CN210526874U - Airborne three-light photoelectric pod system - Google Patents
Airborne three-light photoelectric pod system Download PDFInfo
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- CN210526874U CN210526874U CN201920958204.4U CN201920958204U CN210526874U CN 210526874 U CN210526874 U CN 210526874U CN 201920958204 U CN201920958204 U CN 201920958204U CN 210526874 U CN210526874 U CN 210526874U
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Abstract
The utility model provides an airborne three-light photoelectric pod system, which comprises a pod control system, wherein the pod control system is respectively connected with a control interface, a servo image stabilization system and an image processing system; the image acquisition system comprises a starlight high-definition camera and an uncooled thermal infrared imager; the image processing system comprises a double-light fusion module and a video compression module, the double-light fusion module is used for carrying out real-time effective matching and fusion on images acquired by the image acquisition system, and the fusion mode of visible light images and infrared images comprises picture-in-picture fusion and pixel level fusion. By performing video fusion on the starlight high-definition camera and the thermal infrared imager, information complementation is realized, and more complete and accurate scene description is constructed, so that the capability of correctly detecting and identifying the target in a complex environment is improved, and the system has excellent automatic focusing performance, target tracking function and the like. Two shafts and two frames are adopted inside the device, a high-precision electronic image stabilizing technology is integrated, and azimuth full-angle rotation is supported.
Description
Technical Field
The utility model belongs to the technical field of the unmanned aerial vehicle aircraft, concretely relates to machine carries three light photoelectricity nacelle systems.
Background
With the development and application of unmanned aerial vehicles, photoelectric pod and unmanned aerial vehicle are combined to be applied to the fields of reconnaissance, anti-terrorism, monitoring, line pipeline inspection and the like, at present, the civil double-light, triple-light photoelectric pod generally adopts an infrared + visible + laser or infrared + double-visible form, and the infrared + visible + laser triple-light photoelectric pod has large volume and weight, has higher requirement on the loading capacity of the unmanned aerial vehicle and higher requirement on the precision of a laser, and therefore has very high cost; the photoelectric pod in the infrared + double-visible form generally adopts two cameras with different resolutions to meet the requirement of a customer on high-definition image quality, and imaging quality and image detail information cannot be completely and accurately described under the conditions of low illumination, shielding and severe weather, so that most photoelectric pods cannot meet higher requirements under the condition of complex environment at present. At present, the three-light pod in China, the 30-time zoom pod is basically larger than 1.5kg, the size is very large, the pod which is small in size, light in weight and high in imaging quality can be achieved, and the pod is difficult to find in the domestic market.
Disclosure of Invention
In order to solve the technical problem, the utility model provides an airborne three-light photoelectric pod system, which comprises a pod control system, a servo image stabilization system, an image acquisition system and an image processing system; the image acquisition system is connected with the image processing system; the pod control system is respectively connected with the control interface, the servo image stabilization system and the image processing system, and sends instructions to the pod control system through the control interface to realize the control of the servo image stabilization system, the image acquisition system and the image processing system; the image acquisition system comprises a starlight high-definition camera and an uncooled thermal infrared imager; the image processing system comprises a double-light fusion module and a video compression module, the double-light fusion module is used for carrying out real-time effective matching and fusion on images acquired by the image acquisition system by utilizing a thermal radiation principle of an infrared image and a light reflection principle of a visible light image, the fusion mode of the visible light image and the infrared image comprises picture-in-picture fusion and pixel-level fusion, the picture-in-picture fusion is carried out by embedding infrared rays into the visible light image for on-screen display, the visible light is taken as a reference, and the optical axes of the two images are aligned by adjusting the position of a lens of a non-refrigeration thermal infrared imager; and the pixel-level fusion aligns the optical axes of the infrared image and the visible image through image calibration, and then superposes the pixel level according to the information quantity represented by the visible image and the infrared image to obtain a video image with richer information.
The dual-light fusion module comprises a visible light sensor and an infrared sensor, complementary information provided by the two sensors is utilized, and fused images contain more comprehensive and abundant information, so that the fused images better accord with the visual characteristics of people or machines, and the further analysis and processing of the images and automatic target recognition are facilitated; under unfavorable environmental conditions (e.g. smoke, dust, cloud, fog, rain, etc.), can improve the detection performance through a plurality of sensor image fusions, for example, the utility model discloses under smoke, fog environment, visible light image quality is poor (can't see the target even), and the infrared image that obtains nevertheless has stronger penetrability to smoke, fog, and although the signal has some attenuations, still can obtain clearer image.
The image processing system also comprises an optical zooming visible light machine core, and the optical zooming visible light machine core is matched with an infrared lens of the uncooled thermal infrared imager for use, so that the image quality can be clearer due to the fusion of visible light and infrared, and a target at a longer distance can be observed.
The image processing system also comprises a target recognition and tracking algorithm processing module, when the locked target deviates from the center of the view field, the target recognition and tracking algorithm processing module transmits the returned deviation angle to the pod control system, and the pod control system transmits miss distance information to the servo image stabilizing system to realize real-time tracking of the locked target.
The video compression module compresses the collected video images in real time into an H.264/H.265 coding format for output, so that the images are transmitted and stored in real time, the time delay is reduced, and the pod video output interface supports SDI/network/synchronization 422.
The servo image stabilization system comprises a two-axis two-frame stabilization platform which is very wide in application due to the characteristics of simple mechanism, low cost, small size and the like. The two-axis two-frame stable platform adopts two gyroscopes as inertial rate sensors, the two gyroscopes are installed on the pitching platform, 2 sensitive axes and an optical axis are orthogonal, and gyroscope data support 360-degree rotation of an azimuth axis through azimuth and pitching control respectively. The gyro stabilization technical circuit drives the azimuth motor and the pitching motor to form a speed closed loop, thereby realizing the stabilization of the photoelectric system. Because the optical sensor is fixedly arranged on the pitching platform, the results obtained by the measurement of the azimuth and pitching gyroscope are the inertial azimuth and the pitching angular velocity of the optical axis, the gyroscope signal is used for feedback, and the azimuth and the pitching motor are controlled to rotate by the pod control system, so that the azimuth angular velocity and the pitching angular velocity of the optical axis are equal to zero, and the stable control of the inertial spatial azimuth and the pitching of the optical axis is realized.
The three-photoelectric pod system is of a spherical structure and comprises a camera shell, an azimuth axis direction component and a pitch axis direction component, the starlight high-definition camera and the uncooled thermal infrared imager are arranged in the camera shell, and the uncooled thermal infrared imager is located below the starlight high-definition camera.
The optical zooming visible light machine core is 30 times of the optical zooming visible light machine core, and the starlight high-definition camera is a 12mm starlight high-definition camera; the uncooled thermal infrared imager is a 50mm uncooled thermal infrared imager.
The beneficial effects of the utility model are that through being the video fusion to starlight high definition digtal camera and thermal infrared imager, realized the complementation of information, found more complete, more accurate scene description to the improvement correctly carries out the ability that target detection and discernment under complex environment. Meanwhile, the system has excellent automatic focusing performance, target tracking function and the like. Two-axis two-frame is adopted inside, a high-precision electronic image stabilizing technology is integrated, azimuth full-angle (360 degrees) rotation is supported, shaking of a target image shot by a sensor is eliminated, and a stable and clear external scene video image is provided, so that the stability precision of the system is superior to 1 mrad. The zoom lens has a 30-time continuous zoom function, can flexibly control a focal length and an aperture, can meet the monitoring requirements of different scenes with different fields of view, and can search with a large field of view and observe details with a small field of view. The optical zooming visible light machine core is matched with the uncooled thermal infrared imager, so that a target at a longer distance can be observed. Furthermore, the utility model discloses spheroid diameter is 134mm, and height 176.8mm, weight are only 1kg, and are small, and light in weight can carry on civil aircraft such as stationary vane, single rotor, many rotors.
Drawings
Fig. 1 is a block diagram of a three-photoelectric pod system according to the present invention;
fig. 2 is a diagram showing the pip fusion by the dual optical fusion module;
fig. 3 is a schematic structural diagram of the three-light photoelectric pod system of the present invention; wherein 1 is an azimuth axis direction component, 2 is a pitch axis direction component, 3 is a starlight high-definition camera, 4 is an uncooled thermal infrared imager, and 5 is an optical zooming visible light core.
Detailed Description
Example 1
As shown in FIG. 1, the airborne three-light photoelectric pod system comprises a pod control system, a servo image stabilization system, an image acquisition system and an image processing system. The image acquisition system is connected with the image processing system. The pod control system is respectively connected with the control interface, the servo image stabilization system and the image processing system, and sends instructions to the pod control system through the control interface, so that the servo image stabilization system, the image acquisition system and the image processing system are controlled. The image acquisition system comprises a 12mm starlight high-definition camera, a 50mm uncooled thermal infrared imager and a 30-time optical zooming visible light machine core. The image processing system comprises a double-light fusion module, a target recognition and tracking algorithm processing module and a video compression module; the double-light fusion module comprises a visible light sensor and an infrared sensor, the double-light fusion module utilizes the heat radiation principle of an infrared image and the light reflection principle of the visible light image to carry out real-time effective matching and fusion on the collected images, the fusion mode of the visible light image and the infrared image comprises picture-in-picture fusion and pixel level fusion, the picture-in-picture fusion carries out on-screen display by embedding infrared into the visible light image, the visible light is taken as the reference, the optical axes of the two images are aligned by adjusting the position of a lens of a non-refrigeration thermal infrared imager, as shown in figure 2, the pixel level fusion aligns the optical axes of the infrared image and the visible light image through image calibration, and then the pixel level superposition is carried out according to the information quantity represented by the visible light image and the infrared image, so as to obtain a video image with richer information; when the locked target deviates from the center of the view field, the target recognition and tracking algorithm processing module transmits the returned deviation angle to the pod control system, and the pod control system transmits the miss distance information to the servo image stabilizing system to realize the real-time tracking of the locked target; the video compression module compresses the collected video images in real time into an H.264/H.265 coding format for output, the images in the coding format are stored in the SD card, the images are output in real time, and the pod video output interface supports SDI/network/synchronization 422.
The servo image stabilization system comprises a two-axis two-frame stabilization platform, the two-axis two-frame stabilization platform adopts two gyroscopes as inertial rate sensors, the two gyroscopes are installed on a pitching platform, 2 sensitive axes and an optical axis are orthogonal, and gyroscope data support 360-degree rotation of an azimuth axis through azimuth and pitching control respectively. The gyro stabilization technical circuit drives the azimuth motor and the pitching motor to form a speed closed loop, thereby realizing the stabilization of the photoelectric system. Because the optical sensor is fixedly arranged on the pitching platform, the results obtained by the measurement of the azimuth and pitching gyroscope are the inertial azimuth and the pitching angular velocity of the optical axis, the gyroscope signal is used for feedback, and the azimuth and the pitching motor are controlled to rotate by the pod control system, so that the azimuth angular velocity and the pitching angular velocity of the optical axis are equal to zero, and the stable control of the inertial spatial azimuth and the pitching of the optical axis is realized.
As shown in fig. 3, the three-photoelectric pod system is a sphere and comprises a camera housing, an azimuth axis direction component 2 and a pitch axis direction component 1, the 12mm starlight high-definition camera and the 50mm uncooled thermal infrared imager are both arranged in the camera housing, and the 50mm uncooled thermal infrared imager is arranged below the 12mm starlight high-definition camera.
And sending instructions to the pod control system through an RS232/422 serial port.
Claims (8)
1. An airborne three-photon photoelectric pod system is characterized in that: the system comprises a pod control system, a servo image stabilization system, an image acquisition system and an image processing system; the image acquisition system is connected with the image processing system; the pod control system is respectively connected with the control interface, the servo image stabilization system and the image processing system, and sends instructions to the pod control system through the control interface so as to realize the control of the servo image stabilization system, the image acquisition system and the image processing system; the image acquisition system comprises a starlight high-definition camera (3) and an uncooled thermal infrared imager (4); the image processing system comprises a double-light fusion module and a video compression module, the double-light fusion module fuses images acquired by an image acquisition system, the fusion mode of visible light images and infrared images comprises picture-in-picture fusion and pixel level fusion, the picture-in-picture fusion is realized by embedding infrared rays into the visible light images for on-screen display, the optical axes of the two images are aligned by adjusting the position of a lens of a non-refrigeration thermal infrared imager with the reference of visible light, the optical axes of the infrared images and the visible light images are aligned by image calibration in the pixel level fusion, and then the pixel level superposition is carried out according to the information quantity represented by the visible light images and the infrared images, so that the video images with richer information are obtained.
2. An airborne three-photon photovoltaic pod system as set forth in claim 1, wherein: the dual-light fusion module comprises a visible light sensor and an infrared sensor.
3. An airborne three-photon photovoltaic pod system as set forth in claim 1, wherein: the image processing system also comprises an optical zooming visible light movement (5).
4. An airborne three-photon photovoltaic pod system as set forth in claim 1, wherein: the image processing system also comprises a target recognition and tracking algorithm processing module.
5. An airborne three-photon photovoltaic pod system as set forth in claim 1, wherein: and the video compression module compresses the acquired video image in real time into an H.264/H.265 coding format and outputs the coding format.
6. An airborne three-photon photovoltaic pod system as set forth in claim 1, wherein: the servo image stabilization system comprises a two-axis two-frame stabilization platform, the two-axis two-frame stabilization platform adopts two gyroscopes as inertial rate sensors, the two gyroscopes are installed on a pitching platform, 2 sensitive axes and an optical axis are orthogonal, and gyroscope data support 360-degree rotation of an azimuth axis through azimuth and pitching control respectively.
7. An airborne three-photon photovoltaic pod system as set forth in claim 1, wherein: the three-photoelectric pod system is of a sphere structure and comprises a camera shell, an azimuth axis direction component (2) and a pitch axis direction component (1), the starlight high-definition camera (3) and the uncooled thermal infrared imager (4) are arranged in the camera shell, and the uncooled thermal infrared imager (4) is located below the starlight high-definition camera (3).
8. An airborne three-photon photovoltaic pod system as set forth in claim 3, wherein: the optical zooming visible light machine core is 30 times of the optical zooming visible light machine core, and the starlight high-definition camera is a 12mm starlight high-definition camera; the uncooled thermal infrared imager is a 50mm uncooled thermal infrared imager.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111765974A (en) * | 2020-07-07 | 2020-10-13 | 中国环境科学研究院 | Wild animal observation system and method based on miniature refrigeration thermal infrared imager |
| CN112565683A (en) * | 2020-11-19 | 2021-03-26 | 湖南宇正智能科技有限公司 | Portable photoelectric heel searching system and method |
| CN113443155A (en) * | 2021-07-22 | 2021-09-28 | 成都浩孚科技有限公司 | Triaxial photoelectric pod |
| CN114200961A (en) * | 2021-12-09 | 2022-03-18 | 奥瑞思智能科技(阜新)有限公司 | Air-ground cooperative system based on unmanned aerial vehicle and intelligent wearable equipment |
| CN114455087A (en) * | 2022-03-04 | 2022-05-10 | 湖南谱峰光电有限公司 | Small non-scanning composite nacelle and mounting method |
| CN114455087B (en) * | 2022-03-04 | 2024-04-19 | 湖南耀测科技有限公司 | Small non-scanning composite nacelle and installation method |
-
2019
- 2019-06-25 CN CN201920958204.4U patent/CN210526874U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111765974A (en) * | 2020-07-07 | 2020-10-13 | 中国环境科学研究院 | Wild animal observation system and method based on miniature refrigeration thermal infrared imager |
| CN111765974B (en) * | 2020-07-07 | 2021-04-13 | 中国环境科学研究院 | Wild animal observation system and method based on miniature refrigeration thermal infrared imager |
| CN112565683A (en) * | 2020-11-19 | 2021-03-26 | 湖南宇正智能科技有限公司 | Portable photoelectric heel searching system and method |
| CN113443155A (en) * | 2021-07-22 | 2021-09-28 | 成都浩孚科技有限公司 | Triaxial photoelectric pod |
| CN114200961A (en) * | 2021-12-09 | 2022-03-18 | 奥瑞思智能科技(阜新)有限公司 | Air-ground cooperative system based on unmanned aerial vehicle and intelligent wearable equipment |
| CN114200961B (en) * | 2021-12-09 | 2023-12-29 | 奥瑞思智能科技(阜新)有限公司 | Air-ground cooperative system based on unmanned aerial vehicle and intelligent wearing equipment |
| CN114455087A (en) * | 2022-03-04 | 2022-05-10 | 湖南谱峰光电有限公司 | Small non-scanning composite nacelle and mounting method |
| CN114455087B (en) * | 2022-03-04 | 2024-04-19 | 湖南耀测科技有限公司 | Small non-scanning composite nacelle and installation method |
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