CN111077533A - Multispectral wide-area panoramic photoelectric radar system and detection method thereof - Google Patents
Multispectral wide-area panoramic photoelectric radar system and detection method thereof Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 4
- 238000007526 fusion splicing Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000003384 imaging method Methods 0.000 description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
The invention relates to the technical field of photoelectric detection, in particular to a multispectral wide-area panoramic photoelectric radar system and a detection method thereof, which are used for improving the resolution ratio during photoelectric detection, expanding the detection visual angle and reducing the detection cost; the multispectral wide-area panoramic photoelectric radar system comprises: the infrared detector, the visible light detector, an erection mechanism for erecting the infrared detector and the visible light detector, a driving mechanism connected with the erection mechanism and used for driving the erection mechanism to perform stepping motion, a controller connected with the driving mechanism and used for controlling the driving mechanism to start or stop working, and a processor respectively connected with the infrared detector and the visible light detector; the infrared detector and the visible light detector are horizontally connected and fixed on the erection mechanism according to a set indexing interval.
Description
Technical Field
The invention relates to the technical field of photoelectric detection, in particular to a multispectral wide-area panoramic photoelectric radar system and a detection method thereof.
Background
The visible light detector is widely applied to security systems due to low price and high resolution, but cannot be used for night monitoring and scenes with poor visibility due to the fact that the visible light detector works in a visible light wave band. The infrared detector can realize effective detection for 24 hours day and night, the working wave band of the infrared detector enables the fog penetration performance of the infrared detector to be better than that of a visible light detector, but the infrared detector is low in resolution ratio, has no color information and is difficult to detect a target with the temperature close to the ambient temperature under the condition of high temperature in the day. In order to ensure that the monitoring system has a good detection effect within 24 hours, a refrigeration infrared detector is adopted as one means. In order to realize wide-area monitoring, technologies such as multi-detector splicing and motion despinning are generally adopted. Due to the high price of the refrigeration infrared detector, the complex mechanical structure and control algorithm of racemization and the like, the product realized by the technology has high technical difficulty and high price, and the product is difficult to popularize and apply in the civil market.
Disclosure of Invention
The invention aims to provide a multispectral wide-area panoramic photoelectric radar system, which is used for improving the resolution ratio during photoelectric detection, expanding the detection visual angle and reducing the detection cost.
In order to achieve the above object, the present invention provides a multispectral wide-area panoramic photoelectric radar system, comprising:
the infrared detector, the visible light detector, an erection mechanism for erecting the infrared detector and the visible light detector, a driving mechanism connected with the erection mechanism and used for driving the erection mechanism to perform stepping motion, a controller connected with the driving mechanism and used for controlling the driving mechanism to start or stop working, and a processor respectively connected with the infrared detector and the visible light detector;
the infrared detector and the visible light detector are horizontally connected and fixed on the erection mechanism according to a set indexing interval.
Preferably, the driving mechanism comprises a direct drive motor, and the direct drive motor performs stepping motion according to the set graduation.
Preferably, the set indexing comprises a 9 degree indexing.
Preferably, the infrared detector further comprises a collecting plate and a light slip ring connected with the collecting plate, the collecting plate is respectively connected with the infrared detector and the visible light detector, and the other end of the light slip ring is connected with the processor.
Preferably, the infrared detector and the visible light detector are sleeved with window cover plates.
As a general inventive concept, the present invention further provides a detection method applied to the above-mentioned multispectral wide-area panoramic photoelectric radar system, comprising the steps of:
the controller generates motion curve information and sends the motion curve information to the driving mechanism;
the driving mechanism drives the infrared detector and the visible light detector to do intermittent back-and-forth movement according to the movement curve information;
the infrared detector intermittently moves to acquire infrared image information and transmit the infrared image information to the processor, and the visible light detector acquires visible light image information and transmits the visible light image information to the processor;
and the processor performs fusion splicing processing according to the infrared image information and the visible light image information to generate a panoramic image.
Preferably, the driving mechanism drives the infrared detectors to make intermittent reciprocating motion according to the set graduation to form a plurality of staring view fields, and the number of the staring view fields is calculated according to the set graduation and 360 degrees.
Preferably, the information processor generating the panorama from the infrared image information and the visible light image information includes:
respectively preprocessing the infrared image information and the visible light image information by adopting a linear stretching method to obtain an initial image of each staring view field;
splicing each initial image, and then fusing a splicing result according to infrared image information and a splicing result according to visible light image information to obtain a panoramic image;
and acquiring two panoramic pictures at adjacent moments, and performing difference calculation according to the image frames of the two panoramic pictures to acquire the motion trail of the target.
The invention has the following beneficial effects:
according to the multispectral wide-area panoramic photoelectric radar system and the detection method thereof, an infrared detector and a visible light detector are combined for detection, the infrared detector and the visible light detector are horizontally connected and fixed on the erecting mechanism according to a set indexing interval, the erecting mechanism is further driven by a driving mechanism to perform stepping motion, horizontal 360-degree imaging and arbitrarily-segmented multi-sector imaging can be achieved, the advantages of high resolution of the visible light detector and good detection effect of the infrared detector can be combined, the resolution during photoelectric detection is improved, the detection visual angle is expanded, and the detection cost is reduced.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the hardware architecture of a multi-spectral wide-area panoramic photoelectric radar system according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of the multi-spectral wide-area panoramic lidar system of the preferred embodiment of the present invention;
fig. 3 is a flow chart of a detection method of the multispectral wide-area panoramic photoelectric radar system in the preferred embodiment of the invention.
Reference numerals:
1. an infrared detector; 2. a visible light detector; 3. a window cover plate.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
It should be noted that, in order to meet the real-time processing requirement for high-frame-rate and high-resolution images, the embodiment selects the TI latest generation 8-core 1.25G floating-point DSP as the processor, and the computing capability is up to 160 GFLOPS; in order to meet the wide area searching and monitoring functions, a GPU module-TX 2 with strong computing capability and parallel processing capability is selected to assist the DSP to complete various index requirements; for the type selection of the FPGA, the requirement of a high-speed serial signal of a board card is mainly considered, the bus speed of SRIO and PCIe interfaces needs to reach 5Gbps, meanwhile, abundant internal logic resources and BUFG resources need to be considered, the logic conversion and clock management of a plurality of interfaces are met, the type selection is based on the K7 series of Xilinx company, the Xilinx company has the required resources and speed, and meanwhile, the power consumption is low.
Example 1
As shown in fig. 1, the present embodiment provides a multispectral wide-area panoramic photoelectric radar system, including:
the infrared detector, the visible light detector, an erection mechanism for erecting the infrared detector and the visible light detector, a driving mechanism connected with the erection mechanism and used for driving the erection mechanism to perform stepping motion, a controller connected with the driving mechanism and used for controlling the driving mechanism to start or stop working, and a processor respectively connected with the infrared detector and the visible light detector;
the infrared detector and the visible light detector are horizontally connected and fixed on the erection mechanism according to a set indexing interval.
According to the multispectral wide-area panoramic photoelectric radar system, the infrared detector and the visible light detector are combined for detection, the infrared detector and the visible light detector are horizontally connected and fixed on the erecting mechanism according to the set indexing interval, the erecting mechanism is further driven by the driving mechanism to perform stepping motion, horizontal 360-degree imaging and multi-sector imaging can be achieved, the resolution ratio during photoelectric detection is improved, the detection visual angle is enlarged, and the detection cost is reduced. As a preferred embodiment of this embodiment, the driving mechanism includes a direct drive motor, and the direct drive motor performs stepping movement according to the set division. In the present embodiment, the setting index includes a 9-degree index.
It should be noted that, as shown in fig. 2, the number of the infrared detectors 1 and the number of the visible light detectors 2 may be adjusted according to different usage scenarios, and in specific use, both the field of view of the infrared detector and the field of view of the light detectors may be regarded as a sector, as shown in fig. 2, if the field of view of the infrared detector or the field of view of the light detectors may be 90 degrees, the sector corresponding to the device is 90 degrees. In an alternative embodiment, the field of view of the devices of different models is different, so the sector area may also change with the field of view, for example, 180 degrees or other degrees, and when the two devices are mounted and connected, the sector area only needs to satisfy 360 degrees in the process of movement. In this embodiment, an example in which one infrared detector and one visible light detector are used will be described. Specifically, the infrared detector and the visible light detector are horizontally connected and fixed according to the defined graduation intervals of any multiple sectors, a direct drive motor is used for carrying out stepping motion according to the graduation of 9 degrees (namely, the photographing is stopped once every 9 degrees), a frame of panoramic image can be formed by moving for one period, the highest frame frequency can reach 2Hz, and the frame frequency of 360 degrees reaches 0.25 Hz.
As an alternative embodiment, the specific degree of graduation can also be adjusted to some extent, depending on the use scenario. As a preferred embodiment of this embodiment, the infrared imaging system further includes a collecting plate and a light slip ring connected to the collecting plate, the collecting plate is connected to the infrared detector and the visible light detector, respectively, and the other end of the light slip ring is connected to the processor. In this embodiment, the acquisition board converts images of the infrared detector and the visible light detector into optical signals after acquiring the images, and transmits the optical signals to the processor through the optical slip ring, the FPGA, the TX2, and the DSP in the processor complete the display preprocessing of the images and the detection of the moving target, and the processor receives a control command from the upper computer, generates a control signal of the direct drive motor, sends the control signal to the direct drive motor controller, and drives the direct drive motor to perform stepping motion. In addition, in the embodiment, the information transmission is performed through the optical slip ring, so that the transmission speed can be increased.
As a preferred embodiment of this embodiment, the infrared detector further comprises a window cover plate 3 sleeved on the outer layer of the infrared detector and the visible light detector. Through the window apron, can protect infrared detector and visible light detector not receive external environment's friction, further promote the life of system.
The multispectral wide-area panoramic photoelectric radar system combines splicing, fusion and step-by-step staring technologies of various cameras in different wave bands, can realize the splicing effect of 40 infrared detectors and 40 visible light detectors under the condition that 1 infrared detector and 1 visible light detector are used, can realize horizontal 360-degree imaging and arbitrarily segmented multi-sector imaging, can reach 1000 meters for human detection distance, and can reach 2000 meters for vehicle detection distance. The protective agent can be widely applied to protection of sensitive areas such as military camps, prisons, power stations, airports, ports, dams, water treatment stations, solar power farms, wind power stations, oil fields, oil depots, ammunition depots, data centers and the like.
And it is worth emphasizing that the system adopts the combination of splicing and fusion of various cameras with different wave bands and the step gaze technology, so that the effect of target characteristics in detection and identification is effectively improved, the detection effect of targets close to the ambient temperature under the condition of high temperature in the daytime is improved, and the details of the targets are finer and finer by adopting 2464 x 2056 high-resolution visible light data. The system adopts a high-performance FPGA + GPU + DSP heterogeneous processing mainboard, and can realize simultaneous splicing, detection and identification of 1 path of BAYER (2464 x 2056 high-resolution visible light data) and 1 path of infrared image (640 x 512 resolution). Compared with the scheme of adopting a single or a plurality of detectors and the optical despinning scheme, the invention reduces the structure and control complexity and reduces the production cost of the product while ensuring the performance index of the system.
Example 2
As shown in fig. 3, corresponding to the above embodiment 1, this embodiment provides a detection method applied to the above multispectral wide-area panoramic photoelectric radar system, including the following steps:
the controller generates motion curve information and sends the motion curve information to the driving mechanism;
the driving mechanism drives the infrared detector and the visible light detector to do intermittent back-and-forth movement according to the movement curve information;
the infrared detector intermittently moves to acquire infrared image information and transmit the infrared image information to the processor, and the visible light detector acquires visible light image information and transmits the visible light image information to the processor;
and the processor performs fusion splicing processing according to the infrared image information and the visible light image information to generate a panoramic image.
Preferably, the driving mechanism drives the infrared detectors to make intermittent back and forth movement according to the set graduation to form a plurality of staring view fields, and the number of the staring view fields is calculated according to the set graduation and 360 degrees.
Preferably, the information processor generating the panorama from the infrared image information and the visible light image information includes:
respectively preprocessing the infrared image information and the visible light image information by adopting a linear stretching method to obtain an initial image of each staring view field;
splicing each initial image, and then fusing a splicing result according to the infrared image information and a splicing result according to the visible light image information to obtain a panoramic image;
and acquiring two panoramic pictures at adjacent moments, and performing difference calculation according to the image frames of the two panoramic pictures to acquire the motion trail of the target.
As a preferred embodiment of this embodiment, the linear stretching specifically includes the following steps, and here, the infrared image information is taken as an example for description, where a principle of stretching the visible light image information is consistent with that, and here, redundant description is not repeated.
The infrared detector processes infrared image information obtained by staring at a view field by adopting a linear stretching method, and converts collected 16-bit digital images into 8-bit digital images to realize normal display, wherein the stretching algorithm in the embodiment is as follows:
where P is the stretched image pixel value, P is the original image pixel value, μ is the original image mean, σ is the mean square error of the original image, and α is the stretching coefficient.
Then, the local contrast of the image is enhanced by adopting a self-adaptive histogram equalization algorithm (CLAHE) without influencing the overall contrast, the brightness can be better distributed on the histogram, then the final panoramic image is obtained by processing image rotation, excessive splicing seam linearity, white edge correction and the like, and the problems of excessive and uneven splicing seams, uneven background brightness and the like of the panoramic image can be effectively solved.
It should be noted that, when performing photoelectric detection on a target, a small target at a far position is equivalent to a noise characteristic, and if the target is small, it is easily confused with a background or a noise at a far position, therefore, in this embodiment, by acquiring two panoramas of adjacent frames, performing difference calculation on positions of the same gaze field in the two panoramas to perform trajectory correlation, a motion trajectory of the target to be detected can be accurately determined, an influence caused by noise is small, a detection probability is improved, noise and a correlated target that meets a human or vehicle motion characteristic can be effectively distinguished, and a target detection performance of the entire platform is effectively improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A multi-spectral wide-area panoramic lidar system, comprising:
the infrared detector, the visible light detector, an erection mechanism for erecting the infrared detector and the visible light detector, a driving mechanism connected with the erection mechanism and used for driving the erection mechanism to perform stepping motion, a controller connected with the driving mechanism and used for controlling the driving mechanism to start or stop working, and a processor respectively connected with the infrared detector and the visible light detector;
the infrared detector and the visible light detector are horizontally connected and fixed on the erection mechanism according to a set indexing interval.
2. The multi-spectral wide area panoramic lidar system of claim 1, wherein the drive mechanism comprises a direct drive motor that moves in steps according to a set index.
3. The multi-spectral wide area panoramic lidar system of claim 1, wherein the set graduations comprise 9 degree graduations.
4. The multispectral wide-area panoramic lidar system of claim 1, further comprising a collection board and a light slip ring connected to the collection board, wherein the collection board is connected to the infrared detector and the visible light detector, respectively, and the other end of the light slip ring is connected to the processor.
5. The multi-spectral wide-area panoramic lidar system of claim 1, further comprising a window cover plate that is disposed over an outer layer of the infrared detector and the visible light detector.
6. A detection method applied to the multispectral wide-area panoramic photoelectric radar system according to any one of the claims 1 to 5, comprising the following steps:
the controller generates motion curve information and sends the motion curve information to the driving mechanism;
the driving mechanism drives the infrared detector and the visible light detector to do intermittent back-and-forth movement according to the movement curve information;
the infrared detector intermittently moves to acquire infrared image information and transmit the infrared image information to the processor, and the visible light detector acquires visible light image information and transmits the visible light image information to the processor;
and the processor performs fusion splicing processing according to the infrared image information and the visible light image information to generate a panoramic image.
7. The detection method according to claim 6, wherein the driving mechanism drives the plurality of infrared detectors to form a plurality of gaze fields during intermittent back and forth movement according to the set graduation, and the number of the gaze fields is calculated according to the set graduation and 360 degrees.
8. The detection method of claim 6, wherein the information processor generating a panorama from infrared image information and the visible light image information comprises:
respectively preprocessing the infrared image information and the visible light image information by adopting a linear stretching method to obtain an initial image of each staring view field;
splicing each initial image, and then fusing a splicing result according to infrared image information and a splicing result according to visible light image information to obtain a panoramic image;
and acquiring two panoramic pictures at adjacent moments, and performing difference calculation according to the image frames of the two panoramic pictures to acquire the motion trail of the target.
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