CN114549498A - Method and device for detecting shell explosion information and storage medium - Google Patents
Method and device for detecting shell explosion information and storage medium Download PDFInfo
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- CN114549498A CN114549498A CN202210189027.4A CN202210189027A CN114549498A CN 114549498 A CN114549498 A CN 114549498A CN 202210189027 A CN202210189027 A CN 202210189027A CN 114549498 A CN114549498 A CN 114549498A
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Abstract
The invention discloses a detection method, equipment and a storage medium for shell explosion information, wherein the method comprises the steps of determining an image coordinate of a central point of a target area based on an acquired calibration coordinate of image acquisition equipment and a world coordinate of the central point of the target area; after the explosive state information of the cannonball in the target area is acquired, the position information of the cannonball relative to the central point of the target area is determined according to the image coordinate of the explosive state position of the cannonball and the image coordinate of the central point of the target area, the impact point is automatically measured, manual entering into a drop area for actual measurement is not needed, the safety is improved, the detection efficiency is improved, and the situations of missed measurement and mismeasurement of the impact point are reduced.
Description
Technical Field
The invention relates to the technical field of target range measurement and control, in particular to a method, equipment and a storage medium for detecting shell explosion information.
Background
The fire striking task is an important subject for checking the combat capability of troops, and the detection of the task needs to obtain more accurate impact point coordinates. At present, the method for measuring the impact point of the firing range is mainly to carry out the actual measurement through manual investigation. However, the manual measurement mode needs to enter a drop zone for actual measurement, so that the efficiency is low, whether unexploded bombs exist cannot be determined, and potential safety hazards exist. In addition, in-field measurement, the bullet sequence cannot be determined, and a large number of falling points are gathered together, so that the situations of missing measurement and error measurement are easy to occur.
Therefore, how to safely and effectively obtain the impact point and reduce the situations of missed measurement and mismeasurement of the impact point becomes a problem which is urgently needed to be solved in the production process of enterprises.
Disclosure of Invention
The invention aims to provide a method, equipment and a storage medium for detecting shell explosion information, which are used for solving the problems of low safety, low efficiency and easy occurrence of missed measurement and wrong measurement in the prior art for acquiring an impact point.
In order to achieve the purpose, the invention provides a method for detecting the explosive state and the drop point position of a cannonball, which comprises the following steps:
determining the image coordinate of the central point of the target area based on the acquired calibration coordinate of the image acquisition equipment and the world coordinate of the central point of the target area;
after acquiring the explosive state information of the cannonball in the target area, determining the position information of the cannonball relative to the central point of the target area according to the image coordinates of the explosive state position of the cannonball and the image coordinates of the central point of the target area.
Further, in the method for detecting information on detonation of a projectile, determining the position information of the projectile relative to the center point of the target area according to the image coordinates of the position of the projectile in a burst state and the image coordinates of the center point of the target area includes:
determining the position information of the cannonball relative to the central point of the target area by using the image coordinates of the explosive state position of the cannonball and the image coordinates of the central point of the target area based on a preset position detection calculation formula;
the position detection calculation formula is as follows:
wherein, alpha represents the included angle between the connecting line of the image central point and the corresponding world coordinate point and the horizontal direction, beta represents the included angle between the connecting line of the first measurement pixel point and the corresponding world coordinate point and the horizontal direction, gamma represents the difference value between alpha and beta, HiRepresenting the mounting height of the image-capturing device, n being a positive integer, O1Representing the center point of the image coordinate system, O1Has the coordinates of (uc, vc), O2Representing the origin of the coordinate system of the device, O3Representing the origin of the world coordinate system, M representing the center point of the target area, P1First measurement pixel point, P, in an image representing the explosive state position of a projectile1Has the coordinates of (0, v), Q1Second measurement pixel point, Q, in the image representing the explosive position of the projectile1Has coordinates of (u, v), P represents a first measurement pixel point P1At the position of the world coordinate system, Q represents a second measurement pixel point Q1At the position of the world coordinate system, X represents the length of the actual pixel point, y represents the width of the actual pixel point, f represents the focal length of the image acquisition equipment, and XnRepresenting the location of the projectile on an X-axis, Y-axis relative to the target area center point in a world coordinate systemnRepresenting a Y-axis position of the projectile relative to the target region center point in a world coordinate system.
Further, the method for detecting the shell explosion information further comprises the following steps:
and if the number of the image acquisition equipment is at least 2, carrying out linear fusion on the position information of the cannonball relative to the central point of the target area, which is obtained by each image acquisition equipment, so as to obtain fused position information as final position information of the cannonball relative to the central point of the target area.
Further, in the method for detecting information on detonation of a projectile, the number of the image capturing devices is 2, and the method for linearly fusing the position information of the projectile relative to the center point of the target area obtained by each image capturing device to obtain fused position information as final position information of the projectile relative to the center point of the target area includes:
based on a preset linear fusion calculation formula, carrying out linear fusion on the position information, relative to the target area central point, of the cannonball, obtained by each image acquisition device, so as to obtain fusion position information serving as final position information of the cannonball relative to the target area central point;
the linear fusion calculation formula is:
where a represents a fusion coefficient.
Further, in the method for detecting information on detonation of a projectile, the process of acquiring information on detonation state of the projectile in the target area includes:
analyzing image information of the cannonball in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image corresponding to the image information;
the gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of a difference image;
if the gray value of the difference image is larger than a preset gray value, determining that the explosion state information is explosion;
and if the gray value of the difference image is less than or equal to a preset gray value, determining that the explosion state information is not exploded.
Further, in the method for detecting information on detonation of a projectile, analyzing image information of the projectile in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image corresponding to the image information, the method includes:
acquiring the gray value of each pixel of each frame of image in the image information;
determining pixels with gray values of designated numerical values as background pixels and generating a background image;
and determining pixels with gray values not being the designated numerical values as foreground pixels, and generating the foreground image.
Further, the method for detecting information on detonation of a projectile further comprises:
if the gray value of the difference image is larger than a preset gray value, image segmentation is carried out on the image information to obtain the segmentation area of the explosion characteristic in the foreground image;
if the segmentation area of the explosion characteristic is larger than a preset area, determining that the explosion state information is explosion;
and if the segmentation area of the explosion characteristic is smaller than or equal to a preset area, determining that the explosion state information is not exploded.
Further, in the method for detecting information on detonation of a projectile, the process of acquiring information on detonation state of the projectile in the target area includes:
acquiring a gray scale change value of a designated point in the image information at a preset time interval;
determining the change rate of the lighting of the appointed point according to the gray change value and the preset time interval;
if the change rate of the flame is larger than or smaller than a preset change rate, determining that the explosion state information is explosion;
and if the change rate of the fire light is equal to a preset change rate, determining that the explosion state information is not exploded.
The invention also provides a detection device of the shell explosion information, which comprises a memory and a processor;
the memory has stored thereon a computer program which, when executed by the processor, carries out the steps of the method of detecting projectile explosion information as described in any one of the above.
The invention also provides a storage medium storing one or more programs which can be executed to implement the method for detecting shell explosion information.
The method of the invention has the following advantages:
the method, the equipment and the storage medium for detecting the shell explosion information determine the image coordinate of the central point of the target area based on the acquired calibration coordinate of the image acquisition equipment and the world coordinate of the central point of the target area; after the explosive state information of the cannonball in the target area is acquired, the position information of the cannonball relative to the central point of the target area is determined according to the image coordinate of the explosive state position of the cannonball and the image coordinate of the central point of the target area, the impact point is automatically measured, manual entering into a drop area for actual measurement is not needed, the safety is improved, the detection efficiency is improved, and the situations of missed measurement and mismeasurement of the impact point are reduced.
Drawings
Fig. 1 is a flow chart of an embodiment of the method for detecting the shell explosion information.
Fig. 2 is a geometric schematic diagram of visual ranging.
Fig. 3 is a flow chart of another embodiment of the method for detecting the shell explosion information.
Fig. 4 is a flow chart of a method for detecting shell explosion information according to still another embodiment of the invention.
Fig. 5 is a flow chart of a method for detecting shell explosion information according to another embodiment of the invention.
Fig. 6 is a schematic structural diagram of an embodiment of the detection device for shell explosion information of the invention.
Fig. 7 is a schematic structural diagram of the image acquisition apparatus.
Fig. 8 is an exploded view of fig. 7.
Fig. 9 is a schematic structural diagram of an embodiment of a network transmission device according to the present invention.
Fig. 10 is an exploded view of fig. 9.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below in connection with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present invention and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Preferred embodiments of the present invention will be described in detail with reference to the following examples. It is to be understood that the following examples are given for illustrative purposes only and are not intended to limit the scope of the present invention. Various modifications and substitutions may be made by those skilled in the art without departing from the spirit and scope of the invention, and all such modifications and substitutions are intended to be within the scope of the claims.
Example 1
Fig. 1 is a flowchart of an embodiment of a method for detecting shell explosion information according to the present invention, and as shown in fig. 1, the method for detecting shell explosion information of the present embodiment may specifically include the following steps:
100. determining the image coordinate of the central point of the target area based on the acquired calibration coordinate of the image acquisition equipment and the world coordinate of the central point of the target area;
in a specific implementation process, an image acquired by the image acquisition device can project a three-dimensional scene onto a two-dimensional image plane based on an object imaging model principle, for an object in a world coordinate system, an object imaging model (namely, pinhole imaging) can basically meet the measurement requirement, and a relationship between an equipment coordinate system and the world coordinate system can be established, so that the image coordinate of a certain object in the world coordinate system can be acquired by calibrating the device. In the present embodiment, the world coordinates of the target area center (bulls eye) are known, and therefore, the image coordinates of the target area center point can be obtained from the relationship between the device coordinate system and the world coordinate system.
101. After acquiring the explosive state information of the cannonball in the target area, determining the position information of the cannonball relative to the central point of the target area according to the image coordinates of the explosive state position of the cannonball and the image coordinates of the central point of the target area.
In a specific implementation process, after the cannonball is launched and thrown, the explosion state information of the cannonball in the target area can be acquired, and after the explosion state information of the cannonball in the target area is acquired, the position information of the cannonball relative to the center point of the target area is determined by using the image coordinates of the explosion state position of the cannonball and the image coordinates of the center point of the target area based on a preset position detection calculation formula.
In a specific implementation process, the position detection calculation formula may be constructed based on a visual ranging principle, and fig. 2 is a visual ranging geometric principle diagram. The image acquisition equipment can be respectively calibrated by using a Zhang-Yongyou calibration method to obtain internal parameters, lens distortion parameters and external parameters (including a rotation matrix and a translation matrix) of the image acquisition equipment. After the image acquisition equipment is calibrated, establishing O according to an object imaging model1Image coordinate system UO as origin1V is represented by O2Device coordinate system with origin at O3As the origin world coordinate system XO3Y, as shown in FIG. 3. Points in world coordinates are in proportion to points imaged on image coordinates through an optical axis, and the proportion medium is a pixel point O of the center of a lens of the image acquisition equipment on the image1The O can be solved by similar geometric principle derivation with the actual point M in world coordinates3And the length of P is used as the Y-axis position of the cannonball relative to the central point of the target area in the world coordinate system, and PQ is solved as the X-axis position of the cannonball relative to the central point of the target area in the world coordinate system.
Specifically, the position detection calculation formula (1) is:
wherein, alpha represents the included angle between the connecting line of the image central point and the corresponding world coordinate point and the horizontal direction, beta represents the included angle between the connecting line of the first measurement pixel point and the corresponding world coordinate point and the horizontal direction, gamma represents the difference value between alpha and beta, HiRepresenting the mounting height of the image-capturing device, n being a positive integer, O1Representing the center point of the image coordinate system, O1Has the coordinates (uc, vc), O2Representing the origin of the coordinate system of the device, O3Representing the origin of the world coordinate system, M representing the center point of the target region, P1Representing a first measurement pixel, P1Has the coordinates of (0, v), Q1Representing a second measurement pixel, Q1Has coordinates of (u, v), P represents a first measurement pixel point P1At the position of the world coordinate system, Q represents a second measurement pixel point Q1At the position of the world coordinate system, X represents the length of the actual pixel point, y represents the width of the actual pixel point, f represents the focal length of the image acquisition equipment, and XnRepresenting the location of the projectile on an X-axis, Y-axis relative to the target area center point in a world coordinate systemnRepresenting a Y-axis position of the projectile relative to the target region center point in a world coordinate system.
The detection method of the shell explosion information of the embodiment determines the image coordinate of the central point of the target area based on the acquired calibration coordinate of the image acquisition equipment and the world coordinate of the central point of the target area; after the explosive state information of the cannonball in the target area is acquired, the position information of the cannonball relative to the central point of the target area is determined according to the image coordinate of the explosive state position of the cannonball and the image coordinate of the central point of the target area, the impact point is automatically measured, manual entering into a drop area for actual measurement is not needed, the safety is improved, the detection efficiency is improved, and the situations of missed measurement and mismeasurement of the impact point are reduced.
In one specific implementation, in order to determine the position information of the cannonball relative to the target area center point more accurately, at least two image acquisition devices may be provided, each image acquisition device may obtain the position information of one cannonball relative to the target area center point, and then the position information of the cannonball relative to the target area center point obtained by each image acquisition device is linearly fused to obtain fused position information as final position information of the cannonball relative to the target area center point.
In a specific implementation process, the number of the image acquisition devices may be 2, and the position information of the cannonball relative to the center point of the target area, which is obtained by each image acquisition device, may be linearly fused based on a preset linear fusion calculation formula, so as to obtain fused position information as final position information of the cannonball relative to the center point of the target area;
the linear fusion calculation formula (2) is:
where a represents a fusion coefficient.
Example 2
Fig. 3 is a flowchart of another embodiment of the method for detecting information on shell explosion according to the present invention, and as shown in fig. 3, the method for detecting information on shell explosion mainly detects information on the explosion state of a shell in a target area, and the method specifically includes the following steps:
300. analyzing image information of the cannonball in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image corresponding to the image information;
in a specific implementation process, the gray value of each pixel of each frame of image in the image information can be acquired; determining pixels with gray values of designated numerical values as background pixels and generating a background image; and determining pixels with gray values not being the designated numerical values as foreground pixels, and generating the foreground image.
Specifically, because the change frequency of the pixel points of the shells is faster than that of the pixel points forming the background, the change frequency is used as a main characteristic to judge the states of the pixel points, namely the foreground (shells) and the background, and the characteristic comprises two levels, namely a pixel level and a frame level.
The resolution of an input image is set to be MxN, detection is carried out at a pixel level, a foreground target and a background are distinguished, and pixels meeting conditions are adaptively updated to be the background. Defining a pixel state matrix Dk (M, N), recording the state of each pixel in the k frame image, wherein 0 identifies the state of the pixel as a background pixel, and non-0 identifies the state of the pixel as a foreground pixel, as shown in formulas (3) and (4):
wherein, Ik(i, j) is the color value of the k frame pixel (i, j) of the input image, Fk(i, j) is a binary matrix of whether the color value of the pixel (i, j) changes from the k-epsilon frame to the k-th frame; t isfThe preset gray value can be set to 80; ε is the number of frames that the color value of the pixel processes the change state.
301. The gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of a difference image;
in a specific implementation process, the gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of the difference image.
302. Detecting whether the gray value of the difference image is larger than a preset gray value or not; if yes, go to step 303, if no, go to step 304;
303. determining that the explosion state information is explosion;
and if the gray value of the difference image is larger than a preset gray value, determining that the explosion state information is explosion.
304. And determining that the explosion state information is not exploded.
And if the gray value of the difference image is less than or equal to a preset gray value, determining that the explosion state information is not exploded.
Example 3
Fig. 4 is a flowchart of a further embodiment of the method for detecting information about detonation of a projectile, as shown in fig. 4, the method for detecting information about detonation of a projectile in the embodiment mainly detects information about the detonation state of the projectile in a target area, and the method specifically includes the following steps:
400. analyzing image information of the cannonball in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image corresponding to the image information;
401. the gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of a difference image;
402. if the gray value of the difference image is larger than a preset gray value, image segmentation is carried out on the image information to obtain the segmentation area of the explosion characteristic in the foreground image;
due to the fact that the explosion identification of the cannonball cannot be effectively identified if only the color or the shape change is relied on. When the shell explodes or falls to the ground, smoke and dust are generated along with the fire light, so that the identification degree of the explosion image can be improved by using the method of the characteristics of the smoke and the dust. The appearance of the fire in the image appears to change rapidly in a short time, while smoke, dust can appear to be spread over a large area for a long time. Therefore, according to the uncertainty of the smoke and the dust, after a background image of the current image is acquired, a region with a target in the digital image is detected by using a background difference method, when the image of the target region is detected, the image is segmented by adopting an Ostu algorithm, and a proper threshold value is selected for the area of the smoke and the dust. When the smoke area is larger than the threshold value, the smoke is considered to be generated, namely explosion is identified, otherwise, the smoke is considered to be not exploded. The dust was also analyzed using the Ostu algorithm. The Ostu algorithm uses a clustering idea, divides the gray scale number of an image into 2 parts according to the gray scale, so that the gray scale difference between the two parts is maximum, the gray scale difference between each part is minimum, and searches for a proper gray scale level for division through variance calculation.
403. Detecting whether the segmentation area of the explosion characteristic in the foreground image is larger than a preset area or not; if yes, go to step 404, if no, go to step 405;
404. determining that the explosion state information is explosion;
and if the segmentation area of the explosion characteristic is larger than the preset area, determining that the explosion state information is explosion.
405. And determining that the explosion state information is not exploded.
And if the segmentation area of the explosion characteristic is smaller than or equal to the preset area, determining that the explosion state information is not exploded.
Example 4
Fig. 5 is a flowchart of a method for detecting shell explosion information according to another embodiment of the present invention, and as shown in fig. 5, the method for detecting shell explosion information of this embodiment mainly detects information of explosion state of a shell in a target area, and the method specifically includes the following steps:
500. acquiring a gray scale change value of a designated point in the image information at a preset time interval;
501. determining the change rate of the lighting of the appointed point according to the gray change value and the preset time interval;
502. detecting whether the change rate of the flame is equal to a preset change rate, if so, executing a step 503, and if not, executing a step 504;
503. determining that the explosion state information is explosion;
and if the change rate of the fire light is greater than or less than the preset change rate, determining that the explosion state information is explosion.
504. And determining that the explosion state information is not exploded.
And if the change rate of the fire light is equal to a preset change rate, determining that the explosion state information is not exploded.
In a specific implementation process, the 3 methods for acquiring the burst state information of the cannonball in the target area can be used independently or in combination. When the 3 schemes are used in combination, corresponding weight values can be set for different methods, and then the weight summation is carried out according to the weight values of the 3 schemes to obtain the explosion state information of the cannonball in the target area.
It should be noted that the method of the embodiment of the present invention may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In the case of such a distributed scenario, one device of the multiple devices may only perform one or more steps of the method according to the embodiment of the present invention, and the multiple devices interact with each other to complete the method.
Example 5
Fig. 6 is a schematic structural diagram of an embodiment of the detecting device for shell explosion information according to the present invention, and as shown in fig. 6, the detecting device for shell explosion information according to the present embodiment may include a coordinate conversion module 60 and a position determination module 61.
The coordinate conversion module 60 is configured to determine an image coordinate of a central point of a target area based on the acquired calibration coordinate of the image acquisition device and a world coordinate of the central point of the target area;
and the position determining module 61 is used for determining the position information of the cannonball relative to the target area central point according to the image coordinates of the cannonball explosion state position and the image coordinates of the target area central point after acquiring the explosion state information of the cannonball in the target area.
In one specific implementation process, the position information of the cannonball relative to the central point of the target area can be determined by utilizing the image coordinates of the explosive state position of the cannonball and the image coordinates of the central point of the target area based on a preset position detection calculation formula;
the detection device for the shell explosion information of the embodiment determines the image coordinate of the central point of the target area based on the acquired calibration coordinate of the image acquisition equipment and the world coordinate of the central point of the target area; after the explosive state information of the cannonball in the target area is acquired, the position information of the cannonball relative to the central point of the target area is determined according to the image coordinate of the explosive state position of the cannonball and the image coordinate of the central point of the target area, the impact point is automatically measured, manual entering into a drop area for actual measurement is not needed, the safety is improved, the detection efficiency is improved, and the situations of missed measurement and mismeasurement of the impact point are reduced.
In one specific implementation, in order to determine the position information of the cannonball relative to the target area center point more accurately, at least two image acquisition devices may be provided, each image acquisition device may obtain the position information of one cannonball relative to the target area center point, and then the position information of the cannonball relative to the target area center point obtained by each image acquisition device is linearly fused to obtain fused position information as final position information of the cannonball relative to the target area center point.
In a specific implementation process, the number of the image acquisition devices may be 2, and the position information of the cannonball relative to the center point of the target area, which is obtained by each image acquisition device, may be linearly fused based on a preset linear fusion calculation formula, so as to obtain fused position information as final position information of the cannonball relative to the center point of the target area.
In one specific implementation, the acquisition process of the information of the burst state of the cannonball in the target area can include, but is not limited to, the following 3 ways:
the first method comprises the following steps: analyzing image information of the cannonball in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image corresponding to the image information; the gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of a difference image; if the gray value of the difference image is larger than a preset gray value, determining that the explosion state information is explosion; and if the gray value of the difference image is less than or equal to a preset gray value, determining that the explosion state information is not exploded.
In a specific implementation process, analyzing image information of a cannonball collected by an image collecting device in a target area to obtain a background image and a foreground image corresponding to the image information, the method comprises the following steps: acquiring the gray value of each pixel of each frame of image in the image information; determining pixels with gray values of designated numerical values as background pixels and generating a background image; and determining pixels with gray values not being the designated numerical values as foreground pixels, and generating the foreground image.
And the second method comprises the following steps: analyzing image information of the cannonball in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image which correspond to the image information; the gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of a difference image; if the gray value of the difference image is larger than a preset gray value, image segmentation is carried out on the image information to obtain the segmentation area of the explosion characteristic in the foreground image; if the segmentation area of the explosion characteristic is larger than a preset area, determining that the explosion state information is explosion; and if the segmentation area of the explosion characteristic is smaller than or equal to a preset area, determining that the explosion state information is not exploded.
And the third is that: acquiring a gray scale change value of a designated point in the image information at a preset time interval; determining the change rate of the lighting of the appointed point according to the gray change value and the preset time interval; if the change rate of the flame is larger than or smaller than a preset change rate, determining that the explosion state information is explosion; and if the change rate of the fire light is equal to a preset change rate, determining that the explosion state information is not exploded.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and specific implementation schemes thereof may refer to the method described in the foregoing embodiment and relevant descriptions in the method embodiment, and have beneficial effects of the corresponding method embodiment, which are not described herein again.
The invention also provides a detection device of the shell explosion information, which comprises a memory and a processor; the memory stores thereon a computer program which, when executed by the processor, implements the steps of the projectile explosion information detection method of the above-described embodiments.
The invention also provides a storage medium, which stores one or more programs that can be executed to implement the method for detecting shell explosion information of the above embodiment.
In a specific implementation process, the image capturing device may be implemented by the following scheme:
fig. 7 is a schematic structural diagram of an image capturing device, fig. 8 is an exploded view of fig. 7, and as shown in fig. 7 to 8, the wireless audio/video capturing device of this embodiment may include a video capturing module 11, an audio capturing module 12, a wireless communication module (not shown in the figures), a first transmission antenna 13, a first device housing 14, and a controller (not shown in the figures).
In one implementation, the controller and the wireless communication module are disposed inside the first device housing 14; the video acquisition module 11 and the audio acquisition module 12 are respectively arranged on the first device shell 14, and both the video acquisition module 11 and the audio acquisition module 12 are electrically connected with the controller; a first antenna connecting structure 141 connected with the wireless communication module is arranged on one side of the first device shell 14; one end of the first transmission antenna 13 is provided with a second antenna connection structure (not shown in the figure); the first antenna connection structure 141 and the second antenna connection structure are detachably connected to realize connection or disconnection of the first transmission antenna 13 and the wireless communication module. Like this, be equivalent to first transmission antenna 13 and first equipment casing 14 integrated together, first transmission antenna 13 and wireless communication module's connecting wire are located first equipment casing 14 insidely, make the product integration level higher, increase of service life, and environmental suitability is stronger, reduces the fault rate, and work is more stable.
Specifically, the first antenna connection structure 141 may include an antenna terminal, and the second antenna connection structure may include an antenna port. An external thread structure is arranged at one end of the antenna terminal; an internal thread structure is arranged at one end of the antenna port; the first antenna connection structure 141 and the second antenna connection structure can be detachably connected by the mutual matching of the external thread structure and the internal thread structure.
It should be noted that the present embodiment is not limited to the above structure, for example, a Universal Serial Bus (USB) port may be disposed on one side of the first device housing 14, a USB connector may be disposed at one end of the first transmission antenna 13, the USB connector on the first transmission antenna 13 may be inserted into the USB port on the first device housing 14 to connect the first transmission antenna 13 with the wireless transmitter, and the USB connector on the first transmission antenna 13 may be pulled out from the USB port on the first device housing 14 to disconnect the first transmission antenna 13 from the wireless transmitter.
The wireless audio and video collection equipment of this embodiment, through one side of first equipment casing 14 set up with first antenna connection structure 141 that wireless transmitter links to each other one side of first transmission antenna 13 sets up second antenna connection structure, and will first antenna connection structure 141 with second antenna connection structure can dismantle the connection, in order to realize first transmission antenna 13 with wireless communication module's connection or disconnection, like this, through pulling out the mode of inserting, can realize the change to first transmission antenna 13 fast, improved wireless audio and video collection equipment's practicality.
In one implementation, as shown in fig. 7-8, the video capture module 11 may include a camera 111 and a cover 112; the camera 111 and the cover 112 are respectively installed on the first device housing 14, and the camera 111 is fixed inside the cover 112.
In a specific implementation process, in order to be able to take pictures at different angles, a rotating component (not shown in the figures) may be arranged on the first device housing 14, and the rotating component may include a rotating base and a rotating shaft; the cover 112 and the camera 111 are respectively arranged on the rotating component; the rotating component is used for driving the cover 112 and the camera 111 to rotate.
In a specific implementation process, limited by the overall thickness of the camera 111 and the cost of the higher focal length camera 111, the common focal length of the camera 111 may not be very high, which may result in that a clearer image may not be obtained. Therefore, in order to solve the above technical problem, in the present invention, the slot a corresponding to the rotation track of the camera 111 may be disposed in the first device housing 14, that is, if the camera 111 rotates 180 °, a 180 ° arc slot a may be disposed, and if the camera 111 rotates 360 °, a 360 ° circular slot a may be disposed.
In a specific implementation process, the wireless audio/video acquisition device further includes a rotary connector (not shown in the figure) and a zoom lens 15. The first end of the rotary connecting piece is connected with the rotating component; the focus expanding lens 15 is arranged behind the slot a and connected with the second end of the rotating connecting piece, and the focus expanding lens 15 is located in the direction of the camera 111; the rotating part is also used for driving the rotating connector and the zooming lens 15 to rotate. In this way, the focus expansion lens 15 can be installed in the slot a to realize focus expansion of the camera 111, so that the camera 111 can shoot farther and clearer images. The zoom lens 15 may be a convex lens or a liquid crystal lens, and the embodiment is not particularly limited.
In a specific implementation process, the wireless audio/video acquisition device may further include a first sliding assembly 16, where the first sliding assembly 16 is disposed on the first device housing 14; the first sliding assembly 16 is used for being in sliding connection with an equipment bracket supporting the wireless audio and video acquisition equipment. Specifically, the first device housing 14 may include a main housing and a base plate on which the first slider assembly 16 may be mounted, such as a slide latch. The first sliding member 16 is mounted on the equipment rack, and then fixed to the equipment rack by adjusting the signal strength through sliding.
In a specific implementation process, an antenna expansion interface (not shown in the figure) may be further disposed on the first transmission antenna 13, and the total length of the first transmission antenna 13 may be normalized by inserting the other first transmission antennas 13 into the antenna expansion interface, so as to expand the coverage of the wireless signal.
In one implementation, the side of the first device housing 14 may be further provided with a heat dissipation structure (not shown). For example, the heat dissipation structure may include, but is not limited to, heat sinks and/or heat dissipation holes.
In a specific implementation process, the wireless audio/video capture device of this embodiment may further include a signal indication component (not shown in the figure); the signal indicating component is electrically connected with the controller. The signal indicating component is used for indicating signal strength. For example, the signal indicating assembly can be realized by a row of indicating lamps, and different signal intensities correspond to different light emitting colors.
In a specific implementation process, the wireless audio/video acquisition device of this embodiment may further include an electric quantity indication component 20; the power indicating assembly 20 is electrically connected to the controller. The charge indicating assembly 20 is used to indicate the remaining amount of charge. For example, the signal indicating assembly may be implemented using an array of indicator lights.
In a specific implementation process, a solar panel (not shown in the figure) may be further disposed on the first device housing 14 or the wrapping housing of the first transmission antenna 13, so that when the device is used outdoors, the solar panel may be used to absorb solar energy and convert the solar energy into electric energy to supply power to the wireless audio/video acquisition device.
In a specific implementation, the network port 17, the switch 18, the power interface 19, a rechargeable battery (not shown in the figure), and the like.
In one embodiment, the image information collected by the image collecting device may be transmitted via the following network transmission device.
Fig. 9 is a schematic structural diagram of an embodiment of a network transmission device of the present invention, and fig. 10 is an exploded view of fig. 9, as shown in fig. 9 to 10, the network transmission device of this embodiment may include a second device housing 21, a controller (not shown in the figures), a wireless transmitter (not shown in the figures), a second transmission antenna 22, and a fixing member 23.
In a specific implementation process, the controller and the wireless transmitter are both disposed inside the second device housing 21, and the controller is electrically connected to the wireless transmitter; one side of the second device housing 21 is provided with an antenna port (not shown) connected to the wireless transmitter; a connecting structure 221 is arranged on one side of the second transmission antenna 22; the connection structure 221 is matched with the antenna port to realize connection or disconnection of the transmission antenna and the wireless transmitter. Like this, be equivalent to transmission antenna and equipment casing integrated together, no longer need external feeder to be connected transmission antenna and wireless transmitter, make the product integration higher, increase of service life, environmental suitability is stronger, reduces the fault rate, and work is more stable.
Specifically, a Universal Serial Bus (USB) port may be disposed on one side of the second device housing 21, a USB connector may be disposed on one side of the second transmission antenna 22, the USB connector on the second transmission antenna 22 may be inserted into the USB port on the second device housing 21 to connect the second transmission antenna 22 with the wireless transmitter, and the USB connector on the second transmission antenna 22 may be pulled out from the USB port on the second device housing 21 to disconnect the second transmission antenna 22 from the wireless transmitter.
It should be noted that, this embodiment is not limited to the USB port and the USB connector in a matching manner, and the user may select other types of ports and connectors according to actual requirements.
In a specific implementation process, the first end of the fixing member 23 may be detachable from the second device housing 21, and the second end of the fixing member 23 may be detachably connected to the second transmission antenna 22, so that the stability between the second transmission antenna 22 and the second device housing 21 may be enhanced while ensuring that the second transmission antenna 22 can be detached and replaced.
In a specific implementation process, a first end of the fixing member 23 is connected to the second device housing 21 through a first bolt assembly, and a second end of the fixing member 23 is connected to the transmission antenna through a second bolt assembly. Specifically, the fixing member 23 may be L-shaped, so that the L-shaped fixing member 23 may include two folded edges which are 90 °, one folded edge end of the L-shaped fixing member 23 may be fixed on the second device housing 21 by a first bolt assembly, and when the antenna needs to be replaced, the bolt assembly is loosened to separate the one folded edge end of the L-shaped fixing member 23 from the second device housing 21. Similarly, the other folded end of the L-shaped fixing member 23 may be fixed to the second transmission antenna 22 by a second bolt assembly, and when the antenna needs to be replaced, the other folded end of the L-shaped fixing member 23 is separated from the second transmission antenna 22 by loosening the bolt assembly.
In the network transmission device of this embodiment, an antenna port connected to the wireless transmitter is disposed on one side of the second device housing 21, and a connection structure 221 is disposed on one side of the second transmission antenna 22; the connection structure 221 and the port of the second transmission antenna 22 can be matched, so that the connection or disconnection between the second transmission antenna 22 and the wireless transmitter is realized, and thus, the second transmission antenna 22 can be replaced quickly by plugging. And the first end of the fixing member 23 is detachably connected to the second device housing 21, and the second end of the fixing member 23 is detachably connected to the second transmission antenna 22. In this way, while it is ensured that the second transmission antenna 22 can be removed and replaced, the stability between the second transmission antenna 22 and the second device housing 21 can be enhanced.
In a specific implementation process, as shown in fig. 10, the network transmission device may further include a second sliding component 23, where the second sliding component 23 is disposed on the device housing; the second sliding component 23 is used for sliding connection with a device bracket supporting the network transmission device. Specifically, the second device housing 21 may include a main housing 111 and a bottom plate 112, and the second sliding member 23, such as a sliding buckle, may be mounted on the bottom plate 112. The second sliding assembly 23 is placed on the equipment support, and is fixed on the equipment support by adjusting the signal intensity through sliding and the like.
In a specific implementation process, an antenna expansion interface (not shown in the figure) may be further disposed on the second transmission antenna 22, and the total length of the second transmission antenna 22 may be normalized by inserting other second transmission antennas 22 into the antenna expansion interface, so as to expand the coverage of the wireless signal.
In a specific implementation process, as shown in fig. 1, a heat dissipation structure B is disposed on at least one side of the second device housing 21 where the antenna port is not disposed. The heat dissipation structure B may include, but is not limited to, heat dissipation slots and/or heat dissipation holes. Specifically, as shown in fig. 1 to 2, a heat dissipation groove may be formed in the main housing 111 to improve the heat dissipation capability of the network transmission device.
In a specific implementation process, the size of the cross section of the side of the second device housing 21 where the antenna port is arranged may be set to be smaller than the size of the side of the second transmission antenna 22 facing the second device housing 21 according to actual requirements. For example, when the network transmission device is used as a signal transmission device, it may be arranged in such a configuration.
In a specific implementation process, according to actual requirements, the size of the cross section of the side of the second device housing 21 where the antenna port is disposed may be greater than or equal to the size of a side of the second transmission antenna 22 facing the second device housing 21. For example, the network transmission device may be configured in such a configuration as a signal reception device.
In a specific implementation process, the network transmission device of the present embodiment may further include a signal indication component 24; the signal indicating assembly 24 is electrically connected to the controller. The signal indication component 24 is used to indicate signal strength. For example, the signaling assembly 24 may be implemented with a row of indicator lights, with different signal intensities corresponding to different lighting colors.
In a specific implementation process, a solar panel (not shown in the figure) may be further disposed on the second device housing 21 or the wrapping housing of the second transmission antenna 22, so that when the device is used outdoors, the solar panel can be used to absorb solar energy and convert the solar energy into electric energy to supply power to the network transmission device.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A method for detecting the explosive state and the drop point position of a shell is characterized by comprising the following steps:
determining the image coordinate of the central point of the target area based on the acquired calibration coordinate of the image acquisition equipment and the world coordinate of the central point of the target area;
after acquiring the explosive state information of the cannonball in the target area, determining the position information of the cannonball relative to the central point of the target area according to the image coordinates of the explosive state position of the cannonball and the image coordinates of the central point of the target area.
2. The method for detecting information on detonation of a projectile as claimed in claim 1, wherein determining the position information of the projectile relative to the center point of the target area from the image coordinates of the location of the projectile in a burst state and the image coordinates of the center point of the target area comprises:
determining the position information of the cannonball relative to the central point of the target area by using the image coordinates of the cannonball explosion state position and the image coordinates of the central point of the target area based on a preset position detection calculation formula;
the position detection calculation formula is as follows:
wherein, alpha represents the included angle between the connecting line of the image central point and the corresponding world coordinate point and the horizontal direction, beta represents the included angle between the connecting line of the first measurement pixel point and the corresponding world coordinate point and the horizontal direction, gamma represents the difference value between alpha and beta, HiRepresenting the mounting height of the image-capturing device, n being a positive integer, O1Representing the center point of the image coordinate system, O1Has the coordinates (uc, vc), O2Representing the origin of the coordinate system of the device, O3Representing the origin of the world coordinate system, M representing the center point of the target area, P1First measurement pixel point, P, in an image representing the explosive state position of a projectile1Has the coordinates of (0, v), Q1Second measurement pixel point, Q, in the image representing the explosive position of the projectile1Has coordinates of (u, v), P represents a first measurement pixel point P1At the position of the world coordinate system, Q represents a second measurement pixel point Q1At the position of the world coordinate system, X represents the length of the actual pixel point, y represents the width of the actual pixel point, f represents the focal length of the image acquisition equipment, and XnRepresenting the location of the projectile on an X-axis, Y-axis relative to the target area center point in a world coordinate systemnRepresenting a Y-axis position of the projectile relative to the target region center point in a world coordinate system.
3. The method for detecting shell explosion information as recited in claim 2, further comprising:
and if the number of the image acquisition equipment is at least 2, carrying out linear fusion on the position information of the cannonball relative to the central point of the target area, which is obtained by each image acquisition equipment, so as to obtain fused position information as final position information of the cannonball relative to the central point of the target area.
4. The method for detecting information on detonation of a shell as claimed in claim 3, wherein the number of the image acquisition devices is 2, and the step of linearly fusing the position information of the shell relative to the center point of the target area obtained by each image acquisition device to obtain fused position information as final position information of the shell relative to the center point of the target area comprises:
based on a preset linear fusion calculation formula, carrying out linear fusion on the position information, relative to the target area central point, of the cannonball, obtained by each image acquisition device, so as to obtain fused position information serving as final position information of the cannonball relative to the target area central point;
the linear fusion calculation formula is:
where a represents a fusion coefficient.
5. The method for detecting information on detonation of the cannonball as claimed in claim 1, wherein the process of acquiring information on detonation state of the cannonball in the target area comprises:
analyzing image information of the cannonball in a target area, which is acquired by image acquisition equipment, to obtain a background image and a foreground image corresponding to the image information;
the gray value of the foreground image is differentiated from the gray value of the background image to obtain the gray value of a difference image;
if the gray value of the difference image is larger than a preset gray value, determining that the explosion state information is explosion;
and if the gray value of the difference image is less than or equal to a preset gray value, determining that the explosion state information is not exploded.
6. The method for detecting the information of the explosion of the cannonball as claimed in claim 5, wherein the step of analyzing the image information of the cannonball in the target area, which is acquired by the image acquisition equipment, to obtain the background image and the foreground image corresponding to the image information comprises the following steps:
acquiring the gray value of each pixel of each frame of image in the image information;
determining pixels with gray values of designated numerical values as background pixels and generating a background image;
and determining pixels with gray values which are not the designated values as foreground pixels, and generating a foreground image.
7. The method for detecting shell explosion information as recited in claim 5, further comprising:
if the gray value of the difference image is larger than a preset gray value, image segmentation is carried out on the image information to obtain a segmentation area of the explosion characteristic in the foreground image;
if the segmentation area of the explosion characteristic is larger than a preset area, determining that the explosion state information is explosion;
and if the segmentation area of the explosion characteristic is smaller than or equal to a preset area, determining that the explosion state information is not exploded.
8. The method for detecting information on detonation of the cannonball as claimed in claim 1, wherein the process of acquiring information on detonation state of the cannonball in the target area comprises:
acquiring a gray scale change value of a designated point in the image information at a preset time interval;
determining the change rate of the lighting of the appointed point according to the gray change value and the preset time interval;
if the change rate of the fire light is larger than or smaller than a preset change rate, determining that the explosion state information is explosion;
and if the change rate of the fire light is equal to a preset change rate, determining that the explosion state information is not exploded.
9. The detection equipment of the shell explosion information is characterized by comprising a memory and a processor;
the memory has stored thereon a computer program which, when being executed by the processor, carries out the steps of the method of detecting cannonball detonation information of any one of claims 1-8.
10. A storage medium storing one or more programs which when executed perform the method of detecting shell explosion information of any one of claims 1 to 8.
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| CN2021108749329 | 2021-07-30 | ||
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114842164A (en) * | 2022-06-17 | 2022-08-02 | 中国人民解放军陆军炮兵防空兵学院 | Method and system for calculating coordinates of frying points based on three-dimensional geographic model |
| CN115330779A (en) * | 2022-10-13 | 2022-11-11 | 四川迪晟新达类脑智能技术有限公司 | Blasting time confirmation method and system based on fire light and smoke dust in civil blasting |
-
2022
- 2022-02-28 CN CN202210189027.4A patent/CN114549498A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114842164A (en) * | 2022-06-17 | 2022-08-02 | 中国人民解放军陆军炮兵防空兵学院 | Method and system for calculating coordinates of frying points based on three-dimensional geographic model |
| CN114842164B (en) * | 2022-06-17 | 2023-04-07 | 中国人民解放军陆军炮兵防空兵学院 | Method and system for calculating coordinates of frying points based on three-dimensional geographic model |
| CN115330779A (en) * | 2022-10-13 | 2022-11-11 | 四川迪晟新达类脑智能技术有限公司 | Blasting time confirmation method and system based on fire light and smoke dust in civil blasting |
| CN115330779B (en) * | 2022-10-13 | 2022-12-20 | 四川迪晟新达类脑智能技术有限公司 | Blasting time confirmation method and system based on fire light and smoke dust in civil blasting |
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