RU2789117C2 - Three-coordinate device for detection and recognition of objects with monocular optoelectronic devices of on-ground and aerial robotic complexes based on stereoscopic 3d monitoring - Google Patents

Abstract

FIELD: detection equipment.

SUBSTANCE: method for detection and recognition uses a device containing standard monocular optoelectronic devices (hereinafter – OED) placed on different robotic complexes (hereinafter – RC), a unit of scanning devices, an electronic unit for preliminary image processing, a processor for image analysis and processing, and an information output channel. For creation of a volumetric stereoscopic 3D image of an object, fixation of the object image from different points of a movement trajectory of different RC OED, which are a stereoscopic observation base, is used. Object images are sent via the standard monocular OED to CCD matrix, converted to digital, and send to the electronic unit for preliminary image processing, where they are analyzed, and a digital image of objects from different point of object fixation are overlaid. The processor for image analysis and processing transmits data on the object via a data transmission channel to a standard device for information processing and representation for creation of a direct and reverse stereoscopic image.

EFFECT: increase in the probability of detection and recognition of masked objects, reduction in the weight of a device, and increase in the secrecy of reconnaissance of enemy objects.

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Description

The invention relates to optical-electronic devices (OED) of ground and air robotic systems (RTC) for detection (determining the spatial position) and recognition of objects based on the stereo effect by digital methods.

At present, the determination of the spatial position of objects in a plane (by azimuth and vertical angles) is widely used in passive systems of homing heads for guided munitions, in surveillance systems (web cameras, thermal imagers, etc.) based on charge-coupled device (CCD) matrices, in monocular optical-electronic devices of ground and air robotic complexes.

Recognition of an object by regular monocular OEDs is carried out in a plane, which can lead to an ambiguous assessment of the nature of the object (for example, it is easy to confuse a real tank with a flat shield). In addition, these systems do not allow measuring the distance to an object by a passive (hidden) method, i.e. determine the three-coordinate position of the object and recognize it.

Cheap disposable autonomous robotic systems with monocular OEDs are capable of independently performing various combat missions (reconnaissance, engagement, support). They are part of the so-called "flock" or "autonomous swarm of robots" [1,2,3].

When conducting reconnaissance, it is necessary not only to detect an object, but to recognize it. The RTK usually includes one optical-electronic reconnaissance (monitoring) device. When conducting reconnaissance with regular monocular OED, only a planar projection of the target and its position on the plane are detected, which does not allow detailed recognition of the object (you can mistake the tank target for a tank) (figure 1) [4].

The purpose of the invention is a qualitative expansion of the capabilities for detecting and recognizing camouflaged objects with regular monocular OEP RTK when operating in a "flock", increasing the probability of detecting and recognizing objects, reducing the mass of the device and increasing the secrecy of reconnaissance of enemy objects when determining the spatial position of enemy objects (targets) .

The goal is achieved by the fact that, to create a three-dimensional stereoscopic 3D image of an object, fixed images of the object are used from different observation points by monocular OEDs of various RTS, (the distance between the RTC represents a stereoscopic observation base), which are fed through the information output unit to the RTC "swarm" control center in in which the images are converted into digital form and enter the electronic image pre-processing unit, where the digital view of each image is analyzed and the digital image of the object is superimposed on the image from the neighboring OED RTK, determined by the value of the stereoscopic base, while further determination of the characteristics of the object is performed using the analysis processor and image processing, which transmits data about the object via a data transmission channel to a higher device for processing and presenting information.

The functional diagram of the device is shown in figure 3.

A three-coordinate device for detecting and recognizing objects by monocular optical-electronic devices of ground and air robotic complexes based on stereoscopic 3D monitoring by monocular OED RTK, consists of regular monocular OED 1.1 and 2.1 with CCD matrices 1.2 and 2.2, an orientation and coordinate determination unit of the OED RTK (GPS , inertial navigation system) 1.3 and 2.3, an electronic block for preliminary processing of information (position in space and images) 1.4 and 2.4, a processor for analyzing and processing information 1.5 and 2.5, a channel for outputting information to a standard device for processing and presenting information 1.6 and 2.6.

The device functions as follows.

Images of object C (figure 2) recorded by the monocular OED RTS at different points of movement of the RTS (points A and B - representing the stereoscopic observation base) are fed from the scanning device 2 through the standard monocular OED 1 to the CCD 3 matrix in which the images are converted into digital form and enter the electronic image pre-processing unit 4 where the digital view of each image is analyzed and the digital image of the object is superimposed on the previous one with a time delay determined by the value of the stereoscopic base according to the known coordinates of the RTK (determined by GPS or inertial system), while further determination of the characteristics of the object is performed with using the processor of analysis and image processing 1.5 and 2.5 (figure 3), which transmit data about the object via a data transmission channel to a standard device for processing and presenting information 1.6 and 2.6 in the RTK control (computer, etc.), to create a direct (orthoscopic ), and vice versa (pseudoscopic) stereoscopic image used for object recognition, which allows automating the process of solving the problem of spatial and temporal selection of objects and increasing the efficiency of reconnaissance (detection, recognition and ranging of objects) with monocular optoelectronic RTK devices in passive (covert) surveillance.

Monocular OED RTK allow you to determine the deviation of the sighted object from the axes of the OED in the vertical and horizontal planes. The presence of a base (distance) between the OED of individual RTKs (CCD matrices in RTK passive ranging units) makes it possible to determine the distance to an object by solving a geodesic triangle. Three-coordinate object direction finding allows solving direct and inverse stereoscopic recognition problems.

The electronic unit, the unit for preliminary processing of information (position in space and images), the processor for analyzing and processing information can be located in the control center of the RTC.

The technical result of the invention consists in increasing the probability of detecting and recognizing camouflaged objects, reducing the mass of the device and increasing the secrecy of conducting reconnaissance of enemy objects when determining the spatial position of enemy objects (targets).

The proposed system provides a 30% improvement in recognition speed and a 60% reduction in recognition errors.

A three-dimensional device for detecting and recognizing objects by digital methods based on the stereo effect can operate in the following modes:

- in the mode of determining the position of an object in the observation plane in a passive regular monocular mode - when one regular OED of the RTK is operating;

- in the passive mode of measuring the distance to the object by the passive (hidden) method by solving the geodesic triangle.

- in the passive mode of detection and recognition of an object based on the direct stereo effect or on the basis of the inverse stereo effect - when the adjacent OEDs of the RTK are involved.

The proposed device can be implemented as a device for detecting and recognizing objects by monocular optoelectronic devices of ground and air robotic complexes based on stereoscopic 3D monitoring.

Thus, the use of the invention will make it possible to expand the possibilities for detecting and recognizing camouflaged objects with standard monocular OED RTKs when operating in a “flock”.

List of sources used:

1. Parkhomenko, A.V., Epifanov, A.I. Inertial systems of autonomous navigation and geolocation equipment for ground and air robotic reconnaissance systems [Text]: monograph / A.V. Parkhomenko, A.I. Epifanov; under total ed. A.V. Parkhomenko. - Penza: Branch VA MTO, Penz. art.eng. in-t, 2019. - 281 p.: ill.

2. Parkhomenko, A.V. et al. Innovative proposals for the technical implementation of elements of missile and artillery weapons systems [Text]: monograph / A.V. Parkhomenko, A. I. Bogomolov, V. A. Parkhomenko, A. I. Epifanov; under total ed. A.V. Parkhomenko. - Penza: Branch of VA MTO, Penz. art.eng. in-t, 2017. - 236 p.: ill.

3. Parkhomenko A.V., Kobozev A.A. Fundamentals of the device and operation of topographic and geodetic instruments and navigation equipment. [Text]: / In 2 hours. Part I. Fundamentals of the device and operation of topographic and geodetic instruments: a textbook for universities / A.V. Parkhomenko, A. A. Kobozev; under total ed. A. V. Parkhomenko. Uch. allowance. - Penza: PAII, 2015. - 404 p: ill.

4. Parkhomenko, A.V. and others. Construction and calculation of promising optoelectronic devices [Text]: /. Tutorial. / A.V. Parkhomenko, A.G. Dmitrienko, A.V., Blinov, V.P. Fandeev, R.A. Bales. / under total. ed. A.V. Parkhomenko. - Penza: VUNTS SV "OVA RF Armed Forces" (fil.), 2012. - 358 p.

Claims (1)

A method for detecting and recognizing objects by monocular optoelectronic devices (OEDs) of ground and air robotic systems (RTCs) based on stereoscopic 3D monitoring, in which, using a device containing standard monocular OEDs, placed on various RTKs oriented in space using navigation equipment, a block of scanning devices, an electronic block for image pre-processing, an image analysis and processing processor, an information output channel, to create a three-dimensional stereoscopic 3D image of an object, the image of an object is fixed from various position points of various OED RTK, representing a stereoscopic observation base, while images objects, fixed by monocular OED at different points of the trajectory of the RTK movement, are fed through a regular monocular OED to a CCD matrix, in which the images are converted into digital form and enter the electronic image pre-processing unit, where they do not analyze the digital view of each image and overlay the digital image of objects from different fixation points of the object, while further determining the characteristics of the object is performed using an image analysis and processing processor that transmits data about the object via a data transmission channel to a standard device for processing and presenting information, to create a forward and reverse stereoscopic image used for object recognition, which allows you to automate the process of solving the problem of spatial and temporal selection of objects and increase the efficiency of reconnaissance with monocular optoelectronic RTK devices during passive observation.

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