CN114415202A - Tracking system for laser investigation equipment based on image processing - Google Patents
Tracking system for laser investigation equipment based on image processing Download PDFInfo
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- CN114415202A CN114415202A CN202210309516.9A CN202210309516A CN114415202A CN 114415202 A CN114415202 A CN 114415202A CN 202210309516 A CN202210309516 A CN 202210309516A CN 114415202 A CN114415202 A CN 114415202A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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Abstract
The invention relates to the field of laser reconnaissance, and discloses a tracking system for laser reconnaissance equipment based on image processing, which comprises an environmental information acquisition module, a position acquisition module, a tracking determination module, a laser acquisition module, a laser analysis module, a feature extraction module, a feature confirmation module, a master control module, an information sending module, laser tracking equipment and a preset notification terminal, wherein the environmental information acquisition module is used for acquiring environmental information; according to the invention, before laser tracking investigation is carried out in real time, the weather of the using position of the laser investigation equipment and the weather of the laser tracking investigation position are comprehensively processed to judge whether the laser tracking investigation is carried out or not, when the target cannot be accurately locked, the laser tracking investigation is not carried out, so that the resource waste is avoided, meanwhile, the influence of the laser investigation equipment on nearby residents during use can be reduced by considering the using position of the laser investigation equipment, the laser tracking investigation is only carried out in a proper environment, and the tracking accuracy of the laser tracking investigation is better ensured.
Description
Technical Field
The invention relates to the field of laser reconnaissance, in particular to a tracking system for laser reconnaissance equipment based on image processing.
Background
The laser reconnaissance speed is high, the anti-interference capability is strong, the precision of the obtained target data is high, the acting distance is from thousands of meters to dozens of kilometers, and the laser reconnaissance device is mainly used for tactical reconnaissance. The types of the laser target indicators are mainly laser range finders, laser velocimeters, laser radars, laser scanning cameras, laser televisions, laser target indicators and the like. According to the functions and the reconnaissance tasks, the reconnaissance robot can be held by hands or arranged on carriers such as vehicles, ships, airplanes and artificial satellites to carry out reconnaissance.
The laser reconnaissance equipment is used for tracking and reconnaissance of the target object by using a tracking system in the actual use process. However, in the process of implementing the technical scheme of the invention in the embodiment of the present application, at least the following technical problems are found: the existing tracking system has the problem that the acquired characteristic information is fuzzy and cannot be accurately tracked in the actual use process.
Disclosure of Invention
The embodiment of the application provides a tracking system for laser investigation equipment based on image processing, and solves the problem that the acquired characteristic information is fuzzy and cannot be accurately tracked in the actual use process of the existing tracking system, and the purpose of more accurately tracking and investigating the laser is realized.
The embodiment of the application provides a tracking system for laser investigation equipment based on image processing, includes: the environment information acquisition module: the environment information acquisition module is used for acquiring environment information of a laser reconnaissance position, and the environment information comprises weather information and real-time image information; a position acquisition module: the position acquisition module is used for acquiring operation position information during laser reconnaissance; a tracking determination module: the tracking determination module is used for receiving environment information and operation position information, processing the environment information and the operation position information to generate instant tracking information, general tracking information and non-tracking information, sending the general tracking information to a preset notification terminal, and generating continuous tracking information and non-tracking information by a user through feedback of the preset notification terminal; the laser acquisition module: the laser acquisition module is used for operating after receiving the instant tracking information and the continuous tracking information and acquiring laser information acquired during laser investigation;
a laser analysis module: the laser analysis module is used for analyzing the laser information after receiving the laser information to obtain reflected wave information; a feature extraction module: the characteristic extraction module is used for processing the reflected wave information after receiving the reflected wave information to generate reflected characteristic information; a feature confirmation module: the characteristic confirmation module is used for processing the reflection characteristic information after receiving the reflection characteristic information to generate characteristic confirmation information; the master control module: the master control module is used for converting the capture characteristic information into capture characteristic control information after receiving the capture characteristic information; an information sending module; the information sending module is used for sending the capture characteristic control information to the laser tracking equipment and sending the capture characteristic information to a preset notification terminal for display; laser tracking equipment: and after receiving the capture characteristic information, the user of the laser tracking equipment tracks and investigates the investigation object corresponding to the capture characteristic information according to the content of the capture characteristic information.
Further, the specific process of the tracking determination module processing the environment information and the operation position information to generate the instant tracking information, the general tracking information and the non-tracking information is as follows: s100: extracting the collected environment information, and extracting weather information and real-time image information from the environment information; s200: analyzing the weather information, and when the weather information of the laser reconnaissance position is rainfall and the rainfall is greater than a preset value, generating no-tracking information, and when the weather information is snowfall and the snowfall is greater than the preset value, generating no-tracking information; s300: when weather information is clear, extracting real-time image information, processing the real-time image information to obtain real-time definition information, generating instant tracking information when the real-time definition is image high-definition information, generating general tracking information when the real-time definition information is general definition information, and generating instant non-tracking information when the real-time definition is image fuzzy information; s400: when the weather information is sunny, collecting the dust concentration information in the air at the time, generating non-tracking information when the dust concentration information in the air is larger than a preset value, and generating general tracking information when the dust concentration information in the air is within a preset value range; s500: extracting and collecting the operation position information, marking the operation position information as a point P, setting a warning point T, and connecting the operation position information P with the warning point T to obtain a warning length Tp; s600: drawing a circle by taking the guard length Tp as a radius and the operating position information P as a circle center to obtain a guard range Tpp, generating non-tracking information when the number of residents existing in the guard range Tpp exceeds a preset number of people, generating general tracking information when the number of residents existing in the guard range Tpp is within the preset number of people, and generating instant tracking information when the number of residents existing in the guard range Tpp is less than the preset number of people.
Further, the specific processing procedure for processing the real-time image information to obtain the real-time definition information is as follows: s310: extracting the acquired real-time image information, wherein the real-time image information is a photo of a calibration object placed at a preset distance from the image acquisition equipment, and the calibration object is a preset square divided equally by lines with preset colors; s320: when the number of the squares which can be obtained in the real-time image is larger than the preset number, generating high-definition image information; s330: when the number of the squares which can be obtained in the real-time image is within a preset value number, general clear information is generated; s340: when the number of the blocks which can be obtained in the real-time image is less than the preset number, the image fuzzy information is generated.
Further, the specific process of processing the laser information after the laser analysis module receives the laser information is as follows: and extracting the collected laser information, wherein the laser information is a plurality of target reflection echoes, and recording the intensity information and the duration information of each reflection echo and each reflection echo, namely obtaining the reflection wave information.
Further, the specific processing procedure of the feature extraction module for processing the reflected wave information to obtain the reflected feature information is as follows: extracting the collected reflection characteristic information, extracting each reflection echo and intensity information and duration information of each reflection echo from the reflection characteristic information, marking the reflection waves as Wi, wherein i is the number of the reflection echoes, i =1 … … n, marking the intensity information of each reflection echo as Gi, marking the duration information of the reflection echo as Ni, ranking the intensity information Gi of the reflection echo of each reflection wave Wi according to the intensity, extracting three Gmax, Gmax-1 and Gmax-2 with the highest intensity of the reflection echo from the intensity information Gi of the reflection echo, ranking the duration information Ni of the reflection echo from long to short, extracting three Nmax, Nmax-1 and Nmax-2 with the longest duration, and extracting three Gmax, Gmax-1 and Gmax-2 with the highest intensity of the reflection echo and three Nmax with the longest duration of the reflection echo, Nmax-1 and Nmax-2 extract the combined reflection characteristic information.
Further, the specific processing procedure of processing the reflection characteristic information to generate the characteristic confirmation information after the characteristic confirmation module receives the reflection characteristic information is as follows: the collected reflection characteristic information is extracted, the reflection characteristic information is sent to a preset notification terminal, a user selects and confirms the reflection characteristic through the preset notification terminal, the preset notification terminal can obtain the characteristic confirmation information, and when no human reaction occurs after the reflection characteristic information is sent to the preset notification terminal for a preset time, all the reflection characteristic information is automatically processed into the characteristic confirmation information.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
1. according to the invention, before laser tracking investigation is carried out in real time, weather of the using position of the laser investigation equipment and the laser tracking investigation position is comprehensively processed to judge whether laser tracking investigation is carried out or not, so that the problem that the laser tracking investigation is easily influenced by environmental weather in the prior art and cannot lock a tracked target is effectively solved, when the target cannot be accurately locked, the laser tracking investigation is not carried out, the waste of resources is avoided, meanwhile, the influence on nearby residents when the laser investigation equipment is used can be reduced by considering the using position of the laser investigation equipment, the laser tracking investigation is only carried out in a proper environment, and the tracking accuracy of the laser tracking investigation is better ensured.
2. Meanwhile, in the laser detection process, the received reflected wave is characterized, so that the laser detection equipment is controlled to perform more accurate tracking detection, the problem of large tracking deviation in the prior art is effectively solved, and the tracking accuracy of the tracking system is effectively improved.
Drawings
FIG. 1 is a block diagram of a system architecture in an embodiment of the present application;
fig. 2 is a flowchart of acquiring real-time sharpness information in an embodiment of the present application;
fig. 3 is a flowchart of reflection characteristic information acquisition in the embodiment of the present application.
Detailed Description
The embodiment of the application provides a tracking system for laser investigation equipment based on image processing, and solves the problem that the acquired characteristic information is fuzzy and cannot be accurately tracked in the actual use process of the existing tracking system, and the purpose of more accurately tracking and investigating the laser is realized.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1 to 3, an embodiment of the present application provides a tracking system for a laser detection device based on image processing, including: the environment information acquisition module: the environment information acquisition module is used for acquiring environment information of a laser reconnaissance position, and the environment information comprises weather information and real-time image information; a position acquisition module: the position acquisition module is used for acquiring operation position information during laser reconnaissance; a tracking determination module: the tracking determination module is used for receiving environment information and operation position information, processing the environment information and the operation position information to generate instant tracking information, general tracking information and non-tracking information, sending the general tracking information to a preset notification terminal, and generating continuous tracking information and non-tracking information by a user through feedback of the preset notification terminal; the laser acquisition module: the laser acquisition module is used for operating after receiving the instant tracking information and the continuous tracking information and acquiring laser information acquired during laser investigation; a laser analysis module: the laser analysis module is used for analyzing the laser information after receiving the laser information to obtain reflected wave information; a feature extraction module: the characteristic extraction module is used for processing the reflected wave information after receiving the reflected wave information to generate reflected characteristic information; a feature confirmation module: the characteristic confirmation module is used for processing the reflection characteristic information after receiving the reflection characteristic information to generate characteristic confirmation information; the master control module: the master control module is used for converting the capture characteristic information into capture characteristic control information after receiving the capture characteristic information; an information sending module; the information sending module is used for sending the capture characteristic control information to the laser tracking equipment and sending the capture characteristic information to a preset notification terminal for display; laser tracking equipment: and after receiving the capture characteristic information, the user of the laser tracking equipment tracks and investigates the investigation object corresponding to the capture characteristic information according to the content of the capture characteristic information.
The invention judges whether to perform the tracking laser investigation by comprehensively processing the weather of the using position of the laser investigation equipment and the tracking laser investigation position before performing the laser tracing investigation in real time, effectively solves the problem that the tracking laser investigation in the prior art is easily influenced by environmental weather so as not to lock the tracking target, and when the target cannot be accurately locked, namely, the waste of resources is avoided without laser tracing investigation, and the influence of the laser investigation equipment on nearby residents during use can be reduced by considering the use position of the laser investigation equipment, and meanwhile, in the laser investigation process, the received reflected waves are characterized, so that more accurate tracking and detection of the laser detection equipment are controlled, the problem of large tracking deviation in the prior art is effectively solved, and the tracking accuracy of the tracking system is effectively improved.
The specific process of the tracking determination module for processing the environment information and the operation position information to generate the instant tracking information, the general tracking information and the non-tracking information is as follows: extracting the collected environment information, and extracting weather information and real-time image information from the environment information; analyzing the weather information, and when the weather information of the laser reconnaissance position is rainfall and the rainfall is greater than a preset value, generating no-tracking information, and when the weather information is snowfall and the snowfall is greater than the preset value, generating no-tracking information; when weather information is clear, extracting real-time image information, processing the real-time image information to obtain real-time definition information, generating instant tracking information when the real-time definition is image high-definition information, generating general tracking information when the real-time definition information is general definition information, and generating instant non-tracking information when the real-time definition is image fuzzy information; when the weather information is sunny, collecting the dust concentration information in the air at the time, generating non-tracking information when the dust concentration information in the air is larger than a preset value, and generating general tracking information when the dust concentration information in the air is within a preset value range; extracting and collecting the operation position information, marking the operation position information as a point P, setting a warning point T, and connecting the operation position information P with the warning point T to obtain a warning length Tp; drawing a circle by taking the guard length Tp as a radius and the operating position information P as a circle center to obtain a guard range Tpp, generating non-tracking information when the number of residents existing in the guard range Tpp exceeds a preset number of people, generating general tracking information when the number of residents existing in the guard range Tpp is within the preset number of people, and generating instant tracking information when the number of residents existing in the guard range Tpp is less than the preset number of people.
Through the process, the environmental information can be comprehensively processed before laser investigation, so that whether the environment state and the use position are suitable for laser investigation or not can be judged more accurately, the situation that laser tracing is carried out in an unadapted environment to cause incapability of carrying out accurate tracing is effectively avoided, and the problem that the laser easily stabs human eyes when the laser investigation equipment is used in an overmuch area of residents is reduced.
The specific processing procedure for processing the real-time image information to obtain the real-time definition information is as follows: extracting the acquired real-time image information, wherein the real-time image information is a photo of a calibration object placed at a preset distance from the image acquisition equipment, and the calibration object is a preset square divided equally by lines with preset colors; when the number of the squares which can be obtained in the real-time image is larger than the preset number, generating high-definition image information; when the number of the squares which can be obtained in the real-time image is within a preset value number, general clear information is generated; when the number of the blocks which can be obtained in the real-time image is less than the preset number, the image fuzzy information is generated.
The specific process of processing the laser information after the laser analysis module receives the laser information is as follows: and extracting the collected laser information, wherein the laser information is a plurality of target reflection echoes, and recording the intensity information and the duration information of each reflection echo and each reflection echo, namely obtaining the reflection wave information.
Through above-mentioned process, the dust concentration information in the environment can be accurate the understanding, and dust concentration in the environment is higher, and real-time image's definition is lower promptly, and dust concentration in the environment is lower, and real-time image's definition is higher promptly.
The specific processing process of the characteristic extraction module for processing the reflected wave information to obtain the reflected characteristic information is as follows: extracting the collected reflection characteristic information, extracting each reflection echo and intensity information and duration information of each reflection echo from the reflection characteristic information, marking the reflection waves as Wi, wherein i is the number of the reflection echoes, i =1 … … n, marking the intensity information of each reflection echo as Gi, marking the duration information of the reflection echo as Ni, ranking the intensity information Gi of the reflection echo of each reflection wave Wi according to the intensity, extracting three Gmax, Gmax-1 and Gmax-2 with the highest intensity of the reflection echo from the intensity information Gi of the reflection echo, ranking the duration information Ni of the reflection echo from long to short, extracting three Nmax, Nmax-1 and Nmax-2 with the longest duration, and extracting three Gmax, Gmax-1 and Gmax-2 with the highest intensity of the reflection echo and three Nmax with the longest duration of the reflection echo, Nmax-1 and Nmax-2 extract the combined reflection characteristic information.
Through the process, the corresponding reflection characteristic information can be better processed, so that the system can be more accurately tracked and detected.
The specific processing procedure of the characteristic confirmation module for processing the reflection characteristic information after receiving the reflection characteristic information to generate the characteristic confirmation information is as follows: the collected reflection characteristic information is extracted, the reflection characteristic information is sent to a preset notification terminal, a user selects and confirms the reflection characteristic through the preset notification terminal, the preset notification terminal can obtain the characteristic confirmation information, and when no human reaction occurs after the reflection characteristic information is sent to the preset notification terminal for a preset time, all the reflection characteristic information is automatically processed into the characteristic confirmation information.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can substitute or change the technical solution and its concept of the present application within the technical scope disclosed in the present application, and shall be covered by the scope of the present application.
Claims (6)
1. A tracking system for a laser investigation apparatus based on image processing, comprising:
the environment information acquisition module: the environment information acquisition module is used for acquiring environment information of a laser reconnaissance position, and the environment information comprises weather information and real-time image information;
a position acquisition module: the position acquisition module is used for acquiring operation position information during laser reconnaissance;
a tracking determination module: the tracking determination module is used for receiving environment information and operation position information, processing the environment information and the operation position information to generate instant tracking information, general tracking information and non-tracking information, sending the general tracking information to a preset notification terminal, and generating continuous tracking information and non-tracking information by a user through feedback of the preset notification terminal;
the laser acquisition module: the laser acquisition module is used for operating after receiving the instant tracking information and the continuous tracking information and acquiring laser information acquired during laser investigation;
a laser analysis module: the laser analysis module is used for analyzing the laser information after receiving the laser information to obtain reflected wave information;
a feature extraction module: the characteristic extraction module is used for processing the reflected wave information after receiving the reflected wave information to generate reflected characteristic information;
a feature confirmation module: the characteristic confirmation module is used for processing the reflection characteristic information after receiving the reflection characteristic information to generate characteristic confirmation information;
the master control module: the master control module is used for converting the capture characteristic information into capture characteristic control information after receiving the capture characteristic information;
an information sending module; the information sending module is used for sending the capture characteristic control information to the laser tracking equipment and sending the capture characteristic information to a preset notification terminal for display;
laser tracking equipment: and after receiving the capture characteristic information, the user of the laser tracking equipment tracks and investigates the investigation object corresponding to the capture characteristic information according to the content of the capture characteristic information.
2. The tracking system for laser investigation apparatus based on image processing according to claim 1, wherein: the specific process of the tracking determination module for processing the environment information and the operation position information to generate the instant tracking information, the general tracking information and the non-tracking information is as follows:
s100: extracting the collected environment information, and extracting weather information and real-time image information from the environment information;
s200: analyzing the weather information, and when the weather information of the laser reconnaissance position is rainfall and the rainfall is greater than a preset value, generating no-tracking information, and when the weather information is snowfall and the snowfall is greater than the preset value, generating no-tracking information;
s300: when weather information is clear, extracting real-time image information, processing the real-time image information to obtain real-time definition information, generating instant tracking information when the real-time definition is image high-definition information, generating general tracking information when the real-time definition information is general definition information, and generating instant non-tracking information when the real-time definition is image fuzzy information;
s400: when the weather information is sunny, collecting the dust concentration information in the air at the time, generating non-tracking information when the dust concentration information in the air is larger than a preset value, and generating general tracking information when the dust concentration information in the air is within a preset value range;
s500: extracting and collecting the operation position information, marking the operation position information as a point P, setting a warning point T, and connecting the operation position information P with the warning point T to obtain a warning length Tp;
s600: drawing a circle by taking the guard length Tp as a radius and the operating position information P as a circle center to obtain a guard range Tpp, generating non-tracking information when the number of residents existing in the guard range Tpp exceeds a preset number of people, generating general tracking information when the number of residents existing in the guard range Tpp is within the preset number of people, and generating instant tracking information when the number of residents existing in the guard range Tpp is less than the preset number of people.
3. The tracking system for laser investigation apparatus based on image processing according to claim 2, wherein: the specific processing procedure for processing the real-time image information to obtain the real-time definition information is as follows:
s310: extracting the acquired real-time image information, wherein the real-time image information is a photo of a calibration object placed at a preset distance from the image acquisition equipment, and the calibration object is a preset square divided equally by lines with preset colors;
s320: when the number of the squares which can be obtained in the real-time image is larger than the preset number, generating high-definition image information;
s330: when the number of the squares which can be obtained in the real-time image is within a preset value number, general clear information is generated;
s340: when the number of the blocks which can be obtained in the real-time image is less than the preset number, the image fuzzy information is generated.
4. The tracking system for laser investigation apparatus based on image processing according to claim 1, wherein: the specific process of processing the laser information after the laser analysis module receives the laser information is as follows: and extracting the collected laser information, wherein the laser information is a plurality of target reflection echoes, and recording the intensity information and the duration information of each reflection echo and each reflection echo, namely obtaining the reflection wave information.
5. The tracking system for laser investigation apparatus based on image processing according to claim 1, wherein: the specific processing process of the characteristic extraction module for processing the reflected wave information to obtain the reflected characteristic information is as follows: extracting the collected reflection characteristic information, extracting each reflection echo and intensity information and duration information of each reflection echo from the reflection characteristic information, marking the reflection waves as Wi, wherein i is the number of the reflection echoes, i =1 … … n, marking the intensity information of each reflection echo as Gi, marking the duration information of the reflection echo as Ni, ranking the intensity information Gi of the reflection echo of each reflection wave Wi according to the intensity, extracting three Gmax, Gmax-1 and Gmax-2 with the highest intensity of the reflection echo from the intensity information Gi of the reflection echo, ranking the duration information Ni of the reflection echo from long to short, extracting three Nmax, Nmax-1 and Nmax-2 with the longest duration, and extracting three Gmax, Gmax-1 and Gmax-2 with the highest intensity of the reflection echo and three Nmax with the longest duration of the reflection echo, Nmax-1 and Nmax-2 extract the combined reflection characteristic information.
6. The tracking system for laser investigation apparatus based on image processing according to claim 1, wherein: the specific processing procedure of the characteristic confirmation module for processing the reflection characteristic information after receiving the reflection characteristic information to generate the characteristic confirmation information is as follows: the collected reflection characteristic information is extracted, the reflection characteristic information is sent to a preset notification terminal, a user selects and confirms the reflection characteristic through the preset notification terminal, the preset notification terminal can obtain the characteristic confirmation information, and when no human reaction occurs after the reflection characteristic information is sent to the preset notification terminal for a preset time, all the reflection characteristic information is automatically processed into the characteristic confirmation information.
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