CN206556667U - A kind of sea-surface target automatic detection device - Google Patents
A kind of sea-surface target automatic detection device Download PDFInfo
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- CN206556667U CN206556667U CN201720153358.7U CN201720153358U CN206556667U CN 206556667 U CN206556667 U CN 206556667U CN 201720153358 U CN201720153358 U CN 201720153358U CN 206556667 U CN206556667 U CN 206556667U
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Abstract
A kind of sea-surface target automatic detection device, it belongs to the application field of Navigation in Ship.By photoelectric imaging device, the what comes into a driver's information transmission of outboard target being observed to information process unit in cabin, with reference to the angular displacement information and compass course information of head, target bearing is automatically determined, the target bearing for solving modern totally-enclosed ship determines problem；It can be realized simultaneously according to ship sway pose adjustment camera angle to target tenacious tracking.Naval vessels can not only be improved with electronization and the automation of target bearing, the short-distance blind section of radar when can make up navigation realizes panorama monitoring out of my cabin, with practicality, applicability and it is workable the characteristics of, with preferable military and economic benefit.
Description
Technical field
The utility model is related to a kind of sea-surface target automatic detection device, and it belongs to the application field of Navigation in Ship.
Background technology
At present, the method for implementation goal azimuthal measurement is to be applied in combination by azimuth device and bearing repeater come real on naval vessels
Existing.Azimuth device is the necessary component that gyro compass is equipped with naval vessels, with the left and right sides outside the bridge and broad view
Bearing repeater be applied in combination, for observed object orientation.The short axle of azimuth device bottom is inserted into repeater compass glass when using
After in the axis hole of lid, azimuth device can freely movable about compass scale center rotating.Line pair is concentrated one's gaze on when what eyepiece object lens were constituted
During quasi- target, orientation reading can be read in eyepiece, and index of the side of a ship angle reading below eyepiece is read from angle on the bow graduated ring.
What is be generally equipped with current naval vessels is HGF -239 type optical azimuth devices, as shown in Figure 1.The optical azimuth device is consolidated
Dingan County is loaded on the solid gimbals of warship bow, including：Eyepiece focal length adjuster, the definition to adjust target；Azimuth scale is put
Big lens actuator, to make clear reading；Optical filtering is adjusted（Conversion）Device, to select the suitable optical filtering of color, makes light
Strong objective contour understands and not dazzling eyeball；Speculum, the target to observe the high elevation angle；Spirit bubble, during interception so as to
Keep azimuth device level；Outline concentrates one's gaze on device, concentrates one's gaze on target to first outline and is accurately observed with telescope again.In use, user
Member station is above deck by naked-eye observation eyepiece, and adjustment optical azimuth device alignment observed object is read by azimuth scale magnifying glass
The orientation reading on dial is taken to determine target bearing.
Digital Bearing Compass (HSF-001) in also a kind of use, the observed result during azimuth device run-home is not
Dial reading is read, but directly reads display screen orientation digital quantity, lockable target bearing is gone back in the moment of run-home
Show value.The generation of target angle：Fixed circle is connected with naval vessels fore and aft line, and zero-bit direction is parallel with naval vessels fore and aft line, and moving-coil is with hoping
Remote mirror is connected, when such telescope turns to target, and angle on the bow generator will be driven to rotate, and is formed angle on the bow α and is shown.HSF-001 numbers
The main distinction of word azimuth device and HGF-239 optical azimuth devices is, further comprises angle on the bow generator, computing module and display
Screen, during measurement target bearing, angle on the bow generator is driven when telescope objective is rotated, and produces the digital angle on the bow that precision is 0.05 °
The course signal of input is added to computing module, computing module and obtains target bearing signal, azimuth by signal with side of a ship angle signal
Shown with digital quantity in display screen, so that observer reads azimuth of target at any time.
Traditional azimuth device has three below limitation in actual use：One is to need manually to be grasped above deck
Make, higher to the observation level requirement of user, it is larger to align measured target difficulty in the case of warship swing, particularly exists
Under the mal-conditions such as heavy rain, cold, personnel are difficult to effectively measure target bearing out of my cabin；Two be to measurement accuracy without
Method determines that, because target bearing is the numerical value of the moment reading in optical azimuth device and target coincidence, correctness can not be investigated；
Three be that can not meet the requirement of naval equipment modernization, and " wholly closed vessel ", " stealthy naval vessels " are the development sides of my naval ship
To this, which means that, will reduce the personnel activity of on-deck equipment and on-deck as far as possible.
Utility model content
The operating difficulties in the case of warship swing existed for traditional optical azimuth device, it is difficult to stable orientation instrument, difficulty
The problems such as to align measured target, be difficult to effectively measurement, the utility model is filled there is provided a kind of sea-surface target automatic detection
Put, 360 degree of what comes into a driver's information transmissions of outboard to " processor " in cabin, and digital image processing techniques are taken, so as to realize
The technical scheme of panorama monitoring out of my cabin.The real-time resolving for being observed orientation target can not only be realized, and boat can be made up
The short-distance blind section of radar during row, makes human pilot clearly check closely Small object, is Electronic measurement Naval equipment key element
Provide material base, and solve the target bearing of modern wholly closed vessel and determine problem, with autonomy-oriented, intelligentized spy
Point.
The program includes：Video acquisition unit, device control cell, information solving unit；Wherein video acquisition unit by
High-definition camera, head, video frequency collection card composition, high-definition camera are erected on high-precision head, realize high-definition camera
360 degree of rotations, video frequency collection card one end other end that is connected with high-definition camera is connected with information solving unit, in real time by high definition
The video image of camera acquisition is decoded, and information solving unit is given by observed object signal；Device control cell is by cloud
Platform control module and corner resolve module composition, are connected with head and information solving unit, and one side receive information resolves single
The rotation instruction that member is come, controls the rotation of head, on the other hand then realizes the angle that head rotates and digitizes, and is transferred to letter
Cease solving unit；Information solving unit include course resolve module, video display module, embedded system, input through keyboard module,
Digital display module and power module, are connected with video frequency collection card, device control cell, at the same also with naval vessel gyro compass phase
Even, the head corner received according to the observed object signal received from the video acquisition unit and from the device control cell
Signal, with reference to the course signal received from naval vessel gyro compass, calculates the bearing signal of target being observed, and it is aobvious to give display
Show.
The application method of described sea-surface target automatic detection device：High-definition camera is realized to naval vessels outboard observed object
Search, once locking observed object, then the angle that head is turned over is exactly the angle on the bow of target；Electricity is given after angle on the bow is digitized
The orientation resolving center of sub- azimuth device；Gyro compass on naval vessel provides current course information in real time, wherein course information all the way
The orientation resolving center of electronic bearing instrument is given after digitlization；Electronics resolving Central Radical is according to target angle information and currently
Course information, the real-time of observed object can be just calculated in real time according to relation then between true course, true bearing and angle on the bow
Azimuth information.
It is using the guiding theory of above-mentioned technical proposal：Make full use of photoelectric imaging technology and stepper motor angle displacement measurement
Technology, influences presentation of information on driver's cabin screen naval target, realizes the real-time resolving of target bearing, and pass through camera
Focal length variations, the Small object influence within clear display visibility scope provides the target information that can accurately look into for driver.
Constantly waved across the sea for Ship platform, cause camera is difficult to steady aim target when shooting the problem of,
The utility model is also further improved to such scheme, i.e., described information solving unit also includes attitude of ship monitoring mould
Block and form mirror image stable module, attitude of ship monitoring modular detect that the roll angle and pitch angle of ship are sent to form mirror in real time
As stable module, roll angle and pitching angle signal are respectively converted into two by form mirror image stable module according to voltage conversion model
Road voltage signal, and this two-way voltage signal is sent to the control unit of head, camera is carried out ship rolling angle and vertical
Cradle angle is rotated backward, so as to reach the stabilization of camera form mirror image.
The beneficial effects of the utility model are：By integrated use digital image processing techniques, Digital Video Processing technology,
" the electronic bearing instrument " of course analog signal digital technology and stepper motor angle displacement measurement technical research, efficiently solves biography
Unite optical azimuth device exist the observation level requirement to user it is higher, measurement accuracy can not be determined, can not meet naval
The intrinsic problem such as requirement of facility modernization, can not only realize the high-acruracy survey of target bearing, and can effectively make up
The short-distance blind section of radar during navigation, realizes that panorama monitoring out of my cabin preferably improves equipment performance.By to " electronics
The actual use of azimuth device ", the equipment can be stablized, accurately survey under different sea conditions and under weather condition
The azimuth information of target being observed is measured, measurement range can reach more than 5 nautical miles in the case of visibility good, target
Real-time accuracy can reach 1/6 degree.
Brief description of the drawings
HGF -239 type the optical azimuth devices being generally equipped with the current naval vessels of Fig. 1；
The composition schematic diagram of Fig. 2 sea-surface target automatic detection devices；
Fig. 3 sea-surface target automatic detection device each several part annexation schematic diagrames.
Embodiment
The technical scheme innovated below in conjunction with drawings and examples to the utility model is further described.
Embodiment 1：
A kind of sea-surface target automatic detection device, including video acquisition unit, device control cell, information solving unit；
Wherein video acquisition unit is made up of high-definition camera, head, video frequency collection card, and high-definition camera is erected at high-precision head
On, realize 360 degree of high-definition camera rotations, video frequency collection card one end be connected with high-definition camera the other end with information resolving singly
Member is connected, and is in real time decoded the video image that high-definition camera is gathered, and giving information by observed object signal resolves list
Member；Device control cell resolves module by cradle head control module and corner and constituted, and is connected with head and information solving unit, and one
The rotation instruction that aspect receive information solving unit comes, controls the rotation of head, the angle reality on the other hand then rotating head
Now digitize, and be transferred to information solving unit；Information solving unit includes course and resolves module, video display module, insertion
Formula system, input through keyboard module, digital display module and power module, are connected, together with video frequency collection card, device control cell
When be also connected with naval vessel gyro compass, according to the observed object signal received from the video acquisition unit and from the equipment control
The head angular signal that unit is received, with reference to the course signal received from naval vessel gyro compass, calculates the orientation of target being observed
Signal, and give display and show, it is characterised in that described information solving unit also includes attitude of ship monitoring modular and form
Mirror image stable module, attitude of ship monitoring modular detects that the roll angle and pitch angle of ship are sent to form mirror image stable mode in real time
Roll angle and pitching angle signal are respectively converted into two-way voltage letter by block, form mirror image stable module according to voltage conversion model
Number, and this two-way voltage signal is sent to the control unit of head, camera is carried out the anti-of ship rolling angle and pitch angle
To rotation, so as to reach the stabilization of camera form mirror image.
During installation, head central axis will be with naval vessel centerline parallel, the broad view on the deck above bridge
Place.Device control cell and information solving unit are arranged on the place that cabin interior is easily installed.Electricity is connected on request
After cable, it is possible to normally use.
Operating personnel adjust the focal length and head of video camera by the input through keyboard module of device control cell when using
Orientation, the angle of pitch, target being observed is most clearly shown on the LCD screen of information processing centre, now information solving unit
Target bearing can be gone out with real-time resolving, while the information such as display current date, time, longitude, latitude, naval vessel course, speed of a ship or plane.
For more preferable run-home, the Ge Yiqi centers can be set to be on the LCDs of video display module
" ten " the font sight line in crosspoint, for controlling camera run-home.
Embodiment 2：
On the basis of embodiment 1, increase target automatic detection module in described information solving unit, reception is regarded
Frequency signal carries out automatic detection, automatic identification target, and target is highlighted.
Automatic monitoring modular realizes that the method for target automatic detection comprises the following steps：
（1）First with sea horizon detection algorithm, realize that extra large day is divided.Sea horizon is continuous near linear, exactly
Sea horizon is detected, sky portion can be filtered out, to the influence of follow-up work such as cloud, so as to reduce the difficulty of subsequent algorithm
Degree, on the other hand can also lifting system processing speed.At present, it is possible to use based on the ripe algorithm such as Hough transform, reach
The purpose detected to sea horizon.
（2）Using background modeling technology, Sea background model is set up.Sea background has its particularity, generally,
The brightness of distant object is approximate with the brightness of background.On the one hand, pixel intensity dynamic range is very big in sea level chart picture, gives
Background modeling technology brings significant challenge.On the other hand, maritime environment situation has estimating for its particularity, i.e. background mode
Property it is relatively good, have at present mixed Gauss model, CODE BOOK, VIBE etc. be used for dynamic background model mature technology, with reference to sea
Face ring border, the sea environment of dynamic change can effectively be described by studying these models.
（3）Naval target detection based on background model.Using background model, non-background motion can be effectively detected
Information, but under normal circumstances, target prospect pixel is more dispersed, and be what succeeding target was tracked comprising substantial amounts of shot noise
Stability and speed band come difficult.Under normal circumstances, detect that obtained target prospect pixel value compares concentration by background model,
And the prospect probable value of neighbouring pixel is also higher, and noise pixel is generally than sparse, therefore can utilize random field modeling
Effectively strengthen target information Deng information analysis techniques, suppress background information, so as to reach that effective detection goes out the purpose of target.
（4）Target verification is finally carried out, target lock-on is completed.
Embodiment 3：
Because object detecting device is sometimes for manual search, it is sometimes desirable to worked in the case of unattended, in order to meet
The need for different working condition, it can be set on sea-surface target automatic detection device at manually and automatically two gears, device
When manual gear, accurate control manually is carried out to the orientation of camera, pitching, focal length by effector as needed, manually entered
Identification of the row to target；When device is in automatic gear, camera is automatically in naval vessel course（-90°~+90°）Patrolled in the range of 180 °
Search is returned, Motion parameters are carried out by target automatic detection module, finds to lock automatically during Small object, and pass through sound and light alarm
Point out user.
Claims (3)
1. a kind of sea-surface target automatic detection device, including video acquisition unit, device control cell, information solving unit；Its
Middle video acquisition unit is made up of high-definition camera, head, video frequency collection card, and high-definition camera is erected on high-precision head,
Realize 360 degree of high-definition camera rotations, video frequency collection card one end is connected the other end and information solving unit with high-definition camera
It is connected, the video image that high-definition camera is gathered is decoded in real time, information solving unit is given by observed object signal；
Device control cell resolves module by cradle head control module and corner and constituted, and is connected with head and information solving unit, a side
The rotation instruction that face receive information solving unit comes, controls the rotation of head, on the other hand then realizes the angle that head rotates
Digitlization, and it is transferred to information solving unit；Information solving unit include course resolve module, it is video display module, embedded
System, input through keyboard module, digital display module and power module, are connected, simultaneously with video frequency collection card, device control cell
Also it is connected with naval vessel gyro compass, is controlled according to the observed object signal received from the video acquisition unit and from the equipment single
The head angular signal that member is received, with reference to the course signal received from naval vessel gyro compass, calculates the orientation letter of target being observed
Number, and give display and show, it is characterised in that described information solving unit also includes attitude of ship monitoring modular and form mirror
As stable module, attitude of ship monitoring modular detects that the roll angle and pitch angle of ship are sent to form mirror image stable mode in real time
Roll angle and pitching angle signal are respectively converted into two-way voltage letter by block, form mirror image stable module according to voltage conversion model
Number, and this two-way voltage signal is sent to the control unit of head, camera is carried out the anti-of ship rolling angle and pitch angle
To rotation, so as to reach the stabilization of camera form mirror image.
2. a kind of sea-surface target automatic detection device according to claim 1, it is characterised in that described information solving unit
Also include target automatic detection module, the vision signal to reception carries out automatic detection, automatic identification target, and target is carried out
It is highlighted.
3. a kind of sea-surface target automatic detection device according to claim 1 or 2, it is characterised in that sea-surface target is automatic
Detection means has manually and automatically two gears, when device is in manual gear, by effector as needed to camera
Orientation, pitching, focal length are controlled manually, manually carry out the identification to target；When device is in automatic gear, camera is automatic
The touring search in the range of -90 ° to+90 ° of naval vessel course, Motion parameters are carried out by target automatic detection module, are found small
Locked automatically during target, and user is pointed out by sound and light alarm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621124528 | 2016-10-15 | ||
| CN2016211245280 | 2016-10-15 |
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| CN206556667U true CN206556667U (en) | 2017-10-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643683A (en) * | 2016-10-15 | 2017-05-10 | 中国人民解放军海军大连舰艇学院 | Sea-surface target automatic detecting device and target detecting method |
| CN109752713A (en) * | 2019-01-17 | 2019-05-14 | 南京硕基信息科技有限公司 | A kind of radar video monitoring method |
| CN111197973A (en) * | 2020-01-13 | 2020-05-26 | 上海眼控科技股份有限公司 | Sea surface distance acquisition method and device, computer equipment and storage medium |
-
2017
- 2017-02-21 CN CN201720153358.7U patent/CN206556667U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643683A (en) * | 2016-10-15 | 2017-05-10 | 中国人民解放军海军大连舰艇学院 | Sea-surface target automatic detecting device and target detecting method |
| CN109752713A (en) * | 2019-01-17 | 2019-05-14 | 南京硕基信息科技有限公司 | A kind of radar video monitoring method |
| CN109752713B (en) * | 2019-01-17 | 2022-07-29 | 南京硕基信息科技有限公司 | Radar video monitoring method |
| CN111197973A (en) * | 2020-01-13 | 2020-05-26 | 上海眼控科技股份有限公司 | Sea surface distance acquisition method and device, computer equipment and storage medium |
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