CN114002706A - Measuring method and device of photoelectric sight-stabilizing measuring system and computer equipment - Google Patents
Measuring method and device of photoelectric sight-stabilizing measuring system and computer equipment Download PDFInfo
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Abstract
The application relates to a measuring method, a measuring device, a computer device, a storage medium and a computer program product of a photoelectric sight stabilizing system. The method comprises the following steps: controlling the parallel light imaging module to output parallel light beams with preset patterns to the to-be-tested photoelectric equipment so as to acquire imaging images corresponding to the preset patterns; setting vibration parameters of the vibration table, and acquiring a plurality of imaging images with corresponding frame numbers based on the vibration parameters; acquiring the offset of the central position of the preset graph in the imaging images of multiple frames relative to the initial position; and calculating the stability precision of the photoelectric sight stabilizing system according to each offset. The method can measure the stability precision of the photoelectric sight stabilizing system.
Description
Technical Field
The present application relates to the field of optoelectronic technologies, and in particular, to a method, a system, an apparatus, a computer device, a storage medium, and a computer program product for measuring a stability accuracy of a photoelectric sight-stabilizing measurement system.
Background
The photoelectric sight stabilizing system is an important component in the field of photoelectric technology, has a sight line stabilizing function and an image stabilizing function, can help to realize accurate positioning and tracking of a target, and is widely applied to the fields of military investigation, resource detection and the like. In practical application, the photoelectric sight stabilizing system is easily influenced by factors such as airflow disturbance and carrier vibration, so that imaging is unstable, and the aim of a target is influenced. Therefore, it is necessary to evaluate the stabilization accuracy of the photoelectric sight-stabilizing system.
Generally, a method for measuring the stable precision of an aiming line of a photoelectric sight-stabilizing system is characterized in that a plane reflector is fixed on an inner ring frame of the measured photoelectric sight-stabilizing system, the measured photoelectric sight-stabilizing system is in a vibration state, a measuring laser beam irradiates the plane reflector after being subjected to intensity stabilization, spatial filtering and collimation, a camera transmits a light spot image sequence of a reflected light beam imaged on a target surface to an image recording and processing system, and the image recording and processing system performs a series of processing on the light spot image sequence to obtain a light spot centroid coordinate sequence, a stable precision value sequence and a stable precision value sequence standard deviation, so that the measurement of the stable precision is completed. However, the test has high requirements for test equipment, and the test accuracy of stable accuracy is low.
Disclosure of Invention
In view of the above, it is necessary to provide a method, a system, an apparatus, a computer device, a computer readable storage medium, and a computer program product for measuring the stability accuracy of a photoelectric stabilized pointing system.
In a first aspect, the present application provides a measurement method for the stable precision of a photoelectric steady aiming system, the photoelectric steady aiming measurement system includes a parallel light imaging module, a vibration table, a photoelectric device to be measured, wherein the photoelectric device to be measured is fixed on the vibration table, and the photoelectric device to be measured is arranged on the optical axis of the parallel light imaging module and is located the imaging surface of the parallel light imaging module, wherein the method includes:
controlling the parallel light imaging module to output parallel light beams with preset patterns to the to-be-tested photoelectric equipment so as to acquire imaging images corresponding to the preset patterns;
setting vibration parameters of the vibration table, and acquiring a plurality of imaging images with corresponding frame numbers based on the vibration parameters;
acquiring the offset of the central position of the preset graph in the imaging images of multiple frames relative to the initial position;
and calculating the stability precision of the photoelectric sight stabilizing system according to each offset.
In one embodiment, the preset graph is a cross target graph, the imaging image is a cross image, and the vibration parameter includes a vibration direction and a vibration frequency, where the obtaining of the plurality of imaging images of the corresponding frame number based on the vibration parameter includes:
and acquiring a plurality of imaging images with corresponding frame numbers under the condition of the same preset vibration direction.
In one embodiment, the obtaining the offset of the center position of the preset pattern in the multiple frames of the imaging images relative to the initial position includes:
respectively acquiring a plurality of cross image groups according to a preset time period, wherein each cross image group comprises a plurality of frames of cross images;
correspondingly acquiring a first position of a cross center point of each frame of cross image for each cross image group, and taking the first position of a first frame of cross image in the cross image group as an initial position of each cross image group;
and respectively acquiring a first pixel offset in a first direction and a second pixel offset in a second direction of each cross image group according to the first position and the initial position of each cross image in each cross image group.
In one embodiment, the calculating the stabilization accuracy of the photoelectric stabilizing system according to each offset includes:
acquiring first stabilization precision within a corresponding preset time period according to the first pixel offset of each cross image group;
acquiring second stabilization precision within a corresponding preset time period according to the second pixel offset of each cross image group;
acquiring the intra-segment stable precision within the same preset time period aiming at the first stable precision and the second stable precision within the same preset time period;
and acquiring the stability precision in the preset vibration direction according to the stability precision in the section and the number of the cross image groups.
In one embodiment, the obtaining the intra-segment stable precision for the first stable precision and the second stable precision within the same preset time period includes:
obtaining the square sum result of the first stable precision and the second stable precision in the same preset time period;
performing evolution processing on the square sum result to obtain the intra-segment stable precision in the same preset time period;
the acquiring of the stabilization precision in the preset vibration direction according to the intra-segment stabilization precision and the number of the cross image groups comprises:
and performing root mean square value processing on the plurality of intra-segment stabilization precisions to acquire the stabilization precision in a preset vibration direction, wherein the average processing of the root mean square value processing is related to the number of the cross image groups.
In one embodiment, when the number of the preset vibration directions is multiple, the vibration directions include a first axial direction, a second axial direction and a third axial direction, and the method further includes:
correspondingly acquiring a first axial stability precision in a first axial direction, a second axial stability precision in a second axial direction and a third axial stability precision in a third axial direction respectively;
and obtaining the stable precision of the sight stabilizing system according to the average value of the first axial stable precision, the second axial stable precision and the third axial stable precision.
In one embodiment, said obtaining a plurality of said imaging images for a corresponding number of frames based on said vibration parameter comprises:
acquiring a plurality of frames of first imaging images under the vibration condition in the first axial direction;
acquiring a plurality of frames of second imaging images under the vibration condition in the second axial direction;
acquiring a plurality of frames of third imaging images under the vibration condition in the third axial direction;
the correspondingly acquiring a first axial stability accuracy in a first axial direction, a second axial stability accuracy in a second axial direction, and a third axial stability accuracy in a third axial direction, respectively, includes:
acquiring the first axial stability precision based on the offset of the central position of each of the ten digital images in the first imaging images of a plurality of frames relative to the initial position;
acquiring the second axial stability precision based on the offset of the central position of each of the ten-digital images in the second imaging images relative to the initial position;
and acquiring the third axial stability precision based on the offset of the central position of each of the ten digital images in the third imaging images relative to the initial position.
In one embodiment, the respectively acquiring the first position of the cross center point of each frame of the cross image comprises:
for each frame of the cross image, converting the cross image into a binary image;
performing boundary extraction processing on the binary image to respectively acquire a first pixel of the cross image in the first direction and a second pixel of the cross image in the second direction;
and acquiring the first position of the cross image according to the first pixel and the second pixel.
In a second aspect, the present application further provides a photoelectric sight-stabilizing measurement system, including: parallel light imaging module, shaking table, processing apparatus and the optoelectronic device that awaits measuring, wherein:
the photoelectric equipment to be tested is fixed on the vibration table, and the vibration table is used for fixing the photoelectric equipment to be tested and controlling vibration parameters of the photoelectric product to be tested;
the parallel light imaging module is used for outputting parallel light beams with preset patterns to the to-be-tested photoelectric equipment, the to-be-tested photoelectric equipment is arranged on an optical axis of the parallel light imaging module and is positioned on an imaging surface of the parallel light imaging module, and the to-be-tested photoelectric equipment is used for acquiring imaging images corresponding to the preset patterns on the imaging surface;
the processing equipment is connected with the photoelectric equipment to be tested and is used for acquiring a plurality of imaging image data of corresponding frames based on the vibration parameters and converting the imaging image data into imaging images; the processing device is further used for obtaining offset of the center position of the preset graph in the multiple frames of the imaging images relative to the initial position according to the imaging images, and calculating the stabilizing precision of the photoelectric stabilized sighting system according to the offset.
In one embodiment, the parallel light imaging module comprises: the device comprises a collimator, a differentiation plate and a support table, wherein an objective is arranged in the collimator, a cross-shaped scribing line is carved on the differentiation plate to form a cross-shaped differentiation plate, the cross-shaped differentiation plate is arranged on a focal plane of the objective to form a cross-shaped image, and the collimator is erected on the support table and can be freely adjusted in position on the support table to adapt to imaging of the photoelectric equipment to be measured.
The third aspect, this application still provides a measuring device of measurement system is aimed surely to photoelectricity, measuring device is applied to measurement system is aimed surely to photoelectricity, measurement system is aimed surely to photoelectricity includes parallel light imaging module, shaking table, the optoelectronic equipment that awaits measuring, wherein, the optoelectronic equipment that awaits measuring is fixed on the shaking table, just the optoelectronic equipment that awaits measuring sets up on the optical axis of parallel light imaging module, and is located the imaging surface of parallel light imaging module, wherein, the device includes:
the light source simulation module is used for controlling the parallel light imaging module to output parallel light beams with preset patterns to the photoelectric equipment to be tested so as to acquire imaging images corresponding to the preset patterns;
the image acquisition module is used for setting vibration parameters of the vibration table and acquiring a plurality of imaging images with corresponding frame numbers based on the vibration parameters;
the offset acquisition module is used for acquiring the offset of the central position of the preset graph in the multi-frame imaging image relative to the initial position;
and the precision acquisition module is used for calculating the stability precision of the photoelectric sight stabilizing system according to each offset.
In a fourth aspect, the present application further provides a computer device. Comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of the foregoing measurements by a photo-voltaic stabilized sighting system when executing the computer program.
In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program is executed by a processor to implement the steps of the method for measuring by using any one of the foregoing photoelectric stabilized sighting systems.
In a sixth aspect, the present application further provides a computer program product comprising a computer program, wherein the computer program is configured to, when executed by a processor, implement the steps of the method for measuring by the photo-voltaic stabilized sighting system according to any one of the preceding claims.
According to the measuring method, the measuring system, the measuring device, the computer equipment, the storage medium and the computer program product of the photoelectric sight stabilizing system, the parallel light beam of the preset graph is output to the photoelectric equipment to be measured through the parallel light imaging module, the imaging image corresponding to the preset graph is obtained, the offset of the central position of the preset graph in the imaging image relative to the initial position is calculated, the stability precision of the photoelectric sight stabilizing system is calculated based on the offset, and the effects of simulating a light source and accurately calculating the stability precision of the photoelectric sight stabilizing system are achieved.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a measurement method of a photoelectric sight stabilizing system;
FIG. 2 is a schematic flow chart illustrating a measurement method of the electro-optical stabilized sight system according to an embodiment;
FIG. 3 is a schematic flow chart illustrating a measurement method of the electro-optical stabilized sight system according to an embodiment;
FIG. 4 is a schematic flow chart illustrating a measurement method of the electro-optical stabilized sight system according to an embodiment;
FIG. 5 is a schematic flow chart illustrating a measurement method of the electro-optical stabilized sight system according to an embodiment;
FIG. 6 is a schematic flow chart illustrating a measuring method of the photoelectric sight stabilizing system in another embodiment;
FIG. 7 is a block diagram showing a measuring apparatus of the photoelectric sight stabilizing system according to an embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The measuring method of the photoelectric sight-stabilizing system provided by the embodiment of the application can be applied to the photoelectric sight-stabilizing measuring system shown in fig. 1, and the measuring system comprises a parallel light imaging module 100, a to-be-measured photoelectric device 200, a vibrating table 300 and a processing device 400. The collimator imaging module 100 includes a collimator 102, a differentiation plate 104, and a support table 106, wherein an objective is disposed in the collimator 102, a cross-shaped scribe line is carved on the differentiation plate 104 to form a cross-shaped differentiation plate, the cross-shaped differentiation plate is disposed at the front end of the collimator and on a focal plane of the objective to form a cross-shaped image, and the collimator 102 is erected on the support table and can freely adjust a position on the support table to adapt to imaging of the optoelectronic device to be measured. The processing device 400 comprises a control terminal 402 and a data processing terminal 404, wherein the control terminal 402 is provided with a monitor which can observe the cross target.
Wherein, the steady system of aiming at of the photoelectric of awaiting measuring set up in the photoelectric equipment that awaits measuring, the photoelectric equipment 200 that awaits measuring is fixed on the shaking table 300, the shaking table 300 is used for fixing the photoelectric equipment 100 and the control that await measuring the vibration parameter of the photoelectric product that awaits measuring, parallel light imaging module 100 is used for exporting the parallel beam who predetermines the figure extremely the photoelectric equipment that awaits measuring, the photoelectric equipment 200 that awaits measuring sets up on parallel light imaging module 100's the optical axis, and is located parallel light imaging module's the imaging surface, processing equipment 400 with the photoelectric equipment 200 that awaits measuring connects.
The collimator 102 may be, but not limited to, a coaxial reflective cassegrain-type collimator, the differentiation plate may be a glass differentiation plate, the scribe line on the differentiation plate 104 may be a scribe line with any preset shape, the cross differentiation plate formed by a cross differentiation line is taken as an example for description in the embodiment of the present application, and the vibration table may be an electromagnetic vibration table.
Adopt the stable measurement system that aims of photoelectricity that this application provided to measure stable precision, wherein the parallel light imaging module can effectively solve the light source problem, be applicable to infrared light and visible light, need not to use laser attenuator, and conveniently carry, and through set up the cross differentiation board in order to obtain the cross image at the collimator front end, obtain the position of cross central point through calculating, the problem of image acquisition and data processing accuracy has been solved, the effect that reduces measuring error has been reached, and the computer image recognition technology based on the cross image that this scheme relates to can promote other tests of the same type, application scope is wide.
In one embodiment, as shown in fig. 2, a measurement method of a photoelectric sight-stabilizing system is provided, which is described by taking the method as an example for the system shown in fig. 1, and includes steps 202 to 208:
The parallel light imaging module comprises a coaxial reflection Cassegrain collimator, a cross differentiation plate and a supporting table, the coaxial reflection Cassegrain collimator can be used for simulating targets at infinite distance, the height and the angle of arrangement of the collimator, the cross differentiation plate and the supporting table can be adjusted to adapt to the imaging of the photoelectric product to be detected, and the parallel light imaging module and the vibrating table are placed at a certain distance to avoid the influence of the vibration of the vibrating table on the stability of the parallel light imaging module. The photoelectric equipment is arranged on the optical axis of the parallel light imaging module and is positioned on the imaging surface of the parallel light imaging module, and the photoelectric equipment is provided with a visible light sensor and an infrared sensor to detect the parallel light beams of the preset graph output by the parallel light pipe.
And 204, setting vibration parameters of the vibration table, and acquiring a plurality of imaging images with corresponding frame numbers based on the vibration parameters.
The photoelectric product to be tested is fixed on the vibration table, the vibration parameters comprise a vibration direction, a vibration frequency and a vibration acceleration peak value, the vibration direction can be adjusted by changing the fixed direction of the photoelectric product to be tested on the vibration table, and the vibration frequency and the vibration acceleration peak value can be set through the vibration table.
And starting the photoelectric product to be detected, enabling the photoelectric product to be detected to be in an inertia mode or a small visual field mode, setting corresponding vibration parameters through a vibration table, and adjusting the position of the parallel light imaging module until an operator can clearly observe the cross target in the collimator through a monitor of the processing equipment. The photoelectric device to be tested can acquire the analog light emitted by the parallel light imaging module and convert the analog light into image data, wherein the image data can comprise a plurality of frames of imaging images.
And step 206, acquiring the offset of the central position of the preset graph in the imaging images relative to the initial position.
Wherein, the center position of the preset pattern of each frame of the imaged image can be determined respectively, and the offset amount of the preset pattern relative to the initial position can be determined based on the center position. The multi-frame imaged image may be divided into a plurality of image groups, the initial position may be a center position of a preset pattern of a first frame image of the plurality of image groups, the offset may be an offset in a plurality of directions, and the center position may be, for example, position coordinates in a horizontal direction and a vertical direction, and the offset may be an offset in the horizontal direction and the vertical direction.
And 208, calculating the stabilization precision of the photoelectric stabilized sighting system according to the offset.
The stabilization accuracy is related to the offset of the position, and the stabilization accuracy of the photoelectric stabilized sighting system can be calculated according to each offset.
According to the measuring method of the photoelectric sight stabilizing system, the parallel light beam of the preset graph is output to the photoelectric equipment to be measured through the parallel light imaging module, the imaging image corresponding to the preset graph is obtained, the offset of the central position of the preset graph in the imaging image relative to the initial position is calculated, the stability precision of the photoelectric sight stabilizing system is calculated based on the offset, and the effects of simulating a light source and accurately calculating the stability precision of the photoelectric sight stabilizing system are achieved.
In one embodiment, as shown in fig. 3, the preset graph is a cross target graph, the imaging image is a cross image, and the vibration parameters include vibration direction and vibration frequency. Wherein the acquiring a plurality of the imaging images of corresponding frames based on the vibration parameter includes: and acquiring a plurality of imaging images with corresponding frame numbers under the condition of the same preset vibration direction.
The differentiation plate is carved with a cross differentiation line to form a preset cross target graph, and corresponding multi-frame cross images can be obtained in the same preset vibration direction.
The acquiring offset of the center position of the preset pattern in the multiple frames of the imaging images relative to the initial position comprises steps 302-306:
The total vibration time of the optoelectronic device to be tested in the preset direction can be divided into a plurality of time periods. Optionally, the step length of the preset time period may be one second, a plurality of imaging images are correspondingly acquired in each second to form a cross image group, the total number of the divided time periods is recorded as M, and the number of frames of the cross images included in each time period is N.
Aiming at the cross image group corresponding to each second, the first position of the cross center point of the multi-frame cross image of each cross image group can be respectively obtained, and the first position of the cross center point of the corresponding first frame cross image in each second is used as the initial position of the cross image group.
The first position information includes a first direction position coordinate and a second direction position coordinate, the first direction may be a horizontal direction, the second direction may be a vertical direction, and a first pixel shift amount in the horizontal direction and a second pixel shift amount in the vertical direction may be calculated based on the first position of the cross image of each cross image group.
Marking the horizontal first position as X(j,i,H)The vertical direction first position is marked as X(j,i,V)And the coordinate of the initial position in the horizontal direction is recorded as X(j,0,H)And the coordinate in the vertical direction of the initial position is recorded as X(j,0,V)Then said first pixel offset is denoted as X(j,i,H)-X(j,0,H)The second pixel offset is represented as X(j,i,V)-X(j,0,V)。
Wherein X represents a first position coordinate of a cross center point, j represents a jth time period in the total vibration time in the preset direction, i represents an ith frame image in the jth time period, and X(j,i,H)Represents the horizontal position coordinate, X, of the cross center of the i-th frame cross image in the j-th time period(j,i,V)A vertical position coordinate, X, representing the cross center of the ith frame cross image in the jth time period(j,0,H)Represents the horizontal position coordinate, X, of the cross center of the first frame cross image in the jth time period(j,0,V)And the vertical direction position coordinates of the cross center of the first frame cross image in the jth time period are shown.
In this embodiment, a cross image is formed by carving a cross differentiation line on a differentiation plate, and the obtained multi-frame cross image is divided into a plurality of cross image groups, and the positions of the cross center points of the multi-frame cross images in the plurality of cross image groups are respectively determined, so that the effect of determining the first pixel offset in the horizontal direction and the second pixel offset in the vertical direction according to the positions of the cross center points is achieved.
In one embodiment, as shown in fig. 4, the calculating the stabilization accuracy of the photoelectric stabilized sighting system according to each offset includes steps 402 to 408:
Recording a first stable precision in the jth time period as deltaS(j,H)The solution to the first stabilization precision may be expressed as:
Recording a second stable precision in the jth time period as deltaS(j,V)The solution to the second stability precision may be expressed as:
And obtaining a square sum result of the first stable precision and the second stable precision in the same preset time period, and performing evolution processing on the square sum result to obtain the intra-period stable precision in the same preset time period.
The stabilization precision in each time period comprises a first stabilization precision in the horizontal direction and a second stabilization precision in the vertical direction, the in-period stabilization precision of each time period is related to the first stabilization precision and the second stabilization precision, and the in-period stabilization precision of the jth time period is recorded as deltaSjThe solution of the intra-segment stability accuracy may be expressed as:
and step 408, acquiring the stability precision in the preset vibration direction according to the stability precision in the section and the number of the cross image groups.
And performing root mean square value processing on the stability accuracy in a plurality of total sections to acquire the stability accuracy in a preset vibration direction, wherein the average processing of the root mean square value processing is related to the number of the cross image groups.
The total vibration time in the preset vibration direction is divided into M time periods, each time period corresponds to one group of cross images, the total stability accuracy Δ S of the photoelectric product to be measured in the preset direction can be calculated according to the intra-period accuracy of the time periods and the number M of the cross image groups, and the solution of the total stability accuracy Δ S in the preset direction can be represented as:
in this embodiment, the first and second stabilization accuracies of the time period are calculated according to the first and second pixel offsets of the plurality of preset time periods, respectively, and the intra-segment stabilization accuracy of the time period is calculated according to the first and second stabilization accuracies, so that the effect of calculating the total stabilization accuracy in the preset direction based on the intra-segment stabilization accuracy of the intra-segment time period and the number of the cross image groups is achieved.
In one embodiment, when the number of the preset vibration directions is plural, the vibration directions include a first axial direction, a second axial direction, and a third axial direction, wherein the method further includes:
correspondingly acquiring a first axial stability precision in a first axial direction, a second axial stability precision in a second axial direction and a third axial stability precision in a third axial direction respectively; and obtaining the stable precision of the sight stabilizing system according to the average value of the first axial stable precision, the second axial stable precision and the third axial stable precision.
The preset vibration direction may be one or more, the change of the vibration direction may be achieved by changing a position and an angle of the optoelectronic device to be tested on the vibration table, in this embodiment of the application, the preset direction is taken as three directions, i.e., a first axial direction, a second axial direction, and a third axial direction, as an example, the first axial direction may be an X axis, the second axial direction may be a Y axis, and the third axial direction may be a Z axis, the optoelectronic device is tested based on the first axial direction, the second axial direction, and the third axial direction, respectively, to obtain a first axial stability precision Δ S1, a second axial stability precision Δ S2, and a third axial stability precision Δ S3, and then the stability precision δ of the optoelectronic sighting system may be expressed as:
δ＝ΔS1+ΔS2+ΔS3 (5)
in this embodiment, vibration tests in three different directions are performed on the to-be-measured optoelectronic device, so as to obtain the first axial stability precision, the second axial stability precision and the third axial stability precision, and the average value of the first axial stability precision, the second axial stability precision and the third axial stability precision is solved to obtain the stability precision of the stabilized sighting system, so that the particularity of the stability precision in a specific direction is avoided, and an effect of making a measurement result more accurate is achieved.
In one embodiment, as shown in fig. 5, the acquiring of the first position of the center point of the cross of each frame of the cross image respectively includes steps 502 to 506:
The system comprises a parallel light imaging module, a data processing terminal and a control terminal, wherein the parallel light imaging module can be received by the photoelectric product to be detected after emitting parallel light and converts the parallel light into image data, the control terminal can emit an instruction, the photoelectric equipment sends the image data to the data processing terminal after receiving the instruction, the data processing terminal converts the image data into a format with readable algorithm, such as any video format, the video comprises a plurality of frames of cross images, and the data processing terminal can convert the plurality of frames of cross images into a gray image and then convert the gray image into a binary image.
And the data processing terminal respectively identifies the image pixel numbers of the cross figures of the plurality of frames of cross images in the horizontal direction and the vertical direction to obtain a first pixel number and a second pixel number.
And the data processing terminal determines the position coordinate of the central point of the cross in the horizontal direction and the position coordinate of the central point of the cross in the vertical direction based on the first pixel number and the second pixel number respectively, and combines the position coordinate of the central point of the cross in the horizontal direction and the position coordinate of the central point of the cross in the vertical direction to be used as the first position coordinate.
In the implementation, the obtained multi-frame cross image is subjected to binarization processing, so that the effect of determining the position of the cross center point in the multi-frame cross image based on the binary image is achieved.
In one embodiment, a measurement method of a photoelectric sight-stabilizing system is provided, which is applied to the measurement system of the sight-stabilizing system shown in fig. 1 as an example, and includes steps 602 to 618:
Wherein, X1(j,i,H)X1 representing the horizontal position coordinate of the center of the cross in the ith frame of cross image in the jth time period in the first axial direction(j,i,V)X1, which represents the vertical position coordinate of the center of the cross in the ith frame of cross image in the jth time period in the first axial direction(j,0,H)X1, which represents the horizontal position coordinate of the center of the cross of the first frame cross image in the first axial jth time period(j,0,V)Denotes the vertical position coordinate, Δ S1, of the cross center of the first frame cross image in the first axial jth time segment(j,H)Represents the horizontal direction stability accuracy of the jth time segment in the first axis, Δ S1(j,V)Represents the vertical stability accuracy of the jth time segment in the first axis, Δ S1jThe in-segment stabilization accuracy of the jth time segment in the first axis is shown, and Δ S1 shows the stabilization accuracy of the first axis.
And 608, acquiring multiple frames of second imaging images under the vibration condition of the second axial direction.
Wherein, X2(j,i,H)X2 representing the horizontal position coordinate of the center of the cross in the ith frame of cross image in the jth time period in the second axial direction(j,i,V)X2 representing the vertical position coordinate of the center of the cross in the ith frame of cross image in the jth time period in the second axial direction(j,0,H)X2 representing the horizontal position coordinate of the center of the cross of the first frame cross image in the second axial jth time period(j,0,V)Denotes the vertical position coordinate, Δ S2, of the cross center of the first frame cross image in the second axial jth time segment(j,H)Represents the horizontal direction stability accuracy of the jth time segment in the second axial direction, Δ S2(j,V)Represents the vertical stability accuracy of the jth time segment in the second axial direction, Δ S2jThe intra-segment stabilization accuracy of the jth time segment in the second axial direction is indicated, and Δ S2 indicates the stabilization accuracy of the second axial direction.
And 612, acquiring multiple frames of third imaging images under the vibration condition in the third axial direction.
Wherein, X3(j,i,H)X3 representing the horizontal position coordinate of the center of the cross in the ith frame cross image in the jth time period from the third axis(j,i,V)X3 representing the vertical position coordinate of the center of the cross in the ith frame cross image in the jth time period from the third axis(j,0,H)X3 representing the horizontal position coordinate of the center of the cross of the first frame cross image in the jth time period from the third axis(j,0,V)Denotes the vertical position coordinate, Δ S3, of the cross center of the first frame cross image in the jth time period from the third axis(j,H)Represents the horizontal direction stability accuracy of the jth time period in the third axis, Δ S3(j,V)Represents the vertical stability accuracy of the jth time segment in the third axis, Δ S3jThe in-segment stabilization accuracy of the jth time segment in the third axis is shown, and Δ S3 shows the stabilization accuracy of the third axis.
And 616, acquiring the stable precision of the stabilized sighting system according to the average value of the first axial stable precision, the second axial stable precision and the third axial stable precision.
The stability accuracy δ of the photoelectric sight stabilizing system can be expressed as:
δ＝ΔS1+ΔS2+ΔS3 (5)
in this embodiment, the optoelectronic device to be tested is tested in three different preset vibration directions, the corresponding multi-frame imaging images are respectively obtained, the multi-frame imaging images are divided into a plurality of cross image groups, intra-segment stability accuracy is obtained by calculation based on each imaging image group, the stability accuracy in each direction is obtained by calculation based on the cross image group included in each direction, the obtained stability accuracy in three directions is averaged to obtain the stability accuracy value of the optoelectronic sighting system, and the result of accurately calculating the stability accuracy of the optoelectronic sighting system to be tested is achieved.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
With continued reference to fig. 1, in one embodiment, there is provided a photoelectric stabilized sight measurement system, the system comprising: parallel light imaging module, shaking table, processing apparatus and the optoelectronic device that awaits measuring, wherein:
the photoelectric equipment to be tested is fixed on the vibration table, and the vibration table is used for fixing the photoelectric equipment to be tested and controlling vibration parameters of the photoelectric product to be tested.
The utility model discloses a photoelectric equipment that awaits measuring, including parallel light imaging module, image plane, photoelectric equipment that awaits measuring, parallel light imaging module are used for exporting the parallel light beam who predetermines the figure extremely the photoelectric equipment that awaits measuring, the photoelectric equipment that awaits measuring sets up on parallel light imaging module's the optical axis, and is located parallel light imaging module's image plane, the photoelectric equipment that awaits measuring is used for the image plane acquire with predetermine the image that the figure corresponds.
The processing equipment is connected with the photoelectric equipment to be tested and is used for acquiring a plurality of imaging image data of corresponding frames based on the vibration parameters and converting the imaging image data into imaging images; the processing device is further used for obtaining offset of the center position of the preset graph in the multiple frames of the imaging images relative to the initial position according to the imaging images, and calculating the stabilizing precision of the photoelectric stabilized sighting system according to the offset.
Wherein, the parallel light optical imaging module includes: the device comprises a collimator, a differentiation plate and a support table, wherein an objective is arranged in the collimator, a cross-shaped scribing line is carved on the differentiation plate to form a cross-shaped differentiation plate, the cross-shaped differentiation plate is arranged on a focal plane of the objective to form a cross-shaped image, and the collimator is erected on the support table and can be freely adjusted in position on the support table to adapt to imaging of the photoelectric equipment to be measured.
Based on the same inventive concept, the embodiment of the present application further provides a measuring apparatus for implementing the measuring method of the photoelectric sight stabilizing system. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so specific limitations in one or more embodiments of the measurement device provided below can be referred to the limitations of the measurement method of the photoelectric sight-stabilizing system in the foregoing, and details are not described here.
In one embodiment, as shown in fig. 7, there is provided a measuring device of a photoelectric sight stabilizing system, including: a light source simulation module 702, an image acquisition module 704, an offset acquisition module 706, and a precision acquisition module 708, wherein:
the light source simulation module 702 is configured to control the parallel light imaging module to output a parallel light beam with a preset pattern to the optoelectronic device to be tested, so as to obtain an imaging image corresponding to the preset pattern.
And an image obtaining module 704, configured to set a vibration parameter of the vibration table, and obtain a plurality of the imaging images of corresponding frames based on the vibration parameter.
An offset obtaining module 706, configured to obtain an offset of a center position of the preset pattern in the multiple frames of the imaging images with respect to an initial position.
And the precision obtaining module 708 is configured to calculate a stabilization precision of the photoelectric stabilized sighting system according to each offset.
In this embodiment, the light source simulation module controls the parallel light imaging module to output the parallel light beam with the preset pattern to the optoelectronic device to be measured, the image acquisition module acquires an imaging image corresponding to the preset pattern, the offset acquisition module calculates an offset of a central position of the preset pattern in the imaging image relative to an initial position, and the precision acquisition module calculates the stability precision of the photoelectric sight stabilizing system based on the offset, so that the effects of simulating the light source and accurately calculating the stability precision of the photoelectric sight stabilizing system are achieved.
In one embodiment, the preset graph is a cross target graph, the imaging image is a cross image, and the vibration parameter includes a vibration direction and a vibration frequency, where the obtaining of the plurality of imaging images of corresponding frames based on the vibration parameter includes: and acquiring a plurality of imaging images with corresponding frame numbers under the condition of the same preset vibration direction.
The differentiation plate is carved with a cross differentiation line to form a preset cross target graph, and corresponding multi-frame cross images can be obtained in the same preset vibration direction.
The offset obtaining module 706 is configured to obtain an offset of a center position of the preset pattern in the multiple frames of the imaging images with respect to an initial position, and includes:
respectively acquiring a plurality of cross image groups according to a preset time period, wherein each cross image group comprises a plurality of frames of cross images;
correspondingly acquiring a first position of a cross center point of each frame of cross image for each cross image group, and taking the first position of a first frame of cross image in the cross image group as an initial position of each cross image group;
and respectively acquiring a first pixel offset in a first direction and a second pixel offset in a second direction of each cross image group according to the first position and the initial position of each cross image in each cross image group.
In one embodiment, the precision obtaining module 708 is configured to calculate a stabilization precision of the photoelectric stabilized sighting system according to each offset, and includes:
acquiring first stabilization precision within a corresponding preset time period according to the first pixel offset of each cross image group, and acquiring second stabilization precision within a corresponding preset time period according to the second pixel offset of each cross image group;
acquiring the intra-segment stable precision within the same preset time period aiming at the first stable precision and the second stable precision within the same preset time period;
and acquiring the stability precision in the preset vibration direction according to the stability precision in the section and the number of the cross image groups.
In one embodiment, when the number of the preset vibration directions is multiple, the vibration directions include a first axial direction, a second axial direction, and a third axial direction, wherein the precision obtaining module 708 is further configured to:
correspondingly acquiring a first axial stability precision in a first axial direction, a second axial stability precision in a second axial direction and a third axial stability precision in a third axial direction respectively; and obtaining the stable precision of the sight stabilizing system according to the average value of the first axial stable precision, the second axial stable precision and the third axial stable precision.
In one embodiment, the image obtaining module 702 is further configured to obtain a plurality of the imaging images of a corresponding frame number based on the vibration parameter, and includes:
acquiring a plurality of frames of first imaging images under the vibration condition in the first axial direction; acquiring a plurality of frames of second imaging images under the vibration condition in the second axial direction; and acquiring a plurality of frames of third imaging images under the vibration condition of the third axial direction.
In one embodiment, the precision obtaining module 708 is further configured to:
acquiring the first axial stability precision based on the offset of the central position of each of the ten digital images in the first imaging images of a plurality of frames relative to the initial position; acquiring the second axial stability precision based on the offset of the central position of each of the ten-digital images in the second imaging images relative to the initial position; and acquiring the third axial stability precision based on the offset of the central position of each of the ten digital images in the third imaging images relative to the initial position.
In an embodiment, the offset obtaining module 706 is further configured to obtain a first position of a cross center point of each frame of the cross image, respectively, and includes:
for each frame of the cross image, converting the cross image into a binary image;
performing boundary extraction processing on the binary image to respectively acquire a first pixel of the cross image in the first direction and a second pixel of the cross image in the second direction;
and acquiring the first position of the cross image according to the first pixel and the second pixel.
All or part of the modules in the measuring device of the photoelectric sight stabilizing system can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a measurement method of a photoelectric sight stabilizing system. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of the foregoing optoelectronic stabilized sighting system measurements when executing the computer program.
In an embodiment, a computer-readable storage medium is further provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for measuring by any one of the aforementioned optoelectronic stabilized sighting systems.
In an embodiment, a computer program product is also provided, which comprises a computer program, wherein the computer program is configured to, when executed by a processor, implement the steps of the method for measuring by any one of the aforementioned optoelectronic stabilized sighting systems.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. The utility model provides a measurement method of measurement system is aimed steadily to photoelectricity, its characterized in that, measurement system is aimed steadily to photoelectricity includes parallel light imaging module, shaking table, the optoelectronic equipment that awaits measuring, wherein, the optoelectronic equipment that awaits measuring is fixed on the shaking table, just the optoelectronic equipment that awaits measuring sets up on the optical axis of parallel light imaging module, and is located the imaging plane of parallel light imaging module, wherein, the method includes:
controlling the parallel light imaging module to output parallel light beams with preset patterns to the to-be-tested photoelectric equipment so as to acquire imaging images corresponding to the preset patterns;
setting vibration parameters of the vibration table, and acquiring a plurality of imaging images with corresponding frame numbers based on the vibration parameters;
acquiring the offset of the central position of the preset graph in the imaging images of multiple frames relative to the initial position;
and calculating the stability precision of the photoelectric sight stabilizing system according to each offset.
2. The method according to claim 1, wherein the preset pattern is a cross target pattern, the imaging image is a cross image, the vibration parameters include vibration direction and vibration frequency, and the obtaining the plurality of imaging images of the corresponding frame number based on the vibration parameters includes:
and acquiring a plurality of imaging images with corresponding frame numbers under the condition of the same preset vibration direction.
3. The method according to claim 2, wherein the obtaining a plurality of frames of the offset of the center position of the preset pattern in the imaged image relative to the initial position comprises:
respectively acquiring a plurality of cross image groups according to a preset time period, wherein each cross image group comprises a plurality of frames of cross images;
correspondingly acquiring a first position of a cross center point of each frame of cross image for each cross image group, and taking the first position of a first frame of cross image in the cross image group as an initial position of each cross image group;
and respectively acquiring a first pixel offset in a first direction and a second pixel offset in a second direction of each cross image group according to the first position and the initial position of each cross image in each cross image group.
4. The method of claim 3, wherein said calculating a settling accuracy of said electro-optical stabilizing system based on each of said offsets comprises:
acquiring first stabilization precision within a corresponding preset time period according to the first pixel offset of each cross image group;
acquiring second stabilization precision within a corresponding preset time period according to the second pixel offset of each cross image group;
acquiring the intra-segment stable precision within the same preset time period aiming at the first stable precision and the second stable precision within the same preset time period;
and acquiring the stability precision in the preset vibration direction according to the stability precision in the section and the number of the cross image groups.
5. The method according to claim 4, wherein the obtaining the intra-segment stabilization precision for the first stabilization precision and the second stabilization precision within the same preset time period comprises:
obtaining the square sum result of the first stable precision and the second stable precision in the same preset time period;
performing evolution processing on the square sum result to obtain the intra-segment stable precision in the same preset time period;
the acquiring of the stabilization precision in the preset vibration direction according to the intra-segment stabilization precision and the number of the cross image groups comprises:
and performing root mean square value processing on the plurality of intra-segment stabilization precisions to acquire the stabilization precision in a preset vibration direction, wherein the average processing of the root mean square value processing is related to the number of the cross image groups.
6. The method according to claim 2, wherein when the number of the preset vibration directions is plural, the vibration directions include a first axial direction, a second axial direction, and a third axial direction, wherein the method further comprises:
correspondingly acquiring a first axial stability precision in a first axial direction, a second axial stability precision in a second axial direction and a third axial stability precision in a third axial direction respectively;
and obtaining the stable precision of the sight stabilizing system according to the average value of the first axial stable precision, the second axial stable precision and the third axial stable precision.
7. The method of claim 6, wherein said obtaining a plurality of said imaging images for a corresponding number of frames based on said vibration parameter comprises:
acquiring a plurality of frames of first imaging images under the vibration condition in the first axial direction;
acquiring a plurality of frames of second imaging images under the vibration condition in the second axial direction;
acquiring a plurality of frames of third imaging images under the vibration condition in the third axial direction;
the correspondingly acquiring a first axial stability accuracy in a first axial direction, a second axial stability accuracy in a second axial direction, and a third axial stability accuracy in a third axial direction, respectively, includes:
acquiring the first axial stability precision based on the offset of the central position of each of the ten digital images in the first imaging images of a plurality of frames relative to the initial position;
acquiring the second axial stability precision based on the offset of the central position of each of the ten-digital images in the second imaging images relative to the initial position;
and acquiring the third axial stability precision based on the offset of the central position of each of the ten digital images in the third imaging images relative to the initial position.
8. The method according to claim 3, wherein the respectively acquiring the first position of the cross center point of each frame of the cross image comprises:
for each frame of the cross image, converting the cross image into a binary image;
performing boundary extraction processing on the binary image to respectively acquire a first pixel of the cross image in the first direction and a second pixel of the cross image in the second direction;
and acquiring the first position of the cross image according to the first pixel and the second pixel.
9. A photoelectric stabilized sight measurement system, comprising: parallel light imaging module, shaking table, processing apparatus and the optoelectronic device that awaits measuring, wherein:
the photoelectric equipment to be tested is fixed on the vibration table, and the vibration table is used for fixing the photoelectric equipment to be tested and controlling vibration parameters of the photoelectric product to be tested;
the parallel light imaging module is used for outputting parallel light beams with preset patterns to the to-be-tested photoelectric equipment, the to-be-tested photoelectric equipment is arranged on an optical axis of the parallel light imaging module and is positioned on an imaging surface of the parallel light imaging module, and the to-be-tested photoelectric equipment is used for acquiring imaging images corresponding to the preset patterns on the imaging surface;
the processing equipment is connected with the photoelectric equipment to be tested and is used for acquiring a plurality of imaging image data of corresponding frames based on the vibration parameters and converting the imaging image data into imaging images; the processing device is further used for obtaining offset of the center position of the preset graph in the multiple frames of the imaging images relative to the initial position according to the imaging images, and calculating the stabilizing precision of the photoelectric stabilized sighting system according to the offset.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 9 when executed by a processor.
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