CN207200874U - A kind of rotary panorama focus identification optronic tracker - Google Patents
A kind of rotary panorama focus identification optronic tracker Download PDFInfo
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- CN207200874U CN207200874U CN201721046832.2U CN201721046832U CN207200874U CN 207200874 U CN207200874 U CN 207200874U CN 201721046832 U CN201721046832 U CN 201721046832U CN 207200874 U CN207200874 U CN 207200874U
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- panoramic mosaic
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Abstract
The utility model discloses a kind of rotary panorama focus identification optronic tracker, including rotation observation device, panoramic mosaic apparatus and system control device and the system software module located at rear end for being respectively arranged on front end and setting from top to bottom；The rotation observation device includes lens control module and shooting unit；Panoramic mosaic device includes the video monitoring platform below the rotation observation device and the multiple panoramic mosaic visible light cameras being laid in below the video monitoring platform；System control device includes servo control module, energy supply control module and communications module.Compared with prior art, the utility model can not only amplify from motion tracking to realization of goal focus type and monitor, can also carry out 360 ° of panoramas simultaneously and splice in real time, solve the defects of video blind area is formed when tracking target when video monitoring is to target following.
Description
Technical field
It the utility model is related to field of video monitoring, and in particular to a kind of rotary panorama focus identification optronic tracker.
Background technology
Optronic tracker has the characteristics that remote observation, target locating, round-the-clock running, servo accurately control.
In use, it is necessary to be observed presetting bit setting for target area, optronic tracker is set to enter by certain orientation angles
The uninterrupted rotation of row is maked an inspection tour, and is tracked after target is found, and equipment visual field centralized displaying tracks target proximity picture during tracking,
Monitoring no longer is observed to other orientation, video blind area is so easily formed, misses other important informations, made to offender
Into opportunity.
Utility model content
To solve drawbacks described above, the purpose of this utility model is to provide a kind of rotary panorama focus identification photoelectric tracking
Instrument, when in use visual field can not only centralized displaying tracking target proximity picture, and can also be observed prison to other orientation
Control, avoids missing other information, realizes overall monitor.
To reach above-mentioned purpose, the technical solution adopted in the utility model is：A kind of rotary panorama focus identification photoelectricity
Tracker, including rotation observation device, the panoramic mosaic apparatus and system control dress for being respectively arranged on front end and setting from top to bottom
Put and the system software module located at rear end；
The rotation observation device includes lens control module and shooting unit, and the shooting unit is provided with mutual cooperation work
The focal length visible light camera and thermal infrared imaging camera of work, the lens control module pass through provided with the control of elevation servo mechanism
The shooting unit pitching movement is made, by controlling the shooting unit to move left and right provided with azimuth servomechanism；
Panoramic mosaic device includes the video monitoring platform below the rotation observation device and is laid in described regard
Multiple panoramic mosaic visible light cameras below frequency control and monitor console, angle is 30 ° between each panoramic mosaic visible light camera, and
Each panoramic mosaic visible light camera is adjusted by position adjusting mechanism；
System control device includes servo control module, energy supply control module and communications module, the SERVO CONTROL
Module performs the control to elevation servo mechanism and azimuth servomechanism, and the power supply template is to each modular power source distribution pipe
Reason, the communication transmission module perform the communication transfer of data；
The system software module includes infrastructure element, device management unit, panoramic mosaic unit, motion detection list
Member, target tracking unit and interlink warning unit.
Preferably, the angle of visual field of adjacent two panoramic mosaics visible light camera is respectively provided with the visual field overlay region more than 5%.
The panoramic mosaic visible light camera has 12, is evenly distributed on the lower section of the video monitoring platform.
The utility model is when in use through the following steps that to realize：
1）After startup optimization, position adjustments are carried out to 12 panoramic mosaic visible light cameras by direction adjusting structure and determined
Position, horizontal interval angle are 30 °, and angle of pitch adjusting range makes each panoramic mosaic visible light camera luffing angle at -30 °~30 °
Unanimously, field of view center point is on Same Latitude line；
2）The horizontal rotation zero degree value of position rotating observation device, as demarcation, determine 12 panoramic mosaic visible rays
The orientation values of video camera, line label is entered to each panoramic mosaic visible light camera, by orientation values and panoramic mosaic visible image capturing
Machine label is transferred to system software module；
3）The reality that 12 panoramic mosaic visible light cameras are gathered by the panoramic mosaic unit in system software module
When image carry out panoramic mosaic, generate 360 ° of panoramic mosaic pictures, and according to camera orientation value, region is carried out to image and drawn
Point；
4）Moved by the motion detection unit in system software module in 360 ° of panoramic mosaic pictures of generation
Target detection, the target automatic capture detected is analyzed, orientation calibration is carried out, orientation values is transferred to rotation observation device；
5）Orientation is carried out by the elevation servo mechanism in orientation values control rotation observation device and azimuth servomechanism and is bowed
Rotation is faced upward, controls focal length visible light camera or thermal infrared imaging camera to lock by the target tracking unit of system software module
Determine field motion target, carry out motion target tracking, while realization of goal focus type is amplified from motion tracking；
6）Alarm rule setting is carried out in interlink warning unit, defines alarm threshold value；Intelligence is carried out to collection video flowing
Image procossing is analyzed, detects abnormal behaviour alert event；Start alarm response, carry out warning message upload.
The utility model is upper, middle and lower tower structure, and carry out 360 ° of panoramas using multiple-camera splices in real time, complete at 360 °
Scape splices in real time carries out moving object detection in picture, servomotor drives focal length visible light camera or infrared thermal imaging shooting
Machine is rotated, and realizes motion target tracking.
There is the utility model panorama to splice in real time, moving object detection, Intelligent Recognition tracking, multiple-camera coordination and response
Etc. multiple functions, when video monitoring is to target following, realization of goal focus type can not only be amplified from motion tracking and monitored, also
360 ° of panoramas can be carried out simultaneously in real time to splice, and are solved the defects of video blind area is formed when tracking target, are realized separate unit
Monitoring device can also carry out the purpose of full angle video monitoring, suitable for large area video while target following is carried out
Monitor area, it can be applied to the scenes such as Gao Kong lookouts, strategic point defence, border defence, airport harbour.
Brief description of the drawings
With reference to the accompanying drawings and examples, structure and features of the present utility model is further described.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is software and hardware composition schematic diagram of the present utility model.
Fig. 3 is operation principle flow chart of the present utility model.
Fig. 4 is panoramic mosaic flow chart of the present utility model.
Fig. 5 is target detection flow chart of the present utility model.
Fig. 6 is target following flow chart of the present utility model.
Fig. 7 is partial enlargement flow chart of the present utility model.
Fig. 8 is alarm response schematic diagram of the present utility model.
In Fig. 1,1. focal length visible light cameras；2. thermal infrared imaging camera；3. elevation servo mechanism；4. bearing servo
Mechanism；5. panoramic mosaic visible light camera；6. system control device, 7. rotation observation devices；8. panoramic mosaic device.
Embodiment
To illustrate technology contents, construction feature and the purpose and effect realized of the present utility model, specific embodiment
Comprise the following steps：
1）Embodiment of the present utility model uses upper, middle and lower tower structure, and overall construction design is compact simple, practicality
By force；Rotation observation device integrates focal length visible light camera and thermal infrared imaging camera, using the grating of autonomous Design
The multispectral parallel light tube system of formula realizes that light axis consistency is adjusted；Using ball design, there is good wind resistance；Using split
Formula modularized design, focal length 500mm focal length visible light lens installation sites are reserved, different mirrors can be selected according to application demand
Head is matched；Designed using air-tightness, equipment can reach IP66 grades；
2）It is big to rotate visual range, SERVO CONTROL precision is high：Orientation angles are reachable：0 °~360 °, luffing angle is reachable：-
50 °~+60 °；Designed using high-precision code-disc, 0.001 ° of positional precision positioning can be achieved；Using high precision speed-measuring motor, system
Rotational speed is up to 0.01 °/s；Using wide dynamic design, system bandwidth is big, fast response time, peak acceleration up to 500 °/
s2；Using profile design and Composite PID control algolithm, it is ensured that servo-drive system delay is low, and static error is small；
3）Panoramic mosaic：More visible light camera video images are obtained, and carry out feature point extraction and matching, according to matching
Characteristic point calculate affine transformation matrix；The matrix calculated using previous step carries out image mosaic processing, real-time display spliced map
Picture；In order to improve splicing speed, handled using Multi-thread synchronization scheme, two images one group of carry out feature extraction, feature
Matching and affine transformation matrix calculate, last image co-registration splicing；Feature point extraction uses SIFT methods, and characteristic matching uses
RANSAC method for parameter estimation, image co-registration use weighted mean method, and video-splicing speed is up to 20fps；
4）Target detection：The scheme being combined using background subtraction method and frame difference method, goal-focus is determined, improve target inspection
The degree of accuracy of survey and real-time, the moving region in image is obtained by three frame frame difference operations；Transported in the moving region asked for
With logic or the operation of three frame frame difference images and background subtraction image, high accuracy is obtained, than more complete foreground image：
Wherein：For the bianry image of three frame frame difference methods,The prospect obtained for background subtraction method
Image；
5）Target following：The method being combined using Kalman filtering and SURF features, it is first determined tracking target, inspection
After measuring the moving-target in region, feature extraction is carried out using SURF operators, the most target of selected characteristic point is as tracking
Target；In the target prediction stage, one region of search based on target positioning of structure, under being obtained by Kalman filtering algorithms
The general orientation that one frame target is likely to occur, the search positioning of target is carried out in this regional area, during by greatly reducing computing
Between and improve tracking robustness；During SURF Feature Points Matchings, Mismatching point and positioning target are removed using arest neighbors matching method
Algorithm, by way of threshold value is set, judge whether the match is successful for characteristic point, while after the positioning based on SURF, by
Similar features point or target in region of search can cause accidental erroneous matching situation, enter one using histogram matching
Debug target is walked, realizes that target positions；
6）Target partial enlargement：Determine that mouse marks rectangle size and the position of determination, the central point of rectangular area is made
For the central point of magnification region, and move it to the center that window works as front-view area（Actually reset the focal position of camera）；
Make and compare in two corresponding with vision area rectangle of two of rectangle, that larger ratio is used as to the base of magnification ratio
Value, is amplified to proper proportion by whole figure, selected areas is moved into vision area center；Source rectangle and purpose rectangle size
The ratio between, the scaling multiple of image is determined, amplification infinitely can be achieved；
7）Alarm response：Alarm rule setting is carried out in interlink warning unit, defines alarm threshold value；To gathering video flowing
Intellectual analysis image procossing is carried out, detects abnormal behaviour alert event；Start alarm response, carry out warning message upload.
Described above is only preferred embodiment of the present utility model, and above-mentioned specific embodiment is not to the utility model
Limitation, retouching, modification or the equivalent substitution that all one of ordinary skill in the art are made as described above, belong to this reality
With new protection domain.
Claims (3)
- A kind of 1. rotary panorama focus identification optronic tracker, it is characterised in that：Including being respectively arranged on front end and from top to bottom Rotation observation device, panoramic mosaic apparatus and system control device and the system software module located at rear end of setting；The rotation observation device includes lens control module and shooting unit, and the shooting unit is provided with mutual cooperation work Focal length visible light camera and thermal infrared imaging camera, the lens control module pass through provided with elevation servo mechanism controls institute The pitching movement of shooting unit is stated, by controlling the shooting unit to move left and right provided with azimuth servomechanism；Panoramic mosaic device It is laid in including the video monitoring platform below the rotation observation device and multiple complete below the video monitoring platform Scape splices visible light camera, and angle is 30 ° between each panoramic mosaic visible light camera, and each panoramic mosaic visible image capturing Machine is adjusted by position adjusting mechanism；System control device includes servo control module, energy supply control module and communication Transport module, the servo control module perform the control to elevation servo mechanism and azimuth servomechanism, the power supply Template allocates management of to each modular power source, and the communications module performs the communication transfer of data；The system software module Including infrastructure element, device management unit, panoramic mosaic unit, motion detection unit, target tracking unit and linkage report Alert unit.
- 2. rotary panorama focus identification optronic tracker according to claim 1, it is characterised in that：Adjacent two panorama is spelled The angle of visual field for connecing visible light camera is respectively provided with visual field overlay region more than 5%.
- 3. rotary panorama focus identification optronic tracker according to claim 1, it is characterised in that：The panoramic mosaic Visible light camera has 12, is evenly distributed on the lower section of the video monitoring platform.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107509055A (en) * | 2017-08-21 | 2017-12-22 | 河南中光学集团有限公司 | A kind of rotary panorama focus identification optronic tracker and its implementation |
| WO2020176701A1 (en) * | 2019-02-27 | 2020-09-03 | X Development Llc | Infrared and visible imaging system |
-
2017
- 2017-08-21 CN CN201721046832.2U patent/CN207200874U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107509055A (en) * | 2017-08-21 | 2017-12-22 | 河南中光学集团有限公司 | A kind of rotary panorama focus identification optronic tracker and its implementation |
| WO2020176701A1 (en) * | 2019-02-27 | 2020-09-03 | X Development Llc | Infrared and visible imaging system |
| US10972649B2 (en) | 2019-02-27 | 2021-04-06 | X Development Llc | Infrared and visible imaging system for device identification and tracking |
| US11595561B2 (en) | 2019-02-27 | 2023-02-28 | X Development Llc | Infrared and visible imaging system |
| US11902655B2 (en) | 2019-02-27 | 2024-02-13 | X Development Llc | Infrared and visible imaging system for monitoring equipment |
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