CN112200838B - Projectile trajectory tracking method, device, equipment and storage medium - Google Patents
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Abstract
The application discloses a method, a device, equipment and a storage medium for tracking a projectile trajectory, wherein the method comprises the following steps: arranging a plurality of high-speed cameras in parallel according to a set interval; when the shot moves through the superposed imaging view fields of the two adjacent high-speed cameras, the two adjacent high-speed cameras are used for simultaneously acquiring the shot moving track images; and performing image matching and deblurring processing on the shot moving track images acquired simultaneously through the central workstation, calculating the position information of the shot by using a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection. The high-speed cameras arranged in parallel can ensure that the measurement distance is not constrained and can be expanded, and meanwhile, the measurement system can be distributed discretely, so that the arrangement is flexible; the method has the advantages that the trajectory of the projectile can be recorded at two different angles simultaneously in the projectile flying process, the high-precision measurement of the projectile is realized by image matching and deblurring, and the position information measurement of the projectile is realized by a stereoscopic vision algorithm.
Description
Technical Field
The invention relates to the field of photoelectric measurement application, in particular to a projectile trajectory tracking method, a projectile trajectory tracking device, projectile trajectory tracking equipment and a storage medium.
Background
In a target range, the running track of the projectile is an important measurement index in the target range and is a key index of evaluation and test equipment.
At present, the existing projectile trajectory tracking system realizes the tracking of the projectile trajectory by a triggering mode and a turntable mode. The method has high requirements on the running precision and the response speed of the turntable, and has great limitation on the measurement distance and the precision of the projectile track due to the restriction of the angle of the camera view field and the angle of the turntable.
Therefore, how to solve the problem of high-precision tracking of the trajectory of the projectile is a technical problem to be urgently solved by the technical personnel in the field.
Disclosure of Invention
In view of this, the present invention provides a method, an apparatus, a device and a storage medium for tracking a trajectory of a projectile, which can realize high-precision tracking of the trajectory of the projectile through image acquisition of high-speed cameras arranged in parallel and related image processing procedures of a central workstation. The specific scheme is as follows:
a projectile trajectory tracking method comprising:
arranging a plurality of high-speed cameras in parallel according to a set interval;
when the shot moves through the superposed imaging view fields of the two adjacent high-speed cameras, the two adjacent high-speed cameras are utilized to simultaneously acquire the shot moving track image;
and carrying out image matching and deblurring processing on the shot moving track images acquired at the same time through the central workstation, calculating the position information of the shot by utilizing a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection.
Preferably, in the method for tracking a shot trajectory provided in an embodiment of the present invention, after arranging a plurality of high-speed cameras in parallel according to a set pitch, the method further includes:
and calibrating the base line of every two adjacent high-speed cameras, and calibrating the internal parameters and the external parameters of each high-speed camera.
Preferably, in the method for tracking a trajectory of a projectile provided in an embodiment of the present invention, the image matching and deblurring processing are performed on the trajectory images of the projectile, which are acquired simultaneously, by using a central workstation, and the method includes:
simultaneously receiving and storing the shot moving track images sent by every two adjacent high-speed cameras through an image processing card in the central workstation;
and carrying out image matching and deblurring processing on the shot moving track image stored in the image processing card through an industrial personal computer in the central workstation.
Preferably, in the method for tracking a trajectory of a projectile provided in the embodiment of the present invention, the deblurring processing is performed on the trajectory images of the projectile, which are acquired simultaneously, and specifically includes:
establishing a fuzzy model according to the known projectile size, the roughly estimated projectile running speed, the projectile running direction and the relevant data of the internal parameters and the external parameters of the high-speed camera;
and carrying out deblurring processing on the shot moving track images acquired simultaneously through the fuzzy model.
Preferably, in the method for tracking a projectile trajectory provided in an embodiment of the present invention, the calculating the position information of the projectile by using a stereoscopic vision algorithm specifically includes:
obtaining three-dimensional coordinates of space object feature points of the projectile in the coincident imaging view fields of the two adjacent high-speed cameras according to the focal length of the high-speed cameras, the baseline distance between the two adjacent high-speed cameras and the coordinates of the projectile in the projectile motion track image acquired simultaneously; the three-dimensional coordinates serve as the position information of the projectile.
Preferably, in the method for tracking a projectile trajectory provided by the embodiment of the present invention, the position information of the projectile is obtained by calculating using a first formula; the first formula is:
wherein (x) c ,y c ,z c ) Indicating the location information of the projectile, (X) left ,Y u ) And (X) right ,Y u ) And the coordinates of the shots in the shot moving track images acquired simultaneously are respectively represented, f represents the focal length, and L represents the baseline distance between two adjacent high-speed cameras.
The embodiment of the invention also provides a projectile trajectory tracking device, which comprises:
the system comprises a plurality of high-speed cameras, a camera module and a control module, wherein the high-speed cameras are arranged in parallel according to a set interval and are used for simultaneously acquiring shot moving track images by utilizing two adjacent high-speed cameras when a shot moves through the overlapped imaging view fields of the two adjacent high-speed cameras;
and the central workstation is used for carrying out image matching and deblurring processing on the shot moving track images acquired simultaneously, calculating the position information of the shot by utilizing a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection.
Preferably, in the projectile trajectory tracking device provided by the embodiment of the invention, lighting lamps for providing corresponding illumination intensities are integrated on two sides of the center of the high-speed camera.
The embodiment of the invention also provides a projectile trajectory tracking device, which comprises a processor and a memory, wherein the projectile trajectory tracking method provided by the embodiment of the invention is realized when the processor executes the computer program stored in the memory.
An embodiment of the present invention further provides a computer-readable storage medium for storing a computer program, where the computer program, when executed by a processor, implements the above projectile trajectory tracking method provided in the embodiment of the present invention.
According to the technical scheme, the method for tracking the trajectory of the projectile provided by the invention comprises the following steps: arranging a plurality of high-speed cameras in parallel according to a set interval; when the shot moves through the superposed imaging view fields of the two adjacent high-speed cameras, the two adjacent high-speed cameras are used for simultaneously acquiring the shot moving track images; and performing image matching and deblurring processing on the shot moving track images acquired simultaneously through the central workstation, calculating the position information of the shot by using a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection.
According to the invention, a plurality of high-speed cameras are arranged in parallel, and images of coincident view angles of every two adjacent cameras are used for image matching and deblurring, so that the moving track of the shot is tracked, the high-speed cameras arranged in parallel can enable the measurement distance to be free from constraint and expanded, meanwhile, the measurement system can be distributed discretely, and the arrangement is flexible; the trajectory recording of the projectile can be realized at two different angles simultaneously in the projectile flying process, and the high-precision measurement of the projectile is realized by utilizing image processing technologies such as image matching, deblurring and the like; and according to the field angle and the position layout design of the adjacent high-speed cameras, the position information of the projectile can be measured by using a stereoscopic vision algorithm. In addition, the invention also provides a corresponding device, equipment and a computer readable storage medium for the projectile track tracking method, so that the method has higher practicability, and the device, the equipment and the computer readable storage medium have corresponding advantages.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related arts, the drawings used in the description of the embodiments or the related arts will be briefly introduced below, it is obvious that the drawings in the description below are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a projectile trajectory tracking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a stereoscopic vision algorithm provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a projectile trajectory tracking device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a projectile trajectory tracking method, as shown in fig. 1, comprising the following steps:
s101, arranging a plurality of high-speed cameras in parallel according to a set interval;
it should be noted that the high-speed camera can acquire an image of the moving track of the projectile through the image sensor; placing all the high-speed cameras at equal intervals according to the designed intervals, and fixing the positions of the cameras; the high-speed cameras arranged in parallel can enable the measuring distance to be free from constraint, and meanwhile, the measuring systems can be distributed discretely, so that the arrangement is flexible;
s102, when the shot moves through the superposed imaging view fields of the two adjacent high-speed cameras, the two adjacent high-speed cameras are used for simultaneously acquiring shot moving track images;
it should be noted that the requirement of the placement design of the high-speed cameras is to ensure that two adjacent high-speed cameras can simultaneously acquire images of the projectile during the operation of the projectile, that is, the projectile passes through the coincident surfaces of the two adjacent high-speed cameras during the operation, and the two cameras can simultaneously acquire the images and send the acquired images to the central workstation. Because the two paths of images which are acquired simultaneously are shot at different angles, the shot has correlation in the two images, and the shot position information and the shot speed information can be calculated more accurately by utilizing the correlation;
s103, image matching and deblurring processing are carried out on the shot moving track images collected at the same time through the central workstation, the position information of the shot is calculated through a stereoscopic vision algorithm, and the moving track of the shot is obtained according to the position information calculated through connection.
In the projectile trajectory tracking method provided by the embodiment of the invention, the high-speed cameras arranged in parallel are arranged, so that the measurement distance is not constrained and can be expanded, and meanwhile, the measurement system can be distributed discretely, and the arrangement is flexible; the trajectory recording of the projectile can be realized at two different angles simultaneously in the projectile flying process, and the high-precision measurement of the projectile is realized by utilizing image processing technologies such as image matching, deblurring and the like; and according to the field angle and the position layout design of the adjacent high-speed cameras, the position information of the projectile can be measured by using a stereoscopic vision algorithm.
In specific implementation, in the method for tracking a projectile trajectory provided in the embodiment of the present invention, after the step S101 is executed to arrange the plurality of high-speed cameras in parallel according to the set pitch, the method may further include: and calibrating the base line of every two adjacent high-speed cameras, and calibrating the internal parameters and the external parameters of each high-speed camera.
In specific implementation, in the method for tracking a projectile trajectory provided in the embodiment of the present invention, step S103 performs image matching and deblurring processing on a trajectory image of a projectile, which is acquired at the same time, through a central workstation, and may be implemented in the following manner:
firstly, simultaneously receiving and storing a shot moving track image sent by each two adjacent high-speed cameras through an image processing card in a central workstation;
and then, carrying out image matching and deblurring processing on the shot moving track image stored in the image processing card through an industrial personal computer in the central workstation so as to obtain a plurality of clear continuous shot moving images.
The central workstation comprises an industrial personal computer and an image processing card; the industrial personal computer can be used for controlling the device and post-processing images; the image processing card can be used for acquisition of multiple images, synchronous imaging of a high-speed camera and image storage.
Further, in a specific implementation, in the method for tracking a trajectory of a projectile provided in the embodiment of the present invention, the step S103 may perform deblurring processing on a trajectory image of the projectile that is acquired at the same time, and specifically include: firstly, establishing a fuzzy model according to known projectile size, roughly estimated projectile running speed, projectile running direction, internal parameters and external parameters of a high-speed camera and other related data (namely prior information) and acquired image data; and then, deblurring processing is carried out on the shot moving track images collected at the same time through the established fuzzy model, so that clearer image data are obtained.
Further, in a specific implementation, in the method for tracking a projectile trajectory provided in the embodiment of the present invention, the step S103 of calculating the position information of the projectile by using a stereoscopic vision algorithm may specifically include: obtaining three-dimensional coordinates of space object characteristic points of the projectile in the coincident imaging view fields of the two adjacent high-speed cameras according to the focal length of the high-speed cameras, the baseline distance between the two adjacent high-speed cameras and the coordinates of the projectile in the projectile running track image acquired simultaneously; the three-dimensional coordinates serve as the position information of the projectile.
It should be noted that the binocular stereo vision algorithm is a method for acquiring three-dimensional information by using the trigonometry principle, as shown in fig. 2, a triangle is formed by a shot and two shot images acquired simultaneously. The three-dimensional coordinates of the space object characteristic points of the shots in the public view field of the two high-speed cameras can be obtained by using the known baseline distance between the two high-speed cameras; the trajectory of the projectile can then be calculated from the successive image sets (containing the position information of the projectile at each time). In addition, in order to improve the accuracy of the calculation result, before calculating the position information of the projectile, it is necessary to perform target recognition including image processing procedures such as threshold segmentation and binarization, and then calculate the position information of the projectile according to the parameters of the camera and information such as a baseline.
In specific implementation, as shown in fig. 2, the position information of the projectile can be calculated by using a first formula according to a triangular relationship; the first formula is:
wherein (x) c ,y c ,z c ) Indicating the position information of the projectile, (X) left ,Y u ) And (X) right ,Y u ) Respectively represent the coordinates of the projectile in the simultaneously acquired images of the trajectory of the projectile (i.e. the coordinates of the projectile obtained in the left image and the right image, respectively), f represents the focal length, and L represents the baseline distance between two adjacent high-speed cameras.
Based on the same inventive concept, the embodiment of the invention also provides a projectile trajectory tracking device, and as the principle of the device for solving the problems is similar to that of the projectile trajectory tracking method, the implementation of the device can refer to the implementation of the projectile trajectory tracking method, and repeated parts are not described again.
In specific implementation, as shown in fig. 3, the apparatus for tracking a trajectory of a projectile provided in an embodiment of the present invention specifically includes:
the system comprises a plurality of high-speed cameras which are arranged in parallel according to a set interval and are used for simultaneously acquiring a shot moving track image by using two adjacent high-speed cameras when a shot moves through the superposed imaging view fields of the two adjacent high-speed cameras;
and the central workstation is used for carrying out image matching and deblurring processing on the shot moving track images which are acquired simultaneously, calculating the position information of the shot by utilizing a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection.
In the projectile trajectory tracking device provided by the embodiment of the invention, a plurality of high-speed cameras are arranged in parallel and image processing technologies such as image matching, deblurring and the like of a central workstation are combined, so that the purposes of expandable measuring distance, flexible arrangement and high measuring result precision are achieved.
In specific implementation, in the projectile trajectory tracking device provided by the embodiment of the invention, illuminating lamps for providing corresponding illumination are integrated on two sides of the center of the high-speed camera. Preferably, the illuminating lamp can be selected as an LED lamp, and can provide enough illumination, so that the processing of the target by an image processing algorithm is facilitated. Each high speed camera is connected to a central workstation by a cable.
For more specific working processes of the above components, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not described herein again.
Correspondingly, the embodiment of the invention also discloses a projectile trajectory tracking device, which comprises a processor and a memory; wherein the processor implements the projectile trajectory tracking method disclosed in the foregoing embodiments when executing the computer program stored in the memory.
For more specific processes of the above method, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Further, the present invention also discloses a computer readable storage medium for storing a computer program; the computer program when executed by a processor implements the projectile trajectory tracking method disclosed previously.
For more specific processes of the above method, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
In the present specification, the embodiments are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same or similar parts between the embodiments are referred to each other. The device, the equipment and the storage medium disclosed by the embodiment correspond to the method disclosed by the embodiment, so that the description is relatively simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The projectile trajectory tracking method provided by the embodiment of the invention comprises the following steps: arranging a plurality of high-speed cameras in parallel according to a set interval; when the shot moves through the superposed imaging view fields of the two adjacent high-speed cameras, the two adjacent high-speed cameras are utilized to simultaneously acquire the shot moving track image; and carrying out image matching and deblurring processing on the shot moving track images acquired at the same time through the central workstation, calculating the position information of the shot by utilizing a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection. The parallel arrangement cameras set in this way can enable the measurement distance to be free from restriction and expandable, and meanwhile, the measurement systems can be distributed discretely, so that the arrangement is flexible; the trajectory recording of the projectile can be realized at two different angles simultaneously in the projectile flying process, and the high-precision measurement of the projectile is realized by utilizing image processing technologies such as image matching, deblurring and the like; and according to the field angle and the position layout design of the adjacent high-speed cameras, the position information of the projectile can be measured by using a stereoscopic vision algorithm. In addition, the invention also provides a corresponding device, equipment and a computer readable storage medium for the projectile trajectory tracking method, so that the method has higher practicability, and the device, the equipment and the computer readable storage medium have corresponding advantages.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The method, the apparatus, the device and the storage medium for tracking the trajectory of the projectile provided by the present invention are described in detail above, and a specific example is applied in the present document to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (7)
1. A method for tracking a trajectory of a projectile, comprising:
arranging a plurality of high-speed cameras in parallel according to a set interval;
when the shot moves through the superposed imaging view fields of the two adjacent high-speed cameras, the two adjacent high-speed cameras are utilized to simultaneously acquire the shot moving track image;
carrying out image matching and deblurring processing on the shot moving track images acquired at the same time through a central workstation, calculating the position information of the shot by utilizing a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection;
deblurring processing is carried out on the shot moving track images collected simultaneously, and the method specifically comprises the following steps:
establishing a fuzzy model according to the known projectile size, the roughly estimated projectile running speed, the projectile running direction and the relevant data of the internal parameters and the external parameters of the high-speed camera;
carrying out deblurring processing on the shot moving track images acquired simultaneously through the fuzzy model;
calculating the position information of the projectile by using a stereoscopic vision algorithm, which specifically comprises the following steps:
according to the focal length of the high-speed cameras, the baseline distance between two adjacent high-speed cameras and the coordinates of the projectile in the projectile motion track image acquired simultaneously, obtaining the three-dimensional coordinates of the space object characteristic points of the projectile in the coincident imaging view fields of the two adjacent high-speed cameras; the three-dimensional coordinates are used as the position information of the projectile;
calculating to obtain the position information of the projectile by adopting a first formula; the first formula is:
wherein (x) c ,y c ,z c ) Indicating the location information of the projectile, (X) left ,Y u ) And (X) right ,Y u ) And the coordinates of the shots in the shot moving track images acquired simultaneously are respectively represented, f represents the focal length, and L represents the baseline distance between two adjacent high-speed cameras.
2. The method for tracking a trajectory of a projectile according to claim 1, further comprising, after arranging a plurality of high-speed cameras in parallel at a set pitch, the steps of:
and calibrating the base line of each two adjacent high-speed cameras, and calibrating the internal parameters and the external parameters of each high-speed camera.
3. The method of claim 2, wherein the image matching and deblurring of the simultaneously acquired trajectory images of the projectile is performed by a central workstation, comprising:
simultaneously receiving and storing the shot moving track images sent by every two adjacent high-speed cameras through an image processing card in the central workstation;
and carrying out image matching and deblurring processing on the shot moving track image stored in the image processing card through an industrial personal computer in the central workstation.
4. A projectile tracking device comprising:
the system comprises a plurality of high-speed cameras, a camera module and a control module, wherein the high-speed cameras are arranged in parallel according to a set interval and are used for simultaneously acquiring shot moving track images by utilizing two adjacent high-speed cameras when a shot moves through the overlapped imaging view fields of the two adjacent high-speed cameras;
the central workstation is used for carrying out image matching and deblurring processing on the shot moving track images which are acquired simultaneously, calculating the position information of the shot by utilizing a stereoscopic vision algorithm, and obtaining the moving track of the shot according to the position information calculated by connection;
deblurring processing is carried out on the shot moving track images collected simultaneously, and the method specifically comprises the following steps:
establishing a fuzzy model according to the known projectile size, the roughly estimated projectile running speed, the projectile running direction and the relevant data of the internal parameters and the external parameters of the high-speed camera;
carrying out deblurring processing on the shot moving track images acquired simultaneously through the fuzzy model;
calculating the position information of the projectile by using a stereoscopic vision algorithm, specifically comprising the following steps:
according to the focal length of the high-speed cameras, the baseline distance between two adjacent high-speed cameras and the coordinates of the projectile in the projectile motion track image acquired simultaneously, obtaining the three-dimensional coordinates of the space object characteristic points of the projectile in the coincident imaging view fields of the two adjacent high-speed cameras; the three-dimensional coordinates are used as the position information of the projectile;
calculating to obtain the position information of the projectile by adopting a first formula; the first formula is:
wherein (x) c ,y c ,z c ) Indicating the location information of the projectile, (X) left ,Y u ) And (X) right ,Y u ) And the coordinates of the shots in the shot moving track images acquired simultaneously are respectively represented, f represents the focal length, and L represents the baseline distance between two adjacent high-speed cameras.
5. The projectile track tracking device of claim 4 wherein said high speed camera is integrated with illumination lamps on both sides of its center for providing corresponding illumination.
6. A projectile tracking device comprising a processor and a memory, wherein the processor, when executing a computer program stored in the memory, implements the projectile tracking method of any one of claims 1 to 3.
7. A computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the projectile trajectory tracking method of any one of claims 1 to 3.
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