CN109669460A - The intelligent control method of the middle-size and small-size photoelectric turntable of target detection - Google Patents
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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Abstract
The invention proposes a kind of intelligent control methods of the middle-size and small-size photoelectric turntable of target detection, it is related to the intelligent control of low profile photovoltaic turntable, the present invention is run according to low profile photovoltaic turret plant and application scenarios, divide three kinds of operating modes, mode one: panorama camera obtains multiple suspected targets, is successively confirmed with zoom high-definition camera to multiple suspected targets；Mode two: panorama camera obtains multiple suspected targets and the target high there are a confidence level, with zoom high-definition camera to the goal verification；Mode three: panorama camera failure, Electric-Optic Turret drive zoom high definition or zoom thermal camera to rotate a circle work.The present invention avoids the erroneous detection of target detection and the intelligent zoom of missing inspection, the processing of Electric-Optic Turret stabilization and video camera to similar purpose fusion, responds intelligent control method of the invention faster, controls more accurate；For unmanned machine, can also be used in manned equipment or fixed position.
Description
Technical field
The invention belongs to equipment control technology fields, relate generally to low profile photovoltaic turntable intelligent control, specifically a kind of mesh
Mark detects the intelligent control method of middle-size and small-size photoelectric turntable.For needing the mesh of 360 ° or specified bearing range target search occasion
Mark detection.
Background technique
It is more next to the camera requirement carried on unmanned machine with the fast development of the unmanned machines such as unmanned plane, unmanned vehicle
It is higher, from require higher resolution ratio to requiring bigger search coverage, farther detection range again by now 360 ° in real time
Detection, preferably to adapt to the more and more abundant functional requirement of unmanned machine --- target search, target following or obstacle
Differentiation of object etc..
The unmanned machine of early stage, for example, big boundary smart Phantom1 carry exactly small in size, light-weight, big wide-angle
Moving camera GoPro.But third party's camera is not easy to the state modulator of image transmitting and camera, some producers have developed
Compatible preferably intermediary of the camera head as camera and unmanned machine, camera are mounted on holder, and unmanned machine is to camera
Control carried out by holder.In recent years, application of the unmanned machine in the adverse circumstances such as geological prospecting, water quality detection is got over
Come more extensive, the optoelectronic device that carries on unmanned plane needs constantly scan in a region, in order to improve search effect
Rate, the optoelectronic device carried on unmanned machine start panorama camera occurred, while also to image transmitting and camera parameter control
More stringent requirements are proposed for the time delay of system.But panorama camera is not still able to satisfy unmanned machine to some specific position or mesh
Mark the demand precisely detected needs one kind to be able to carry out panoramic detector, and can revolve in conjunction with the demand on unmanned machine
Turn, rotation flexibly, the response time is short and optoelectronic device with high accuracy.
For this purpose, many producers develop some dedicated optoelectronic devices, the problem of can solve rotation, but optoelectronic device visual field
Angle is smaller, and detection range is farther out, it is difficult to 360 ° of progress real-time detections around target and equipment nearby.In order to preferably solve
High-definition camera is integrated on rotatable capstan head by the certainly above problem, some producers again, in order to simultaneously realize closely with
And detection at a distance, panorama camera and optoelectronic device are combined together, low profile photovoltaic turntable is barricaded as, low profile photovoltaic turntable is straight
The detection position for being mounted on unmanned machine is connect, the ambient condition informations such as real-time image acquisition data descend into user by link,
User controls unmanned machine by the information returned.
The process flow of the low profile photovoltaic turntable to come into operation at present is usual are as follows: unmanned machine collects high-definition camera
Information back to user console, user controls the rotation of capstan head by the information in console interface display.But
Unmanned machine data down transmission link rate is often lower, and data back speed is slow, brings very big transmission delay；In addition, with
Family is handled by interface display information, and precision is lower while increasing processing delay again.
The present invention is retrieved in a certain range, does not find the patent or report closely related with present subject matter.
Summary of the invention
It is an object of the invention to overcome the defect of above-mentioned prior art, propose it is a kind of response faster, control more accurately
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection.
The present invention is a kind of intelligent control method of middle-size and small-size photoelectric turntable of target detection, relates generally to low profile photovoltaic turntable
Intelligent control, it is red equipped with a panorama camera and one to be integrated with zoom high-definition camera, zoom on low profile photovoltaic turntable
The Electric-Optic Turret of outer video camera and laser range finder, zoom high-definition camera, zoom thermal camera and laser range finder three
Center it is consistent with the direction of Electric-Optic Turret, by interface to low profile photovoltaic turntable carry out motion control, which is characterized in that will melt
The intelligent control method for having closed object detection results is integrated on low profile photovoltaic turntable, is carried out real-time control, is included following step
It is rapid:
According to low profile photovoltaic turret plant operating condition and the difference of application scenarios, it is divided into following three kinds of operating modes:
(1) operating mode one: low profile photovoltaic turret plant all works well, and weather visibility is high, is obtained with panorama camera
To multiple suspected targets, needs zoom high-definition camera successively to confirm multiple suspected targets, specifically includes following below scheme:
The fusion of 1.1 target informations: the panorama camera in low profile photovoltaic turntable is in the working condition of target detection always, leads to
After crossing the video progress target detection of panorama camera output, if object detection results are in multiple suspected targets and suspected target
There are the high targets of a confidence level, are transferred to operating mode two；If object detection results are only multiple suspected targets, enter
Operating mode one, Electric-Optic Turret motion control variable are set to " 1 "；When Electric-Optic Turret motion control variable is " 1 ", start from target
N_p frame panoramic video object detection results are continuously read in testing result, and the similar purpose information in N_p frame is merged,
The information of current suspected target total number N_s and each suspected target is obtained, N_p is the panoramic video totalframes read；
1.2 are ranked up on the basis of confidence level: descending using the confidence level in suspected target information as benchmark
It sorts to N_s suspected target；
1.3 plan Electric-Optic Turret azimuth, pitch angle for current target to be confirmed for the first time: being sorted according to suspected target
As a result, successively carrying out suspected target confirmation from big to small；By taking the nth object in suspected target ranking results as an example, the row of reading
Azimuth, pitch angle in N suspected target information, using the value that reads as the program results for the first time of Electric-Optic Turret
And generate Electric-Optic Turret movement instruction, Electric-Optic Turret receive after movement instruction according to plan for the first time azimuth, pitch angle into
Row rotation；
The adjustment of 1.4 camera focus: zoom high-definition camera is in the working condition of target detection, Electric-Optic Turret rotation always
To the azimuth planned for the first time, after pitch angle, N_v frame zoom high-definition camera object detection results are read, target detection knot is taken
Wide, the high information of the maximum target of confidence level calculates change in conjunction with the focal length and field angle of current zoom high-definition camera in fruit
The focal length that burnt high-definition camera needs to adjust carries out Focussing, and N_v is the zoom high-definition camera video totalframes read；
The processing of 1.5 Electric-Optic Turret stabilizations: by plan for the first time azimuth, centered on pitch angle, it is left above and below the center
Generate four deviation posts after right each one M ° of angle of offset, as Electric-Optic Turret plan again as a result, and generating photoelectricity and turning
Tower movement instruction, Electric-Optic Turret are received and are rotated after movement instruction according to the azimuth planned again, pitch angle, complete light
Electric capstan head stabilization processing；
1.6 goal verifications based on zoom high-definition camera target detection probability: Electric-Optic Turret turns to bits of offset every time
Postpone, read N_v frame zoom high-definition camera object detection results, by center and on the basis of the center it is all partially
Detection probability of the maximum probability value of objective degrees of confidence as current goal in the object detection results of pan position, and record correspondence
The target informations such as azimuth, pitch angle；
1.7 pairs of remaining N_s-1 targets repeat the above steps 1.3- step 1.6；
The output of 1.8 target process outcomes: suspected target number, the testing result information of each suspected target are exported and is somebody's turn to do
The confidence level of target target detection in panoramic video is in case other equipment or user use in subsequent processes.
(2) operating mode two: low profile photovoltaic turret plant all works well, and weather visibility is high, is obtained with panorama camera
The target high there are a confidence level into multiple suspected targets and suspected target, target as to be confirmed need zoom height
Clear video camera confirms the target to be confirmed, the testing result information of target to be confirmed is recorded, into operating mode two, light
Electric capstan head motion control variable is set to " 2 "；When Electric-Optic Turret motion control variable is " 2 ", object detection results to be confirmed is taken to believe
Azimuth, pitch angle in breath, similarly with operating mode one: Electric-Optic Turret side is planned for the first time to current target to be confirmed
Parallactic angle, pitch angle；Camera focus adjustment；The processing of Electric-Optic Turret stabilization；Based on zoom high-definition camera target detection probability
Goal verification and target process outcome output；Zoom high-definition camera target detection probability is based on unlike operating mode one
Goal verification and target process outcome output between increase laser ranging, if the detection probability of current goal be more than setting
Laser ranging threshold value, then open laser range finder to current goal carry out range measurement, by obtained laser ranging result believe
Breath is added in the testing result of current goal.
(3) operating mode three: if panorama camera breaks down, being unable to operate normally, and other equipment work well, and uses
Electric-Optic Turret drives zoom high-definition camera or zoom thermal camera to rotate a circle and work instead of panorama camera.If current
Weather visibility is lower, and optical camera imaging effect is good not as good as infrared camera, and directly using Electric-Optic Turret to drive, zoom is infrared to be taken the photograph
Camera rotates a circle to work instead of panorama camera, executes step 3.2；If current weather visibility is preferable, optical camera imaging
Effect is preferable, then drives zoom high-definition camera to rotate a circle using Electric-Optic Turret and work instead of panorama camera, execute step
3.1, specifically include following below scheme:
3.1 replace panorama camera using zoom high-definition camera: zoom high-definition camera is in the work of target detection always
Make state, Electric-Optic Turret run-down is calculated according to maximum field of view angle in zoom high-definition camera orientation and needs to rotate R_
V times, similar purpose information in the result of R_v target detection is merged, record and export fused target information with
Other equipment or user use in standby subsequent processes；
3.2 replace panorama camera using zoom thermal camera: zoom thermal camera is in the work of target detection always
Make state, Electric-Optic Turret run-down is calculated according to maximum field of view angle in zoom thermal camera orientation and needs to rotate R_
F times, similar purpose information in the result of R_f target detection is merged, record and export fused target information with
Other equipment or user use in standby subsequent processes.
The present invention directly can handle in real time collected ambient data on unmanned machine and be controlled small-sized
Photoelectric turntable synchronous working.
Compared with prior art, technical advantage of the invention:
First, the present invention in, the control instruction of low profile photovoltaic turntable is all generated by intelligent control method in real time, including light
Electric turret rotated instruction, the instruction of starting laser range finder, the instruction of closing laser range finder, zoom high-definition camera focal length add finger
It enables, zoom high-definition camera focal length subtracts instruction, zoom thermal camera focal length adds instruction and zoom thermal camera focal length subtracts finger
It enables, by melting combined analysis panorama camera, zoom high-definition camera object detection results information or zoom thermal camera mesh
Testing result information is marked, the parameter that control low profile photovoltaic turntable movement needs is obtained and generates control instruction, is not necessarily to data down transmission
To console and manual intervention, data transmission and manual operation bring time delay are reduced；
Second, the present invention in, the target including azimuth, pitch angle around low profile photovoltaic turntable within the scope of 360 °
Information is obtained by panorama camera target detection, is merged to similar target in multiframe panoramic video object detection results,
Solve the problems, such as that the same target repeats in multiframe panoramic video and single frames panoramic video target detection may go out
The problem of existing error；Multiple suspected targets are obtained after subject fusion, to each suspected target plan for the first time Electric-Optic Turret azimuth,
Pitch angle confirms each suspected target by zoom high-definition camera, and carries out stabilization processing to Electric-Optic Turret；
Third, the present invention in, according to low profile photovoltaic turret plant operating condition and the difference of application scenarios, devise three
The operating mode of kind low profile photovoltaic turntable, applies all work well in low profile photovoltaic turret plant respectively, and weather visibility is high,
Multiple suspected targets are obtained with panorama camera, the feelings for needing zoom high-definition camera successively to confirm multiple suspected targets
Condition；Low profile photovoltaic turret plant all works well, and weather visibility is high, obtains multiple suspected targets and doubtful with panorama camera
There are the target that a confidence level is high in target, target as to be confirmed needs zoom high-definition camera to the mesh to be confirmed
The case where mark is confirmed and panorama camera break down, and are unable to operate normally, other equipment work well, and need using light
Electric capstan head drives zoom high-definition camera or zoom thermal camera to rotate a circle the case where working instead of panorama camera, can
Cover most of application scenarios；
4th, in the present invention, panorama camera is that multiple camera chains form, and the video of the panorama camera output road You Ge is taken the photograph
Camera exports respectively is spliced into panoramic video two kinds of formats of output after the video that video and Ge Lu video camera export is corrected, this
It is the original video for not being spliced into each road video camera output of panoramic picture used in invention, remains in panorama camera and respectively take the photograph
The original resolution of camera, the time consumed when reducing graphic joining, while the output video for avoiding each road video camera exists
Problem and distortion correction error problem is not allowed in time match when splicing, available more accurate in subsequent target detection
Testing result.
Detailed description of the invention
Fig. 1 is operating mode selection flow chart of the invention.
Fig. 2 is one flow chart of operating mode of the invention.
Fig. 3 is two flow chart of operating mode of the invention.
Fig. 4 is three flow chart of operating mode of the invention.
Fig. 5 is deviation post schematic diagram in the processing of Electric-Optic Turret stabilization.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment 1
It is more next to the camera requirement carried on unmanned machine with the fast development of the unmanned machines such as unmanned plane, unmanned vehicle
It is higher, from require higher resolution ratio to requiring bigger search coverage, farther detection range again by now 360 ° in real time
Detection, preferably to adapt to the more and more abundant functional requirement of unmanned machine --- target search, target following or obstacle
Differentiation of object etc..
For this purpose, many producers develop some dedicated optoelectronic devices, the problem of can solve rotation, but optoelectronic device visual field
Angle is smaller, and detection range is farther out, it is difficult to 360 ° of progress real-time detections around target and equipment nearby.In order to preferably solve
High-definition camera is integrated on rotatable capstan head by the certainly above problem, some producers again, in order to simultaneously realize closely with
And detection at a distance, panorama camera and optoelectronic device are combined together, low profile photovoltaic turntable is barricaded as, low profile photovoltaic turntable is straight
The detection position for being mounted on unmanned machine is connect, the ambient condition informations such as real-time image acquisition data descend into user by link,
User controls unmanned machine by the information returned.
The low profile photovoltaic turntable used in the present invention is functionally expanded for above-mentioned low profile photovoltaic turntable.It will
High-definition camera replaces with zoom high-definition camera, expands the investigative range of low profile photovoltaic turntable；Increase on Electric-Optic Turret
Zoom thermal camera can replace zoom high-definition camera to use in the lower situation of visibility, increase applicable scene；
Laser range finder is increased on Electric-Optic Turret, can carry out distance measurement to specified target.0 ° of Electric-Optic Turret and panorama camera
0 ° it is consistent, can carry out the rotation of N × 360 ° in Electric-Optic Turret orientation, reachable ± 90 ° of pitching maximum, the zoom carried thereon
High-definition camera, zoom thermal camera, laser range finder three centre punch one, orientation angle are the orientation of Electric-Optic Turret
Angle, pitch angle.Azimuth, pitch angle, zoom high-definition camera focal length and the field angle of Electric-Optic Turret, zoom thermal camera are burnt
Away from and field angle can obtain in real time.
The present invention is a kind of intelligent control method of middle-size and small-size photoelectric turntable of target detection, relates generally to low profile photovoltaic turntable
Intelligent control, it is red equipped with a panorama camera and one to be integrated with zoom high-definition camera, zoom on low profile photovoltaic turntable
The Electric-Optic Turret of outer video camera and laser range finder, zoom high-definition camera, zoom thermal camera and laser range finder three
Center it is consistent with the direction of Electric-Optic Turret, user need to transport low profile photovoltaic turntable by mating low profile photovoltaic turntable interface
The intelligent control method for having merged object detection results is integrated on low profile photovoltaic turntable by dynamic control, the present invention, is carried out real-time
Control, specific control have the azimuth of Electric-Optic Turret, pitch angle control, zoom high-definition camera, zoom thermal camera coke
Away from control and laser ranging control.
It comprises the following steps that
Whether the present invention comprehensively considers equipment according to low profile photovoltaic turret plant operating condition and the difference of application scenarios
Normal work and the usable condition in different weather, referring to Fig. 1, the intelligence control of the middle-size and small-size photoelectric turntable of target detection
Method processed is divided into following three kinds of operating modes:
(1) operating mode one: low profile photovoltaic turret plant is completely in the state of normal work, while weather condition is good
Good, weather visibility is high, and clearer optical camera under the conditions of weather condition is good, i.e. panorama camera and change can be used
Burnt high-definition camera.Panorama camera video carries out target detection and obtains multiple suspected targets, needs zoom high-definition camera to more
A suspected target is successively confirmed, i.e., Electric-Optic Turret is successively directed at each suspected target according to probability from big to small, referring to
Fig. 2 specifically includes following below scheme:
The fusion of 1.1 target informations: the panorama camera in low profile photovoltaic turntable is in the working condition of target detection always, leads to
After crossing the video progress target detection of panorama camera output, if object detection results are in multiple suspected targets and suspected target
There are the high targets of a confidence level, are transferred to operating mode two；It is each to doubt if object detection results are only multiple suspected targets
It is not much different like objective degrees of confidence, there is no the high targets of confidence level, and into operating mode one, Electric-Optic Turret motion control becomes
Amount is set to " 1 "；Panoramic video object detection results are stored in the buffer, when Electric-Optic Turret motion control variable is " 1 ", are started
N_p frame panoramic video object detection results are continuously read from object detection results caching.Successive frame object detection results are very
It is similar, but to avoid target detection erroneous detection or missing inspection, it needs to merge the similar purpose information in N_p frame, to obtain
To the information of current suspected target total number N_s and each suspected target, N_p is the panoramic video totalframes read, the choosing of N_p
The result inaccuracy related with practical application, N_p is too small to will lead to subject fusion is taken, N_p is excessive to will lead to the subject fusion time
It is too long.
The target information including azimuth, pitch angle around low profile photovoltaic turntable of the present invention within the scope of 360 ° passes through
Panorama camera target detection obtains, and merges to similar target in multiframe panoramic video object detection results, solves same
The problem of one target repeats in multiframe panoramic video and single frames panoramic video target detection are likely to occur error
Problem；Multiple suspected targets are obtained after subject fusion, and Electric-Optic Turret azimuth, pitch angle are planned for the first time to each suspected target,
Each suspected target is confirmed by zoom high-definition camera, and stabilization processing is carried out to Electric-Optic Turret.
1.2 are ranked up on the basis of confidence level: using the confidence level in N_s suspected target information as benchmark, by big
It sorts to small to N_s suspected target；According to suspected target ranking results, photoelectricity successively is carried out to suspected target from big to small
Azimuth, pitch angle planning, camera focus adjustment, the processing of Electric-Optic Turret stabilization and the final goal verification of capstan head.
1.3 in order to carry out goal verification, plan Electric-Optic Turret azimuth, pitching for the first time for current target to be confirmed
Angle: according to suspected target ranking results in step 1.2, suspected target confirmation is successively carried out from big to small；It is sorted with suspected target
As a result for the nth object in, if the target currently confirmed is the n-th in suspected target ranking results, the row of reading
Azimuth, pitch angle in N suspected target information, using the value that reads as the program results for the first time of Electric-Optic Turret
And Electric-Optic Turret movement instruction is generated, Electric-Optic Turret, which receives, reads program results for the first time after movement instruction according to planning for the first time
Azimuth, pitch angle are rotated.
The adjustment of 1.4 camera focus: zoom high-definition camera is in the working condition of target detection, Electric-Optic Turret rotation always
To the azimuth planned for the first time, after pitch angle, N_v frame zoom high-definition camera object detection results are read, target detection knot is taken
Wide, the high information of the maximum target of confidence level calculates change in conjunction with the focal length and field angle of current zoom high-definition camera in fruit
The focal length that burnt high-definition camera needs to adjust carries out Focussing, and N_v is the zoom high-definition camera video totalframes read, N_
The selection of v is related with practical application, and N_v is too small to will lead to processing result inaccuracy, and N_v is excessive to will lead to processing overlong time.
The processing of 1.5 Electric-Optic Turret stabilizations: low profile photovoltaic turntable is mounted on unmanned machine mostly, unmanned machine often body
The smaller, lighter in weight of product, has more serious shake during the motion, needs to carry out stabilization processing to Electric-Optic Turret,
Bring error is shaken to eliminate unmanned machine to a certain extent.Electric-Optic Turret stabilization handles concrete operations, referring to
Fig. 5, by plan for the first time azimuth, centered on pitch angle, i.e. the position that five-pointed star marks in Fig. 5, the center up and down
Generate four deviation posts after each one M ° of angle of offset, as Electric-Optic Turret plan again as a result, and generating Electric-Optic Turret
Movement instruction, Electric-Optic Turret are received and are rotated after movement instruction according to the azimuth planned again, pitch angle, complete photoelectricity
The processing of capstan head stabilization；I.e. plan for the first time azimuth, pitch angle on the basis of M ° of amount of additional offset, generate and plan again
The deviation post of azimuth, pitch angle as current center.
1.6 goal verifications based on zoom high-definition camera target detection probability: Electric-Optic Turret turns to bits of offset every time
Postpone, read N_v frame zoom high-definition camera object detection results, by center and on the basis of the center it is all partially
Detection probability of the maximum probability value of objective degrees of confidence as current goal in the object detection results of pan position, and record correspondence
The target informations such as azimuth, pitch angle.
1.7 pairs of remaining N_s-1 targets repeat the above steps 1.3- step 1.6.
The output of 1.8 target process outcomes: suspected target number, the testing result information of each suspected target are exported and is somebody's turn to do
The confidence level of target target detection in panoramic video is in case other equipment or user use in subsequent processes.
Operating mode of the invention for multiple suspected targets first is that be detected and confirmed, in particular for multiple doubtful
The close situation of objective degrees of confidence.
(2) operating mode two: low profile photovoltaic turret plant all works well, and weather condition is good, and weather visibility is high,
Obtain in multiple suspected targets and suspected target that there are the target that a confidence level is high, mesh as to be confirmed with panorama camera
Mark, needs zoom high-definition camera to confirm the target to be confirmed, records the testing result information of target to be confirmed, enters
Operating mode two, Electric-Optic Turret motion control variable are set to " 2 "；When Electric-Optic Turret motion control variable is " 2 ", mesh to be confirmed is taken
Azimuth, pitch angle in mark testing result information, similarly with operating mode one: current target to be confirmed is advised for the first time
Draw Electric-Optic Turret azimuth, pitch angle；Camera focus adjustment；The processing of Electric-Optic Turret stabilization；Based on zoom high-definition camera mesh
Mark goal verification and the target process outcome output of detection probability；Zoom high-definition camera is based on unlike operating mode one
Increase laser ranging between goal verification and the target process outcome output of target detection probability, if the detection of current goal is general
Rate has been more than the laser ranging threshold value of setting, then opens laser range finder and carry out range measurement to current goal, is swashed what is obtained
Ligh-ranging result information is added in the testing result of current goal.
Operating mode two of the invention is detected and confirmed primarily directed to some target in multiple suspected targets,
In particular for the case where there are a confidence level high targets in multiple suspected targets.
(3) operating mode three: if panorama camera breaks down, being unable to operate normally, and other equipment work well, and uses
Electric-Optic Turret drives zoom high-definition camera or zoom thermal camera to rotate a circle and work instead of panorama camera, referring to fig. 4,
If current weather visibility is lower, optical camera imaging effect is good not as good as infrared camera, is directly driven and is become using Electric-Optic Turret
Burnt thermal camera rotates a circle to work instead of panorama camera；If current weather visibility is preferable, optical camera imaging effect
Preferably, then it drives zoom high-definition camera to rotate a circle using Electric-Optic Turret to work instead of panorama camera, it is referring to fig. 4, specific to wrap
Include following below scheme:
3.1 replace panorama camera using zoom high-definition camera: zoom high-definition camera is in the work of target detection always
Make state, Electric-Optic Turret run-down is calculated according to maximum field of view angle in zoom high-definition camera orientation and needs to rotate R_
V times, similar purpose information in the result of R_v target detection is merged, record and export fused target information with
Other equipment or user use in standby subsequent processes.
3.2 replace panorama camera using zoom thermal camera: zoom thermal camera is in the work of target detection always
Make state, Electric-Optic Turret run-down is calculated according to maximum field of view angle in zoom thermal camera orientation and needs to rotate R_
F times, similar purpose information in the result of R_f target detection is merged, record and export fused target information with
Other equipment or user use in standby subsequent processes.
Operating mode three of the invention is lower primarily directed to panorama camera failure or weather visibility, is not suitable for using
In the case where optical camera, need to drive zoom high-definition camera or zoom thermal camera to rotate a circle using Electric-Optic Turret
The case where carrying out target generaI investigation instead of panorama camera work.
In the present invention, the control instruction of low profile photovoltaic turntable is all generated by intelligent control method of the invention in real time, packet
Include Electric-Optic Turret rotation command, starting laser range finder instructs, close laser range finder instruction, zoom high-definition camera focal length adds
Instruction, zoom high-definition camera focal length subtracts instruction, zoom thermal camera focal length adds instruction and zoom high-definition camera focal length subtracts
Instruction.Intelligent control method of the invention is by melting combined analysis panorama camera, zoom high-definition camera object detection results letter
Breath or zoom thermal camera object detection results information obtain the parameter that control low profile photovoltaic turntable movement needs and generation
Control instruction reduces data transmission and manual operation bring time without data down transmission to console and manual intervention
Delay.
Technical thought of the invention is:
It is different to the usage mode of camera in different application scenarios, package working condition of the present invention with
And weather condition devises the low profile photovoltaic turntable intelligent control method under three kinds of application scenarios.
Panorama camera in low profile photovoltaic turntable is that multiple camera combinations form, there are two types of the video way of output, one is
By the image mosaic of multichannel camera to export after panoramic picture, another way is that multichannel camera exports respectively.It is adopted in the present invention
The mode exported respectively with multichannel camera individually handles the output result per camera all the way, avoids because of image mosaic
The reduction of correction algorithm bring error and image resolution ratio in the process.Since the opposite high definition of single camera is taken the photograph in panorama camera
Camera field angle is bigger, the visual field is wider, so panorama camera video does the result after target detection as target generaI investigation, by rear
Phase subject fusion removes extra target information, determines the target for needing to pinpoint detection by object filtering and on Electric-Optic Turret
Camera detected.It include the camera numbers of panorama camera in the result information of target detection, due to phase each in panorama camera
The position of machine is fixed, so can determine that target turns relative to photoelectricity by target position in the picture and camera numbers
The azimuth of tower, pitch angle information, the information are azimuth, the pitch angle that Electric-Optic Turret rotation needs；Pass through target detection
A focal length value can be calculated in conjunction with Current camera focal length parameter in width, the height of target on the image in result information, will
Camera focus is adjusted to the focal length value, target can be zoomed in or out to desired size, to obtain more accurate target
Testing result.
Embodiment 2
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is with embodiment 1, operating mode two of the invention, referring to
Fig. 3 specifically includes following below scheme:
2.1 plan Electric-Optic Turret azimuth, pitch angle for the first time: panorama camera is in the working condition of target detection always,
After carrying out target detection by the video that panorama camera exports, similar purpose information in object detection results is merged, is obtained
To multiple suspected targets, if the target is mesh to be confirmed there are the target that a confidence level is high in multiple suspected targets
Mark, records the testing result information of target to be confirmed, into operating mode two, Electric-Optic Turret motion control variable is set to " 2 "；Light
When electric capstan head motion control variable is " 2 ", azimuth in object detection results information to be confirmed is read, pitch angle carries out light
Electric capstan head azimuth, pitch angle plan that Electric-Optic Turret is rotated after receiving planning information for the first time for the first time.
The adjustment of 2.2 camera focus: zoom high-definition camera is in the working condition of target detection, Electric-Optic Turret rotation always
To the azimuth planned for the first time, after pitch angle, N_v frame zoom high-definition camera object detection results are read, target detection knot is taken
Wide, the high information of the maximum target of confidence level calculates change in conjunction with the focal length and field angle of current zoom high-definition camera in fruit
The focal length that burnt high-definition camera needs to adjust carries out Focussing, and N_v is the zoom high-definition camera video totalframes read.
The processing of 2.3 Electric-Optic Turret stabilizations: by plan for the first time azimuth, centered on pitch angle, it is left above and below the center
Generate four deviation posts after right each one M ° of angle of offset, as Electric-Optic Turret plan again as a result, Electric-Optic Turret receives
It is rotated after to the planning information, as Electric-Optic Turret program results again, and generates Electric-Optic Turret movement instruction, photoelectricity turns
Tower is received and is rotated after movement instruction according to the azimuth planned again, pitch angle, completes the processing of Electric-Optic Turret stabilization.
2.4 goal verifications based on zoom high-definition camera target detection probability: Electric-Optic Turret turns to planning every time
After deviation post, N_v frame zoom high-definition camera object detection results are read, by center and on the basis of the center
Detection probability of the maximum probability value of objective degrees of confidence as current goal in the object detection results of all deviation posts, and remember
Recording corresponding includes that object detection results information including azimuth, pitch angle is believed as the testing result of target to be confirmed
Breath, completes the confirmation of current goal.
2.5 laser rangings: if the detection probability of the target has been more than the laser ranging threshold value of setting, Laser Measuring is generated
Away from enabling signal, the range measurement that laser range finder carries out target is opened, Electric-Optic Turret is turned into the completion that step 2.4 obtains
Laser ranging is repeatedly read as a result, taking distance measurement result average value as target phase in the azimuth of the target of goal verification, pitch angle
To the distance of low profile photovoltaic turntable, which is added in the testing result information of current goal；Laser ranging is completed
Afterwards, the work that instruction stops laser range finder being sent.
The output of 2.6 target process outcomes: the testing result information and the target for exporting target to be confirmed are in panoramic video
The confidence level of middle target detection is in case other equipment or user use in subsequent processes.
Operating mode two of the invention is handled for the high target priority of confidence level, and confidence level is high to represent this
Target, which has greatly, to be final goal, preferentially confirm to the target, majority of case can be rapidly performed by target
Confirmation reduces and handles other multiple target bring time delays.
Embodiment 3
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is the same as embodiment 1-2, panorama camera, zoom high-definition camera
The details of machine and zoom thermal camera object detection results, have specifically included: object detection results information includes target
Cross, the ordinate of central point on the image, width, the height of target identification frame, objective degrees of confidence, target classification number, target relative to
The azimuth of low profile photovoltaic turntable, pitch angle and the smaller photoelectric turntable of target distance.
Target is to pass through target's center relative to the azimuth of low profile photovoltaic turntable, pitch angle in object detection results information
The ratio calculating acquisition of the cross, ordinate and image of point on the image, azimuth, pitching for subsequent planning Electric-Optic Turret
Angle, subsequent planning are the motion control in intelligent control method to Electric-Optic Turret；Width, the height of target identification frame are used for subsequent calculating
The focal length that zoom high-definition camera and zoom thermal camera need to adjust；Objective degrees of confidence and classification number are for determining target species
Class and probability；The distance of the smaller photoelectric turntable of target uses when enabling laser range finder, is obtaining ranging knot
It is inserted in object detection results after fruit.
Embodiment 4
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is with embodiment 1-3, step 1.1 of the present invention, step
2.1, similar purpose information is merged in object detection results described in step 3.1 and step 3.2, has been specifically included:
(A) judge whether to need to carry out subject fusion according to target classification number: using the 1st frame object detection results as target
Master meter, the target detected in other frames is successively compared with each target in the 1st frame, if in current goal and the 1st frame
The classification number of each target is inconsistent, then does not need to carry out subject fusion, which is added in target fiducials table；Such as
During the comparison process, target classification number is consistent for fruit, carries out next step judgement.
(B) judged whether to need to carry out subject fusion according to the difference at azimuth, pitch angle: one azimuth angle error of setting
Threshold value T_a and a pitch angle error threshold T_p, the azimuth of two targets currently compared, pitch angle make difference respectively,
If the difference of azimuth and pitch angle is respectively smaller than azimuth angle error threshold value T_a and pitch angle error threshold T_p, it is believed that at this time
Two targets compared are the same target, carry out next step subject fusion to the two targets；Otherwise, it does not need to carry out
The target information is added in target fiducials table by subject fusion.
(C) subject fusion: the identical value of meaning of parameters in the testing result information for being currently judged as same target is taken
It is worth the final detection result as target after fusion.
(D) subject fusion result exports: completing all similar in step 1.1 or step 2.1 or step 3.1 or step 3.2
After the fusion treatment of target, export suspected target total number and the corresponding object detection results information of each suspected target in case
Other equipment or user use in subsequent processes.
Subject fusion of the invention is the premise and basis for planning Electric-Optic Turret azimuth, pitch angle, can effectively be kept away
Exempt from erroneous detection, missing inspection and the error problem of single-frame images target detection, while avoiding the same mesh when handling multiple image
The problem of mark is repeatedly confirmed, improves processing accuracy and reduces the redundant operation being likely to occur and time delay.
Embodiment 5
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is with embodiment 1-4, institute in step 1.4 and step 2.2
The camera focus adjustment stated, specifically included: Electric-Optic Turret is rotated after receiving planning information, turns to specified orientation
After angle, pitch angle, N_v frame zoom high-definition camera object detection results are read, the maximum target of confidence level in testing result is taken
Mark frame width, high information, in conjunction with the focal length and field angle of current zoom high-definition camera, calculating zoom high-definition camera is needed
The focal length to be adjusted carries out Focussing, circular are as follows:
(a) wide × a height of w × h of the size of target on the image needs to be adjusted to wide × a height of w' × h', i.e., wide amplification
Times, Gao Fang greatTimes；Exceed image-region after target amplification in order to prevent, takesWithIn lesser value putting as target
Big multiple, it is assumed thatSmaller, i.e., target needs to amplifyTimes.
(b) target true altitude is before can calculating Focussing according to the relationship of camera subject size and field angle
Height_before, then target true altitude height_after is equivalent to the amplification of target true altitude after FocussingTimes.
(c) relationship of target sizes and field angle can approximately think: target amplifies X times, and field angle becomes original big
Small 1/X, field angle can be read in real time.
It (d), can be to camera by adjusting the size of field angle according to the corresponding relationship of camera itself focal length and field angle
Focal length be adjusted.
If the focal length of zoom thermal camera needs to adjust, method of adjustment is same as above.
Embodiment 6
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is the same as embodiment 1-5, operating mode three, i.e. step (3)
Described in if panorama camera breaks down, be unable to operate normally, other equipment work well, use Electric-Optic Turret drive zoom
High-definition camera or zoom thermal camera rotate a circle and work instead of panorama camera, if current weather visibility is lower,
Optical camera imaging effect is good not as good as infrared camera, directly drives zoom thermal camera to rotate a circle replacement using Electric-Optic Turret
Panorama camera work；If current weather visibility is preferable, optical camera imaging effect is preferable, then is driven and become using Electric-Optic Turret
Burnt high-definition camera rotates a circle to work instead of panorama camera.Being related to Electric-Optic Turret run-down in especially 3.1 and 3.2 needs
The calculating of the number R_v or R_f of rotation, specifically comprise the following steps:
(i) replace panorama camera using zoom high-definition camera: maximum field of view angle is in zoom high-definition camera orientation
A_v, the number R_v that Electric-Optic Turret run-down need to rotate can be calculated by the relationship of field angle and Electric-Optic Turret number of revolutions
It arrives.
It is merged similar in the result of R_v target detection, records fused target information.
(ii) replace panorama camera using zoom thermal camera: maximum field of view angle is in zoom thermal camera orientation
A_f, the number R_f that Electric-Optic Turret run-down need to rotate can be calculated by the relationship of field angle and Electric-Optic Turret number of revolutions
It arrives.
It merges the result of R_f target detection is similar, records fused target information.
The relationship of field angle and Electric-Optic Turret number of revolutions:
In the relational expression of field angle and Electric-Optic Turret number of revolutions, R is the number that Electric-Optic Turret needs to rotate, and Angle is
The upward maximum field of view angle of camera orientation.
In the present invention, the control instruction of low profile photovoltaic turntable is all generated by intelligent control method in real time, intelligent control side
Method is by melting combined analysis panorama camera, zoom high-definition camera object detection results information or zoom thermal camera target
Testing result information obtains the parameter that control low profile photovoltaic turntable movement needs and generates control instruction, arrives without data down transmission
Console and manual intervention reduce data transmission and manual operation bring time delay；Around low profile photovoltaic turntable
The target information including azimuth, pitch angle within the scope of 360 ° is obtained by panorama camera target detection, complete to multiframe
Similar target is merged in scape video object testing result, is solved the same target and is repeated in multiframe panoramic video
The problem of existing problem and single frames panoramic video target detection is likely to occur error；Multiple doubtful mesh are obtained after subject fusion
Mark, plans Electric-Optic Turret azimuth, pitch angle to each suspected target, by zoom high-definition camera to each doubtful mesh for the first time
Mark is confirmed, and carries out stabilization processing to Electric-Optic Turret.
A more detailed example is given below, with reference to the drawings and specific embodiments, the present invention is made further detailed
Description.
Embodiment 7
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is installed mostly with embodiment 1-6, low profile photovoltaic turntable
On unmanned machine, it is also possible to manned equipment or other need the occasion of target detection and positioning, the present invention is integrated in small
On type photoelectric turntable, the low profile photovoltaic turntable service condition of above-mentioned nobody or someone are applicable in.
- Fig. 4 referring to Fig.1, the present invention include having the following steps.
Step 1, operating mode selects, referring to Fig. 1: according to current application scenarios, judging whether weather conditions are good, such as
Fruit visibility is higher, and optical camera imaging effect is better than infrared camera, then continues to judge whether panorama camera can be used；If energy
Degree of opinion is lower, then uses zoom thermal camera, continue to judge whether thermal camera can be used.
If panorama camera normal operation, panorama camera is used, continues to judge whether zoom high-definition camera can be used；Such as
Fruit panorama camera failure at this time, is unable to operate normally, then replaces panorama camera work using zoom high-definition camera, judge zoom
Whether high-definition camera can be used.
In the case where panorama camera normal operation, if zoom high-definition camera is available, panoramic video carries out target detection
Obtain the suspected target that multiple confidence levels are closer to afterwards, while the target high there is no confidence level, into operating mode one,
Execute step 2；If there are the targets that a confidence level is high in multiple suspected targets executes step into operating mode two
Rapid 3；If zoom high-definition camera is unavailable, then it is assumed that equipment fault can not carry out subsequent processing.
In the case where panorama camera failure, if zoom high-definition camera is available, drive zoom high using Electric-Optic Turret
Clear camera rotation replaces panorama camera to work in one week, into operating mode three, executes step 4；If zoom high-definition camera
It is unavailable, then it drives zoom thermal camera to rotate a circle using Electric-Optic Turret and works instead of panorama camera, into operating mode
Three, execute step 4；If zoom high-definition camera is unavailable and zoom thermal camera is unavailable, then it is assumed that equipment fault, nothing
Method carries out subsequent processing.
Panorama camera is that multiple camera chains form, and the video output road You Ge video camera exports video and Ge Lu respectively
Video camera output video corrected after be spliced into panoramic video export two kinds of formats, the present invention in, use panorama camera
When, the original video for not being spliced into each road video camera output of panoramic picture is used, remains in panorama camera and respectively images
The original resolution of machine, the time consumed when reducing graphic joining, while the output video for avoiding each road video camera is being spelled
Problem and distortion correction error problem is not allowed in time match when connecing, available more accurate in subsequent target detection
Testing result.
Object detection results information includes that object detection results information includes horizontal, the vertical seat of target's center's point on the image
Mark, width, the height of target identification frame, objective degrees of confidence, target classification number, target relative to low profile photovoltaic turntable azimuth, bow
The distance at the elevation angle and the smaller photoelectric turntable of target.
Step 2, by panoramic video target detection, multiple suspected targets, zoom high-definition camera operating mode one: are obtained
It needs successively to confirm multiple suspected targets.Referring to fig. 2, specific step is as follows for realization:
Step 2a reads the result and caching of N_p frame panoramic video target detection, since the frame per second of panoramic video is very high,
So the same target in the short time can be arrived by repeated detection, therefore the panoramic video object detection results cached are done
Fusion, obtains suspected target number N_s.
The mode of subject fusion are as follows: using the 1st frame object detection results as target fiducials table, the mesh that is detected in other frames
Mark is successively compared with each target in the 1st frame, if current goal and the classification number of each target in the 1st frame are inconsistent,
It does not need to carry out subject fusion, which is added in target fiducials table；If during the comparison process, target classification number
Unanimously, next step judgement is carried out；One azimuth angle error threshold value T_a and a pitch angle error threshold T_p are set, it is current to carry out
The azimuth of two targets of comparison, pitch angle make difference respectively, if the difference of azimuth and pitch angle is respectively smaller than azimuth
Error threshold T_a and pitch angle error threshold T_p, it is believed that two targets compared at this time be the same target, to this two
A target carries out next step subject fusion；Otherwise, it does not need to carry out subject fusion, which is added to target fiducials table
In；Take mean value as target after fusion the identical value of meaning of parameters in the testing result information for being currently judged as same target
Final detection result obtains current suspected target total number N_s.
Step 2b, it is descending to be ranked up using the confidence level of N_s suspected target as benchmark.
Step 2c successively carries out the orientation of Electric-Optic Turret according to suspected target ranking results to suspected target from big to small
Angle, pitch angle planning, camera focus adjustment, stabilization processing and final goal verification, in suspected target ranking results
Nth object for, if the target currently confirmed be suspected target ranking results in n-th, reading come N
Suspected target information in azimuth, pitch angle, using the value that reads as the program results for the first time of Electric-Optic Turret and generate
Electric-Optic Turret movement instruction, Electric-Optic Turret receive read after movement instruction for the first time program results according to the orientation planned for the first time
Angle, pitch angle are rotated.
Step 2d, zoom high-definition camera are in the working condition of target detection always, and Electric-Optic Turret turns to advises for the first time
The azimuth drawn after pitch angle, reads N_v frame zoom high-definition camera object detection results, takes confidence in object detection results
Wide, the high information for spending maximum target calculates zoom high definition and takes the photograph in conjunction with the focal length and field angle of current zoom high-definition camera
The focal length that camera needs to adjust carries out Focussing, and N_v is that the zoom high-definition camera video totalframes Electric-Optic Turret read connects
The value for receiving rotation command and azimuth, pitch angle starts turning later, after turning to specified azimuth, pitch angle, reads
N_v frame zoom high-definition camera object detection results, take the mark frame width of the maximum target of confidence level, Gao Xin in testing result
Breath, in conjunction with the focal length and field angle of current zoom high-definition camera, calculate focal length that zoom high-definition camera needs to adjust into
Row Focussing.
Focal length calculation method are as follows:
Wide × a height of w × h of the size of target on the image needs to be adjusted to wide × a height of w' × h', i.e., wide amplification
Times, Gao Fang greatTimes；Exceed image-region after target amplification in order to prevent, takesWithIn lesser value putting as target
Big multiple, it is assumed thatSmaller, i.e., target needs to amplifyTimes；Focal length can be calculated according to the relationship of camera focus and field angle
Target true altitude is height_before before adjustment, then target true altitude height_after is suitable after Focussing
Amplify in target true altitudeTimes；The relationship of target sizes and field angle can approximately think: target amplifies X times, visual field
Angle becomes the 1/X of original size, and field angle can be read in real time；According to the corresponding table of camera itself focal length and field angle, lead to
The size for crossing adjustment field angle can be adjusted the focal length of camera.
Step 2e, low profile photovoltaic turntable are typically mounted on the unmanned machine of small volume, such as unmanned plane, unmanned vehicle
Usually have the characteristics that stability deficiency Deng, the unmanned machine of small volume, low profile photovoltaic turntable is caused to be difficult accurately to be directed toward
Target position.In order to reduce error caused by above-mentioned factor, turntable fault-tolerance is improved, referring to Fig. 5, with the side planned in step 2c
Parallactic angle, pitch angle center, the position of lower or so each M ° of offset is checked on it.Electric-Optic Turret turns to specified inclined every time
After pan position, N_v frame zoom high-definition camera object detection results are read, are recorded centered on the azimuth, pitch angle
Upper and lower, left and right and center are in totally five positions, detection probability of the maximum probability value of objective degrees of confidence as current goal,
And record the information of corresponding target.
Step 2f repeats the above steps 2c- step 2e to remaining N_s-1 target.
Step 2g records suspected target number, and the testing result information and the target of each suspected target are in aphorama
The confidence level of target detection in frequency.
Step 3, operating mode two: by panoramic video target detection, multiple suspected targets is obtained, are existed in suspected target
The high target of one confidence level, zoom high-definition camera needs confirm that the specific steps of realization are such as to the specific objective
Under:
Step 3a reads the result and caching of N_p frame panoramic video target detection, since the frame per second of panoramic video is very high,
So the same target in the short time can be arrived by repeated detection, therefore the panoramic video object detection results cached are done
Fusion, obtains multiple suspected targets and the high target of a confidence level records its mesh using the target as target to be confirmed
Mark testing result information.
Step 3b reads azimuth in object detection results information to be confirmed, pitch angle carries out Electric-Optic Turret orientation
Angle, pitch angle plan that Electric-Optic Turret is rotated after receiving planning information for the first time for the first time.
Step 3c, zoom high-definition camera are in the working condition of target detection always, and Electric-Optic Turret turns to advises for the first time
The azimuth drawn after pitch angle, reads N_v frame zoom high-definition camera object detection results, takes confidence in object detection results
Wide, the high information for spending maximum target calculates zoom high definition and takes the photograph in conjunction with the focal length and field angle of current zoom high-definition camera
The focal length that camera needs to adjust carries out Focussing, and N_v is the zoom high-definition camera video totalframes read.Focal length calculating side
Method are as follows:
If wide × a height of w × h of size of mark on the image needs to be adjusted to wide × a height of w' × h', i.e., wide amplification
Times, Gao Fang greatTimes；Exceed image-region after target amplification in order to prevent, takesWithIn lesser value putting as target
Big multiple, it is assumed thatSmaller, i.e., target needs to amplifyTimes；It can be calculated according to the relationship of camera subject size and field angle
Target true altitude is height_before before Focussing out, then target true altitude height_ after Focussing
After is equivalent to the amplification of target true altitudeTimes；The relationship of target sizes and field angle can approximately think: target is put
X times big, field angle becomes the 1/X of original size, and field angle can be read in real time；According to camera itself focal length and field angle
Corresponding table, can be adjusted the focal length of camera by adjusting the size of field angle.
Step 3d, low profile photovoltaic turntable are typically mounted on the unmanned machine of small volume, such as unmanned plane, unmanned vehicle
Usually have the characteristics that stability deficiency Deng, the unmanned machine of small volume, low profile photovoltaic turntable is caused to be difficult accurately to be directed toward
Target position.In order to reduce error caused by above-mentioned factor, turntable fault-tolerance is improved, referring to Fig. 5, with the side planned in step 3b
Parallactic angle, pitch angle center, the position of lower or so each M ° of offset is checked on it.Electric-Optic Turret turns to specified inclined every time
After pan position, N_s frame zoom high-definition camera object detection results are read, are recorded centered on the azimuth, pitch angle
Upper and lower, left and right and center are in totally five positions, detection probability of the maximum probability value of objective degrees of confidence as current goal,
And record the information of corresponding target.
Step 3e after Electric-Optic Turret turns to the deviation post of planning every time, reads N_v frame zoom high-definition camera target
Testing result, by objective degrees of confidence in the object detection results of center and all deviation posts on the basis of the center
Detection probability of the maximum probability value as current goal, and recording corresponding includes target including azimuth, pitch angle
Testing result information of the testing result information as target to be confirmed, completes the confirmation of current goal.
Step 3f generates laser ranging and opens if the detection probability of the target has been more than the laser ranging threshold value of setting
Dynamic signal opens the range measurement that laser range finder carries out target, Electric-Optic Turret is turned to the completion target that step 3e is obtained
Laser ranging is repeatedly read as a result, taking distance measurement result average value relatively small as target in the azimuth of the target of confirmation, pitch angle
The range information is added in the testing result information of current goal by the distance of type photoelectric turntable；After the completion of laser ranging, hair
The work for sending instruction to stop laser range finder.
Step 4, panorama camera breaks down, and is unable to operate normally, and needs to drive zoom high-definition camera using Electric-Optic Turret
Machine or zoom thermal camera rotate a circle and work instead of panorama camera.If current weather condition is good, visibility is higher,
Zoom high-definition camera is then used, step 4a is gone to；If current weather condition is poor, visibility is lower, or is in night,
Zoom thermal camera is then used, step 4b is gone to.
Step 4a, maximum field of view angle is A_v in zoom high-definition camera orientation, is rotated according to field angle and Electric-Optic Turret
The relationship of number can be calculated Electric-Optic Turret run-down and need to rotate R_v times altogether.The result of R_v target detection is similar
Carry out merge, the method for subject fusion is identical with step 2a, records fused target information.
Step 4a, maximum field of view angle is A_f in zoom thermal camera orientation, is rotated according to field angle and Electric-Optic Turret
The relationship of number can be calculated Electric-Optic Turret run-down and need to rotate R_f times altogether.The result of R_f target detection is similar
Carry out merge, the method for subject fusion is identical with step 2a, records fused target information.
The relationship of field angle and Electric-Optic Turret number of revolutions:
In the relational expression of field angle and Electric-Optic Turret number of revolutions, R is the number that Electric-Optic Turret needs to rotate, and Angle is
The upward maximum field of view angle of camera orientation.
Step 5, after the completion of low profile photovoltaic turntable task, by its full recovery to original state.
The intelligent control method of the middle-size and small-size photoelectric turntable of target detection is integrated on low profile photovoltaic turntable by the present invention, is passed through
Test of many times realizes combining target and detects accurate control to low profile photovoltaic turntable, has reached intelligent control, high-precision, in real time
The purpose of processing.
In brief, it the invention proposes a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection, mainly relates to
And the intelligent control of low profile photovoltaic turntable is divided into according to low profile photovoltaic turret plant operating condition and the difference of application scenarios
Three kinds of operating modes below, operating mode one: low profile photovoltaic turret plant all works well, and weather visibility is high, uses panorama
Camera obtains multiple suspected targets, and zoom high-definition camera is needed successively to confirm multiple suspected targets；Operating mode two:
Low profile photovoltaic turret plant all works well, and weather visibility is high, obtains multiple suspected targets and doubtful mesh with panorama camera
There are the target that a confidence level is high in mark, target as to be confirmed needs zoom high-definition camera to the target to be confirmed
Confirmed；Operating mode three: panorama camera breaks down, and is unable to operate normally, and other equipment work well, and needs using light
Electric capstan head drives zoom high-definition camera or zoom thermal camera to rotate a circle and work instead of panorama camera.It is a kind of response
Faster, the intelligent control method of the more accurately middle-size and small-size photoelectric turntable of target detection is controlled.Fusion of the present invention to similar purpose
The erroneous detection of target detection and the intelligent zoom of missing inspection, the processing of Electric-Optic Turret stabilization and video camera are avoided, intelligence of the invention is made
Control method responds faster, controls more accurate；For unmanned machine, can also be used in manned equipment or fixed position,
Intelligent control method of the invention is applicable in above-mentioned application scenarios.
Claims (6)
1. a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection relates generally to the intelligence control of low profile photovoltaic turntable
It makes, is integrated with zoom high-definition camera, zoom thermal camera equipped with a panorama camera and one on low profile photovoltaic turntable
With the Electric-Optic Turret of laser range finder, the center of zoom high-definition camera, zoom thermal camera and laser range finder three with
The direction of Electric-Optic Turret is consistent, carries out motion control to low profile photovoltaic turntable by interface, which is characterized in that will merge target
The intelligent control method of testing result is integrated on low profile photovoltaic turntable, carries out the reality of data acquisition and low profile photovoltaic turning table control
When handle, comprise the following steps that
According to low profile photovoltaic turret plant operating condition and the difference of application scenarios, it is divided into following three kinds of operating modes:
(1) operating mode one: low profile photovoltaic turret plant all works well, and weather visibility is high, is obtained with panorama camera more
A suspected target needs zoom high-definition camera successively to confirm multiple suspected targets, specifically includes following below scheme:
The fusion of 1.1 target informations: the panorama camera in low profile photovoltaic turntable is in the working condition of target detection always, by complete
After the video of scape camera output carries out target detection, if object detection results are to exist in multiple suspected targets and suspected target
The high target of one confidence level, is transferred to operating mode two；If object detection results are only multiple suspected targets, into work
Mode one, Electric-Optic Turret motion control variable are set to " 1 "；When Electric-Optic Turret motion control variable is " 1 ", start from target detection
As a result N_p frame panoramic video object detection results are continuously read in, and the similar purpose information in N_p frame is merged, is obtained
The information of current suspected target total number N_s and each suspected target, N_p are the panoramic video totalframes read；
1.2 are ranked up on the basis of confidence level: descending to N_ using the confidence level in suspected target information as benchmark
S suspected target sequence；
1.3 plan Electric-Optic Turret azimuth, pitch angle for current target to be confirmed for the first time: being sorted and tied according to suspected target
Fruit successively carries out suspected target confirmation from big to small；By taking the nth object in suspected target ranking results as an example, reading is come
Azimuth, pitch angle in N suspected target information, the program results for the first time using the value that reads as Electric-Optic Turret are simultaneously
Generate Electric-Optic Turret movement instruction, Electric-Optic Turret is received and carried out after movement instruction according to the azimuth planned for the first time, pitch angle
Rotation；
The adjustment of 1.4 camera focus: zoom high-definition camera is in the working condition of target detection always, and Electric-Optic Turret turns to head
After the azimuth of secondary planning, pitch angle, N_v frame zoom high-definition camera object detection results are read, are taken in object detection results
Wide, the high information of the maximum target of confidence level calculates zoom height in conjunction with the focal length and field angle of current zoom high-definition camera
The focal length that clear video camera needs to adjust carries out Focussing, and N_v is the zoom high-definition camera video totalframes read；
The processing of 1.5 Electric-Optic Turret stabilizations: by plan for the first time azimuth, centered on pitch angle, it is each up and down at the center
After deviating one M ° of angle generate four deviation posts, as Electric-Optic Turret plan again as a result, and generate Electric-Optic Turret fortune
Dynamic instruction, Electric-Optic Turret are received and are rotated after movement instruction according to the azimuth planned again, pitch angle, complete photoelectricity and turn
The processing of tower stabilization；
1.6 goal verifications based on zoom high-definition camera target detection probability: after Electric-Optic Turret turns to deviation post every time,
N_v frame zoom high-definition camera object detection results are read, by center and all bits of offset on the basis of the center
Detection probability of the maximum probability value of objective degrees of confidence as current goal in the object detection results set, and record corresponding side
The target informations such as parallactic angle, pitch angle；
1.7 pairs of remaining N_s-1 targets repeat the above steps 1.3- step 1.6；
1.8 target process outcomes output: output suspected target number, the testing result information of each suspected target and the target
The confidence level of target detection is in case other equipment or user use in subsequent processes in panoramic video；
(2) operating mode two: low profile photovoltaic turret plant all works well, and weather visibility is high, is obtained with panorama camera more
There are the target that a confidence level is high in a suspected target and suspected target, target as to be confirmed needs zoom high definition to take the photograph
Camera confirms the target to be confirmed, records the testing result information of target to be confirmed, and into operating mode two, photoelectricity turns
Tower motion control variable is set to " 2 "；When Electric-Optic Turret motion control variable is " 2 ", take in object detection results information to be confirmed
Azimuth, pitch angle, similarly with operating mode one: Electric-Optic Turret orientation is planned for the first time to current target to be confirmed
Angle, pitch angle；Camera focus adjustment；The processing of Electric-Optic Turret stabilization；Mesh based on zoom high-definition camera target detection probability
Mark confirmation and target process outcome output；Based on zoom high-definition camera target detection probability unlike operating mode one
Increase laser ranging between goal verification and target process outcome output, if the detection probability of current goal has been more than setting
Laser ranging threshold value then opens laser range finder and carries out range measurement, the laser ranging result information that will be obtained to current goal
It is added in the testing result of current goal；
(3) operating mode three: panorama camera breaks down, and is unable to operate normally, and other equipment work well or weather can be shown in
It spends poor, needs to drive zoom high-definition camera or zoom thermal camera to rotate a circle instead of panorama phase using Electric-Optic Turret
Machine work, specifically includes following below scheme:
The selection of 3.1 cameras: if panorama camera breaks down, being unable to operate normally, and other equipment work well, and is turned using photoelectricity
Tower drives zoom high-definition camera or zoom thermal camera to rotate a circle and work instead of panorama camera；If current weather energy
Degree of opinion is lower, and optical camera imaging effect is good not as good as infrared camera, directly drives zoom thermal camera to revolve using Electric-Optic Turret
It circles and panorama camera is replaced to work, execute step 3.3；If current weather visibility is preferable, optical camera imaging effect compared with
It is good, then it drives zoom high-definition camera to rotate a circle using Electric-Optic Turret and works instead of panorama camera, execute step 3.3:
3.2 replace panorama camera using zoom high-definition camera: zoom high-definition camera is in the work shape of target detection always
State is calculated Electric-Optic Turret run-down according to maximum field of view angle in zoom high-definition camera orientation and needs to rotate R_v times,
Similar purpose information in the result of R_v target detection is merged, record and exports fused target information in case of after
Other equipment or user use in continuous treatment process；
3.3 replace panorama camera using zoom thermal camera: zoom thermal camera is in the work shape of target detection always
State is calculated Electric-Optic Turret run-down according to maximum field of view angle in zoom thermal camera orientation and needs to rotate R_f times,
Similar purpose information in the result of R_f target detection is merged, record and exports fused target information in case of after
Other equipment or user use in continuous treatment process.
2. a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection according to claim 1, which is characterized in that
Operating mode two, specifically includes following below scheme:
2.1 plan Electric-Optic Turret azimuth, pitch angle for the first time: panorama camera is in the working condition of target detection always, passes through
After the video of panorama camera output carries out target detection, similar purpose information in object detection results is merged, is obtained more
A suspected target and the target high there are a confidence level, the target are target to be confirmed, record the inspection of target to be confirmed
Result information is surveyed, into operating mode two, Electric-Optic Turret motion control variable is set to " 2 "；Electric-Optic Turret motion control variable is
When " 2 ", azimuth in object detection results information to be confirmed is read, pitch angle carries out Electric-Optic Turret azimuth, pitch angle
It plans for the first time, Electric-Optic Turret is rotated after receiving planning information for the first time；
The adjustment of 2.2 camera focus: zoom high-definition camera is in the working condition of target detection always, and Electric-Optic Turret turns to head
After the azimuth of secondary planning, pitch angle, N_v frame zoom high-definition camera object detection results are read, are taken in object detection results
Wide, the high information of the maximum target of confidence level calculates zoom height in conjunction with the focal length and field angle of current zoom high-definition camera
The focal length that clear video camera needs to adjust carries out Focussing, and N_v is the zoom high-definition camera video totalframes read；
The processing of 2.3 Electric-Optic Turret stabilizations: by plan for the first time azimuth, centered on pitch angle, it is each up and down at the center
After deviating one M ° of angle generate four deviation posts, as Electric-Optic Turret plan again as a result, Electric-Optic Turret receives this
It is rotated after planning information, as Electric-Optic Turret program results again, and generates Electric-Optic Turret movement instruction, Electric-Optic Turret connects
It receives and is rotated according to the azimuth planned again, pitch angle after movement instruction, complete the processing of Electric-Optic Turret stabilization；
2.4 goal verifications based on zoom high-definition camera target detection probability: Electric-Optic Turret turns to the offset of planning every time
Behind position, N_v frame zoom high-definition camera object detection results are read, by center and owning on the basis of the center
Detection probability of the maximum probability value of objective degrees of confidence as current goal in the object detection results of deviation post, and record pair
What is answered includes testing result information of the object detection results information as target to be confirmed including azimuth, pitch angle, complete
At the confirmation of current goal；
2.5 laser rangings: it if the detection probability of the target has been more than the laser ranging threshold value of setting, generates laser ranging and opens
Dynamic signal opens the range measurement that laser range finder carries out target, Electric-Optic Turret is turned to the target for completing goal verification
Laser ranging is repeatedly read as a result, taking distance measurement result average value as the smaller photoelectric turntable of target in azimuth, pitch angle
The range information is added in the testing result information of current goal by distance；After the completion of laser ranging, sends instruction and stop swashing
The work of ligh-ranging machine；
The output of 2.6 target process outcomes: testing result information and the target mesh in panoramic video of target to be confirmed are exported
The confidence level of detection is marked in case other equipment or user use in subsequent processes.
3. a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection according to claim 1, which is characterized in that
The details of panorama camera, zoom high-definition camera and zoom thermal camera object detection results, have specifically included: target
Testing result information includes cross, the ordinate of target's center's point on the image, width, the height of target identification frame, objective degrees of confidence, mesh
Classification number, target are marked relative to the azimuth of small-sized broadcasting and TV turntable, the distance of pitch angle and the smaller photoelectric turntable of target.
4. a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection according to claim 1, which is characterized in that
Similar purpose information is merged in object detection results described in step 1.1, step 2.1, step 3.2 and step 3.3, tool
Body includes:
(A) judge whether to need to carry out subject fusion according to target classification number: using the 1st frame object detection results as target fiducials
Table, the target detected in other frames is successively compared with each target in the 1st frame, if each mesh in current goal and the 1st frame
Target classification number is inconsistent, then does not need to carry out subject fusion, which is added in target fiducials table；If
In comparison process, target classification number is consistent, carries out next step judgement；
(B) judged whether to need to carry out subject fusion according to the difference at azimuth, pitch angle: one azimuth angle error threshold value of setting
T_a and pitch angle error threshold T_p, the azimuth of two targets currently compared, pitch angle make difference respectively, if
The difference of azimuth and pitch angle is respectively smaller than azimuth angle error threshold value T_a and pitch angle error threshold T_p, it is believed that carries out at this time
Two targets of comparison are the same target, carry out next step subject fusion to the two targets；Otherwise, it does not need to carry out target
Fusion, which is added in target fiducials table；
(C) subject fusion method: the identical value of meaning of parameters in the testing result information for being currently judged as same target is taken
It is worth the final detection result as target after fusion；
(D) subject fusion result exports: completing all similar purposes in step 1.1 or step 2.1 or step 3.1 or step 3.2
Fusion treatment after, export suspected target total number and the corresponding object detection results information of each suspected target in case subsequent
Other equipment or user use in treatment process.
5. a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection according to claim 1, which is characterized in that
The adjustment of camera focus described in step 1.4 and step 2.2, specifically included: Electric-Optic Turret carries out after receiving planning information
Rotation after turning to specified azimuth, pitch angle, reads N_v frame zoom high-definition camera object detection results, takes testing result
Mark frame width, the high information of the middle maximum target of confidence level are calculated in conjunction with the focal length and field angle of current zoom high-definition camera
The focal length that zoom high-definition camera needs to adjust out carries out Focussing, circular are as follows:
(a) wide × a height of w × h of the size of target on the image needs to be adjusted to wide × a height of w' × h', i.e., wide amplificationTimes,
Height amplificationTimes；Exceed image-region after target amplification in order to prevent, takesWithIn lesser times magnification of the value as target
Number, it is assumed thatSmaller, i.e., target needs to amplifyTimes；
(b) target true altitude is height_ before can calculating Focussing according to the relationship of camera focus and field angle
Before, then target true altitude height_after is equivalent to the amplification of target true altitude after FocussingTimes；
(c) relationship of target sizes and field angle can approximately think: target amplifies X times, and field angle becomes original size
1/X, field angle can be read in real time；
It (d), can be to the focal length of camera by adjusting the size of field angle according to the corresponding table of camera itself focal length and field angle
It is adjusted；
If the focal length of zoom thermal camera needs to adjust, method of adjustment is same as above.
6. a kind of intelligent control method of the middle-size and small-size photoelectric turntable of target detection according to claim 1 or 2 or 3, special
Sign is that panorama camera described in step (3) breaks down, and needs to drive zoom high-definition camera or change using Electric-Optic Turret
Burnt thermal camera works instead of panorama camera, has specifically included: if current weather visibility is higher, using zoom high definition
Video camera；If current weather visibility is lower, or is in night, then zoom thermal camera is used；Use Electric-Optic Turret
Zoom high-definition camera or zoom thermal camera is driven to rotate a circle and work instead of panorama camera；
(i) replace panorama camera using zoom high-definition camera: maximum field of view angle is A_v in zoom high-definition camera orientation,
The number R_v that Electric-Optic Turret run-down need to rotate is calculated by the relationship of field angle and Electric-Optic Turret number of revolutions；
It is merged similar in the result of R_v target detection, records fused target information；
(ii) replace panorama camera using zoom thermal camera: maximum field of view angle is A_f in zoom thermal camera orientation,
The number R_f that Electric-Optic Turret run-down need to rotate is calculated by the relationship of field angle and Electric-Optic Turret number of revolutions；
It merges the result of R_f target detection is similar, records fused target information；
The relationship of field angle and Electric-Optic Turret number of revolutions:
In the relational expression of field angle and Electric-Optic Turret number of revolutions, R is the number that Electric-Optic Turret needs to rotate, and Angle is camera
Maximum field of view angle in orientation.
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