CN113375651A - Real-time synthesizer of photoelectric theodolite formation of image tracking information - Google Patents
Real-time synthesizer of photoelectric theodolite formation of image tracking information Download PDFInfo
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Abstract
The utility model provides a real-time synthesizer of photoelectric theodolite formation of image tracking information which characterized in that: the device is suitable for information synthesis of a theodolite rapid target imaging tracking system, the content of synthesized information is comprehensive, the information space-time consistency is good, and the information synthesis real-time performance is strong. The device is designed by adopting a multi-component interconnection mode and mainly comprises a time sequence control core component, a camera control component, a small system control component, an image data acquisition component, an equipment space-time data acquisition component and a standard synthetic information sending component. When the device works, the basic atom exciting assembly triggers the continuous work of the first device, and simultaneously the second device and the fourth device work synchronously according to a strict time sequence flow under the time sequence control of the first device.
Description
Technical Field
The invention relates to a novel photoelectric theodolite multi-source information real-time synthesis device, which is applied to the field of imaging, tracking and measuring of photoelectric theodolites. In a photoelectric tracking measurement system, more and more data sources are used for measurement and analysis, the data formats of internal modules are various, and the time for generating information by each module is not marked, which brings great troubles to the comprehensive information processing of measurement equipment. The device collects and registers information such as optical mechanism information, camera images, equipment postures and time of the photoelectric theodolite, and provides uniform standard information for target detection and tracking measurement of the theodolite.
Background
The modern photoelectric theodolite is an instrument which can observe a target visually and perform high-precision measurement. Usually, the system mainly comprises two parts, namely a detection system and a servo mechanism. The detection system is generally a digital camera, is triggered by an external control signal to start exposure, outputs an image after a set exposure time, controls the work of the rotary table by the servo system through outputting voltage and current, and simultaneously adopts high frequency to sample an angle encoder of the equipment.
The photoelectric theodolite needs to process image information and encoder information simultaneously in the working process, collects images of equipment at a certain moment, and calculates the angle measurement position of a target according to the miss distance of the target on the images and the angle of the equipment. Therefore, the information of the image acquired by the detection system and the information of the angle encoder acquired by the servo system are required to be basically aligned in absolute time, and only when the image is aligned with the encoder, the calculated target angle measurement value is accurate.
When a plurality of theodolites process images and encoder information at present, front-end channels of the two information are independent and have no coupling, and the compensation processing on a time sequence is basically carried out until the back end. The processing mode enables the later-stage workload of the integration process of the system to be large, and the multiple interconnection physical interfaces and the multiple types of software communication protocols are embodied among all modules in the system of the equipment, so that the rapid development and the reliability improvement of the equipment are not facilitated.
The invention relates to information of target tracking processing of a photoelectric theodolite, which comprises optical control, camera control, equipment posture and high-precision time information, can provide a standardized digital information stream, and integrates equipment observation images and various equipment observation tracking state data.
Disclosure of Invention
The technical problem solved by the invention is as follows: the problems that the system working mode is limited by time sequence synchronization, each submodule excessively depends on the time sequence synchronization and the like in the existing photoelectric detection equipment are solved. The utility model provides a novel real-time synthesizer of photoelectric theodolite formation of image tracking information which characterized in that: the device is suitable for information synthesis of different data of a plurality of subsystems of a theodolite imaging tracking system, the content of synthesized information is comprehensive, the space-time consistency among multi-source information is good, the information synthesis real-time performance in the working process of the system is strong, and the use of projects is met.
In order to solve the above technical problems, the present invention proposes the following solutions:
a real-time synthesis device of imaging tracking information of a photoelectric theodolite is applied to photoelectric detection equipment and comprises a time sequence control core component, a camera control component, a small system control component, an image data acquisition component, an equipment time-space data acquisition component and a standard synthesis information sending component; the equipment space-time data acquisition assembly is a minimum excitation unit of the device and triggers the continuous work of the time sequence control core assembly, and meanwhile, the camera control assembly, the small system control assembly and the image data acquisition assembly are uniformly under the time sequence control of the time sequence control core assembly and synchronously work according to a time sequence flow; the device space-time data acquisition assembly acquires time signals and device encoder information and generates pulse data packets according to a certain frequency, each data packet comprises absolute time information and device encoder information, and the pulse data packets are used for driving the time sequence control core assembly to work.
The equipment space-time data acquisition component unidirectionally transmits equipment space-time data flow to the time sequence control core component; the camera control assembly and the small system control assembly are respectively in bidirectional connection with the time sequence control core assembly, control signals are respectively transmitted to the camera control assembly and the small system control assembly from the time sequence control core assembly, and equipment state information is respectively transmitted to the time sequence control core assembly from the camera control assembly and the small system control assembly; the time sequence control core component is connected with the standard synthetic information sending component in a one-way mode, and the standard synthetic information sending component is used for sending and outputting the image information synthetic standard information sent by the image data acquisition component under the control of the time sequence control core component.
The equipment state information of the small system comprises focusing information, dimming information and zooming information.
And the time sequence control core component generates a plurality of time signals related to the image according to the pulse data packet, wherein the time signals comprise the exposure center time of the image and the external synchronizing signal of the camera.
And the exposure center time signal of the image is used for driving the control signal to be sent to the camera control assembly and the small system control assembly.
The device space-time data acquisition assembly generates a pulse data packet according to the frequency of 1Khz, and the time interval between every two data packets is fixed to be 1 ms.
When the whole device works, the equipment space-time data acquisition assembly is a basic atomic excitation assembly of the device, the continuous work of the time sequence control core assembly is triggered, and meanwhile, the camera control assembly, the small system control assembly and the image data acquisition assembly synchronously work according to a strict time sequence flow under the time sequence control of the time sequence control core assembly.
The device realizes the acquisition of equipment information according to a time sequence control mode designed in advance by constructing a unified time sequence control assembly, thereby ensuring the automatic matching of time-space information, image information and optical information on theodolite equipment and avoiding the trouble of matching after information acquisition.
The invention has the following beneficial effects:
firstly, the whole device is divided into 6 component unit modules as shown in the figure, and a core module and an external interface module are independently designed, so that the expandability of the device can be effectively improved;
secondly, a set of core time sequence control module is designed, various peripheral control signals with different frequencies can be generated through the module, and the time sequence relation among the control signals can be designed in advance and adjusted through parameters;
thirdly, the contents of different mechanisms in the synthesized standard information are organically unified in time and are data obtained according to a time sequence relation designed in advance.
Drawings
FIG. 1 is a block diagram of the apparatus of the present invention;
FIG. 2 is a schematic diagram of an exposure center of the timing control device according to the present invention;
FIG. 3 is a diagram of a timing control assembly according to the present invention.
Illustration of the symbols:
firstly, time sequence control is used for generating control signals for the operation of each subsystem of the equipment and acquiring and processing information;
controlling the camera, outputting a control command according to a camera control protocol, and acquiring the working state information of the camera;
the small system controls, outputs a control command according to a small system control protocol, and simultaneously acquires working state information of the small system, including focusing information, dimming information, zooming information and the like;
acquiring image data, namely acquiring original image data output by a camera in real time;
acquiring space-time data of the equipment, and acquiring attitude information and time information of the equipment;
sending standard synthesis information, synthesizing the state information of the equipment and the original image data into standard information and outputting the standard information.
Detailed Description
The invention discloses a multi-source information synthesis device in a photoelectric imaging tracking system, wherein under the general condition, the multi-source information comprises pointing encoder information of equipment, a synchronous mode of a camera, an image, a focal length of a lens, a diaphragm filter and other information. In general, data acquisition of each subsystem is performed independently, the spatio-temporal correspondence between various data is inconsistent, and most of the data are aligned afterwards. The working mode causes low utilization efficiency of information, and particularly, the precision is difficult to improve in real-time target detection and tracking.
Embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention.
Fig. 1 is a schematic diagram showing a component structure of an imaging and tracking information synthesis device for a photoelectric theodolite, wherein the device comprises a time sequence control core component, a camera control component, a small system control component, an image data acquisition component, an equipment space-time data acquisition component and a standard synthesis information sending component; the equipment space-time data acquisition assembly is a minimum excitation unit of the device and triggers the continuous work of the time sequence control core assembly, and meanwhile, the camera control assembly, the small system control assembly and the image data acquisition assembly are uniformly under the time sequence control of the time sequence control core assembly and synchronously work according to a time sequence flow; the device space-time data acquisition assembly acquires time signals and device encoder information and generates pulse data packets according to a certain frequency, each data packet comprises absolute time information and device encoder information, and the pulse data packets are used for driving the time sequence control core assembly to work. The small system is a general name of an optical imaging control mechanism and comprises optical imaging control devices such as electric dimming, focusing, zooming and lens covers.
The equipment space-time data acquisition component unidirectionally transmits equipment space-time data flow to the time sequence control core component; the camera control assembly and the small system control assembly are respectively in bidirectional connection with the time sequence control core assembly, control signals are respectively transmitted to the camera control assembly and the small system control assembly from the time sequence control core assembly, and equipment state information is respectively transmitted to the time sequence control core assembly from the camera control assembly and the small system control assembly; the time sequence control core component is connected with the standard synthetic information sending component in a one-way mode, and the standard synthetic information sending component is used for sending and outputting the image information synthetic standard information sent by the image data acquisition component under the control of the time sequence control core component.
The equipment space-time data acquisition assembly can acquire time hour minute second signals, microsecond signals and equipment encoder information. Generating a pulse data packet at a frequency of 1Khz, each data packet including absolute time information and device encoder information, the discretized spatio-temporal data packet TiThe sequence corresponds to the information of the sampling point at 1Khz in the actual working process of the equipment one by one. The time interval between every two data packets is fixed to 1 ms. The 1ms pulseThe data packet is used for driving the timing module to work. The time sequence control component mainly generates a plurality of time signals related to the image according to the working time sequence of the time-space data packet generation system of 1ms, wherein the time signals comprise the exposure center time of the image and the external synchronizing signal of the camera.
FIG. 2 is a schematic diagram of the exposure center of the timing control module of the present invention, and FIG. 3 is a schematic diagram of the timing control module of the present invention, wherein the timing control module first aligns the time from T to the second according to the principle that the exposure center is aligned to the secondiThe time of the whole second is detected in the sequence, and the time is taken as an ideal image exposure center. And the exposure center in the whole second signal is obtained by interpolation according to the period of the image.
The exposure center signal of the image can be used for driving the camera and the control transmission of the small system; the external synchronization time of the camera is generated by the exposure center and the exposure time, the camera outputs images under the external synchronization control, and the frame signals of the images of the camera trigger the image data acquisition assembly to work.
The equipment state information of the small system comprises focusing information, dimming information and zooming information.
And after the time sequence control component collects the equipment information and the camera/small system information, the calculated relevant information of the exposure center time is sent to the standardized synthetic information sending component. And generates a standard synthesized information transmission control signal.
The standard composite information sending component packages time information, device pose information, camera/small system information, image information, etc. into a standardized information packet. One frame image corresponds to one composite information packet, and the information packet contains all imaging control and tracking measurement information corresponding to the frame image. And outputting frame by frame under the control of the timing control component.
The device realizes the acquisition of equipment information according to a time sequence control mode designed in advance by constructing a unified time sequence control assembly, thereby ensuring the automatic matching of time-space information, image information and optical information on theodolite equipment and avoiding the trouble of matching after information acquisition.
The biggest difficulty of the device for realizing equipment information synthesis is a high-precision time-space information matching technology. In the process of realizing high-precision control, secondary time precision control is adopted. One is a pulse space-time data packet of the order of 1ms and one is a device internal chip time counter of the order of 1 us. The time interval between every two data packets of 1Khz is fixed as a time sequence T of 1msiCounting every two data packets by using a counter of 1us inside the module, denoted as Tμ. Device encoder information is only at TiAt time there is a measurement value at TμEncoder information of time is represented by TμCorresponding to front and rear Ti-1And TiAnd linear interpolation is carried out. The time precision of all information control reaches 1 us.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and these examples are only for illustrative purpose and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the invention, and these alternatives and modifications are intended to fall within the scope of the invention.
Claims (6)
1. A real-time synthesis device of imaging tracking information of a photoelectric theodolite is applied to photoelectric detection equipment and is characterized by comprising a time sequence control core component, a camera control component, a small system control component, an image data acquisition component, an equipment time-space data acquisition component and a standard synthesis information sending component; the equipment space-time data acquisition assembly is a minimum excitation unit of the device and triggers the continuous work of the time sequence control core assembly, and meanwhile, the camera control assembly, the small system control assembly and the image data acquisition assembly are uniformly under the time sequence control of the time sequence control core assembly and synchronously work according to a time sequence flow; the device space-time data acquisition assembly acquires time signals and device encoder information and generates pulse data packets according to a certain frequency, each data packet comprises absolute time information and device encoder information, and the pulse data packets are used for driving the time sequence control core assembly to work.
2. The apparatus of claim 1, wherein the apparatus spatiotemporal data acquisition component unidirectionally transmits an apparatus spatiotemporal data stream to the timing control core component; the camera control assembly and the small system control assembly are respectively in bidirectional connection with the time sequence control core assembly, control signals are respectively transmitted to the camera control assembly and the small system control assembly from the time sequence control core assembly, and equipment state information is respectively transmitted to the time sequence control core assembly from the camera control assembly and the small system control assembly; the time sequence control core component is connected with the standard synthetic information sending component in a one-way mode, and the standard synthetic information sending component is used for sending and outputting the image information synthetic standard information sent by the image data acquisition component under the control of the time sequence control core component.
3. The apparatus of claim 2, wherein the device status information of the small system comprises focusing information, dimming information and zooming information.
4. The apparatus as claimed in claim 1, wherein the timing control core module generates a plurality of time signals related to the image according to the pulse data packet, the plurality of time signals including an exposure center time of the image and an external synchronization signal of the camera.
5. The apparatus as claimed in claim 4, wherein the exposure center time signal of the image is used to drive the control signal to be sent to the camera control module and the small system control module.
6. The apparatus of claim 1, wherein the spatiotemporal data acquisition component generates a pulse data packet according to a frequency of 1Khz, and a time interval between every two data packets is fixed to 1 ms.
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