CN114397021A - Night tracker and image forming method thereof - Google Patents
Night tracker and image forming method thereof Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The invention discloses a night tracker and an image forming method thereof, wherein the night tracker comprises a shell part, a front end part, a rear end part, an upper cover part, a millimeter wave radar part and an internal structure part, wherein the front end part is a thermal imaging sensing system, the rear end part is a VR display module, the upper cover part is a power supply control system, the millimeter wave radar part is used for target tracking detection, the night detection capability is improved, and the internal structure part is integrated with an image acquisition system, an image processing system and a power supply; the infrared thermal imaging night tracker has 940nm infrared emission capability and infrared thermal imaging capability, improves the maneuverability of the night tracker, and can be applied to civil fields of law enforcement, hunting, field observation, monitoring, safety, navigation, hidden target observation, entertainment and the like.
Description
Technical Field
The invention relates to the technical field of night trackers, in particular to a night tracker and an image forming method thereof.
Background
Compared with foreign countries, the research on night tracker technology starts late in China. The night tracker is an instrument for observing a target in a dark environment, and is generally classified into an infrared night tracker and a low-light night tracker. The infrared night tracker is a night tracking instrument using photoelectric conversion technology. It is divided into two types, active and passive: the former uses an infrared searchlight to irradiate a target and receives reflected infrared radiation to form an image; the latter do not emit infrared rays and rely on the infrared radiation of the target itself to form a "thermal image", so it is also called a "thermal imager". The low-light night tracker is a night observation instrument which enhances the low light reflected by a target through an image intensifier so that human eyes can see the target image. The low-light night tracker does not need an active light source, and is a passive imaging system.
Night vision technology research work in the military field of China is developed rapidly, but the night vision technology research work is not well done in the aspect of expanding the civil field, and particularly, intelligent night vision systems applied to the aspect of agricultural cultivation are lacked at present. Conventional infrared night trackers are generally based on LCD viewfinders and electronic picture tube displays, which are power hungry and have radiation that is not only harmful to vision, but also easily damaged.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a night tracker and an image forming method thereof, which solve the problems of high power consumption, radiation, eyesight damage and easy damage of the traditional infrared night tracker caused by the adoption of an LCD viewfinder and an electronic picture tube.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
there is provided a night tracker including a housing portion, a front end portion, a rear end portion, an upper cover portion, a millimeter wave radar portion, an internal structure portion;
the shell part comprises a night tracker main shell, the top and two sides in the length direction of the night tracker main shell are provided with openings, and the front and the back are provided with a plurality of heat dissipation holes; the top of the night tracker main shell is provided with a night tracker upper cover, and the two sides of the night tracker main shell in the length direction are respectively provided with a night tracker front shell and a night tracker rear shell;
the front end part comprises a thermal imaging sensor arranged in an opening at one side of the main night tracker shell in the length direction, and the front end of the thermal imaging sensor is covered by the front night tracker shell;
the rear end part comprises a VR display module and an MIPI screen interface board which are arranged in an opening on the other side of the night tracker main shell in the length direction, and the night tracker rear shell covers the rear ends of the VR display module and the MIPI screen interface board; the VR display module is two OLED independent screens;
an upper cover portion is disposed on top of the night tracker upper cover;
the millimeter wave radar part is arranged at the top of the upper cover of the night tracker and is used for detecting the position of a long-distance target observed by the night tracker and measuring the position and the speed of the detected target;
the internal structure part comprises a binocular electric zoom camera, a lithium battery module and a main control board which are arranged in the main shell of the night tracker; the binocular electric zoom camera is electrically connected with the lithium battery module through the main control board to form a binocular infrared camera part; the lithium battery module is a lithium iron phosphate battery.
The thermal imaging sensor is electrically connected with the main control board through the adapter plate to form a thermal imaging sensor part; VR display module and MIPI screen interface board and HDMI change DSI interface board and main control board are connected and are constituteed VR display system.
Furthermore, the front end part also comprises an aluminum alloy radiating fin in an opening at one side of the main shell of the night tracker in the length direction, and an infrared lamp panel and the thermal imaging sensor are arranged on the aluminum alloy radiating fin; the infrared lamp plate with lithium battery module electric connection, thermal imaging sensor's anterior segment is provided with the germanium mirror.
The inside turbine fan that is provided with shown lithium cell module electric connection of tracker main casing night.
The germanium mirror can provide visible light filtration for the thermal imaging sensor, and is selected as a germanium coated lens which passes infrared rays and has the wavelength of 7-14 microns in the invention; the thermal imaging sensor is switched into a USB camera through the adapter plate and is connected with the main control board to process the collected infrared image. The infrared lamp plate adopts low red LED, can be difficult to be perceived by people's eye under the night environment and discover. Through giving infrared ray lamp plate installation aluminum alloy fin to combine the turbofan in night tracker casing inside to dispel the heat, can make night tracker adaptation long-time work.
Further, the millimeter wave radar section includes a radar section and a pan/tilt head;
the radar part comprises a millimeter wave radar front shell, a millimeter wave radar main board, a millimeter wave radar shielding rear shell and a millimeter wave radar rear shell; the millimeter wave radar front shell and the millimeter wave radar rear shell are fixedly connected through screws, the millimeter wave radar shielding rear shell is arranged at the rear end of the millimeter wave radar rear shell, and the millimeter wave radar main board is arranged between the millimeter wave radar front shell and the millimeter wave radar rear shell and is fixed on the millimeter wave radar shielding rear shell through screws; the millimeter wave radar main board is electrically connected with the main control board through a high-speed CAN bus;
the holder is arranged on the millimeter wave radar shielding rear shell, and the control of the rotation angle of the radar part is realized through the holder.
The cradle head mainly comprises a cradle head right side support, a cradle head clamp, a cradle head second shaft servo steering engine, a cradle head first shaft servo steering engine, a cradle head left side support and a cradle head base; the servo steering engine of cloud platform second shaft is fixed on cloud platform anchor clamps, and the servo steering engine output shaft of cloud platform second shaft is connected with cloud platform right side support, and cloud platform left side support is connected fixedly with cloud platform right side support simultaneously the servo steering engine of cloud platform first shaft.
The radar part can adopt a 77GHz mid-range or long-range radar, and the detection range can be about 70 to 100 meters.
The radar part is fixed on the two-axis steering engine holder, and the control of an upper rotating angle, a lower rotating angle and a left rotating angle can be realized through PWM signals. The radar part can be used for detecting the position of a long-distance target observed by the night tracker, and can measure the position and the speed of the detected target.
Furthermore, the upper cover part comprises a false touch prevention circuit, a 3.6V-to-13.6V power module, a 3.6V-to-12V power module, a 3.6V-to-5V power module, a touch power switch module, a control rocker, a TF card holder module, a double-color LED indicator lamp and a QC3.0 interface module, wherein the false touch prevention circuit is arranged on the lower end face of the upper cover of the night tracker and is electrically connected with the lithium battery module;
the false touch prevention circuit 401 is used for ensuring that the touch power switch circuit is not triggered by a false touch under the condition of short press; the power supply module for converting 3.6V into 13.6V is used for providing 13.6V power supply for the infrared lamp panel;
the power supply module for converting 3.6V into 12V is used for providing a 12V power supply for the millimeter wave radar part;
the 3.6V to 5V power supply module is used for supplying power to the main control board;
the power module for converting 3.6V into 13.6V, the power module for converting 3.6V into 12V and the power module for converting 3.6V into 5V are all provided with enabling interfaces, and output is controlled through external signals;
the touch power switch module is a TP223 touch detection IC and is used for outputting a pulse high level or pulse low level signal during touch;
the control rocker is a potentiometer type rocker and is used for controlling the rotation angles of the holder and the electric zooming camera;
the TF card seat module is used for prolonging a TF card interface of the main control board;
the double-color LED indicator lamp is connected with the quick charging module and the 3.6V-to-5V power supply module and is used for displaying charging and power supply starting states;
the QC3.0 interface module is used for connecting an external charger, and the quick charging chip is integrated on the QC3.0 interface module, and the quick charging head is triggered to output the quick charging voltage by performing quick charging protocol handshake with the charger.
Furthermore, the internal structure part also comprises an M2 bi-pass fixed copper column, a main fixed bracket, a quick charging module, an HDMI-to-DSI interface board, an STM32 control board, an M3 single-pass fixed copper column, an M3 bi-pass fixed copper column 510 and a power relay module which are arranged in the main shell of the night tracker;
the binocular electric zoom camera is fixed on the main fixing support through the M2 bi-pass fixing copper columns;
the quick charging module is electrically connected with the lithium battery module through the QC3.0 interface module; the QC3.0 interface module is used for connecting an external 18W quick QC3.0 charger, and the quick charging module is used for converting a 12V 1.5A quick charging source output by the QC3.0 interface module into a 3.6V 5A lithium battery module charging source;
the HDMI to DSI interface board is electrically connected with the main control board through HDMI, converts the HDMI interface into MIPI-DSI serial display interface, and is connected with the VR display module through the MIPI screen interface board;
the STM32 control board is fixedly connected with the main control board through the M3 single-way fixed copper column; the binocular electric zoom camera and the millimeter wave radar main board are electrically connected with the main control board through an STM32 control board;
the touch power supply switch module is connected to the power supply relay module through the false touch prevention circuit, a switch relay is designed on the power supply relay module, and a main power supply of the night tracker is controlled through a touch signal; the turbofan is electrically connected with the STM32 control board.
Further, the master control board is integrated with a video processing SOC chip, a double-path MIPI camera interface used for connecting the binocular electric zoom camera, a USB interface used for connecting the thermal imaging sensor, GPIO expansion and an HDMI interface used for connecting the VR display module.
The invention also provides an image forming method of the night tracker, which is characterized by comprising a binocular electric zoom camera image forming method, a thermal imaging sensor image forming method and a VR display system image forming method;
the binocular electric zoom camera image forming method carries out automatic light supplement adjustment and automatic noise reduction on an original image acquired by the binocular electric zoom camera through Gaussian blur and filtering, and outputs a processed stereo image to a VR display system in a superposition manner;
the thermal imaging sensor image forming method comprises the steps of converting a colorful original image into a gray image, performing wavelet transformation on the gray image to realize low-resolution image enhancement, converting the enhanced gray image into a pseudo-color image, outputting the pseudo-color image to a VR display system, and outputting the pseudo-color image to the VR display system;
the VR display system image forming method achieves double effects of night vision and infrared thermography by carrying out image fusion on a received three-dimensional image overlapped in the binocular electric zoom camera and a pseudo-color image in the thermal imaging sensor.
Further, the binocular electric zoom camera image forming method comprises the following steps:
step (1): when the binocular electric zoom camera works, acquiring an original image of the left infrared camera and an original image of the right infrared camera;
step (2): the original images of the two channels output two illumination values to an illumination comprehensive system through illumination analysis of a left camera and the right camera, namely left illumination comprehensive fuzzy threshold and filter threshold control and left illumination comprehensive fuzzy threshold and filter threshold control;
and (3): the original images of the two channels are subjected to left side Gaussian blur and right side Gaussian blur;
and (4): the blurred image is subjected to image sharpening enhancement through a left Laplace filter and a right Laplace filter;
and (5): the two illumination integrated systems read the analog quantities of the left CDS photoresistor and the right CDS photoresistor, realize automatic adjustment of Gaussian fuzzy threshold values and filter threshold values of the two channels according to ambient illumination, and realize automatic light supplement adjustment and automatic noise reduction under a night vision environment by left light supplement control and right light supplement control;
and (6): the filtered images are subjected to stereo image superposition through an infrared binocular stereo image superposition algorithm and are output to the VR module through a binocular superposition image input module to be displayed.
The invention has the beneficial effects that: 1. the general night tracker is generally a single imaging lens and a single viewfinder, so that the night tracker is not very friendly to long-time observation.
2. The traditional night tracker generally adopts an ARM processor to realize image processing, so that the processing speed is low, the observation under a high-speed moving target is not facilitated, and the image enhancement performance of the night tracker can be further improved by adopting a special image processing SOC chip.
3. The traditional night tracker does not have the functions of target distance measurement, speed measurement and auxiliary positioning generally, and a 77GHz millimeter wave radar is adopted as target tracking detection in the invention, so that the detection capability of the night tracker on moving objects can be improved. And may communicate with STM32 via a CAN bus. Be provided with two axis radar cloud platforms for adjusting radar antenna angle, drive through STM32 control panel.
4. In order to facilitate the night tracker to observe objects at far and near positions, the binocular electric zoom camera is adopted, infrared red storm is reduced through the germanium mirror and the infrared lamp panel, and the infrared red storm can not be easily detected by human eyes in a night environment.
5. In order to control and drive the motorized zoom lens and the radar pan-tilt, the invention is provided with the STM32 control panel, so that the motor motion control can be realized. In addition, the STM32 control panel is also provided with a GPS, a temperature and humidity sensor, an IMU and an electronic compass, so that the longitude and latitude, the temperature, the humidity, the altitude, the gravity acceleration and the direction angle of the environment can be displayed on a VR display in real time, and the intelligent control of the night tracker system can be realized through a multi-sensor fusion technology.
6. The traditional night tracker has weak battery endurance and low charging speed, the invention provides a low-voltage quick charging scheme aiming at the problem, and for frequent safety accidents of lithium batteries, the invention selects a lithium iron phosphate battery monomer as a power supply, and the charging time can be shortened by a QC3.0 quick charging technology.
Drawings
FIG. 1 is a schematic diagram of a partial explosion configuration of an outer housing portion of the night tracker.
Fig. 2 is a schematic diagram of a partial explosion structure of a front end portion of the night tracker.
Fig. 3 is a schematic diagram of a partial explosion configuration of the rear end portion of the night tracker.
Fig. 4 is a schematic diagram of a partial explosion configuration of the upper cover portion of the night tracker.
Fig. 5 is a schematic diagram of a partial explosion structure of a millimeter wave radar part in the night tracker.
Fig. 6 is a schematic diagram of a partial explosion structure of an internal structure part in the night tracker.
Fig. 7 is a flowchart of image formation of a binocular motorized zoom camera in the night tracker.
FIG. 8 is a flow chart of thermal imaging sensor image formation in the night tracker.
FIG. 9 is a flow chart of image formation for a VR display system in a night tracker
11, a night tracker front shell; 12. a night tracker main housing; 13. an upper cover of the night tracker; 14. a night tracker rear housing; 101. a germanium mirror; 102. a thermal imaging sensor; 103. an infrared lamp panel; 104. an aluminum alloy heat sink; 201. a VR display module; 202. an MIPI screen interface board; 301. a millimeter wave radar front shell; 302. a millimeter wave radar main board; 303. a millimeter wave radar shielding rear shell; 304. a millimeter wave radar rear shell; 305. a holder right side bracket; 306. a holder clamp; 307. a second shaft servo steering engine of the holder; 308. a first shaft servo steering engine of the holder; 309. a holder left bracket; 310. a holder base; 401. a false touch prevention circuit; 402. a power module for converting 3.6V into 13.6V; 403. a power module for converting 3.6V into 12V; 404. a power module for converting 3.6V into 5V; 405. a touch power switch module; 406. a control rocker; 407. a TF card holder module; 408. a two-color LED indicator light; 409. a QC3.0 interface module; 501. a binocular electric zoom camera; 502. m2 bi-pass fixed copper column; 503. a main fixed bracket; 504. a fast charging module; 505. a lithium battery module; 506. an HDMI to DSI interface board; 507. STM32 control panel; 508. m3 single-pass fixed copper column; 509. a main control board; 510. m3 bi-pass fixed copper column; 511. a power relay module; 512. a turbo fan.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1 to 9, the present invention provides a night tracker including a housing portion, a front end portion, a rear end portion, an upper cover portion, a millimeter wave radar portion, an internal structure portion.
As shown in fig. 1-2, the housing part includes a night tracker main housing 12, the top and two sides of the night tracker main housing 12 are both provided with openings, and the front and back are both provided with a plurality of heat dissipation holes; the top of the night tracker main shell 12 is provided with a night tracker upper cover 13, and the two sides of the night tracker main shell 12 in the length direction are respectively provided with a night tracker front shell 11 and a night tracker rear shell 12.
The front end part of the night tracker mainly comprises a germanium mirror 101, a thermal imaging sensor 102, an infrared lamp panel 103 and an aluminum alloy cooling fin 104.
The ge mirror 101 is fixed to the front housing 11 and provides visible light filtering for the thermal imaging sensor 102, and in the present invention is chosen to be a ge coated lens that passes infrared light at a wavelength of 7-14 microns. The thermal imaging sensor 102 is an uncooled infrared thermal imaging sensor of the type FLIR leptin 3.5 with a resolution of 160X120 pixels. The infrared lamp panel 103 adopts a 3W power 940nm infrared LED, which can effectively reduce infrared red storm. An infrared lamp panel 103 is fixed on the aluminum alloy radiating fins 104, and the infrared lamp panel 103 radiates heat through the aluminum alloy radiating fins 104. In the embodiment of the present invention, the germanium mirror 101 is used to provide optical filtering for the thermal imaging sensor 102. The thermal imaging sensor 102 is switched to a USB camera through an adapter board, and is connected to the main control board 509 to process the acquired infrared image. The infrared lamp panel 103 adopts a low red LED, and can be not easily perceived by human eyes under the night environment. Through giving infrared lamp plate 103 installation fin to combine the turbofan 512 in the inside night tracker casing to dispel the heat, can make night tracker adaptation long-time work.
As shown in fig. 1, 3 and 6, the rear end of the night tracker is disposed in an opening on the other side of the night tracker main shell 12 in the length direction, and mainly includes a VR display module 201 and an MIPI screen interface board 202. VR display module assembly 201 adopts the independent screen display of two OLEDs, can strengthen the vision and hand over mutual inductance, reduces simultaneously and shows the consumption. In the invention, the VR display module 201 and the MIPI screen interface board 202 are connected with the HDMI-DSI interface board 506 and the main control board 509 to form a VR display system.
As shown in fig. 1, 4 and 6, the millimeter wave radar part of the night tracker is arranged on the upper surface of the night tracker upper cover 13 and mainly divided into a radar part and a pan/tilt head, wherein the radar part is composed of a millimeter wave radar front shell 301, a millimeter wave radar main board 302, a millimeter wave radar shielding rear shell 303 and a millimeter wave radar rear shell 304; the cradle head part mainly comprises a cradle head right side support 305, a cradle head clamp 306, a cradle head second shaft servo steering gear 307, a cradle head first shaft servo steering gear 308, a cradle head left side support 309 and a cradle head base 310. The radar part is connected with an STM32 control panel 507 through a high-speed CAN bus, and CAN transmit data detected by the radar to a main control panel. Millimeter wave radar front shell 301 and millimeter wave radar rear shell 303 pass through the screw rigid coupling, wherein millimeter wave radar mainboard 302 passes through the screw fixation on millimeter wave radar shielding rear shell 303, cloud platform second axle servo steering wheel 307 is fixed on cloud platform anchor clamps 306, and cloud platform second axle servo steering wheel 307 output shaft is connected with cloud platform right side support 305, and cloud platform left side support 309 is connected with cloud platform right side support 305 and is fixed cloud platform first axle servo steering wheel 308.
The radar part in the embodiment of the invention can adopt a 77GHz mid-range or long-range radar, and the detection range can be about 70 to 100 meters. In the invention, the radar part is fixed on the two-axis steering engine pan-tilt head, and the control of the vertical and horizontal rotation angles can be realized through PWM signals. The radar part can be used for detecting the position of a long-distance target observed by the night tracker, and can measure the position and the speed of the detected target.
As shown in fig. 1, 2, 5, and 6, the upper cover portion of the night tracker is disposed on the lower end surface of the upper cover 13 of the night tracker, and is mainly divided into a false touch prevention circuit 401, a 3.6V to 13.6V power supply module 402, a 3.6V to 12V power supply module 403, a 3.6V to 5V power supply module 404, a touch power switch module 405, a control rocker 406, a TF card socket module 407, a two-color LED indicator 408, and a QC3.0 interface module 409. The false touch prevention circuit 401 can ensure that the touch power switch circuit is not triggered by a false touch under a short-time pressing condition, so that the condition that the power of the equipment is turned on by a mistake due to environmental electromagnetic interference and careless contact is reduced. The 3.6V to 13.6V power module 402 is configured to provide 13.6V power to the infrared lamp panel 103, and the 3.6V to 12V power module 403 is configured to provide 12V power to the radar part; the 3.6V to 5V power module 404 is configured to provide power to the STM32 control board 507 and the main control board 509. The power supply modules are provided with enabling interfaces, and output can be controlled through external signals. The touch power switch module 405 adopts a TP223 touch detection IC, and may output a pulse high level or pulse low level signal when touched. The control rocker 406 is a potentiometer type rocker and is used for controlling the holder and the binocular electric zoom camera. The TF card seat module 407 is configured to extend a TF card interface of the main control board 509, so as to facilitate external removal of the TF card. The bi-color LED indicator 408 is connected to the fast charge module 504 and the 3.6V to 5V power module 404 for displaying the charging and power on status of the night tracker. The QC3.0 interface module is used for connecting an external charger, and can perform quick-charging protocol handshake with the charger by integrating a quick-charging chip on the module to trigger the quick-charging head to output quick-charging voltage.
As shown in fig. 1 to 6, the internal structure part of the night tracker is composed of a binocular electric zoom camera 501, an M2 two-way fixed copper column 502, a main fixed bracket 503, a quick charging module 504, a lithium battery module 505, an HDMI-to-DSI interface board 506, an STM32 control board 507, an M3 one-way fixed copper column 508, a main control board 509, an M3 two-way fixed copper column 510, a power relay module 511, a turbofan 512, and the like.
The binocular electric zoom camera 501 is a camera module having an electric zoom lens, which has a magnification adjustment stepping motor, a focus adjustment stepping motor, and a diaphragm motor, and further includes an infrared filter switcher in order to realize night vision and daytime mode switching. The night vision shooting is realized by adopting the binocular electric zoom camera 501, the flexibility of the night tracker for magnifying and reducing the distance target is improved, the physical focal length of the camera can be automatically adjusted through software, and the light supplement size can be automatically adjusted through external illumination. The binocular electric zoom camera 501 is fixed on a main fixing bracket 503 through an M2 bi-pass fixing copper column 502. The quick charging module 504, the QC3.0 interface module 409 and the lithium battery module 505 are electrically connected, the QC3.0 interface module 409 is used for connecting an external 18W quick QC3.0 charger, and the selection of the charger is not limited herein. The fast charging module 504 is used for converting a 12V 1.5A fast charging power source output by the QC3.0 interface module 409 into a 3.6V 5A lithium iron phosphate battery charging power source, and for a 20AH lithium iron phosphate battery adopted in the lithium battery module 505 of the present invention, in a fast charging mode, the charging time is about 4 hours, which saves half of the charging time compared with a conventional 5V 2A charger for 10 hours. The NTC thermistor is arranged on the quick charging module 504, and is adhered to the lithium battery module 505 through an adhesive tape, so that the temperature of the lithium battery module 505 can be monitored in real time, and when the temperature of the lithium battery module 505 exceeds a normal temperature range, a quick charging source can be cut off, and charging accidents are prevented. Further, the lithium battery module 505 mainly integrates two parts, namely, a lithium iron phosphate battery and a battery protection board, wherein the capacity of the lithium iron phosphate battery adopted in the present invention is 20AH, and the current endurance capacity of the adopted protection board is about 25A.
The HDMI-to-DSI interface board 506 is electrically connected to the main control board 509 through an HDMI, converts the HDMI interface into an MIPI-DSI serial display interface, and is connected to the VR display module 201 through the MIPI screen interface board 202.
An STM32H750 dual-core CORETEX-M7 chip is integrated on the STM32 control panel 507, the STM32 control panel 507 is fixedly connected with the main control panel 509 through an M3 single-pass fixed copper column 508, and a magnification motor, a focal length motor and a diaphragm motor in the electric zoom lens part in the binocular electric zoom camera 501 are electrically connected with the STM32 control panel 507 respectively. Still be integrated with GPS module, IMU, electron compass, atmospheric pressure, temperature and humidity sensor on the STM32 control panel 507, can show the longitude and latitude, temperature, humidity, elevation, acceleration of gravity and the direction angle of environment on the VR display in real time to can fuse the technique through the multisensor, realize the intelligent control to tracker system at night. And the high-speed CAN bus is connected with the radar part and is used for acquiring data of the millimeter wave radar.
The main control board 509 mainly comprises a video processing SOC chip HI3516DV300 of haisi semiconductor corporation, and provides a two-way MIPI camera interface, a USB interface, GPIO extension, which is connected to the binocular electric zoom camera 501, and an HDMI interface connected to the VR display module 201 to the outside. The main control board is mainly used for filtering and superposing images collected by the binocular electric zoom camera 501, and the processed images are displayed through the VR display module 201. Meanwhile, the thermal imaging sensor 102 is converted into a USB interface through the adapter plate and connected to the main control board 509, and the HI3516 performs sharpening enhancement on a low-resolution image through an image enhancement algorithm (including wavelet transform), performs image fusion with an image acquired by the binocular electric zoom camera 501, and finally displays the image on the VR display module 201.
The touch power switch module 405 is connected to the power relay module 511 through the false touch prevention circuit 401, and the power relay module 511 is provided with a switch relay, so that the total power of the night tracker can be controlled through a touch signal.
The turbofan 512 is fixed to the main fixing bracket 503, belongs to a four-wire fan, and can measure the rotating speed through signals and control the rotating speed of the fan through PWM. The turbofan 512 is electrically connected with the STM32 control board 507, and the fan rotating speed is monitored and controlled through the STM 32.
It should be understood by those skilled in the art that, in the present invention, the STM32 control board 507 mainly implements integration of multiple sensors inside night vision, GPS and beidou navigation, and implements driving and controlling of the motor of the binocular electric zoom camera 501, and implements controlling of the steering engine pan tilt. The main control board 509 is used as an image processing unit and an intelligent control unit of the night tracker, images collected by the binocular camera are overlapped and fused with images collected by the thermal imaging sensor, and finally the images are displayed on the VR display.
When the embodiment of the invention works, the power relay module 511 is turned on by pressing the touch power switch module 405, and the 3.6V voltage output by the lithium battery module 505 is provided to the three power modules, namely the 3.6V to 13.6V power module 402, the 3.6V to 12V power module 403, and the 3.6V to 5V power module 404. The output 5V voltage is provided to the main control board 509, the linux system inside the HI3516 is started, a relevant image processing program is run, the image acquired by the binocular electric zoom camera 501 and the thermal image acquired by the thermal imaging sensor 102 are fused, and finally, the image is displayed through the VR display module 201. Through STM32 control panel 507, can control electronic camera and the motion of radar cloud platform support of zooming to can be through enable signal control radar power supply 3.6V changes 12V power module 403 and infrared light filling power supply 3.6V changes 13.6V power module 402. The user can control the motion of electronic zoom camera and radar cloud platform through the rocker, also can switch different night vision display modes through the button on the rocker, for example infrared mode, thermal imaging mode, image fusion mode, radar range finding mode etc.. Temperature and humidity, atmospheric pressure, the IMU sensor of installation on the STM32 control panel 507 continuously monitor the environment humiture, and GPS and big dipper module acquire the longitude and latitude of tracker at night to can show numerical value in real time on VR display module assembly 201.
As shown in fig. 7 to 9, the invention further provides an image forming method of the night tracker, which is characterized by comprising a binocular electric zoom camera image forming method, a thermal imaging sensor image forming method and a VR display system image forming method;
the binocular electric zoom camera image forming method carries out automatic light supplement adjustment and automatic noise reduction on an original image acquired by the binocular electric zoom camera through Gaussian blur and filtering, and outputs a processed stereo image to a VR display system in a superposition manner;
the thermal imaging sensor image forming method comprises the steps of converting a colorful original image into a gray image, performing wavelet transformation on the gray image to realize low-resolution image enhancement, converting the enhanced gray image into a pseudo-color image, outputting the pseudo-color image to a VR display system, and outputting the pseudo-color image to the VR display system;
the VR display system image forming method achieves double effects of night vision and infrared thermography by carrying out image fusion on a received three-dimensional image overlapped in the binocular electric zoom camera and a pseudo-color image in the thermal imaging sensor.
Further, the binocular electric zoom camera image forming method comprises the following steps:
step (1): when the binocular electric zoom camera works, acquiring an original image of the left infrared camera and an original image of the right infrared camera;
step (2): the original images of the two channels output two illumination values to an illumination comprehensive system through illumination analysis of a left camera and the right camera, namely left illumination comprehensive fuzzy threshold and filter threshold control and left illumination comprehensive fuzzy threshold and filter threshold control;
and (3): the original images of the two channels are subjected to left side Gaussian blur and right side Gaussian blur;
and (4): the blurred image is subjected to image sharpening enhancement through a left Laplace filter and a right Laplace filter;
and (5): the two illumination integrated systems read the analog quantities of the left CDS photoresistor and the right CDS photoresistor, realize automatic adjustment of Gaussian fuzzy threshold values and filter threshold values of the two channels according to ambient illumination, and realize automatic light supplement adjustment and automatic noise reduction under a night vision environment by left light supplement control and right light supplement control;
and (6): the filtered images are subjected to stereo image superposition through an infrared binocular stereo image superposition algorithm and are output to the VR module through a binocular superposition image input module to be displayed.
Specifically, when the binocular infrared camera section left and right infrared cameras are operated, raw images of left and right channels, i.e., left and right infrared camera raw images, are generated, as shown in fig. 7. The original images of the two channels output two illumination values to an illumination integrated system through illumination analysis of a left camera and illumination analysis of a right camera, namely left illumination integrated fuzzy threshold and filter threshold control and left illumination integrated fuzzy threshold and filter threshold control. The original images of the two channels are subjected to left-side Gaussian blur and right-side Gaussian blur, so that the next filtering operation is facilitated. Further, the blurred image is subjected to image sharpening enhancement through a left laplacian filter and a right laplacian filter. The two illumination integrated systems can read in analog quantities of the left CDS photoresistor and the right CDS photoresistor, realize automatic adjustment of Gaussian blur threshold values and filter threshold values of the two channels according to ambient illumination, and realize automatic light supplement adjustment and automatic noise reduction under a night vision environment by left light supplement control and right light supplement control. The light supplement control mainly comprises an infrared light supplement control part and a lens aperture control part. In addition, the illumination integration system can also output the illumination for subsequent multi-sensor fusion. Furthermore, the images subjected to filtering processing are subjected to stereo image superposition through an infrared binocular stereo image superposition algorithm, and are output through binocular superposed images, so that subsequent VR module display is facilitated. Meanwhile, the filtered image is also provided for a left near-distance automatic zooming controller and a right near-distance automatic zooming controller, so that the near-distance target can be found and automatically zoomed in. The automatic zooming controllers perform graying and binaryzation on the image and gradient edge detection on the image so as to detect a target and output the target through the focal length magnification adjuster. The two-side automatic zooming controller simultaneously controls the left-side lens zooming and multiplying power control and the right-side lens zooming and multiplying power control. Meanwhile, millimeter wave radar distance data acquired by the 77GHZ millimeter wave radar can be provided for the long-distance automatic zooming controller, and the controller can realize discovery and capture of targets outside 70-100 meters by connecting the zooming and magnification controllers at two sides
High-speed automatic focusing for capturing. Meanwhile, a user can take over light supplement control and zoom control through manual control, so that the equipment is more flexible.
As shown in fig. 8, the low-resolution thermal imaging sensor raw image collected by the thermal imaging sensor is converted into a gray image through a color image to gray image, so as to facilitate the subsequent wavelet transformation. Furthermore, the gray level image is subjected to low-resolution image enhancement through a wavelet transform image enhancement algorithm, and the wavelet transform image enhancement algorithm mainly comprises three steps of wavelet image decomposition, wavelet image operation and wavelet image operation. The wavelet transform is mainly characterized in that the characteristics of certain aspects of the problem can be fully highlighted through transformation, the time (space) frequency can be locally analyzed, signals (functions) are gradually subjected to multi-scale refinement through telescopic translation operation, the high-frequency time subdivision and the low-frequency subdivision are finally achieved, the requirements of time-frequency signal analysis can be automatically adapted, therefore, any details of the signals can be focused, and the wavelet transform has an optimization effect on thermal imaging low-resolution images. And output is achieved through thermal imaging pseudo-color image output. Furthermore, the infrared thermal image enhanced by the wavelet transform is converted into an iridescent pseudo-color thermal image by converting a gray image into the iridescent pseudo-color thermal image, different colors represent different temperatures, and the temperature gradient of the image subjected to the wavelet transform is more obvious at the moment.
As shown in fig. 9, the images partially preprocessed by the binocular infrared camera and the thermal imaging sensor are input through a binocular superposition image input module and a thermal imaging pseudo-color image input module, the fusion of the binocular night vision image and the thermal imaging thermal image is realized through an image fusion module, the dual effects of night vision and infrared thermal image are achieved, and the image fusion ratio can be controlled through a fusion ratio control module. The binocular superimposed image input module, the thermal imaging pseudo-color image input module and the image fusion module are simultaneously connected with the display mode selection module, and a user can realize switching among an infrared night vision mode, a thermal imaging mode and a mixed mode. And a target capture and fixed-point temperature measurement module is connected between the display mode selection module and the human-computer interface system parameter state display module, so that the automatic positioning capture of an observation target can be realized by combining the automatic zooming, and the system also has the fixed-point temperature measurement capability in the thermal imaging mode. The human-computer interface system parameter state display module can add human-computer interface menu parameters to the night vision image for display and finally outputs the night vision image to the VR module for display. Meanwhile, the binocular superimposed image input module is connected with the deep learning object recognition algorithm module, object name recognition and classification of a captured target can be achieved through deep learning, and the target can be rapidly distinguished. The deep learning object identification algorithm module is mainly composed of image graying and binaryzation, image feature extraction, deep learning model initialization, deep learning DNN classification and output object names. And the object name output by the deep learning object recognition algorithm module is output to the VR module for night vision image display through the human-computer interface system parameter state display module. Meanwhile, the Kalman filtering and multi-sensor data fusion module is connected with a millimeter wave radar distance data module, an air pressure module, a temperature and humidity module, a Beidou + GPS module, a gyroscope, an acceleration module, an electronic compass module, a left side illumination input module and a plurality of sensor modules of a right side illumination input module. Furthermore, the Kalman filtering and multi-sensor data fusion module realizes Kalman filtering on noise of multiple sensors and fusion of multiple sensor data, and finally outputs the fused data to a human-computer interface system parameter state display module to display the sensor data on a VR display picture. Including left and right side illuminance, barometric altitude, temperature and humidity, longitude and latitude, direction, acceleration of gravity, target location distance and speed, etc.
When the embodiment of the invention is used for charging, a QC3.0 mobile phone charger can be used for directly charging, a quick charging module in the invention can automatically activate charging, and the charging can be completed within 4 hours by using an 18W quick charger.
In summary, the VR intelligent night tracker provided by the invention can be applied to civil fields such as law enforcement, hunting, field observation, monitoring, security, navigation, hidden target observation, entertainment and the like.
Claims (9)
1. A night tracker characterized by comprising a housing portion, a front end portion, a rear end portion, an upper cover portion, a millimeter wave radar portion, an internal structure portion;
the shell part comprises a night tracker main shell, the top and two sides in the length direction of the night tracker main shell are provided with openings, and the front and the back are provided with a plurality of heat dissipation holes; the top of the night tracker main shell is provided with a night tracker upper cover, and the two sides of the night tracker main shell in the length direction are respectively provided with a night tracker front shell and a night tracker rear shell;
the front end part comprises a thermal imaging sensor arranged in an opening at one side of the main night tracker shell in the length direction, and the front end of the thermal imaging sensor is covered by the front night tracker shell;
the rear end part comprises a VR display module and an MIPI screen interface board which are arranged in an opening on the other side of the night tracker main shell in the length direction, and the night tracker rear shell covers the rear ends of the VR display module and the MIPI screen interface board; the VR display module is two OLED independent screens;
an upper cover portion is disposed on top of the night tracker upper cover;
the millimeter wave radar part is arranged at the top of the upper cover of the night tracker and is used for detecting the position of a long-distance target observed by the night tracker and measuring the position and the speed of the detected target;
the internal structure part comprises a binocular electric zoom camera, a lithium battery module and a main control board which are arranged in the main shell of the night tracker; the binocular electric zoom camera is electrically connected with the lithium battery module through the main control board to form a binocular infrared camera part;
the thermal imaging sensor is electrically connected with the main control board through the adapter plate to form a thermal imaging sensor part; VR display module and MIPI screen interface board and HDMI change DSI interface board and main control board are connected and are constituteed VR display system.
2. The night tracker of claim 1, wherein the front end portion further comprises an aluminum alloy heat sink within an opening at one side of the night tracker main housing in the length direction, the aluminum alloy heat sink having the infrared lamp panel and the thermal imaging sensor disposed thereon; the infrared lamp plate with lithium battery module electric connection, thermal imaging sensor's anterior segment is provided with the germanium mirror.
3. The night tracker according to claim 2, wherein a turbine fan electrically connected to the lithium battery module is disposed inside the night tracker main housing.
4. The night tracker according to claim 2, wherein the millimeter wave radar section includes a radar section and a pan/tilt head;
the radar part comprises a millimeter wave radar front shell, a millimeter wave radar main board, a millimeter wave radar shielding rear shell and a millimeter wave radar rear shell; the millimeter wave radar front shell and the millimeter wave radar rear shell are fixedly connected through screws, the millimeter wave radar shielding rear shell is arranged at the rear end of the millimeter wave radar rear shell, and the millimeter wave radar main board is arranged between the millimeter wave radar front shell and the millimeter wave radar rear shell and is fixed on the millimeter wave radar shielding rear shell through screws; the millimeter wave radar main board is electrically connected with the main control board through a high-speed CAN bus;
the holder is arranged on the millimeter wave radar shielding rear shell, and the control of the rotation angle of the radar part is realized through the holder.
5. The night tracker according to claim 4, wherein the upper cover portion comprises a false touch prevention circuit, a 3.6V-to-13.6V power module, a 3.6V-to-12V power module, a 3.6V-to-5V power module, a touch power switch module, a control rocker, a TF card seat module, a bicolor LED indicator lamp and a QC3.0 interface module, wherein the false touch prevention circuit is arranged on the lower end face of the upper cover of the night tracker and is electrically connected with the lithium battery module;
the false touch prevention circuit 401 is used for ensuring that the touch power switch circuit is not triggered by a false touch under the condition of short press; the power supply module for converting 3.6V into 13.6V is used for providing 13.6V power supply for the infrared lamp panel;
the power supply module for converting 3.6V into 12V is used for providing a 12V power supply for the millimeter wave radar part;
the 3.6V to 5V power supply module is used for supplying power to the main control board;
the power module for converting 3.6V into 13.6V, the power module for converting 3.6V into 12V and the power module for converting 3.6V into 5V are all provided with enabling interfaces, and output is controlled through external signals;
the touch power switch module is a TP223 touch detection IC and is used for outputting a pulse high level or pulse low level signal during touch;
the control rocker is a potentiometer type rocker and is used for controlling the rotation angles of the holder and the electric zooming camera;
the TF card seat module is used for prolonging a TF card interface of the main control board;
the double-color LED indicator lamp is connected with the quick charging module and the 3.6V-to-5V power supply module and is used for displaying charging and power supply starting states;
the QC3.0 interface module is used for connecting an external charger, and the quick charging chip is integrated on the QC3.0 interface module, and the quick charging head is triggered to output the quick charging voltage by performing quick charging protocol handshake with the charger.
6. The night tracker of claim 5, wherein the internal structural parts further comprise an M2 two-way fixing copper post, a main fixing bracket, a quick charging module, an HDMI-to-DSI interface board, an STM32 control board, an M3 one-way fixing copper post, an M3 two-way fixing copper post 510 and a power relay module, which are arranged in the night tracker main housing;
the binocular electric zoom camera is fixed on the main fixing support through the M2 bi-pass fixing copper columns;
the quick charging module is electrically connected with the lithium battery module through the QC3.0 interface module; the QC3.0 interface module is used for connecting an external 18W quick QC3.0 charger, and the quick charging module is used for converting a 12V 1.5A quick charging source output by the QC3.0 interface module into a 3.6V 5A lithium battery module charging source;
the HDMI to DSI interface board is electrically connected with the main control board through HDMI, converts the HDMI interface into MIPI-DSI serial display interface, and is connected with the VR display module through the MIPI screen interface board;
the STM32 control board is fixedly connected with the main control board through the M3 single-way fixed copper column; the binocular electric zoom camera and the millimeter wave radar main board are electrically connected with the main control board through an STM32 control board;
the touch power supply switch module is connected to the power supply relay module through the false touch prevention circuit, a switch relay is designed on the power supply relay module, and a main power supply of the night tracker is controlled through a touch signal; the turbofan is electrically connected with the STM32 control board.
7. The night tracker of claim 6, wherein a video processing SOC chip, a dual-path MIPI camera interface for connecting the binocular power zoom camera, a USB interface for connecting the thermal imaging sensor, a GPIO extension, and an HDMI interface for connecting the VR display module are integrated on the main control board.
8. An image forming method of the night tracker according to any one of claims 1 to 7, comprising a binocular electric zoom camera image forming method, a thermal imaging sensor image forming method and a VR display system image forming method;
the binocular electric zoom camera image forming method carries out automatic light supplement adjustment and automatic noise reduction on an original image acquired by the binocular electric zoom camera through Gaussian blur and filtering, and outputs a processed stereo image to a VR display system in a superposition manner;
the thermal imaging sensor image forming method comprises the steps of converting a colorful original image into a gray image, performing wavelet transformation on the gray image to realize low-resolution image enhancement, converting the enhanced gray image into a pseudo-color image, outputting the pseudo-color image to a VR display system, and outputting the pseudo-color image to the VR display system;
the VR display system image forming method achieves double effects of night vision and infrared thermography by carrying out image fusion on a received three-dimensional image overlapped in the binocular electric zoom camera and a pseudo-color image in the thermal imaging sensor.
9. The image forming method of the night tracker according to claim 8, wherein the binocular motorized zoom camera image forming method comprises:
step (1): when the binocular electric zoom camera works, acquiring an original image of the left infrared camera and an original image of the right infrared camera;
step (2): the original images of the two channels output two illumination values to an illumination comprehensive system through illumination analysis of a left camera and the right camera, namely left illumination comprehensive fuzzy threshold and filter threshold control and left illumination comprehensive fuzzy threshold and filter threshold control;
and (3): the original images of the two channels are subjected to left side Gaussian blur and right side Gaussian blur;
and (4): the blurred image is subjected to image sharpening enhancement through a left Laplace filter and a right Laplace filter;
and (5): the two illumination integrated systems read the analog quantities of the left CDS photoresistor and the right CDS photoresistor, realize automatic adjustment of Gaussian fuzzy threshold values and filter threshold values of the two channels according to ambient illumination, and realize automatic light supplement adjustment and automatic noise reduction under a night vision environment by left light supplement control and right light supplement control;
and (6): the filtered images are subjected to stereo image superposition through an infrared binocular stereo image superposition algorithm and are output to the VR module through a binocular superposition image input module to be displayed.
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| CN109688342A (en) * | 2019-01-11 | 2019-04-26 | 南京理工大学 | A kind of multispectral stereo imaging system |
| CN214372944U (en) * | 2021-01-26 | 2021-10-08 | 上海巨哥科技股份有限公司 | Head-wearing thermal imager |
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