SU763796A1

SU763796A1 - Television apparatus for determining velocity of moving body

Info

Publication number: SU763796A1
Application number: SU782620525A
Authority: SU
Inventors: Сергей Федорович Кацалап; Евгений Петрович Путятин
Original assignee: Харьковский Институт Радиоэлектроники
Priority date: 1978-05-23
Filing date: 1978-05-23
Publication date: 1980-09-15

Description

Изобретение относится к области телевизионной автоматики и может найти применение в системах регистрации скорости и направления движения . тела, в частности его можно использовать для автоматического контроля и управления работой транспортных средств, в системах автоматической обработки радиолокационных сигналов; в телевизионных следящих системах.The invention relates to the field of television automation and may find application in systems for recording speed and direction of movement. body, in particular, it can be used to automatically control and control the operation of vehicles in systems for the automatic processing of radar signals; in television tracking systems.

Известны устройства, содержащие стандартные блоки телевизионной системы, в которых для определения скорости движения тела введен счетчик, сое-15 диненный с выходом телевизионного датчика, либо введены блоки сравнения, подключенные первыми выходами к выходам генераторов разверток непосредственно и через запоминающие 20 устройства, а вторыми к телевизионному датчику. В устройствах считываются видеоимпульсы тела за время его движения в поле зрения телевизионного датчика, или сравниваются 25 напряжения генераторов развертки двух смежных кадров в моменты прихода видеоимпульсов [1] .Known devices containing standard blocks of a television system, in which a counter connected to the output of the television sensor is introduced or a comparison unit connected to the outputs of the scan generators directly and through memory 20 devices and introduced to the outputs of the TV sensors to determine the speed of the body’s movement television sensor. In the devices, video pulses of the body are read during its movement in the field of view of the television sensor, or 25 voltages of the scan generators of two adjacent frames are compared at the time of arrival of the video pulses [1].

Недостатком этих устройств является низкая помехоустойчивость, по скольку для определения скорости используются лишь отдельные точки объекта.The disadvantage of these devices is low noise immunity, since only individual points of the object are used to determine the speed.

Также известно устройство, которое содержит генератор тактовых импульсов, соединенный, со счетчиком и через блоки синхронизации с телевизионным датчиком, выходы которых подключены к определителю знака направления движения и блокам памяти £2^.A device is also known that contains a clock pulse generator connected, with a counter, and through synchronization units to a television sensor, the outputs of which are connected to a motion direction sign determinant and memory units £ 2 ^.

Это устройство также не может определить скорость, если в поле зрения находятся в каждый момент времени различные части изображения. Такие условия часто возникают в реальных ситуациях, когда движущийся объект частично заслоняется окружающим фоном, например движение автомобиля среди холмов, деревьев ит.д.This device also cannot determine the speed if different parts of the image are in the field of view at each moment of time. Such conditions often arise in real situations, when a moving object is partially obscured by the surrounding background, for example, the movement of a car among hills, trees, etc.

Целью изобретения является повышение помехоустойчивости.The aim of the invention is to increase noise immunity.

Цель достигается тем, что в предлагаемое устройство введены преобразо·· ватель аналог-код, блок задержек, вычислительный блок, два цифровых интегратора и два блока деления, причем выход телевизионного датчика через преобразователь аналог-код, второй вход которого соединен с выходом генератора тактовых импульсов, подключен к вычислительному блоку и блоку задержки, выходы которого соединены с другими входами вычислительного блока,два выхода которого подключены каждый через цифровой интегратор к блоку деления,а третий - к первому вхо-5 ду счетчика,вторые входы двух интеграторов и счетчика соединены с выходом блока синхронизации разверток, а выход счетчика подключен ко вторым входам блоков деления.. 10The goal is achieved by the fact that an analog-code converter, a delay unit, a computational unit, two digital integrators and two division blocks are introduced into the proposed device, the TV sensor output through an analog-code converter, the second input of which is connected to the output of the clock connected to the computing unit and the delay unit, the outputs of which are connected to other inputs of the computing unit, two outputs of which are connected each through a digital integrator to the division unit, and the third to the first input-5 counter, the second inputs of two integrators and the counter are connected to the output of the sweep synchronization unit, and the output of the counter is connected to the second inputs of the division blocks .. 10

На чертеже представлена функциональная схема устройства оThe drawing shows a functional diagram of a device about

Устройство содержит генератор 1 тактовых импульсов, соединенный через блоки 2 и 3 синхронизации раз- 15 верток с телевизионным датчиком 4, два цифровых интегратора 5 и 6 и счетчик 7, которые подключены первыми входами через вычислительный блок 8 и блок 9 задержек к преобразова- 20 телю 10 аналог-код, входы которого соединены с выходами телевизионного датчика 4 и генератора 1 тактовых импульсов, а вторыми входами - к блоку 2 кадровой синхронизации.The device comprises a clock pulse generator 1 connected through synchronization blocks 2 and 3 of clock-rotation 15 with a television sensor 4, two digital integrators 5 and 6 and a counter 7, which are connected by the first inputs through the computing unit 8 and the delay unit 9 to the converter 20 10 analog code, the inputs of which are connected to the outputs of the television sensor 4 and the clock generator 1, and by the second inputs to the frame synchronization block 2.

Первые входы блоков 11, 12 деления соединены с выходами цифровых интеграторов 5 и б, а вторые - с выходом счетчика 7.The first inputs of the blocks 11, 12 division connected to the outputs of the digital integrators 5 and b, and the second with the output of the counter 7.

Видеосигнал из. телевизионного датчика 4,пропорциональный яркости изоб- 30 ражения объекта в поле зрения,поступает в преобразователь 1Ό аналог-код,где в моменты прихода тактовых импульсов преобразуется в код. Генераторы тактовых импульсов и разверток, соотноше-35 ния частот которых определяют число элементов разложения телевизионного растра,синхронизированы блоками 2 и 3.Video signal out. television sensor 4, which is proportional to the brightness of the image of the object in the field of view, enters the analog code converter 1Ό, where it is converted to a code at the moments of arrival of clock pulses. Clock and sweep generators, the frequency ratios of which determine the number of television raster decomposition elements, are synchronized by blocks 2 and 3.

Обозначим общее число элементов разложения pxq, где Р - число элемен- дд тов в строке, q - число строк. С выхода преобразователя 10 код видеосигнала поступает в блок 9, где он задерживается на шесть величин, соответствующих, например, при построчном разложении телевизионного растра 1, ⁴⁵ Let us denote the total number of decomposition elements pxq, where P is the number of elements in a row, q is the number of lines. From the output of the converter 10, the video signal code is sent to block 9, where it is delayed by six quantities, corresponding, for example, with the line-by-line decomposition of a television raster 1, ⁴⁵

2, Р, Р+1, pq, pq + 1 элементам. На выходы вычислительного блока 8 поступают коды видеосигнала с блоков 10 и 9, которые соответствуют зна- , чениям изображения I_n(^ ,2, P, P + 1, pq, pq + 1 elements. The outputs of the computing unit 8 receives the codes of the video signal from blocks 10 and 9, which correspond to the values of the image I _{n (} ^,

ΙηκΙ'ΐ » Ιη«~ιΙ > <ηκ--ύ-ι » In-ltL » · Значения сигналов первого и второго выходов блока 8 определяются по соотношениям:ΙηκΙ'ΐ "Ιη" ~ ιΙ> <ηκ - ύ-ι "In-ltL" · The signal values of the first and second outputs of block 8 are determined by the relations:

д_Ха (Ιηκί~Ιη-1κύΟ·ηκΐ-Γ^-1ν.....„ , _____ . ^ηκί.d _Ha (Ιηκί ~ Ιη-1κύΟ · ηκΐ-Γ ^ -1ν ..... „, _____. ^ ηκί.

..GhKu * шк-ιύ ®..GhKu * shk-ιύ ®

.. . ^ηκί-.^htL-4 ^ηκ-ιί-ι^ ;где ϊ_ηΒ· - яркость изображения i -го элемента k-той строки (θ£·Ι6ρ, 0<k£q) η-го кадра; д х, Δ у - проекции скорости этого элемента по направлениям строчной и кадровой разверток... ^ ηκί -. ^ htL-4 ^ ηκ-ιί-ι ^; where _{ϊ ηΒ} · is the brightness of the image of the ith element of the kth row (θ £ · Ι6ρ, 0 <k £ q) of the ηth frame; d x, Δ y - projection of the speed of this element in the direction of the horizontal and personnel scans.

На третьем выходе блока 8 образуется одиночный импульс, если В / 0 и одновременно дх, ду не равны нулю,т.е, |дх| +]ду| ί 0.At the third output of block 8, a single pulse is generated if B / 0 and at the same time dx, do not equal zero, that is, | dx | +] do | ί 0.

При В = 0 сигналы первых двух выходов принимают нулевое значение, а на третьем выходе одиночного импульса не образуется. Максимальное время счета блока 8 не должно превышать периода тактовых импульсов.'At B = 0, the signals of the first two outputs take a zero value, but no single pulse is generated at the third output. The maximum counting time of block 8 shall not exceed the period of clock pulses. '

Блоки 5, б и 7 суммируют значения выходных сигналов блока 8 в течение одного кадра, поэтому они периодически сбрасываются в нулевое положение кадровым синхроимпульсом блока 2.Blocks 5, b and 7 summarize the values of the output signals of block 8 for one frame, so they are periodically reset to the zero position by the frame sync pulse of block 2.

В блоках 11 и 12 осуществляется деление выходных значений цифровых интеграторов 5 и 6 на показания счетчика 7.In blocks 11 and 12, the output values of the digital integrators 5 and 6 are divided by the readings of the counter 7.

Таким образом, вычислительный блок определяет значение скорости элементов изображения, счетчик 7 определяет число таких элементов, с помощью цифровых интеграторов 5 и б находится суммарная скорость элементов объекта, а блоки деления путем усреднения вычисляют скорость объекта.Thus, the computing unit determines the value of the speed of image elements, the counter 7 determines the number of such elements, using digital integrators 5 and 6, the total speed of the elements of the object is found, and the division blocks by averaging calculate the speed of the object.

Claims

The invention relates to the field of television automation and can be used in systems for registering the speed and direction of body movement, in particular, it can be used for automatic control and control of vehicle operation, in systems for automatic processing of radar signals in television tracking systems. Devices are known that contain standard blocks of a television system, in which to determine the speed of body movement a counter is inserted, connected to the output of a television sensor, or comparison blocks are entered, connected by first outputs to the outputs of the sweep generators directly and through memory devices to the sensor. The devices read the body video pulses during its movement in the field of view of the television sensor, or compare the voltages of the sweep generators of two adjacent frames at the moments of the arrival of the video pulses 1. The disadvantage of these devices is low noise immunity, since only individual points of the object are used to determine speed. A device is also known which contains a clock pulse generator connected to a counter and via synchronization units with a television sensor, the outputs of which are connected to a directional sign identifier and memory blocks. ty 2 |. This device also cannot determine speed if different parts of the image are in the field of view at each instant of time. Such conditions often arise in real situations when a moving object is partially obscured by surrounding background, for example, the movement of a car among hills, trees, etc. The aim of the invention is to improve noise immunity. The goal is achieved by introducing an analog-code converter, a delay unit, a computing unit, two digital integrators, and two dividing units into the proposed device, with the output of the television sensor through the analog-code converter, the second input of which is connected to the output of the clock generator , connect to the computing unit and the delay unit, the outputs of which are connected to other inputs of the computing unit, two outputs of which are each connected via a digital integrator to the division unit, and the third to the first one Ica, second inputs of the two integrators and a counter connected to the output of sinhron.izatsii reamers, and counter output is connected to the second inputs of the dividing blocks with. The drawing shows a functional diagram of the device. The device contains a generator of 1 clock pulses, connected via blocks 2 and 3 of scan synchronization with a television sensor 4, two digital integrators 5 and 6 and a counter 7, which are connected by first inputs through a computing unit 8 and block 9 delays to the converter 10 analogue code, the inputs of which are connected to the outputs of the television sensor 4 and the generator 1 clock pulses, and the second inputs to the unit 2 frame synchronization. The first inputs of the blocks 11, 12 division are connected to the outputs of the digital integrators 5 and b, and the second - with the output of the counter 7. The video signal from. The television sensor 4, proportional to the luminance of the object in the field of view, is delivered to the 1-0 analog-code converter, at the time of arrival of the clock pulses, it is converted into a code. The generators of pulses and sweeps, the NIN frequencies of which determine the number of decomposition elements of a television raster, are synchronized by blocks 2 and Denote the total number of decomposition elements pxq, where P is the number of elements in a line, q is the number of lines. From the output of converter 10, the code of the video source enters block 9, where it is backed up by six quantities, corresponding, for example, to line by line decomposition of a television raster 1, 2, P, P-I, pq, pq + 1 elements. The outputs of the computing unit 8 receive video signal codes from blocks 10 and 9, which correspond to the values of the image IHUI nu-v-i 1pc1-o Int-iL t InK - iL-i In-lti. The values of the signals of the first and second outputs of the block 8 are determined by the ratios m: (nkl-vt-i ti g1Cu: 1-1 | nMKi.-ii nv-ntviH niii-4 ttK-li-1iv nti. Rtni-l /, } - L, L nn-ii). (Cyy nniK nicl-t (nKt-r nttt, n-1С-l) 4, an .ri ...:) (i hU-1 htcl-l hKL-i nK -iLi (Inti. Inttt-t). (T "L ttlt-il) The brightness of the image of the i-th element of the k-th line (Oi.Iip, OjCkiq) of the n-th frame; l X, l y - the velocity projection of this element in the directions of horizontal and vertical sweeps. At the third output of block 8 it forms a single impulse, if B O and at the same time x, dy do not equal zero, | dx | + jAy | f 0. and a third out No single pulse is formed. The maximum time of the block 8 block should not exceed the clock pulse series. Blocks 5, b and 7 sum the output signals of block 8 during the bottom frame, therefore they periodically drop to the zero position of the cadoBbDvi block 2 sync pulse. In blocks 11 and 12, the output values of the digital intruders 5 and b are divided into readings of the counter 7. Thus, the computing unit limits the speed of the image elements, the counter 7 determines the number of such elements, Using digital integers raters 5 and b find the total velocity of the elements of the object, and the division blocks calculate the velocity of the object by averaging. A television device for determining the speed of a body moving, comprising a clock pulse generator connected via a synchronization block of sweeps to a television sensor, and a counter characterized in that, in order to improve noise immunity, an analog-code converter, a delay block a computing unit, two digital integrators and two dividing units, the output of the television sensor being an analogue code through the converter, the second input of which is connected to the output of the clock pulse generator owls connected to the computing unit and the delay unit whose outputs are connected to other inputs of the computing unit, two outputs of which are connected via a digital integrator to the dividing unit and the third to the first input of the counter, the second inputs of the two integrators and the counter are connected to the output of the synchronization unit sweeps, and the output of the counter is connected to the second inputs of the dividing units. Sources of information taken into account in the examination 1.POLONIK v.S.Television automatic devices, M., 1: in, 1974.

2. Patent of France 2172.026, cl. G 01 S 7/00, published 1973 (prototype).