CN115297252A - Image definition enhancing method of real-time zooming tracking system of television - Google Patents
Image definition enhancing method of real-time zooming tracking system of television Download PDFInfo
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- CN115297252A CN115297252A CN202210701695.0A CN202210701695A CN115297252A CN 115297252 A CN115297252 A CN 115297252A CN 202210701695 A CN202210701695 A CN 202210701695A CN 115297252 A CN115297252 A CN 115297252A
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Abstract
The invention discloses an image definition enhancing method of a television real-time zooming tracking system, which comprises the following steps: acquiring a focal length threshold; acquiring the response speed of the servo system, wherein if the response speed of the servo system is less than a first preset threshold value, the response speed of the servo system is unchanged; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed; controlling the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer. The invention has simple and convenient control method and easy operation in the continuous zooming process of the television of the real-time zooming tracking system of the television, and ensures that the image generated by the television processing system is clear.
Description
Technical Field
The invention relates to the field of servo control, in particular to a method for enhancing image definition of a real-time zooming tracking system of a television in the continuous zooming process of the television.
Background
The tracking system is widely applied to the fields of target detection, target tracking and the like, wherein in the tracking system, for example, a photoelectric tracker and photoelectric sighting equipment, a television real-time zooming tracking system is usually included, and for the television real-time zooming tracking system, a television real-time zooming tracking control technology is usually adopted, and the television real-time zooming tracking control technology adjusts a television processing system to capture a tracking view field in real time according to the characteristics of a target. In a television processing system of a tracking system, a continuous zooming technology is also generally adopted, and the television processing system with the continuous zooming technology is used as an image acquisition unit, so that a television measurement system in the television processing system works in an optimal detection and extraction state, thereby improving the tracking performance and the tracking precision of the photoelectric tracking system, expanding the application field of the tracking system and enabling the tracking system to be more flexible and intelligent.
Taking a photoelectric tracker as an example, in the working process, because the focal length of a television lens in the television processing system changes in real time, the television processing system can fit a real-time focal length value of the television lens according to the motion state of a zoom motor deployed in the television lens. A tracking processing module of the photoelectric tracker receives a real-time focal length value of a fitted television lens in real time through a serial port, a tracking deviation sent out by calculation in a tracking process is combined to a servo controller, and the servo controller calculates a control master command of a tracking loop, so that a television real-time zooming tracking system meets technical index requirements, and the functions of real-time capturing and tracking a target are successfully completed.
In general, in the continuous zooming process of a television processing system, a servo system inside a photoelectric tracker is in a motion state, so that an image in the television processing system is blurred, and normal use is influenced. At present, in a real-time zoom tracking system, a method frequently adopted is as follows: and an upper computer outside the photoelectric tracker sends a tracking command which is determined by a user and needs to be reached by the photoelectric tracker to the servo control system, the servo control system responds to the command, meanwhile, the television processing system feeds a focal length value back to the tracker in real time, the tracker performs data processing according to the tracking condition to generate tracking deviation, then the tracking deviation is sent to the servo controller, and the servo controller controls the servo system to move according to the change of the tracking deviation to complete target tracking. However, this processing method brings image delay, reduces the response speed of the system, and needs to be improved in a servo control method in order to improve the tracking accuracy and the dynamic response speed of the system, and ensure that the image of the system is clear in the zooming process.
Disclosure of Invention
In view of this, the invention provides an image sharpness enhancing method for a real-time zooming tracking system of a television, which can solve the technical problems that the real-time zooming tracking system of the television cannot normally track a target and the target is lost due to the blurring phenomenon of an image in the continuous zooming process of the television.
In order to solve the above-mentioned technical problems, the present invention has been achieved as described above.
An image definition enhancing method of a television real-time zooming tracking system comprises the following steps:
step S1: acquiring a zoom range of the focal length of the television processing system, and multiplying the maximum value in the zoom range by a preset proportion to obtain a focal length threshold;
step S2: acquiring the current focal length of the television processing system, and if the current focal length is greater than or equal to the focal length threshold, entering step S3; otherwise, entering step S4;
and step S3: acquiring the speed in a control command sent by an upper computer independent of the photoelectric tracker, taking the speed in the control command as the response speed of the servo system, and entering step S5;
and step S4: the response speed of the servo system is (maximum value in zoom range-current focal length) × maximum value in servo system current speed/zoom range, and the step S5 is entered;
step S5: if the response speed of the servo system is smaller than a first preset threshold value, the response speed of the servo system is unchanged, and the method is ended; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed;
step S6: controlling the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer.
Preferably, the first preset threshold is determined based on a minimum speed value to which the photoelectric tracker can respond, and is related to performance indexes of a speed sensor gyro selected by the photoelectric tracker and controller accuracy of a servo system.
Preferably, the preset ratio is 0.75.
Preferably, the step S6 of controlling the tracking loop based on the control amount includes:
step S61: analyzing the control master command information from the control quantity, and clearing a boundary-crossing integral term of a control master command corresponding to the tracking loop, wherein the control master command is a numerical value for controlling the torque and the rotating speed of a motor; clearing the out-of-range integral terms, namely clearing all integral terms of the control master command obtained by data outside an angle boundary in the data obtained by the photoelectric tracking system; the angular boundary is a boundary frame angle of the servo system; the control master command is generated by adopting a PID control algorithm;
step S62: reading a tracking deviation angle, wherein the tracking deviation angle is a difference value between a current view field central angle value of the servo system and a current angle of a target to be tracked; when the tracking deviation angle is smaller than a second preset threshold value, reducing a weight coefficient of a proportional term used for adjusting the speed of a speed ring in the photoelectric tracking system in the PID control algorithm;
step S63: updating a control algorithm for generating the tracking master command, and if the starting time of the television tracking system is less than a third preset threshold value, generating the tracking master command by adopting a proportional control algorithm; otherwise, generating the tracking master command by adopting a PI control algorithm.
Preferably, the second preset threshold is determined based on a minimum tracking deviation angle recognizable by the tracking loop.
The invention provides an image definition enhancing device of a real-time zooming tracking system of a television, which comprises:
a focal length threshold generation module: the method comprises the steps of configuring to obtain a zoom range of a focal length of the television processing system, and multiplying a maximum value in the zoom range by a preset proportion to obtain a focal length threshold;
a speed control module: the method comprises the steps that a current focal length of the television processing system is obtained, and if the current focal length is larger than or equal to a focal length threshold value, a first speed module is triggered; otherwise, triggering a second speed module;
a first speed module: the control system is configured to acquire a speed in a control command sent by an upper computer independent of the photoelectric tracker, and trigger a second control module by taking the speed in the control command as a response speed of the servo system;
a second speed module: configuring the response speed of the servo system to be (maximum value in zooming range-current focal length) and the maximum value in the current speed/zooming range of the servo system, and triggering the second control module;
a second control module: the method comprises the steps that if the response speed of the servo system is smaller than a first preset threshold value, the response speed of the servo system is unchanged; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed;
a third control module: configured to control the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer.
The invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions for being loaded by a processor and performing the method as described above.
The present invention provides an electronic device, comprising:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are for storing by the memory and for loading and executing by the processor the method as described above.
Has the beneficial effects that:
the invention provides a control method for solving the image blurring phenomenon generated in the continuous zooming process of a television by a real-time zooming tracking system of the television based on the working principle of the tracking system.
The method has the following technical effects:
(1) In the continuous zooming process of the television of the real-time zooming tracking system of the television, the control method of the invention ensures that the image generated by the television processing system is clear.
(2) The control method of the invention passes the performance index test of the product along with the product, so that the real-time zooming tracking system of the television is more flexible and intelligent.
(3) The control method is simple and convenient and easy to operate in the continuous zooming process of the television of the real-time zooming tracking system of the television.
Drawings
FIG. 1 is a schematic flow chart of a method for enhancing image sharpness of a real-time zooming tracking system of a television in a continuous zooming process of the television, provided by the present invention;
FIG. 2 is a schematic diagram of a tele-view image in a television processing system according to the prior art provided by the present invention;
FIG. 3 is a schematic diagram of a tele view image in a television processing system provided by the present invention using the method of the present invention;
FIG. 4 is a schematic diagram of a short focal field image in a television processing system according to the prior art provided by the present invention;
FIG. 5 is a schematic diagram of a short focal field image in a television processing system using the method of the present invention;
FIG. 6 is a schematic structural diagram of an apparatus for enhancing image sharpness of a real-time zooming tracking system of a television provided by the present invention in a continuous zooming process of the television;
FIG. 7 is a schematic block diagram of the speed loop of the present invention;
FIG. 8 is a schematic block diagram of the tracking loop of the present invention;
fig. 9 is a schematic view of the tracking deviation angle of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1, the present invention provides a method for enhancing image sharpness of a real-time zoom tracking system of a television, where the method includes the following steps:
step S1: acquiring a zoom range of the focal length of the television processing system, and multiplying the maximum value in the zoom range by a preset proportion to obtain a focal length threshold;
step S2: acquiring the current focal length of the television processing system, and if the current focal length is greater than or equal to the focal length threshold, entering step S3; otherwise, entering step S4;
and step S3: acquiring the speed in a control command sent by an upper computer independent of the photoelectric tracker, taking the speed in the control command as the response speed of the servo system, and entering step S5;
and step S4: the response speed of the servo system is (maximum value in zoom range-current focal length) × maximum value in servo system current speed/zoom range, and the step S5 is entered;
step S5: if the response speed of the servo system is smaller than a first preset threshold value, the response speed of the servo system is unchanged, and the method is ended; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed;
step S6: controlling the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer.
The use method of the photoelectric tracker comprises the following steps: a user issues a control command to the photoelectric tracker through upper computer software, an image processing module in the photoelectric tracker receives the control command and then sends the control command to the servo controller, and the servo controller controls the servo system executing mechanism to cooperate with the image processing module to complete the corresponding control command.
The photoelectric tracker consists of a current loop, a speed loop, a position loop and a tracking loop and a load part;
the invention is mainly used for servo control in a tracking loop.
The photoelectric tracker comprises a tracking loop, and the tracking loop consists of a speed loop and an image processing module.
The speed loop comprises a servo controller, a power amplifier, an actuating mechanism/motor, a speed sensor/gyroscope and other components; as shown in fig. 7; the working principle of the speed loop is as follows: the control master command at the previous moment is different from the current movement speed of the servo system acquired by the gyroscope and is sent to the servo controller for processing, and the servo controller sends a control master command signal which is amplified by the power amplifier and then drives the motor to drive the load to move. Wherein the load includes: television processing systems, infrared image processing systems, lasers, and the like are used to capture the optical components of the image.
The tracking loop comprises a speed loop, an image processing module, a load and the like; as shown in fig. 8; the working principle of the tracking loop is as follows: the upper computer software sends a tracking command to the image processing module, the image processing module responds to the tracking command, tracks the target, calculates and sends out a tracking deviation to the servo controller, and the servo controller sends out a control master command to the speed loop through calculation so that the servo system moves along with the target.
Further, the preset ratio is 0.75.
And S3, carrying a speed value in the control instruction, and setting the response speed as the speed value.
In step S5, the first preset threshold is determined based on the minimum speed value that the photoelectric tracker can respond to, and is related to the performance index of the speed sensor gyroscope selected by the photoelectric tracker and the control accuracy of the servo controller, for example: 0.01 °/s.
The step S6 of controlling the tracking loop based on the control amount includes:
step S61: analyzing the control master command information from the control quantity, and clearing an out-of-range integral term of a control master command corresponding to the tracking loop, wherein the control master command is a numerical value used for controlling the torque and the rotating speed of a motor, and the control master command is used for adjusting the movement speed of the servo system and the variable of the rotating torque of the motor; the motor drives the servo system to move. Clearing the out-of-range integral terms, namely clearing all integral terms of the control master command obtained by data outside an angle boundary in the data obtained by the photoelectric tracking system; the angular boundary is the bounding frame angle of the servo system, e.g., +70 °, -20 °; the control master command is generated by adopting a PID control algorithm.
Step S62: reading a tracking deviation angle, wherein the tracking deviation angle is a difference value between a current view field central angle value of the servo system and a current angle of a target to be tracked; when the tracking deviation angle is smaller than a second preset threshold value, reducing the weight coefficient of a proportional term P used for adjusting the speed of the speed loop in the PID control algorithm;
the second preset threshold is determined based on the minimum tracking deviation angle that can be identified by the tracking loop, and the second preset threshold is related to the tracking performance of the tracker and the performance index of the television processing system, and is 0.1 degrees for example.
As shown in fig. 9, the tracking deviation angle is the difference between the tracking gateroad cross and the field center cross when tracking the target.
In this embodiment, the control master is generated by using a PID control algorithm.
Step S63: updating a control algorithm for generating the tracking master command, and if the starting time of the television tracking system is less than a third preset threshold value, generating the tracking master command by adopting a proportional control algorithm; otherwise, generating the tracking master command by adopting a PI control algorithm.
The proportional control algorithm is used for preventing tracking steps and large overshoot during initial tracking. The third preset threshold is determined based on the turn-on time of the television processing system and the start time of the image processing module, and is, for example, 8s. The image processing module is one part of a photoelectric tracker, the photoelectric tracker comprises four loops, a current loop, a speed loop, a position loop and a tracking loop, wherein the tracking loop comprises the image processing module.
Compared with the prior art, the image is clear in the process that the real-time zooming tracking system of the television zooms continuously, and compared with the prior art, the technical effect is as shown in figures 2 to 5.
The following describes a method for enhancing image sharpness of a real-time zooming tracking system of a television in a continuous zooming process of the television, with reference to a specific embodiment. A control method for preventing image blurring of a servo platform of a photoelectric tracker in a continuous zooming process of a television processing system comprises the following steps:
step 1: dividing the focal length of a television into a long focus part and a non-long focus part, wherein the dividing method comprises the following steps:
taking 0.75 times of the maximum value of the rated focal length as a dividing point, taking the focal length as long focal length when the focal length is larger than the maximum value, and taking the focal length as short focal length when the focal length is smaller than the maximum value;
the focal length value of the television is 10-230; when the focal length value is larger than 180, the default is long focus;
and 2, step: if the focus is not in the long focus state, a speed instruction responded by the servo system is derived from a control command sent by the upper computer;
V＝Vs；
wherein Vs is a speed value sent by the upper computer;
and step 3: if the television is in the long focus, the speed command responded by the servo system is related to the television focal length value, and the specific relation is as follows:
v = (230-actual acquisition focal length value)/230 × v1;
and 4, step 4: and judging the speed value, if the speed value is smaller, keeping the current speed unchanged, and directly generating a control quantity output.
And 5: the control method in the tracking loop comprises the following steps:
1) Clearing the boundary-crossing integral term;
namely outside the angle boundary, clearing an integral term in a PID control algorithm;
2) Reading a tracking deviation angle, and reducing a proportionality coefficient in a tracking loop control algorithm when the tracking deviation angle is 0.01 degrees;
3) A pure proportion control algorithm is adopted 0.8s before starting up, so that large overshoot during tracking step and initial tracking is prevented; and adopting a PI control algorithm 0.8s after starting.
The present invention also provides an image sharpness enhancing apparatus of a real-time zoom tracking system of a television, as shown in fig. 6, the apparatus includes:
a focal length threshold generation module: the method comprises the steps of obtaining a zoom range of a focal length of the television processing system, and multiplying a maximum value in the zoom range by a preset proportion to obtain a focal length threshold;
a speed control module: the method comprises the steps that a current focal length of the television processing system is obtained, and if the current focal length is larger than or equal to a focal length threshold value, a first speed module is triggered; otherwise, triggering a second speed module;
a first speed module: the control system is configured to acquire a speed in a control command sent by an upper computer independent of the photoelectric tracker, and trigger a second control module by taking the speed in the control command as a response speed of the servo system;
a second speed module: configuring the response speed of the servo system to be (maximum value in zooming range-current focal length) and the maximum value in the current speed/zooming range of the servo system, and triggering the second control module;
a second control module: the method comprises the steps that if the response speed of the servo system is smaller than a first preset threshold value, the response speed of the servo system is unchanged; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed;
a third control module: configured to control the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (8)
1. An image definition enhancing method for a real-time zooming tracking system of a television is characterized by comprising the following steps:
step S1: acquiring a zoom range of the focal length of the television processing system, and multiplying the maximum value in the zoom range by a preset proportion to obtain a focal length threshold;
step S2: acquiring the current focal length of the television processing system, and if the current focal length is greater than or equal to the focal length threshold, entering a step S3; otherwise, entering step S4;
and step S3: acquiring the speed in a control command sent by an upper computer independent of the photoelectric tracker, taking the speed in the control command as the response speed of the servo system, and entering step S5;
and step S4: the response speed of the servo system is (maximum value in zoom range-current focal length) × maximum value in servo system current speed/zoom range, go to step S5;
step S5: if the response speed of the servo system is smaller than a first preset threshold value, the response speed of the servo system is unchanged, and the method is ended; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed;
step S6: controlling the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer.
2. The method of claim 1, wherein the first preset threshold is determined based on a minimum speed value to which the photo-tracker is responsive, in relation to a performance indicator of a speed sensor gyro selected by the photo-tracker.
3. The method of any one of claims 1-2, wherein the predetermined ratio is 0.75.
4. The method according to any of claims 1-2, wherein said step S6 of controlling said tracking loop based on said control quantity comprises:
step S61: analyzing the control master command information from the control quantity, and clearing a boundary-crossing integral term of a control master command corresponding to the tracking loop, wherein the control master command is a numerical value for controlling the torque and the rotating speed of a motor; clearing the out-of-range integral terms, namely clearing all integral terms of the control master command obtained by data outside an angle boundary in the data obtained by the photoelectric tracking system; the angular boundary is a boundary frame angle of the servo system; the control master command is generated by adopting a PID control algorithm;
step S62: reading a tracking deviation angle, wherein the tracking deviation angle is a difference value between a current view field central angle value of the servo system and a current angle of a target to be tracked; when the tracking deviation angle is smaller than a second preset threshold value, reducing a weight coefficient of a proportional term used for adjusting the speed of a speed ring in the photoelectric tracking system in the PID control algorithm;
step S63: updating a control algorithm for generating the tracking master command, and if the starting time of the television tracking system is less than a third preset threshold value, generating the tracking master command by adopting a proportional control algorithm; otherwise, generating the tracking master command by adopting a PI control algorithm.
5. The method of claim 4, wherein the second predetermined threshold is determined based on a minimum tracking deviation angle recognizable by the tracking loop.
6. An apparatus for enhancing image sharpness of a real-time zoom tracking system of a television, the apparatus comprising:
a focal length threshold generation module: the method comprises the steps of configuring to obtain a zoom range of a focal length of the television processing system, and multiplying a maximum value in the zoom range by a preset proportion to obtain a focal length threshold;
a speed control module: the method comprises the steps that a current focal length of the television processing system is obtained, and if the current focal length is larger than or equal to a focal length threshold value, a first speed module is triggered; otherwise, triggering a second speed module;
a first speed module: the control system is configured to acquire a speed in a control command sent by an upper computer independent of the photoelectric tracker, and trigger a second control module by taking the speed in the control command as a response speed of the servo system;
a second speed module: configuring the response speed of the servo system to be (maximum value in zooming range-current focal length) and the maximum value in the current speed/zooming range of the servo system, and triggering the second control module;
a second control module: if the response speed of the servo system is smaller than a first preset threshold value, the response speed of the servo system is unchanged; otherwise, acquiring the control quantity of a tracking loop in the photoelectric tracker calculated by a servo controller based on the response speed;
a third control module: configured to control the tracking loop based on the control amount; and the tracking loop is used for responding to a control instruction of the upper computer.
7. A computer-readable storage medium having stored therein a plurality of instructions; the plurality of instructions for being loaded by a processor and for performing the method of any one of claims 1-5.
8. An electronic device, characterized in that the electronic device comprises:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the plurality of instructions are to be stored by the memory and to be loaded and executed by the processor to perform the method of any of claims 1-5.
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