
Another way video image correctly exports afterwards, ensure that the stability of video output timing stability and video pictures.
2, handoff procedure of the present invention relies primarily on software realization, and hardware circuit is simple, and integrated level is high.
3, present invention switching is flexible.
4, the present invention uses the clk of video camera same frequency on the generation of FPGA master clock unit and unmanned plane, to each road video
Data synchronize, system the operation is stable.
5, level synchronization is only needed, error probability is reduced, stability is higher；Without carrying out frequency doubling clock sampling, simplify
Operating procedure, improves operational efficiency.
Detailed description of the invention
Fig. 1 is using the schematic illustration of switching system of the present invention progress Multichannel synchronous video seamless switching, in figure: module
1 is external multi-channel video output unit, and module 2 is multi-channel video seamless switch-over system of the present invention, and module 3 is single channel video input
Unit.
Fig. 2 is FPGA internal logic functional block diagram in the present invention.
Fig. 3 is switching method flow chart of the present invention.
Fig. 4 is when video data includes enabled video frame, enforcement energy and video image data, and the present invention is to video counts
According to pretreatment process.
Fig. 5 be using Fig. 4 preprocess method treated video frame it is enabled, exercise can and FIFO write enable signal illustrate
Figure.
Fig. 6 is not pre-process to video data, in fact it could happen that video frame it is enabled, exercise energy and FIFO write enable signal
Schematic diagram.
Fig. 7 is when video data includes enabled video frame, enforcement energy and video image data, and the present invention regenerates
Video frame is enabled, exercises the method flow diagram of energy and video image data.
Fig. 8 is the video gating process when video data includes enabled video frame, enforcement energy and video image data
Figure；
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, multi-channel video seamless switch-over system of the present invention includes hardware and software；
N number of video input interface unit, the lock-out pulse that hardware includes FPGA (master controller), is connected with FPGA are defeated
Outgoing interface unit, a video output interface unit and a switching command reception interface unit；N is just whole more than or equal to 2
Number.
Video input interface unit is for acquiring external video signal；Cameralink can be used in video input interface unit
Video input interface, chip model are ds90cr286 or ds90cr288；PAL video input interface, chip can also be used
Model adv7180；Or use SDI video input interface, chip model GS2971；Or it is defeated using digital video LVDS
Incoming interface, chip model ds90lv032；Or use RS422 input interface, chip model ds26lv032.
Lock-out pulse output interface unit is used to export the synchronization pulse of FPGA generation；Lock-out pulse output interface list
LVDS can be used in member, and chip model is ds90lv049 or ds90lv019；RS422 can also be used, chip model is
Ds26lv031, max3490.RS485, chip model max3485 can also be used.
Video output interface unit use Cameralink video output interface, chip model be ds90cr285 or
ds90cr287；PAL video output interface, chip model adv7393 can also be used；It can also be connect using the output of SDI video
Mouthful, chip model GS2972；It can also be exported using digital video LVDS, chip model ds90lv031；Or it uses
RS422 interface, chip model ds26lv031.
Switching command reception interface unit is used to receive the video channel switching command of external transmission, can be referred to using serial ports
It enables and receiving, chip model is max3490 or max3485；Or instruction is received using Ethernet network interface, chip model is
88E1111；Or it is received using CAN bus, chip model SJA1000.
Software is the program being loaded on FPGA, can be divided into N number of reception number according to the function that computer program is realized
It is sent according to processing module, N number of buffering isolation module, N number of data recovery module, a Switching command receiver module, a pulse
Module, a master and a channel selecting module, as shown in Figure 2.Each receives data processing module, buffer compartment
From module and the corresponding data channel all the way of data recovery module.
When above-mentioned computer program is run by FPGA, following steps (referring to Fig. 3) is realized:
1) video switching system initial reset powers on.
2) FPGA generates synchronization pulse, and is exported by lock-out pulse output interface unit, is sent to external airborne
The road N video unit；N is the integer more than or equal to 2；The effect of synchronization pulse is so that into the every of video switching system
Video data keeps frame synchronization all the way.
3) after the road N video unit receives the synchronization pulse of video switching system sending, while to video switching system
Transmission includes that video frame is enabled, exercises the video data of energy and video image data, and video switching system is defeated by N number of video
Incoming interface unit receives the road N video data.
4), enforcement enabled to the video frame in the video data of the road N can be carried out pre- place to N number of reception data processing module respectively
Reason, to guarantee that the video data for being respectively written into the rear end road N buffering isolation module is first pixel from first frame the first row
Data start to be written；Buffering isolation module is FIFO IP kernel in FPGA；
As shown in figure 4, to specific per the video frame in video data all the way is enabled, enforcement can be carried out pretreated process
Are as follows:
Firstly, the reset of video frame enable signal sets 1；Then, logic detection video frame enables rising edge and exercises the high electricity of energy
It is flat, when detect frame enable rising edge and exercise can high level when, by frame it is enabled with exercise can Xiang Yuhou's as a result, as buffering
The write enable signal of isolation module (FIFO).
Fig. 5 show enabled pretreatment rear video frame, enforcement energy and FIFO write enable signal, if do not made to video frame
Energy, row enable signal pre-process, it is possible that FIFO write enable signal shown in Fig. 6, leads to write-in caching isolation mode
First pixel of block is some random pixel among video, and the image of output is caused offset dislocation occur.
5) road N video data is respectively written into the road N buffering isolation module.
6) data recovery module reads the video data stored in the buffering isolation module of the road N respectively, according to the video of reading
Data regenerate and (alternatively referred to as restore) the enabled video frame in the video data of the road N, enforcement energy and video image data, then
Wait channel selecting module selection；The work clk of data recovery module is the clk that master issues, the clk and external machine
The road the N video unit of load is the same as frequency；It is often inputted all the way the purpose for the arrangement is that being sampled using the master clock of video switching system itself
The data of video, reduce cross clock domain and multiple clock domains bring system unstable factor, improve video switching system reliability.
PLL frequency multiplication realization of the master of switching system of the present invention using FPGA, the clock frequency and external input video of generation
Clock with frequency；
As shown in fig. 7, regenerating the video frame in the video data of the road N by taking video image resolution ratio 1920*1080 as an example
Video image data can and be read in enabled, enforcement method particularly includes:
6.1) setting FIFO cache threshold is more than or equal to the byte (this example 1920) of a line video data；
6.2) frame enable signal sets 1, counts a period of time (20clk is counted in this example)；
6.3) 1 can be set by exercising, and counted a period of time and FIFO cache a line video data (to count in this example
After 1920clk), enforcement can set 0, count a period of time (time, the longer the better, and 720clk is counted in this example)；
6.4) it exercises after capable of repeating to generate 1080, frame is enabled to set 0, and the frame regenerated is enabled；
6.5) step 6.4) is repeated the enforcement generated can be as the reading enable signal of buffering isolation module (FIFO)；
6.6) the reading enable signal of the FIFO obtained using step 6.5) reads video image number from buffering isolation module
According to；
6.7) the enabled frame regenerated, enforcement energy and the video image data of step 6.6) reading are exported to channel
Selecting module waits subsequent gating.
7) image frame dislocation is exported to further avoid switching rear video, guarantees to buffer in isolation module FIFO each time
Face data is all complete frame image data output, improves stability, enables failing edge pair using the video frame regenerated
Corresponding buffering isolation module is emptied, and specific method is: if detecting, the video frame regenerated enables failing edge,
Illustrate a frame image recovered completion, waits gating output, enable failing edge clearing buffers isolation module using video frame
In fifo after possible remaining data, enter step 8)；If the video frame that regenerates, which is not detected, enables failing edge, not into
Row empties, and is directly entered step 8).
8) channel selecting module receives the reception video channel switching command that external piloting control unit is sent；
9) detailed process of channel gating is as shown in figure 8, channel selecting module refers to according to the video channel switching received
It enables, when the video frame for detecting data channel corresponding to the video channel switching command enables failing edge and data channel number
When, the corresponding data channel of the data channel number is gated, is entered step 10)；Otherwise, the corresponding data of the data channel number
Channel will not be strobed, and next frame data of data channel corresponding to video channel switching command will cover previous frame data, and
The video frame for continuing to test selected Taoist monastic name corresponding data channel all enables failing edge；
By two gating conditions of setting in this step, to guarantee that output video will not malfunction after switching.If only detecting
To data channel number just Switch Video, it is possible that previous frame video does not export completion, the video after switching is not from one
, there is video data loss, reduces data transfer reliability in frame beginning transmission.
Assuming that video switching system, just in the video data in output data channel 1, channel selecting module, which receives, to be switched to
The channel gating command of data channel 2, when detecting the video frame failing edge and data channel number 2 of data channel 2, channel choosing
Data channel 2 can be just switched to by selecting module, since each circuit-switched data channel is synchronism output video data, be ensured that in this way
When switch data channel 2, this frame data of data channel 1 are completely exported, from the beginning this frame data of data channel 2 are opened
Begin, to realize seamless connection, while loss of data will not be caused because of the switching of data channel.
10) the data channel output video image data being strobed.
Claims (6)
1. unmanned plane multi-channel video seamless switch-over system, it is characterised in that: including hardware and software；
The hardware include FPGA and the lock-out pulse output interface unit being connected with FPGA, video output interface unit,
Switching command reception interface unit and N number of video input interface unit；FPGA is as master controller；Lock-out pulse output interface
Unit is used to export the synchronization pulse of FPGA generation；Video output interface unit is strobed in video channel for exporting
Video image data；Switching command reception interface unit is used to receive the video channel switching command outside switching system；N
A video input interface unit is used to acquire the road the N vision signal that the airborne road N video unit issues；N is whole more than or equal to 2
Number；
The software is the program operated on the FPGA, for realizing following steps:
1) video switching system initial reset powers on；
2) synchronization pulse is sent to the airborne road N video unit；
3) receive the sending of the road N video unit includes the road the N video that video frame enabled, exercised energy and video image data
Data；
4), enforcement enabled to the video frame in the road the N video data received can be carried out pretreatment respectively, so that subsequent buffer compartment
It is to carry out buffering isolation since first pixel data of first frame the first row when from the road the N video data；
5) buffering isolation is carried out respectively to the road N video data；
6) master clock signal that the PLL frequency multiplication based on FPGA generates, difference read step 5) video data being isolated is buffered, according to
The video data of reading regenerates the video frame in the video data of the road N and enables, exercises energy, and the video frame regenerated is made
The video image data that can, exercise in energy and institute's reading video data is exported to channel selecting module, waits subsequent gating；
7) the reception video channel switching command that external piloting control unit is sent is received；
8) according to the video channel switching command that receives, when detecting data channel corresponding to the video channel switching command
Video frame enable failing edge and when data channel number, gate the corresponding data channel of the data channel number, enter step 9)；
Otherwise, the corresponding data channel of the data channel number is not gated, and continues to test selected Taoist monastic name corresponding data channel all
Video frame enables failing edge；
9) the data channel output video image data being strobed.
2. unmanned plane multi-channel video seamless switch-over system according to claim 1, it is characterised in that: in the step 6)-
7) it between, is additionally provided with and carries out the step of buffering isolated data empties, specifically:
Detecting step 6) video frame that regenerates enables failing edge, if detecting, failing edge is enabled to using video frame
The data of buffering isolation are emptied, subsequently into step 7)；If being not detected, it is directly entered step 7).
3. unmanned plane multi-channel video seamless handover method, which comprises the following steps:
1) synchronization pulse is sent to the airborne road N video unit；
2) receive the sending of the road N video unit includes the road the N video that video frame enabled, exercised energy and video image data
Data；
3), enforcement enabled to the video frame in the road the N video data received can be carried out pretreatment respectively, so that subsequent buffer compartment
It is to carry out buffering isolation since first pixel data of first frame the first row when from the road the N video data；
4) buffering isolation is carried out respectively to the road N video data；
5) master clock signal that the PLL frequency multiplication based on FPGA generates, difference read step 5) video data being isolated is buffered, according to
The video data of reading regenerates the video frame in the video data of the road N and enables, exercises energy, and the video frame regenerated is made
The video image data that can, exercise in energy and reading video data is exported to channel selecting module, waits subsequent gating；
6) the reception video channel switching command that external piloting control unit is sent is received；
7) according to the video channel switching command that receives, when detecting data channel corresponding to the video channel switching command
Video frame enable failing edge and when data channel number, gate the corresponding data channel of the data channel number, enter step 8)；
Otherwise, the corresponding data channel of the data channel number is not gated, and continues to test selected Taoist monastic name corresponding data channel all
Video frame enables failing edge；
8) the data channel output video image data being strobed.
4. unmanned plane multi-channel video seamless handover method according to claim 3, it is characterised in that: the step 5) with
Between step 6), it is additionally provided with and carries out the step of buffering isolated data empties, specifically:
Detecting step 5) video frame that regenerates enables failing edge, if detecting, failing edge is enabled to using video frame
The data of buffering isolation are emptied, subsequently into step 6)；If being not detected, it is directly entered step 6).
5. unmanned plane multi-channel video seamless handover method according to claim 3 or 4, it is characterised in that: the step 3)
In preprocess method specifically:
3.1) video frame enable signal reset sets 1；
3.2) logic detection video frame enable rising edge and exercise can high level, when detecting that frame enables rising edge and exercise can be high
When level, by frame it is enabled with exercise can mutually and, the write enable signal that the result of Xiang Yuhou is isolated as subsequent buffering.
6. unmanned plane multi-channel video seamless handover method according to claim 5, it is characterised in that: in the step 5)
Regenerate the method that video frame is enabled, exercises energy and reads video image data and export specifically:
5.1) setting FIFO cache threshold is more than or equal to the byte of a line video data；
5.2) frame enable signal sets 1, counts setting time；
5.3) 1 can be set by exercising, and after counting setting time makes buffering that a line video data be isolated, enforcement can set 0, then count and set
It fixes time；
5.4) it exercises after capable of repeating to generate S, frame is enabled to set 0, and the frame regenerated is enabled；S is the vertical picture of video image
The number of vegetarian refreshments；
5.5) step 5.4) is repeated the enforcement generated can be as the reading enable signal of buffering isolated operation；
5.6) the reading enable signal obtained using step 5.5) reads video image data；
5.7) the enabled frame regenerated, enforcement energy and the video image data of step 5.6) reading are exported to channel selecting
Module waits subsequent gating.
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| CN111835991A (en) * | 2019-04-17 | 2020-10-27 | 鸿富锦精密工业(武汉)有限公司 | Display data channel circuit |
| CN112532935A (en) * | 2020-11-23 | 2021-03-19 | 天津津航计算技术研究所 | Device for determining video source position based on SOC |
| CN112817685A (en) * | 2021-04-16 | 2021-05-18 | 湖北芯擎科技有限公司 | Display switching method and device, electronic equipment and storage medium |
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