CN106851230A - For the camera triggering of high-speed flight target observation and image transfer method and device - Google Patents
For the camera triggering of high-speed flight target observation and image transfer method and device Download PDFInfo
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- CN106851230A CN106851230A CN201710215201.7A CN201710215201A CN106851230A CN 106851230 A CN106851230 A CN 106851230A CN 201710215201 A CN201710215201 A CN 201710215201A CN 106851230 A CN106851230 A CN 106851230A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/91—Television signal processing therefor
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Abstract
The invention provides a kind of high speed camera accurately triggering and high speed image quasi real time transmission method, wherein high speed camera is accurately triggered using the triggering mode based on sound, when being shot with video-corder scene and being sent the sound of certain decibel value, realize that high speed camera triggers the switching of pattern, when being not detected by exceeding the decibel sounds of threshold value, high speed camera uses circulation memory module, when sounds trigger signal occurs, high speed camera is converted to sequential storage by circulation storage, realizes the high-speed video record of interest scene.After process to be recorded terminates, quick-searching is carried out to high-speed video data by way of recording triggered time point, vedio data is stored with stream file format, show that the time marks in every frame recording image, it is easy to the quick-searching of image, retrieving can as needed carry out great-jump-forward lookup, so as to save bandwidth, improve the efficiency of transmission of retrieval image.
Description
Technical field
Triggered and image transfer method and device the present invention relates to a kind of camera for high-speed flight target observation, especially
It is related to a kind of accurate triggering of high speed camera and high speed image quasi real time transmission method and device.
Background technology
With developing rapidly for modern science and technology, weaponry is also being constantly updated, and the renewal of weaponry is just to phase
The weapons equipment test and observation technology answered propose requirement higher.High-speed flight target is a quasi-representative target being observed,
Observation to its state of flight plays very crucial effect for identifying and assessing target capabilities, is the core of target measurement task
One of intracardiac appearance.High speed image shoots with video-corder the high-speed flight target observation equipment that measuring apparatus are a quasi-representatives, it would be desirable to its energy
Enough shootings for realizing identification armament systems or guidance precision, record meet with the specific tasks such as live, measurement detonation moment.Due to flying
The restriction of the unfavorable factor such as severe of the high speed of row target, mobility and observing environment, is required to high speed image and shoots with video-corder survey
Amount equipment must possess the detectability to the rapid flight target flight moment.Therefore, research realizes that high speed camera is accurate
Triggering and high speed image quasi real time transmission technology, with typical actual application value.
The content of the invention
The present invention mainly starts with terms of high speed image triggering technique and transmission technology two, realizes to high-speed flight target
Key images are shot with video-corder and transmission.
Compared with constant speed is imaged, the data volume that high-speed camera is gathered is very huge, and realtime graphic compression ratio is low.It is drop
Low high speed image storage difficulty, while save carrying cost and facilitate searching mass data, it is accurate under unattended operation environment
Automatic triggering is the problem that high-speed camera must take into consideration first.The automatic triggering mode of conventional high-speed camera is touched including image recognition
Hair and external information triggering, the principle that wherein image recognition triggering is changed using image in camera field of view reach triggering mesh
, situation when being undergone mutation suitable for static scene more.This mode false triggering rate is higher, it is impossible to meets external environment condition and uses
It is required that.The conventional trigger meanses based on external information are radar triggering, infrared triggering and sound triggering etc., wherein sound triggering side
Formula realizes simplicity the most, and reliability is higher.
The present invention is triggered based on sound pressure signal to high-speed camera.Acoustic pressure triggering is produced using high-speed flight target
The raw sound pressure signal for being far longer than Background environmental noise realize triggering.Acoustic pressure triggering method uses root-mean-square value algorithm
To eliminate the false triggering that ambient noise and spike cause.Root-mean-square value algorithm is by calculating one group of total acoustic pressure of dataTo realize, PiIt is the acoustic pressure that single measurement is obtained, n is one group of number of measurement data, then its average sound pressure
AsAverage sound pressure level isWherein
Li=20lg (Pi/P0) it is single actual measurement sound pressure level, overall sound pressure level L=20lgP=La+20lgn.Compare overall sound pressure level with it is prior
Predetermined threshold value, when overall sound pressure level is more than prior predetermined threshold value, then it is assumed that target is reached, starts acoustic pressure trigger signal, and mark is touched
Hair time and correspondence image, and the triggered time information is wirelessly transmitted to remote control end, as the time reference for quasi real time transmitting
Point, high speed camera is converted to sequential storage by circulation storage, and being switched to high-definition image by SD IMAQ gathers, and will collection
High speed image remote control end is wirelessly transmitted to by vehicle-mounted end, when overall sound pressure level be less than prior predetermined threshold value when, high speed camera use
Circulation storage and SD image acquisition modality, the image of collection are only stored in locally, are not wirelessly transferred.Acoustic pressure triggering method
What middle acoustic pressure compared be previously set threshold value is set to 50dB, and n typically takes 200.The data of present invention circulation storage and sequential storage are remembered
Record schematic diagram is as shown in Figure 1.Sounds trigger and storage schematic diagram are as shown in Figure 2.
Above-mentioned sound trigger process is realized that the system includes that acoustic pressure gathers sensor by sound pressure signal acquisition processing system
With signal equalization processor two parts.According to observation requirementses, the peak response sound pressure level of acoustic pressure collection sensor is not less than
100dB；The influence of ambient noise, clutter, spike to acoustical signal is also contemplated that design simultaneously in, therefore need to be equal using signal
Weighing apparatus processor completes the smoothing algorithm of acoustic pressure DBMS.Signal equalization processor gathers each group that sensor is gathered to acoustic pressure
Measurement data, data smoothing is realized by calculating average sound pressure level, and the computing formula of average sound pressure level isWherein Li=20lg (Pi/P0) it is single actual measurement sound pressure level,
N is one group of number of measurement data, and overall sound pressure level is L=20lgP=L with the relation of average sound pressurea+20lgn。
Sound pressure signal acquisition processing system circle collection acoustic pressure DBMS.It is actual to ensure enough program process times
The general sample frequency for setting sound pressure sensor is 5KHz in work.Sound pressure signal acquisition processing system calculates one per n groups data
Secondary overall sound pressure level, compares overall sound pressure level and prior predetermined threshold value, when overall sound pressure level is more than prior predetermined threshold value, then it is assumed that target
Reach, start acoustic pressure trigger signal, sound pressure signal acquisition processing system identifies triggered time and correspondence image, and when this is triggered
Between information transfer to remote control end, as the time reference for quasi real time transmitting, high speed camera by circulation storage be converted to order deposit
Storage, is switched to high-definition image and gathers, and the high speed image of collection is wirelessly transmitted into remote control by vehicle-mounted end by SD IMAQ
End, when overall sound pressure level is less than prior predetermined threshold value, high speed camera is stored and SD image acquisition modality using circulation, collection
Image is only stored in locally, is not wirelessly transferred.The threshold value that is previously set that acoustic pressure compares in acoustic pressure triggering method is set to 50dB,
To ensure to reach predetermined measuring accuracy, one group of number n of measurement data typically takes 200.
Conventional high speed camera can be set before, during and after three kinds of triggering modes, wherein, the triggering of middle triggering mode control can
It is relatively high by property, and it is easy to image retrieval and quick playback.Middle triggering mode refers to, afterwards according to admission missile velocity, to choose
A number of image exports and is quasi real time played back and checked to remote control end before and after middle triggering moment.
After process to be recorded terminates, quick-searching is carried out to high-speed video data by way of recording triggered time point.
Specific practice is that vedio data is stored with stream file format, and the title for defining data streaming file starts collection using current
System time, effectively prevent the synonym of stream file acquisition time, such as stream file is YYYY-MM-DD-HH-MM-SS
(i.e. year-month-day-when-point-second), file suffixes is defined as dat.Preceding 512 byte of each dat file is file header, stores phase
Pass information.When two field picture is preserved, the two field picture for collecting follows file header closely, is stored in sequence in dat files.By this
Mode, designates time mark in every frame recording image, is easy to the quick-searching of image.Retrieving can enter as needed
Row great-jump-forward is searched, so as to save bandwidth, improves the efficiency of transmission of retrieval image.
Brief description of the drawings
Embodiment in below in conjunction with the accompanying drawings is described in further detail to apparatus of the present invention, but does not constitute to invention dress
The limitation put.
Fig. 1 is the data record schematic diagram of present invention circulation storage and sequential storage；
Fig. 2 is sounds trigger and storage schematic diagram；
Fig. 3 is the image file time sequence after storage；
Fig. 4 be for high-speed flight target observation camera triggering quasi real time transmitting device is constituted and information substantially with image
Flow graph.
Specific embodiment
The invention will be further described with specific implementation example of the invention below in conjunction with the accompanying drawings.
The present apparatus includes high-speed video record system, sound pressure signal acquisition processing system and wireless image transmission module three
Point, wherein, high-speed video record system is built using high-speed video camera and high-speed storage device, sound pressure signal acquisition process
System gathers sensor and signal equalization processor to build using acoustic pressure.Wherein, acoustic pressure gathers the peak response sound of sensor
Arbitrarily downgrade not less than 100dB；Sound pressure signal acquisition processing system circle collection acoustic pressure DBMS, during to ensure that enough programs are processed
Between, typically set sample frequency as 5KHz in real work；It is every that signal equalization processor is gathered to acoustic pressure collection sensor
One group of measurement data, data smoothing is realized by calculating average sound pressure level, and the computing formula of average sound pressure level isWherein Li=20lg (Pi/P0) it is single actual measurement sound pressure level,
N is one group of number of measurement data, and overall sound pressure level is L=20lgP=L with the relation of average sound pressurea+20lgn.Sound pressure signal is adopted
Collection processing system compares the overall sound pressure level and prior predetermined threshold value of gathered acoustical signal, when overall sound pressure level is more than prior predetermined threshold value
When, then it is assumed that target is reached, and starts acoustic pressure trigger signal, sound pressure signal acquisition processing system mark triggered time and corresponding diagram
Picture, and the triggered time information is wirelessly transmitted to remote control end, used as the time reference for quasi real time transmitting, high speed camera is by following
Ring storage is converted to sequential storage, and being switched to high-definition image by SD IMAQ is gathered, and the high speed image of collection is passed through
Wireless image transmission module is transferred to remote control end by vehicle-mounted end；When being not detected by exceeding the sound of threshold value, high speed camera is used
Circulation storage and SD image acquisition modality, the image of collection are only stored in locally, are not wirelessly transferred.Sound pressure signal is gathered
The threshold value that is previously set that acoustic pressure compares in processing system is set to 50dB.To ensure to reach predetermined measuring accuracy, sound pressure signal is adopted
The every 200 groups of data of collection processing system calculate an overall sound pressure level, i.e. n=200.
According to target and the position of sonic transducer, target due in is determined.If target is apart from D meters of sonic transducer position
Place's triggering sound pressure signal, the moment that high-speed target reaches the location point is T1, and the sounds trigger moment is T, then high-speed target is reached
Moment T1=T-D/V, V is sound propagation velocity.In order to obtain complete target flight information, the letter of high speed camera sequential storage
Number starting point should before sounds trigger moment T L1 time span, and L1 should meet L1>D/V.Determine sequential storage start time
Operating diagram is as shown in Figure 2.
Since sounds trigger moment T, high speed camera carries out sequential storage according to set time length L2, finally will triggering
Before moment in the image stream write-in high-speed storage device of L1 time span and rear L2 time span.Image file after storage
Sequence is as shown in Figure 3.From the figure 3, it may be seen that in order to obtain accurate target arrival time point, it is necessary to known target trigger point is apart from sound
The distance of pressure sensor, obtains here by measurement in advance.
Wireless image transmission module is realized quasi real time transmitting in the following way：The module is stored high-speed storage device
Image, according to 1/N sample rate extract, N=2~10 carry out H.264/H.265 compressed encoding to the image after extraction and lead to
Cross transmission of radio links to remote control end receiving processing system.Sample rate is extracted in wireless image transmission module and passes through artificial setting side
Formula is obtained.
Assuming that L1=0.25 seconds, L2=0.25 seconds, N=2 then centered on sound triggering moment T, took forward 0.25 second and regards
Frequently, 0.25 second video is also taken backward, and high-speed storage device coexists the image stream of storage 0.5 second, according to the acquisition rate of 1000fps,
Then obtain 500 images, and 1/2 sample decimation carried out to it, obtain 250 pictures, and resolution decreasing sampling be changed into 512 ×
512 resolution ratio, then in the case of not compressing, its data volume is 62.5MB, if being compressed according to H.264/H.265 agreement to it,
It is 40% calculating according to compression ratio, then actual transmissions data amount is 25M, if transmission bandwidth is 4Mbps/s, its channel utilization
50%, then required time is (25 × 8)/(4 × 0.5)=100 second.Remote control end receiving processing system is solved after receiving data
Compression, retrieves according to trigger signal arrival time to video data storage, and takes out frame mode using great-jump-forward and improve lookup
Efficiency.
By taking certain target flight process as an example, every 10 frame of image that high speed camera is obtained before sound triggering takes out 1 frame, N=10, and incites somebody to action
Original 1920 × 1080 bitmap images are converted to 640 × 512 JPG format-patterns, then compressible about 100 times, the number that 1s is produced
According to amount less than 2Mbps, image transmitting to the remote control end after compression is shown in roll screen mode；If high-speed flight target occurs, acoustic pressure
Signal is triggered after reaching threshold value, immediate record triggering moment image, according to target flight speed and the angle of visual field, wherein about 200 frames
Image includes target useful information, the forward and backward continuous drawing picture number of setting triggering in advance, converts the image into be based on afterwards
H.264/H.265 the video for encoding, can compress more than 200 times by information content, and clean up editing is regarded for the constant speed of the about 12MB of 25fps
Frequency image, through wireless image transmission module transfer to remote control end receiving processing system.Through accurate triggering and significantly compression coding,
Realize quick search and the transmission of useful video.
Quasi real time transmission be by some vertical frame dimension frame rate images comprising target information acoustical signal triggering after with as short as possible
Time tranfer to remote control end.In order to quick searched targets flight video core, the title for defining data streaming file is adopted
With the system time for currently starting collection, the synonym of stream file acquisition time is effectively prevent, such as stream file is YYYY-
MM-DD-HH-MM-SS (i.e. year-month-day-when-point-second), file suffixes is defined as dat.Preceding 512 byte of each dat file
It is file header, stores relevant information.When two field picture is preserved, the two field picture for collecting follows file header closely, and dat is stored in sequence
In file.After acoustical signal triggering, according to the triggering moment that system is recorded, can quickly be positioned in data DAT files needs to pass
Defeated video image.
For high-speed flight target observation camera triggering and image quasi real time transmitting device by high-speed video record system,
Sound pressure signal acquisition processing system and the part of wireless image transmission module three constitute, signal stream and and remote control between its each several part
End relation is as shown in Figure 4.Dotted line represents Radio Link in figure, and solid line represents wire link.
Claims (11)
1. a kind of high speed camera for high-speed flight target observation accurately triggering and high speed image quasi real time transmission method, it is special
Levy and be：
The method is primarily based on sound pressure signal and carries out high-speed camera triggering, using sound pressure sensor circle collection acoustic pressure DBMS,
An overall sound pressure level is calculated per n data, acoustic pressure triggering method eliminates ambient noise using root-mean-square value algorithm and spike draws
The false triggering for rising, root-mean-square value algorithm is by calculating one group of total acoustic pressure of dataTo realize, PiIt is single measurement
The acoustic pressure for obtaining, n is one group of number of measurement data；
Compare overall sound pressure level and prior predetermined threshold value, when overall sound pressure level is more than prior predetermined threshold value, then it is assumed that target is reached, and is opened
Dynamic acoustic pressure trigger signal, identifies triggered time and correspondence image, and by the triggered time information transfer to remote control end, as accurate real
When the reference point transmitted, high speed camera is converted to sequential storage, high-definition image is switched to by SD IMAQ by circulation storage
Collection, and the high speed image of collection is wirelessly transmitted to remote control end by vehicle-mounted end；When overall sound pressure level is less than prior predetermined threshold value,
High speed camera is only stored in locally, is not wirelessly transferred using circulation storage and SD image acquisition modality, the image of collection；
According to target and the position of sonic transducer, target due in is determined, if target is being touched at the D rice of sonic transducer position
Hair sound pressure signal, the moment that high-speed target reaches the location point is T1, and the sounds trigger moment is T, then high-speed target due in
T1=T-D/V, V are sound propagation velocity；In order to obtain complete target flight information, the signal of high speed camera sequential storage rises
Point should before sounds trigger moment T L1 time span, and L1 should meet L1>D/V, since sounds trigger moment T, high speed phase
Machine carries out sequential storage according to set time length L2, finally by the preceding L1 time span of triggering moment and rear L2 time span
Image stream write-in high-speed storage device in；
The image that high-speed storage device is stored, extracts according to the sample rate of 1/N, and N=2~10 are entered to the image after extraction
Capable H.264/H.265 compressed encoding simultaneously passes through transmission of radio links to remote control end receiving processing system.
2. method according to claim 1, the peak response sound pressure level of described sound pressure sensor is not less than 100dB.
3. method according to claim 1, the predetermined threshold value that acoustic pressure compares in described acoustic pressure triggering method is set to 50dB.
4. method according to claim 1, using sound pressure sensor with sample frequency 5KHz circle collection acoustic pressure DBMSs.
5. method according to claim 1, typically 200 are taken for calculating the number n of one group of measurement data of overall sound pressure level.
6. method according to claim 1, it is characterised in that remote control end receiving processing system is solved after receiving data
Compression, retrieves according to trigger signal arrival time to video data storage, and takes out frame mode using great-jump-forward and improve lookup
Efficiency.
7. a kind of high speed camera for high-speed flight target observation accurately triggering and high speed image quasi real time transmitting device, it is special
Levy and be：
Including high-speed video record system, sound pressure signal acquisition processing system and the part of wireless image transmission module three, wherein, it is high
Fast video recording device is built using high-speed video camera and high-speed storage device, and sound pressure signal acquisition processing system utilizes sound
Pressure gathers sensor and signal equalization processor to build；
Signal equalization processor to acoustic pressure collection each group of measurement data being gathered of sensor, by calculate average sound pressure level come
Data smoothing is realized, the computing formula of average sound pressure level is
Wherein Li=20lg (Pi/P0) it is single actual measurement sound pressure level, n is one group of number of measurement data, overall sound pressure level and average sound pressure
Relation is L=La+20lgn；
Sound pressure signal acquisition processing system compares the overall sound pressure level and prior predetermined threshold value of gathered acoustical signal, when overall sound pressure level is big
When prior predetermined threshold value, then it is assumed that target is reached, start acoustic pressure trigger signal, the mark triggering of sound pressure signal acquisition processing system
Time and correspondence image, and the triggered time information is wirelessly transmitted to remote control end, as the time reference for quasi real time transmitting,
High speed camera is converted to sequential storage by circulation storage, by SD IMAQ be switched to high-definition image gather, and by gather
High speed image is transferred to remote control end by wireless image transmission module by vehicle-mounted end；When being not detected by exceeding the sound of threshold value,
High speed camera is only stored in locally, is not wirelessly transferred using circulation storage and SD image acquisition modality, the image of collection；
According to target and the position of sonic transducer, target due in is determined, if target is being touched at the D rice of sonic transducer position
Hair sound pressure signal, the moment that target reaches the location point is T1, and the sounds trigger moment is T, then high-speed target due in T1=
T-D/V, V are sound propagation velocity；In order to obtain complete target flight information, the start point signal of high speed camera sequential storage should
The L1 time span before sounds trigger moment T, and L1 should meet L1>D/V, since sounds trigger moment T, high speed camera is pressed
Sequential storage is carried out according to set time length L2, finally by the preceding L1 time span of triggering moment and the figure of rear L2 time span
As in stream write-in high-speed storage device；
The image that wireless image transmission module is stored high-speed storage device, extracts, N=2~10 according to the sample rate of 1/N,
H.264/H.265 compressed encoding is carried out to the image after extraction and by transmission of radio links to remote control end.
8. device according to claim 5, the peak response sound pressure level of described acoustic pressure collection sensor is not less than
100dB。
9. device according to claim 5, the sample frequency of described acoustic pressure collection sensor is 5KHz.
10. device according to claim 5, the every 200 groups of data of described sound pressure signal acquisition processing system are calculated once
Overall sound pressure level, n=200.
11. devices according to claim 5, the threshold value that is previously set that acoustic pressure compares in sound pressure signal acquisition processing system sets
It is 50dB.
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| CN201710215201.7A CN106851230A (en) | 2017-04-02 | 2017-04-02 | For the camera triggering of high-speed flight target observation and image transfer method and device |
| CN201810274458.4A CN108551564A (en) | 2017-04-02 | 2018-03-29 | Camera triggering for high-speed flight target observation and image transfer method and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110929554A (en) * | 2019-01-24 | 2020-03-27 | 孔清明 | Real-time object identification monitoring method and storage medium |
| WO2020124347A1 (en) * | 2018-12-18 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Fpga chip and electronic device having said fpga chip |
| CN112770052A (en) * | 2021-01-04 | 2021-05-07 | 重庆紫光华山智安科技有限公司 | Snapshot data determination method and device, computer equipment and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109688374A (en) * | 2018-12-12 | 2019-04-26 | 深圳慧源创新科技有限公司 | Unmanned plane two-way figure passes split screen display available technology |
| CN109724576B (en) * | 2019-01-25 | 2020-12-01 | 北京强度环境研究所 | Composite triggering method for high-speed measurement system with logic protection |
| CN110740257A (en) * | 2019-10-12 | 2020-01-31 | 南京理工大学 | high-speed high-definition CMOS imaging system and imaging method thereof |
| CN111131738A (en) * | 2019-12-20 | 2020-05-08 | 合肥埃科光电科技有限公司 | Image acquisition system based on CoaXPress interface and acquisition method thereof |
| CN111427829B (en) * | 2020-03-13 | 2022-03-01 | 浙江华睿科技股份有限公司 | Low-speed uplink signal demodulation circuit of CoaXPres protocol and driving circuit of CoaXPres protocol |
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| CN203279010U (en) * | 2013-01-18 | 2013-11-06 | 王磊 | Device for triggering high-speed camera for shooting by using sound pressure |
| CN105872426A (en) * | 2016-06-16 | 2016-08-17 | 哈尔滨工程大学 | High-speed random target video recording device with cyclic and sequential automatic switching functions |
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2017
- 2017-04-02 CN CN201710215201.7A patent/CN106851230A/en active Pending
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020124347A1 (en) * | 2018-12-18 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Fpga chip and electronic device having said fpga chip |
| CN110929554A (en) * | 2019-01-24 | 2020-03-27 | 孔清明 | Real-time object identification monitoring method and storage medium |
| CN112770052A (en) * | 2021-01-04 | 2021-05-07 | 重庆紫光华山智安科技有限公司 | Snapshot data determination method and device, computer equipment and readable storage medium |
| CN112770052B (en) * | 2021-01-04 | 2022-11-22 | 重庆紫光华山智安科技有限公司 | Snapshot data determination method and device, computer equipment and readable storage medium |
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| CN108551564A (en) | 2018-09-18 |
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