CN108322705A - The special vehicle shown based on visual angle observing system and method for processing video frequency out of my cabin - Google Patents
The special vehicle shown based on visual angle observing system and method for processing video frequency out of my cabin Download PDFInfo
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- CN108322705A CN108322705A CN201810115632.0A CN201810115632A CN108322705A CN 108322705 A CN108322705 A CN 108322705A CN 201810115632 A CN201810115632 A CN 201810115632A CN 108322705 A CN108322705 A CN 108322705A
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- video
- cabin
- display
- processing circuits
- video processing
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Classifications
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a kind of special vehicle shown based on visual angle observing systems out of my cabin, including the helmet, see-through display, posture sense circuitry modules, video processing circuits module, camera group, video line, data line and display data line, the camera group is fixed on outside vehicle；The posture sense circuitry modules, video processing circuits module and see-through display are all installed on the helmet；Camera group connects video processing circuits module by video line, data line respectively with posture sense circuitry modules, and video processing circuits module connects see-through display by display data line.The present invention is based on the Viewing-angle informations needed for driver's observation, carry out splicing to video image, scene driver will be presented at the moment out of my cabin to have an X-rayed stacking pattern, and realization is more convenient to extravehicular environment, comprehensive, continuously observes.
Description
Technical field
The invention belongs to the special vehicle of the closing cockpit such as tank, observational technique field, especially one kind are based on regarding out of my cabin
The special vehicle that angle is shown observing system and method for processing video frequency out of my cabin.
Background technology
For particular/special requirements such as security protections, the cockpit of the special vehicles such as tank is often in closed state, driver
Member cannot directly observe running environment out of my cabin out of cockpit.Therefore, such special vehicle needs special observation out of my cabin
System realizes effective observation.For the tactical vehicles such as tank, self-propelled gun, the technology water of observing system out of my cabin
It is flat to directly influence platform entirety mobility and Strike accuracy.Currently, special vehicle out of my cabin mainly adopt by observing system
With periscope or holder observing system.
The observing system out of my cabin of the special vehicles such as active service tank mainly uses periscope structure.Although this structural principle ten
It is point simple, but due to comprising many machineries and optical components, there are it is with high costs, be easy to damage, improve the problems such as scaling difficulty.
Simultaneously as when the installation of observation system out of my cabin of periscope structure, need to carry out heavy caliber opening, Hardware Subdivision on tank armor
Car body interior or exterior space will be occupied by dividing, and on the one hand reduce tank Protective armor area, reduce defending performance；On the other hand so that
Space is narrower in cabin.The observing system out of my cabin of periscope structure still adopts mode of manually looking at, i.e.,：There is special messenger's root in cabin
According to traveling and needs of fighting, the operation to periscope and observation are constantly kept, cabin is given an oral account to driver and firing operation personnel
Outer scene information.This traditional mode of operation significantly increases the operating burden of driver in cabin, and makes scene out of my cabin
Information constantly can not be conveyed accurately.
The observing system out of my cabin of the special vehicles such as part tank uses cradle head structure：Car body is external to be equipped with camera
Holder, by 360 ° of rotary takings of holder, into cabin, display provides scene out of my cabin.Similarly with periscope structure, holder
The complicated in mechanical structure of structure observation system involves great expense, it is also desirable to which driver's manual manipulation cloud platform rotation is shown in cabin
Scene out of my cabin is watched on device.Using this structure overcome to a certain extent periscope structure operating burden weight, information can not when
When the problems such as precisely conveying, but there is also field of view relatively narrower out of my cabin, using with it is inconvenient for operation the problems such as.
Chinese invention patent (patent No. CN201410755108.1) discloses a kind of vehicle-mounted video observing of tank and examines system.Side
Case is：It will be mounted with that the holder of camera is placed in car body outer wall, driver, which controls holder in cabin and acquires from different perspectives, to be regarded
Frequency evidence is simultaneously shown in cabin on display.The invention is easy quilt using the larger cradle head structure out of my cabin of volume in actual combat
Damage, and since holder shape can weaken the concealment of tank.The video image of holder shooting, collecting is discrete, when display not
Panoramic mosaic is carried out, keeps observation scene not comprehensive enough, continuous, and then the control to the battlefield overall situation can be influenced.Simultaneously as the hair
It is bright to need manual manipulation holder and in due course observation display, it will disperse the attention of driver to a certain extent, influence to fight
Operation.
Chinese invention patent (patent No. CN201410655507.0) discloses a kind of automobile based on splicing video image
Travel record system.Scheme is：Multiple video cameras are placed in body of a motor car outer wall, by the multi-channel video of video camera shooting by regarding
Frequency splicing module carries out image mosaic, obtains 360 ° of panoramic pictures of vehicle body, presents over the display.The invention is directly in vehicle
Multiple cameras are arranged in vitro, efficiently solve concealment, vulnerability and structural complexity etc. caused by the external holder of car body
Problem, and it is not necessarily to driver's manually handle observing system out of my cabin.Meanwhile the system can carry out the panorama spelling of video image
It connects, solves the problems, such as that observation scene is not comprehensive enough, continuous.From driver out of my cabin from from the point of view of demand, the system is to more
It is non-essential that all images that a video camera is obtained, which carry out 360 ° of panoramic mosaics, actually image information surplus can be caused to ask
Topic, makes the data processing load of video processing module aggravate, influences to show when the consecutive hours of scene information out of my cabin instead.Meanwhile
The invention also needs driver and observes display in due course, is easy to disperse its attention, increases security risk.
Invention content
It is an object of the invention to establish a kind of special vehicle shown based on visual angle observing system and video processing out of my cabin
Method.The system shoots multi-channel video by camera group out of my cabin, and current driver is obtained using posture sense circuitry modules
Viewing-angle information needed for observation extracts required video image according to Viewing-angle information by video processing circuits module and carries out stitching portion
Reason forms the scene image out of my cabin based on visual angle, driver is directly presented at the moment to have an X-rayed stacking pattern.The present invention can be with
Effectively overcome traditional periscopic vision it is complicated, it is expensive, inconvenient, be easy to damage, occupied space the defects of.Together
When, the present invention also improves holder observing system and needs that the problems such as taking sb's mind off sth with conventional display is manually operated, and realizes and drives
Personnel are more convenient, it is comprehensive, continuously observe extravehicular environment, enhance extravehicular environment and situational awareness.
The present invention is a kind of special vehicle shown based on visual angle observing system, including the helmet, see-through display, appearance out of my cabin
State sense circuitry modules, video processing circuits module, camera group, video line, data line and display data line, the camera
Group is fixedly arranged in outside special vehicle, and shooting visual field can cover 360 ° of scenes out of my cabin；The posture sense circuitry modules regard
Frequency processing circuit module and see-through display are all fixedly installed on the helmet；Camera group and posture sense circuitry modules are led to respectively
Video line, data line connection video processing circuits module are crossed, video processing circuits module is shown by display data line and perspective
Device connects.
Compared to existing closing delivery vehicle observational technique, advantages of the present invention is：
(1) present invention need not carry out opening setting outside special vehicle, aobvious using the circuit and optics of modularized design
Show that device is constituted, most of hardware system integrated installation is directly worn by driver on the helmet, overcomes prior art side
Case is complicated, it is with high costs, be easy to damage, the defects of maintenance upgrade is inconvenient.
(2) present invention is rotated by driver head naturally to realize observation operation, saturating directly before driver
The scene out of my cabin based on visual angle is showed depending on superposition, operation and display mode are more natural, convenient and direct, overcome existing skill
Art is inconvenient, the problems such as taking sb's mind off sth.
(3) present invention carries out the multi-path video data of the shooting of camera out of my cabin rationally efficient on the basis of helmet visual angle
Splicing, before driver perspective present needed for continuous scenic picture out of my cabin, display compared with the existing technology
Mode, information content is more comprehensive, continuous and efficient, greatly strengthens sensing capability of the driver for extravehicular environment situation.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is the principle schematic of method for processing video frequency of the present invention.
Fig. 3 is the design sketch that the present invention carries out camera correction, and wherein Fig. 3 (a) is original input picture, and Fig. 3 (b) is school
Image after just.
Fig. 4 is the design sketch that the present invention carries out two width video images splicing.Wherein Fig. 4 (a) is left-side images, figure
4 (b) is image right, the image that Fig. 4 (c) is obtained after being Fig. 4 (a) and Fig. 4 (b) splicings.
Specific implementation mode
The present invention is a kind of special vehicle shown based on visual angle observing system out of my cabin, including the helmet 1, see-through display 2,
Posture sense circuitry modules 3, video processing circuits module 4, camera group 5, video line 6, data line 7 and display data line 8.
In conjunction with Fig. 1, the camera group 5 includes 8 or more cameras, is arranged in vehicle all around four in a symmetrical
Side at least fixes more than two cameras, the maximum shooting area mutual juxtaposition between adjacent camera per side.Camera shooting
Head group 5 starts to shoot the video image of 360 ° of scenes out of my cabin, and gives multichannel video data transmission to video processing by video line 6
Circuit module 4.To realize shooting at night function, the camera with infrared night viewing function can be selected.
In conjunction with Fig. 1, the posture sense circuitry modules 3 are fixed on the helmet 1, according to the driver's head for wearing the helmet 1
Portion's natural rotation posture measures obtain Viewing-angle information in real time, connect with video processing circuits module 4 by data line 7, by visual angle
Information is transferred to video processing circuits module 4.
The video processing circuits module 4 is fixed on the helmet 1, receives the multi-channel video number from camera group 5 respectively
According to the Viewing-angle information from posture sense circuitry modules 3, and video image feature extraction and melt based on Viewing-angle information
Splicing is closed, see-through display 2 is connected by display data line 8, the scene information out of my cabin based on visual angle that processing is formed
It is sent to see-through display 2.
The see-through display 2 is mounted on the helmet 1, and after receiving scene information out of my cabin, it is superimposed with perspective form
It is presented on driver at the moment.
Wherein, the method for processing video frequency based on Viewing-angle information is as follows：
The first step：Image is shot to choose.As shown in Fig. 2, on the basis of bodywork reference frame x-y-z, it will be in camera group 5
Each camera shooting picture number is Pi(1≤i≤n, n >=8), attitude measurement circuit module 3 measure helmet coordinate system in real time
The rotational angle information of the opposite car body coordinate-systems of x ' y ' z ', and it is transmitted to video processing circuits module 4.Video processing circuits mould
Block 4 chooses corresponding image P according to the Viewing-angle informationk, there are two types of situations respectively：Choose single image PkOr two adjacent width figures
As PkAnd Pk+1。
Second step：Correction and splicing.As shown in 3 (a), 3 (b), video processing circuits module 4 chooses step 1
Image is corrected processing, and such as selected is adjacent two images, then also needs to carry out splicing using SURF algorithm.Such as
Shown in Fig. 4 (a), Fig. 4 (b), Fig. 4 (c), after corrected and splicing, by image PkOr adjacent two images PkAnd Pk+1It obtains
P’k。
Third walks：Extraction and amplification.As shown in Fig. 2, video processing circuits module 4 is according to camera focal length and human eye focal length
Proportionate relationship, from P 'kMiddle extraction image D is simultaneously amplified it and processes pixel, makes its resolution ratio and 2 phase of see-through display
Adaptation, obtains D '.
4th step：Perspective display.D ' is transmitted to see-through display 2 by video processing circuits module 4, with the shape of perspective superposition
Formula is presented on driver at the moment.
Attitude measurement circuit module 3 measures Viewing-angle information by certain frequency, repeats the above process, constantly obtains each frame figure
As D ', continuous real-time video image is formed.
Claims (4)
1. a kind of special vehicle shown based on visual angle observing system out of my cabin, it is characterised in that including the helmet (1), see-through display
(2), posture sense circuitry modules (3), video processing circuits module (4), camera group (5), video line (6), data line (7) and
Display data line (8), the camera group (5) are fixedly arranged in outside special vehicle, and shooting visual field can cover 360 ° out of my cabin
Scene；The posture sense circuitry modules (3), video processing circuits module (4) and see-through display (2) are all fixedly installed in head
On helmet (1)；Camera group (5) and posture sense circuitry modules (3) are connected by video line (6), data line (7) at video respectively
Circuit module (4) is managed, video processing circuits module (4) is connect by display data line (8) with see-through display (2).
2. the special vehicle shown as described in claim 1 based on visual angle observing system out of my cabin, it is characterised in that camera group
(5) include 8 or more cameras, be arranged in vehicle four side all around in a symmetrical, it is at least fixed more than two per side
Camera, the maximum shooting area mutual juxtaposition between adjacent camera.
3. the special vehicle shown as described in claim 1 based on visual angle observing system out of my cabin, it is characterised in that camera group
(5) camera with infrared night viewing function is selected.
4. a kind of method for processing video frequency shown based on visual angle, it is characterised in that steps are as follows：
The first step：It shoots image to choose, on the basis of bodywork reference frame x-y-z, each camera in camera group (5) is clapped
It is P to take the photograph picture numberi, 1≤i≤n, n >=8, the real-time helmet coordinate system x ' y ' z ' that measure of attitude measurement circuit module (3) are with respect to vehicle
The rotational angle information of body coordinate-system, and it is transmitted to video processing circuits module (4)；Video processing circuits module (4) basis
The Viewing-angle information chooses corresponding image Pk, there are two types of situations respectively：Choose single image PkOr adjacent two images PkWith
Pk+1；
Second step：Correction and splicing, the image that video processing circuits module (4) chooses step 1 are corrected processing,
Such as selected is adjacent two images, then also needs to carry out splicing；After corrected and splicing, by image PkOr it is adjacent
Two images PkAnd Pk+1Obtain P 'k；
Third walks：Extraction and amplification, video processing circuits module (4) according to the proportionate relationship of camera focal length and human eye focal length,
From P 'kMiddle extraction image D is simultaneously amplified it and processes pixel, so that its resolution ratio is adapted with see-through display (2), obtains
D’；
4th step：D ' is transmitted to see-through display (2) by perspective display, video processing circuits module (4), with the shape of perspective superposition
Formula is presented on driver at the moment；
Attitude measurement circuit module (3) measures Viewing-angle information by certain frequency, repeats the above process, constantly obtains each frame image
D ' forms continuous real-time video image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115632.0A CN108322705A (en) | 2018-02-06 | 2018-02-06 | The special vehicle shown based on visual angle observing system and method for processing video frequency out of my cabin |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115632.0A CN108322705A (en) | 2018-02-06 | 2018-02-06 | The special vehicle shown based on visual angle observing system and method for processing video frequency out of my cabin |
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| CN108322705A true CN108322705A (en) | 2018-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810115632.0A Pending CN108322705A (en) | 2018-02-06 | 2018-02-06 | The special vehicle shown based on visual angle observing system and method for processing video frequency out of my cabin |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109624901A (en) * | 2018-11-13 | 2019-04-16 | 重庆长安工业(集团)有限责任公司 | A kind of automobile-used safe driving auxiliary system of special type based on wide-angle camera |
| CN112770147A (en) * | 2021-01-21 | 2021-05-07 | 日照职业技术学院 | Unmanned perspective box based on cloud security authentication and implementation method thereof |
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