CN116183026A - Ultra-large airspace infrared real-time detection method and system - Google Patents

Abstract

The embodiment of the specification provides an ultra-large airspace infrared real-time detection method and system, wherein the system comprises the following steps: the system comprises a main system module, a slave system module, an information interaction and processing module, a servo driving module and a display and information output module, wherein threat targets are screened through the main system module, and target parameter information of the threat targets is calculated; secondarily screening threat targets in a designated airspace range through a slave system module; the information interaction and processing module is used for receiving positioning information of the threat target and controlling the servo driving module to adjust the slave system module to image, identify and track the threat target in high resolution; and outputting and displaying the received information in real time through a display and information output module.

Description

Ultra-large airspace infrared real-time detection method and system

Technical Field

The present document relates to the field of infrared detection and monitoring technologies, and in particular, to a method and a system for infrared real-time detection in an ultra-large airspace.

Background

With the continuous expansion of the application of infrared detection technology in the fields of visual navigation, security, national defense, military and the like, the performance requirements of people on the infrared detection system are higher and higher, and the research of ultra-wide angle (the angle of view is more than or equal to 80 ℃) photoelectric imaging technology is very important in recent years for pursuing full airspace inclusion and full time domain information acquisition of target detection. At present, the technical means for realizing ultra-wide angle imaging mainly comprise 5 kinds of technical means, namely: small field scanning technology, multi-sensor stitching technology, annulus imaging technology, bionic compound eye imaging technology and ultra-wide angle staring imaging technology. In comparison, the ultra-wide angle gaze imaging technology developed in the infrared band not only can give consideration to the continuity of space domain and time domain detection, but also has the advantages of small size, light weight, low power consumption and dual purposes of day and night, so that the ultra-wide angle gaze imaging technology becomes the key point of competitive research of various countries.

However, in some important photoelectric detection fields, not only is the infrared detection device required to have the ultra-large airspace real-time detection capability, but also the infrared device is required to be capable of providing a high-resolution target image to realize precise orientation, but both the infrared detection device and the infrared detection device are difficult to simultaneously consider at present.

Disclosure of Invention

One or more embodiments of the present specification provide an ultra-large airspace infrared real-time detection system, including: the system comprises a master system module, a slave system module, an information interaction and processing module, a servo driving module and a display and information output module, wherein the master system module and the slave system module are respectively in communication connection with the information interaction and processing module, the information interaction and processing module is in unidirectional communication connection with the servo driving module and the information output module, and the servo driving module is in unidirectional communication connection with the slave system module;

the main system module is used for acquiring an ultra-large airspace scene image in real time through an ultra-wide angle staring imaging technology to discriminate a threat target and resolving target parameter information of the threat target;

the slave system module is used for acquiring a high-resolution target image of a designated airspace range according to the control of the servo driving module, performing secondary screening on a threat target in the designated airspace range, confirming the position of the threat target and performing follow-up tracking;

the information interaction and processing module is used for receiving the images acquired by the main system module and the slave system module, extracting the positioning information of the threat target in the images and sending the positioning information to the servo driving module;

the servo driving module is used for controlling the slave system module to image, identify and track the threat target in high resolution according to the positioning information;

the display and information output module is used for receiving the information of the information interaction and processing module and outputting and displaying the information in real time.

One or more embodiments of the present disclosure provide a method for infrared real-time detection in an ultra-large airspace, including:

s1, acquiring an ultra-large airspace scene image in real time by a main system module by adopting an ultra-wide angle staring imaging technology to discriminate a threat target, and resolving target parameter information of the threat target;

s2, controlling a servo driving module to guide a system module to acquire a high-resolution target image of the threat target through an information interaction and processing module, secondarily screening the threat target according to the high-resolution target image, and tracking the threat target;

s3, receiving the information of the information interaction and processing module, and synchronously outputting and displaying through the display and information output module.

By adopting the embodiment of the invention, the performance advantages of large monitoring airspace, good instantaneity and high resolution and high positioning accuracy of the small-view-field infrared imaging system are utilized, the former is taken as a main system, the latter is taken as a slave system, the ultra-wide-angle high-resolution master-slave infrared composite detection is developed, and the real-time staring perception of the ultra-large airspace situation and the high-resolution imaging and the high-accuracy directional tracking of the heavy threat target are realized.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

For a clearer description of one or more embodiments of the present description or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description that follow are only some of the embodiments described in the description, from which, for a person skilled in the art, other drawings can be obtained without inventive faculty.

FIG. 1 is a schematic diagram of the composition of an ultra-large airspace infrared real-time detection system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a linkage working structure of a master-slave system module of the ultra-large airspace infrared real-time detection system according to an embodiment of the invention;

FIG. 3 is a flow chart of an ultra-large airspace infrared real-time detection method according to an embodiment of the present invention;

FIG. 4 is a flow chart of infrared multi-target detection of the ultra-large airspace infrared real-time detection method according to an embodiment of the present invention;

fig. 5 is a flowchart of information interaction between a master system and a slave system of the ultra-large airspace infrared real-time detection method according to an embodiment of the present invention.

Detailed Description

In order to enable a person skilled in the art to better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be clearly and completely described below with reference to the drawings in one or more embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one or more embodiments of the present disclosure without inventive faculty, are intended to be within the scope of the present disclosure.

System embodiment

The embodiment of the invention provides an ultra-large airspace infrared real-time detection system, and fig. 1 is a schematic diagram of the composition of the ultra-large airspace infrared real-time detection system according to the embodiment of the invention, as shown in fig. 1, the ultra-large airspace infrared real-time detection system according to the embodiment of the invention specifically comprises:

the system comprises a master system module 10, a slave system module 20, an information interaction and processing module 30, a servo driving module 40 and a display and information output module 50, wherein the master system module 10 and the slave system module 20 are respectively in communication connection with the information interaction and processing module 30, the information interaction and processing module 30 is in unidirectional communication connection with the servo driving module 40 and the information output module 50, and the servo driving module 40 is in unidirectional communication connection with the slave system module 20.

The main system module 10 is configured to acquire an oversized airspace scene image in real time through an ultra-wide angle gaze imaging technology to perform threat target screening, and calculate target parameter information of a threat target; the target parameter information comprises target image plane speed, azimuth angle, pitch angle, gray scale change rate and time difference; the main system module 10 employs an infrared imaging system with a field angle of 110 deg., and an instantaneous resolution of 1.9 mrad.

The slave system module 20 is configured to collect a high-resolution target image in a specified airspace range according to control of the servo driving module, perform secondary screening on a threat target in the specified airspace range, confirm a threat target position, and perform follow-up tracking; wherein an infrared imaging system with an angle of view of 8 deg., and an instantaneous resolution of 0.14mrad is employed from system module 20.

The information interaction and processing module 30 is configured to receive the images collected by the main system module 10 and the slave system module 20, extract positioning information of the threat target in the images, and send the positioning information to the servo driving module 40.

The information interaction and processing module 30 is specifically configured to:

for receiving the images collected by the main system module 10 and the slave system module 20, and judging the target attribute;

if only one threat target exists, the positioning information of the threat target is sent to the servo driving module, and the servo driving module is controlled to guide the slave system module to conduct secondary screening on the threat target;

if a plurality of threat targets are detected, threat degree sequencing is carried out on the threat targets, positioning information of the threat target with the largest threat degree is sent to the servo driving module, and the servo driving module is controlled to guide the slave system module to carry out secondary screening on the threat targets.

The servo driving module 40 is configured to control the slave system module to perform high-resolution imaging, identification and tracking on the threat target according to the positioning information.

Fig. 2 is a schematic diagram of linkage operation of a master-slave system module, as shown in fig. 2, in which the master system module monitors the situation of the ultra-large airspace in real time in a staring manner, and the slave system module is mounted on a servo turntable and rotates in azimuth and pitch along with the servo turntable under the guidance of the master system module, so as to image and track the target with high resolution.

The display and information output module 50 is configured to receive the information from the information interaction and processing module, and output and display the information in real time.

The display and information output module 50 is specifically configured to:

and synchronously outputting the oversized airspace scene image acquired by the main system module 10, the high-resolution target image acquired by the auxiliary system module 20 and the calculated target parameter information, wherein the target parameter information comprises target image plane speed, azimuth angle, pitch angle, gray scale change rate, time difference and the like.

Method embodiment

The embodiment of the invention provides an ultra-large airspace infrared real-time detection method, and fig. 3 is a flow chart of the ultra-large airspace infrared real-time detection method according to the embodiment of the invention, as shown in fig. 3, the ultra-large airspace infrared real-time detection method according to the embodiment of the invention specifically comprises the following steps:

s1, acquiring an ultra-large airspace scene image in real time by a main system module by adopting an ultra-wide angle staring imaging technology to discriminate a threat target, and resolving target parameter information of the threat target;

wherein the target parameter information includes: image plane speed, azimuth angle, pitch angle, gray scale change rate and time difference; the main system module adopts an infrared imaging system with a field angle of 110 degrees and an instantaneous resolution of 1.9mrad to acquire images.

S2, controlling a servo driving module to guide a system module to acquire a high-resolution target image of the threat target through an information interaction and processing module, secondarily screening the threat target according to the high-resolution target image, and tracking the threat target;

the secondary system module adopts an infrared imaging system with an angle of view of 8 degrees and an instantaneous resolution of 0.14mrad to acquire images.

S3, receiving the information of the information interaction and processing module, and synchronously outputting and displaying through the display and information output module.

Specific:

the ultra-wide angle infrared imaging system of the main system module is used for monitoring the ultra-large airspace situation in a staring mode in real time, and acquiring an ultra-large airspace scene image for threat target discrimination, as shown in fig. 4:

detecting and detecting suspected threat targets in the covered scene by using a detection tracking algorithm embedded in the main system module, and performing infrared multi-target detection processing by taking the acquired ultra-wide angle infrared image as basic data to extract the suspected targets;

constructing a non-uniform Gaussian sampling model by using a space variable resolution mapping theory with each suspected target as a center, generating a variable resolution bionic mapping image of a local image, and calculating target parameter information such as image plane speed, azimuth angle, pitch angle, gray level change rate, time domain difference and the like of the suspected threat targets;

the threat degree evaluation and sequencing are carried out according to the information such as the image plane speed, azimuth angle, pitch angle, gray level change rate and time difference of the suspected targets by utilizing the infrared multi-target threat sequencing theory, so that threat sequencing results are obtained;

and transmitting the solved target parameter information and threat ranking result to an information interaction and processing module.

Because the ultra-wide angle infrared staring imaging system has large monitoring airspace and low spatial resolution, false alarms are increased to a certain extent, a high-resolution target image of the threat target needs to be acquired through a high-resolution slave system module, the threat sequencing result of the master system module is screened for the second time, false targets are removed, true targets are reserved, and an information interaction strategy between the master system and the slave system is shown in fig. 5:

the information interaction and processing module judges the number of suspected threat targets and target attributes in the coverage airspace according to the received target parameter information, wherein the number and the target attributes comprise target positioning, target size, target gray value, image plane speed and the like;

if only one threat target in the coverage space is detected, transmitting positioning information of the threat target to the servo driving module, and controlling the servo driving module to guide the slave system module to conduct secondary screening on the threat target;

if a plurality of threat targets are detected, threat degree sequencing is carried out on the threat targets, threat target azimuth information with highest threat degree is determined according to a multi-target threat sequencing result, and the azimuth information is sent to a servo driving module;

judging the deviation between the current servo turntable direction and the threat target direction, if the deviation is large, driving the servo turntable to enable the slave system module to aim at the threat target, if the deviation is small, not driving the servo turntable, and directly carrying out high-resolution imaging on the currently-directed airspace by the slave system module and identifying the tracking target;

detecting whether targets exist in a high-resolution imaging airspace, if yes, performing secondary screening on the targets, judging whether the targets are true targets, if yes, inquiring whether the azimuth of the current threat target is consistent with the azimuth of the threat sequencing output of the targets, if the deviation is overlarge, considering that the current threat target is not matched with the given threat target, and re-driving the azimuth of the servo pointing threat sequencing output to point to a new position;

if the threat target is not detected at the new position, a negative signal is given to the information interaction network, and then the new target orientation sent by the information interaction and processing module is continued to be waited.

And synchronously outputting and displaying the obtained super-large airspace scene image, the high-resolution target image and the target parameter information through a display and information output module.

In addition, in order to prevent the target from being lost in the monitoring process, the method of combining neighborhood expansion, gray level prediction and track prediction is adopted in the embodiment by adopting a mode of 'side detection and side interaction', so that the problem that the target is lost possibly is solved, and the specific method is as follows:

assuming that the target is lost in the K+1st frame, the target allowable loss frame number is N _miss The initial value of the target detection neighborhood is n multiplied by n, and the target image plane speed is smaller than v _t pixels/frame, when the target point in the k+1 disappears in the subsequent continuous l frame, the neighborhood expansion is performed on the target point through the formula 1:

n _K+l+1 ＝n+l·v _t equation 1;

assume that the peak gray level of the previous K frame image of the target is f (t _k ) (k=1, 2,., K), predicting the gray level of the missing target using a least squares approximation, the peak gray level prediction value of the k+l+1 th frame target point is as shown in formula 2:

assuming that the target moves at a uniform speed in a short time, when the target is lost in the k+1st frame, the target is moved at a constant speed in accordance with the coordinate positions (X (t) _K-1 ),Y _K-1 (t _K-1 ) Sum (X (t) _K ),Y(t _K ) Predicting target loss n) by equation 3 _miss Post-frame coordinate position:

wherein: ΔX (t) _K ) And DeltaY (t) _K ) For the coordinate offset, ΔX (t _K )＝X(t _K )-X(t _K-1 )，ΔY(t _K )＝Y(t _K )-Y(t _K-1 )。

The beneficial effects of the invention are as follows:

by adopting the embodiment of the invention, the performance advantages of large monitoring airspace, good instantaneity and high resolution and high positioning accuracy of the small-view-field infrared imaging system are utilized, the former is taken as a main system, the latter is taken as a slave system, the ultra-wide-angle high-resolution master-slave infrared composite detection is developed, and the real-time staring perception of the ultra-large airspace situation and the high-resolution imaging and the high-accuracy directional tracking of the heavy threat target are realized.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. An ultra-large airspace infrared real-time detection system, which is characterized by comprising: the system comprises a master system module, a slave system module, an information interaction and processing module, a servo driving module and a display and information output module, wherein the master system module and the slave system module are respectively in communication connection with the information interaction and processing module, the information interaction and processing module is in unidirectional communication connection with the servo driving module and the information output module, and the servo driving module is in unidirectional communication connection with the slave system module;

the main system module is used for acquiring an ultra-large airspace scene image in real time through an ultra-wide angle staring imaging technology to discriminate a threat target and resolving target parameter information of the threat target;

the slave system module is used for acquiring a high-resolution target image of a designated airspace range according to the control of the servo driving module, performing secondary screening on a threat target in the designated airspace range, confirming the position of the threat target and performing follow-up tracking;

the information interaction and processing module is used for receiving the images acquired by the main system module and the slave system module, extracting the positioning information of the threat target in the images and sending the positioning information to the servo driving module;

the servo driving module is used for controlling the slave system module to image, identify and track the threat target in high resolution according to the positioning information;

the display and information output module is used for receiving the information of the information interaction and processing module and outputting and displaying the information in real time.

2. The system of claim 1, wherein the target parameter information comprises target image plane speed, azimuth angle, pitch angle, gray scale rate of change, and time difference.

3. The system of claim 1, wherein the main system module employs an infrared imaging system having a field angle of 110 ° and a temporal resolution of 1.9 mrad; the slave system module adopts an infrared imaging system with an angle of view of 8 degrees and an instantaneous resolution of 0.14 mrad.

4. The system of claim 1, wherein the information interaction and processing module is specifically configured to:

the system comprises a main system module, a slave system module, a target attribute judgment module and a target attribute judgment module, wherein the main system module is used for receiving images acquired by the main system module and the slave system module;

if only one threat target exists, the positioning information of the threat target is sent to the servo driving module, and the servo driving module is controlled to guide the slave system module to conduct secondary screening on the threat target;

if a plurality of threat targets are detected, threat degree sequencing is carried out on the threat targets, positioning information of the threat target with the largest threat degree is sent to the servo driving module, and the servo driving module is controlled to guide the slave system module to carry out secondary screening on the threat targets.

5. The system according to claim 1, wherein the display and information output module is specifically configured to:

and synchronously outputting the ultra-large airspace scene image, the high-resolution target image and the target parameter information.

6. The ultra-large airspace infrared real-time detection method is characterized by comprising the following steps of:

s1, acquiring an ultra-large airspace scene image in real time by a main system module by adopting an ultra-wide angle staring imaging technology to discriminate a threat target, and resolving target parameter information of the threat target;

s2, controlling a servo driving module to guide a system module to acquire a high-resolution target image of the threat target through an information interaction and processing module, secondarily screening the threat target according to the high-resolution target image, and tracking the threat target;

s3, receiving the information of the information interaction and processing module, and synchronously outputting and displaying through the display and information output module.

7. The method of claim 6, wherein the target parameter information comprises: image plane speed, azimuth angle, pitch angle, gray scale change rate and time difference.

8. The method of claim 6, wherein the main system module employs an infrared imaging system having a field angle of 110 ° and a temporal resolution of 1.9 mrad; the slave system module adopts an infrared imaging system with an angle of view of 8 degrees and an instantaneous resolution of 0.14 mrad.

9. The method according to claim 6, wherein step S2 specifically comprises:

receiving images acquired by the main system module and the auxiliary system module, and judging target attributes;

if only one threat target exists, the positioning information of the threat target is sent to the servo driving module, and the servo driving module is controlled to guide the slave system module to conduct secondary screening on the threat target;

if a plurality of threat targets are detected, threat degree sequencing is carried out on the threat targets, positioning information of the threat target with the largest threat degree is sent to the servo driving module, and the servo driving module is controlled to guide the slave system module to carry out secondary screening on the threat targets.

10. The method according to claim 6, wherein step S3 specifically comprises:

and synchronously outputting the ultra-large airspace scene image, the high-resolution target image and the target parameter information.

Images