CN101916119A - Automatic tracing control system and method for split type head - Google Patents

Abstract

The invention relates to automatic tracing control system and method for a split type head, aiming to solve the problem that the followup head is required to rotate with the main control head and have the uniform direction when the split type head is used for monitoring the target. The invention provides a method for establishing a linkage mathematic model, and automatically controls the main control head and the followup head and ensures the uniform direction.

Description

The automatic tracing control system of split type The Cloud Terrace and method

Technical field

The present invention relates to a kind of automatic tracing control system and method for split type The Cloud Terrace.

Background technology

At present, the The Cloud Terrace that is used to monitor all is an integral type, and the form of load mainly contains three kinds: the combination of independent video camera, video camera and luminaire or video camera and other equipment.Lacking under the situation of lighting condition, independent video camera does not have supervisory function bit at night, if luminaire is installed separately, illumination direction is fixing can't follow object variations.The integral intelligent The Cloud Terrace that luminaire is installed luminaire and video camera in monitor procedure rotate synchronously with The Cloud Terrace: what patent ZL200520139840.2 installed is infrared illuminator, and light angle is immutable, is used for closely monitoring; What patent ZL200820016226.0 selected for use is the suitable remote night monitoring of laser illuminator of synchronous zoom.But, when monitoring environment badly when serious steam occurring, the picture quality that integrated The Cloud Terrace monitors reduces even can't resolution target, main cause is that luminaire and video camera are installed in close together on the same The Cloud Terrace.A plurality of loads of integral type monitoring The Cloud Terrace are rotated simultaneously with The Cloud Terrace, their direction remains unanimity, need not to consider to follow the problem of congruence, split type The Cloud Terrace is installed in the master control The Cloud Terrace respectively with different loads and above the following-up cradle head, widened the distance between the load, point to same target and want proof load when load separates from the different The Cloud Terraces, keeping corresponding interlock consistance is most critical.

Summary of the invention

The present invention is directed to split type The Cloud Terrace following-up cradle head when monitoring objective need follow that the master control The Cloud Terrace rotates and guarantee to provide a kind of automatic tracing control system of split type The Cloud Terrace and the technical scheme of method towards the problem of unanimity.

The present invention realizes by following technical measures: a kind of automatic tracing control system of split type The Cloud Terrace and method, it is characterized in that, it comprises master control The Cloud Terrace and following-up cradle head, master control The Cloud Terrace and following-up cradle head are provided with level and luffing mechanism, and the internal processor of master control The Cloud Terrace and following-up cradle head all includes control module;

At first, determine coefficient in the interlock mathematical model corresponding with destination level:

(1), when all targets of monitoring is in same surface level S1, can try to achieve by the following method: manually control and when observing screen make master control The Cloud Terrace and following-up cradle head point to objectives on the same destination level, what the control module of master control The Cloud Terrace can be obtained the master control The Cloud Terrace automatically horizontally rotates angle xx1 and pitch rotation angle xx2; The control module of following-up cradle head can obtain automatically following-up cradle head horizontally rotate angle yy1 and pitch rotation angle yy2 and will obtain horizontally rotate angle xx1, yy1 and pitch rotation angle xx2, yy2 automatically input be preset at the interior interlock mathematical model of following-up cradle head processor, obtain the coefficient h 1 in the interlock mathematical model, h2 and d;

(2), when master control The Cloud Terrace and following-up cradle head are monitored target on S1 and the surface level S2 parallel with S1 simultaneously, the corresponding respectively interlock mathematical model of S1 and S2 surface level, measure the master control The Cloud Terrace to the S2 surface level any one month target apart from l2, just can determine the coefficient of the interlock mathematical model of S2 surface level:

h1′＝l2*sinxx2′，

h2′＝(h1′-h1)+h2，

Wherein h1 ' and h2 ' are the coefficient of the interlock mathematical model of S2 surface level, the pitch rotation angle of the target that xx2 ' is the master control The Cloud Terrace to the S2 surface level, this pitch rotation angle can obtain automatically by control module, and h1 and h2 are the coefficients of the interlock mathematical model of the S1 surface level that calculates in (1);

Secondly, after the coefficient in the interlock mathematical model was determined, when the master control The Cloud Terrace rotated, what the control module of master control The Cloud Terrace can be obtained the master control The Cloud Terrace automatically horizontally rotated angle x1 and pitch rotation angle x2;

The following-up cradle head processor passes through the interlock mathematical model:

$\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\sin (x2-b1)}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\cos (x2-b1)-d}\right)+a2$ Or

$\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{ctg}(x1-a1)\sin (x2-b1)}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{ctg}(x1-a1)\cos (x2-b1)-d}\right)+a2,$

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left(\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\sin (x2-b1)\right)}^2+{(d-h1\mathrm{ctg}(x1-a1)\cos (x2-b1))}^2}}{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}+b2,$ Or

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left({\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{ctg}(x1-a1)\sin (x2-b1)\right)}^2+{(d-{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{ctg}(x1-a1)\cos (x2-b1))}^2}}{{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}^{\&prime;}}+b2,$

What obtain following-up cradle head horizontally rotates angle and pitch rotation angle;

Above-mentioned y1 is the angle that horizontally rotates of following-up cradle head, and y2 is the pitch rotation angle of following-up cradle head; H1, h1 ' are the vertical range of master control The Cloud Terrace to surface level; H2, h2 ' are the vertical range of following-up cradle head to surface level; A1 and a2 are respectively the level angle of master control The Cloud Terrace and following-up cradle head; B1 and b2 are respectively the pitching drift angle of master control The Cloud Terrace and following-up cradle head.

At last, the processor of following-up cradle head makes master control The Cloud Terrace and following-up cradle head congruence according to the action of following automatically that horizontally rotates angle and pitch rotation angle driving following-up cradle head of the following-up cradle head that obtains.

Concrete characteristics of the present invention also have, and above-mentioned level angle a1 and a2, pitching drift angle b1 and b2 can eliminate by correction means, and the interlock mathematical model after the simplification is:

$\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2-d}\right),$ Or $\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2-d}\right);$

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left(\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2\right)}^2+{(d-\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2)}^2}}{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}$ Or

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left({\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2\right)}^2+{(d-{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2)}^2}}{{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}^{\&prime;}}.$

The beneficial effect of this programme can be learnt according to the narration to such scheme, the present invention provides concrete interlock mathematical model for split type The Cloud Terrace when finishing lag function, can make things convenient for the parameter of following that calculates current following-up cradle head fast, reduce following error, improve automaticity.

Description of drawings

Fig. 1 is the principle schematic of interlock mathematical model among the present invention;

Fig. 2 is in same surface level for monitoring objective among the present invention and eliminates the rough schematic view of the interlock mathematical model of split type The Cloud Terrace level angle and pitching drift angle;

Fig. 3 is in different level for monitoring objective among the present invention and eliminates the rough schematic view of the interlock mathematical model of split type The Cloud Terrace level angle and pitching drift angle;

Fig. 4 is applied to the application synoptic diagram of the embodiment of marine active laser Night Vision Imaging System for the present invention.

Among the figure, 1, the master control The Cloud Terrace, 2, following-up cradle head, 3, video camera, 4, laser illuminator, 5, master control The Cloud Terrace support, 6, following-up cradle head support, 7, horizontal line, 8, marine steam, 9, rear orientation light, 10, incident beam, 11, target, 12, folded light beam, 21, master control The Cloud Terrace azimuth information, 22, interlock mathematical model, 23, following-up cradle head follows information, 24, coefficient sets, 25, the information relevant with coefficient, 26, master control The Cloud Terrace, 27, following-up cradle head, 28, the master control The Cloud Terrace towards, 29, following-up cradle head towards, 30, target.

Embodiment

For clearly demonstrating the technical characterstic of this programme,, this programme is set forth below by an embodiment.

A kind of automatic tracing control system of split type The Cloud Terrace and method, it is characterized in that, it comprises master control The Cloud Terrace and following-up cradle head, and master control The Cloud Terrace and following-up cradle head are provided with level and luffing mechanism, and the internal processor of master control The Cloud Terrace and following-up cradle head all includes control module;

At first, determine coefficient in the interlock mathematical model corresponding with destination level:

(1), when all targets of monitoring is in same surface level S1, can try to achieve by the following method: manually control and when observing screen make master control The Cloud Terrace and following-up cradle head point to objectives on the same destination level, what the control module of master control The Cloud Terrace can be obtained the master control The Cloud Terrace automatically horizontally rotates angle xx1 and pitch rotation angle xx2; The control module of following-up cradle head can obtain automatically following-up cradle head horizontally rotate angle yy1 and pitch rotation angle yy2 and will obtain horizontally rotate angle xx1, yy1 and pitch rotation angle xx2, yy2 automatically input be preset at the interior interlock mathematical model of following-up cradle head processor, obtain the coefficient h 1 in the interlock mathematical model, h2 and d;

(2), when master control The Cloud Terrace and following-up cradle head are monitored target on S1 and the surface level S2 parallel with S1 simultaneously, the corresponding respectively interlock mathematical model of S1 and S2 surface level, measure the master control The Cloud Terrace to the S2 surface level any one target apart from l2, just can determine the coefficient of the interlock mathematical model of S2 surface level:

h1′＝l2*sinxx2′，

h2′＝(h1′-h1)+h2，

Wherein h1 ' and h2 ' are the coefficient of the interlock mathematical model of S2 surface level, the pitch rotation angle of the target that xx2 ' is the master control The Cloud Terrace to the S2 surface level, this pitch rotation angle can obtain automatically by control module, and h1 and h2 are the coefficients of the interlock mathematical model of the S1 surface level that calculates in (1);

Secondly, after the coefficient in the interlock mathematical model was determined, when the master control The Cloud Terrace rotated, what the control module of master control The Cloud Terrace can be obtained the master control The Cloud Terrace automatically horizontally rotated angle x1 and pitch rotation angle x2;

The following-up cradle head processor passes through the interlock mathematical model:

$\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\sin (x2-b1)}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\cos (x2-b1)-d}\right)+a2$ Or

$\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{ctg}(x1-a1)\sin (x2-b1)}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{ctg}(x1-a1)\cos (x2-b1)-d}\right)+a2,$

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left(\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\sin (x2-b1)\right)}^2+{(d-\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{ctg}(x1-a1)\cos (x2-b1))}^2}}{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}+b2$ Or

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left({\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{ctg}(x1-a1)\sin (x2-b1)\right)}^2+{(d-{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{ctg}(x1-a1)\cos (x2-b1))}^2}}{{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}^{\&prime;}}+b2,$

What obtain following-up cradle head horizontally rotates angle and pitch rotation angle;

Above-mentioned y1 is the angle that horizontally rotates of following-up cradle head, and y2 is the pitch rotation angle of following-up cradle head; H1, h1 ' are the vertical range of master control The Cloud Terrace to surface level; H2, h2 ' are the vertical range of following-up cradle head to surface level; A1 and a2 are respectively the level angle of master control The Cloud Terrace and following-up cradle head; B1 and b2 are respectively the pitching drift angle of master control The Cloud Terrace and following-up cradle head.

At last, the processor of following-up cradle head makes master control The Cloud Terrace and following-up cradle head congruence according to the action of following automatically that horizontally rotates angle and pitch rotation angle driving following-up cradle head of the following-up cradle head that obtains.

Concrete characteristics of the present invention also have, and above-mentioned level angle a1 and a2, pitching drift angle b1 and b2 can eliminate by correction means, and the interlock mathematical model after the simplification is:

$\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2-d}\right),$ Or $\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}1=\arctan \left(\frac{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2}{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}{1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2-d}\right),$

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left(\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2\right)}^2+{(d-\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2)}^2}}{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}$ Or

$\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">y</figure-callout>}2=\mathrm{arcctg}\frac{\sqrt{{\left({\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\sin x2\right)}^2+{(d-{\mathrm{<figure-callout\; id="1"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}1}^{\&prime;}\mathrm{<figure-callout\; id="1"\; label="ctgx"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">ctgx</figure-callout>}1\cos x2)}^2}}{{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="HSA00000206798700021.png,HSA00000206798700022.png"\; state="\{\{state\}\}">h</figure-callout>}2}^{\&prime;}}.$

As can be seen from Figure 1 at first should make up interlock mathematical model 22, after setting up the mathematical model that links, master control The Cloud Terrace azimuth information 21 is input to the information of following 23 that just can obtain following-up cradle head in the interlock mathematical model 22 by coefficient sets 24.

Fig. 2 is the simple and easy design sketch of the interlock mathematical model of a surface level, after the installation site of master control The Cloud Terrace 26 and following-up cradle head 27 is fixing, can set up appropriate coordinate system as required, mathematical model connects the directional information of master control The Cloud Terrace and following-up cradle head so that foundation links.In this model, the master control The Cloud Terrace towards 28 and following-up cradle head be to concern one to one towards 29, promptly following-up cradle head has only one towards guaranteeing two The Cloud Terraces definite objects simultaneously during master control cradle head direction target 30.

Fig. 3 is the rough schematic view of the interlock mathematical model of different level, after the coefficient of the interlock mathematical model of a surface level is determined, as long as just obtain the distance of the target of master control The Cloud Terrace to another surface level and the coefficient that its interlock mathematical model can be determined in the pitch rotation angle.

Fig. 4 is the specific embodiment of the present invention when using, and this embodiment is used for marine active laser Night Vision Imaging System with the present invention.The master control The Cloud Terrace is to the distance h 1=9m of surface level, following-up cradle head is to the distance h 2=10m of surface level, between two The Cloud Terraces apart from d=6m, the level of two The Cloud Terraces and pitching drift angle are corrected in the error range by any special measures, and table 1 is the error that horizontally rotates angle y1 and pitch rotation angle y2 and gone out by the position calculation of hot spot in screen of the following-up cradle head that calculates under the situation that horizontally rotates angle x1 and pitch rotation angle x2 of known master control The Cloud Terrace of the interlock mathematical model after simplifying.

Table one:

Night, marine steam 8 was heavier, and the rear orientation light 9 of generation can have a strong impact on the picture quality of integral type active laser illumination imaging systems.The mode that present embodiment has adopted video camera 3 to separate with laser illuminator 4, be that video camera 3 and laser illuminator 4 are installed in two independently above the The Cloud Terrace, and it is vertical with the sea level to regulate the plane at the axis place make video camera 3 and laser illuminator 4 by structure, has reduced the number of coefficient in the mathematical model that links.When video camera 3 monitoring naval targets 11, the current angle information of master control The Cloud Terrace 1 transmission is given following-up cradle head 2, built-in interlock mathematical model can calculate the servo-actuated angle in the processor of following-up cradle head 2, The Cloud Terrace rotates drive laser illuminator 4 projects on the naval target 11 its incident beam 10, obtains target image clearly thereby the folded light beam 12 of naval target 11 enters video camera 3.Because rear orientation light 9 is far away apart from folded light beam 12, can't enter video camera 3, thereby eliminate influence imaging system, solved the problem that night marine steam 8 big laser illuminator 4 back scattering seriously cause image quality decrease.The marine active laser Night Vision Imaging System of employing interlock mathematical model is compared the integral type imaging system and is had advantages such as night visual range is far away, The Cloud Terrace precision height, servo-actuated is effective, mist transmitting performance is strong, imaging is clear.

The present invention can pass through or adopt existing techniques in realizing without the technical characterictic of describing; do not repeat them here; certainly; above-mentioned explanation is not to be limitation of the present invention; the present invention also is not limited in above-mentioned giving an example; variation, remodeling, interpolation or replacement that those skilled in the art are made in essential scope of the present invention also should belong to protection scope of the present invention.

Claims (2)

1. the automatic tracing control system of a split type The Cloud Terrace and method, it is characterized in that, it comprises master control The Cloud Terrace and following-up cradle head, and master control The Cloud Terrace and following-up cradle head are provided with level and luffing mechanism, and the internal processor of master control The Cloud Terrace and following-up cradle head all includes control module;

At first, determine coefficient in the interlock mathematical model corresponding with destination level:

(1), when all targets of monitoring is in same surface level S1, can try to achieve by the following method: manually control and when observing screen make master control The Cloud Terrace and following-up cradle head point to objectives on the same destination level, what the control module of master control The Cloud Terrace can be obtained the master control The Cloud Terrace automatically horizontally rotates angle xx1 and pitch rotation angle xx2; The control module of following-up cradle head can obtain automatically following-up cradle head horizontally rotate angle yy1 and pitch rotation angle yy2 and will obtain horizontally rotate angle xx1, yy1 and pitch rotation angle xx2, yy2 automatically input be preset at the interior interlock mathematical model of following-up cradle head processor, obtain the coefficient h 1 in the interlock mathematical model, h2 and d;

(2), when master control The Cloud Terrace and following-up cradle head are monitored target on S1 and the surface level S2 parallel with S1 simultaneously, the corresponding respectively interlock mathematical model of S1 and S2 surface level, measure the master control The Cloud Terrace to the S2 surface level any one target apart from l2, just can determine the coefficient of the interlock mathematical model of S2 surface level:

h1′＝l2*sinxx2′，

h2′＝(h1′-h1)+h2，

Wherein h1 ' and h2 ' are the coefficient of the interlock mathematical model of S2 surface level, the pitch rotation angle of the target that xx2 ' is the master control The Cloud Terrace to the S2 surface level, this pitch rotation angle can obtain automatically by control module, and h1 and h2 are the coefficients of the interlock mathematical model of the S1 surface level that calculates in (1);

Secondly, after the coefficient in the interlock mathematical model was determined, when the master control The Cloud Terrace rotated, what the control module of master control The Cloud Terrace can be obtained the master control The Cloud Terrace automatically horizontally rotated angle x1 and pitch rotation angle x2;

The following-up cradle head processor passes through the interlock mathematical model:

$y1=\arctan \left(\frac{h1\mathrm{ctg}(x1-a1)\sin (x2-b1)}{h1\mathrm{ctg}(x1-a1)\cos (x2-b1)-d}\right)+a2$ Or

$y1=\arctan \left(\frac{h{1}^{\&prime;}\mathrm{ctg}(x1-a1)\sin (x2-b1)}{h{1}^{\&prime;}\mathrm{ctg}(x1-a1)\cos (x2-b1)-d}\right)+a2,$

$y2=\mathrm{arcctg}\frac{\sqrt{{\left(h1\mathrm{ctg}(x1-a1)\sin (x2-b1)\right)}^2+{(d-h1\mathrm{ctg}(x1-a1)\cos (x2-b1))}^2}}{h2}+b2$ Or

$y2=\mathrm{arcctg}\frac{\sqrt{{\left({h1}^{\&prime;}\mathrm{ctg}(x1-a1)\sin (x2-b1)\right)}^2+{(d-{h1}^{\&prime;}\mathrm{ctg}(x1-a1)\cos (x2-b1))}^2}}{{h2}^{\&prime;}}+b2,$

What obtain following-up cradle head horizontally rotates angle and pitch rotation angle;

Above-mentioned y1 is the angle that horizontally rotates of following-up cradle head, and y2 is the pitch rotation angle of following-up cradle head; H1, h1 ' are the vertical range of master control The Cloud Terrace to surface level; H2, h2 ' are the vertical range of following-up cradle head to surface level; D is the distance between master control The Cloud Terrace and the following-up cradle head; A1 and a2 are respectively the level angle of master control The Cloud Terrace and following-up cradle head; B1 and b2 are respectively the pitching drift angle of master control The Cloud Terrace and following-up cradle head.

At last, the processor of following-up cradle head makes master control The Cloud Terrace and following-up cradle head congruence according to the action of following automatically that horizontally rotates angle and pitch rotation angle driving following-up cradle head of the following-up cradle head that obtains.

2. the automatic tracing control system of split type The Cloud Terrace according to claim 1 and method is characterized in that, described level angle a1 and a2, pitching drift angle b1 and b2 can eliminate by correction means, and the mathematical model after the simplification is:

$y1=\arctan \left(\frac{h1\mathrm{ctgx}1\sin x2}{h1\mathrm{ctgx}1\cos x2-d}\right)$ Or $y1=\arctan \left(\frac{h{1}^{\&prime;}\mathrm{ctgx}1\sin x2}{h{1}^{\&prime;}\mathrm{ctgx}1\cos x2-d}\right)$

$y2=\mathrm{arcctg}\frac{\sqrt{{\left(h1\mathrm{ctgx}1\sin x2\right)}^2+{(d-h1\mathrm{ctgx}1\cos x2)}^2}}{h2}$ Or

$y2=\mathrm{arcctg}\frac{\sqrt{{\left({h1}^{\&prime;}\mathrm{ctgx}1\sin x2\right)}^2+{(d-{h1}^{\&prime;}\mathrm{ctgx}1\cos x2)}^2}}{{h2}^{\&prime;}}.$

Images