CN118091779A - Rotary scanning type moving object optical detection equipment and method - Google Patents
Rotary scanning type moving object optical detection equipment and method Download PDFInfo
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Abstract
The invention discloses a rotary scanning type moving object optical detection device, which comprises: a plurality of optical imaging devices are carried on the turntable, and peripheral moving targets are detected in a rotary scanning mode; the optical imaging devices are in a fan shape and are arranged at equal angular intervals, and the arrangement direction is perpendicular to the rotation direction of the turntable; the trigger signal transmission disc is arranged in the turntable and transmits a trigger signal to the optical imaging equipment; the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module; the network transmission module is used for transmitting the shot image to the signal processing module; the signal processing module receives the image, performs wide-field spliced imaging and moving object detection processing on the image, obtains a processing result, and sends the processing result to the display control terminal; and displaying the processing result by the display control terminal. The device realizes high-quality, high-efficiency and high-reliability wide-view splice imaging, and detects the moving target from a wide-view scene.
Description
Technical Field
The invention relates to the technical field of target detection based on video signals, in particular to rotary scanning type moving target optical detection equipment and a method.
Background
Optical detection techniques are a common technique for detecting moving objects. The low-altitude environment signals are collected through optical imaging equipment such as visible light and infrared, and moving targets are detected from the signals. The field of view of the optical imaging device is limited. In a wide-range low-altitude surveillance application scenario, a single optical imaging device cannot cover the entire surveillance area.
In order to solve the problems in the prior art, a rotary scanning type moving object optical detection device is provided, a plurality of optical imaging devices are arranged in a vertical direction, and rotary scanning is performed in a horizontal direction, so that a large-range coverage capability is realized, but the rotary scanning mode brings about the following two new problems:
First, it is a wide field imaging problem. In the application, a plurality of frames of videos are spliced into a wide scene photo, so that the wide scene photo is convenient to watch. And the rotation speed is difficult to maintain high-precision constant speed, and the error is accumulated more and more by using the two-frame video time difference and the rotation speed to calculate the splicing parameters. The method for calculating the splicing parameters by extracting the equipment orientation angle during video frame shooting is difficult to achieve accurate time synchronization and has larger error. With the method based on image feature stitching, scenes lacking key features are often encountered, and stitching is not possible. There is a lack of high quality, high efficiency, high reliability stitched imaging techniques.
Secondly, the problem of moving object detection. Common technical means require that the optical imaging equipment is static, and the moving object is detected by using a frame difference method and other methods by utilizing the characteristics that a scene is static and the object moves. Some technical means learn the characteristics of a detection target by using a pattern recognition method and detect a moving or stationary target. In a shooting mode of moving towards an imaging device, scene imaging also moves, and a frame difference method is difficult to use. And moving objects are unpredictable, it is difficult to use a pattern recognition method.
Disclosure of Invention
Aiming at the defects in the prior art, the rotary scanning type moving object optical detection equipment and the rotary scanning type moving object optical detection method provided by the embodiment of the invention can solve the problems of wide-field imaging and accurate moving object detection.
In a first aspect, an embodiment of the present invention provides a rotary scanning type moving object optical detection apparatus, including: the system comprises a turntable, a trigger signal transmission disc, a network transmission module, a signal processing module, a display control terminal and a plurality of optical imaging devices,
The optical imaging devices are in a fan shape and are arranged at equal angular intervals, and the arrangement direction is perpendicular to the rotation direction of the turntable;
The trigger signal transmission disc is arranged in the turntable and is used for transmitting a trigger signal to the optical imaging equipment;
the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module;
the network transmission module is used for transmitting the shot image to the signal processing module;
the signal processing module receives the image, performs wide-field spliced imaging and moving object detection processing on the image to obtain a processing result, and sends the processing result to the display control terminal;
and the display control terminal displays the processing result.
In a second aspect, an optical detection method for a moving object in a rotary scanning manner according to an embodiment of the present invention is applicable to the optical detection device described in the foregoing embodiment, and the method includes the following steps:
The trigger signal transmission disc is used for transmitting a trigger signal to the optical imaging device;
the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module;
the network transmission module receives the image sent by the optical imaging device and transmits the image to the signal processing module;
The signal processing module receives the image sent by the network transmission module, performs wide-field spliced imaging and moving target detection processing on the image to obtain a processing result, and sends the processing result to the display control terminal;
and the display control terminal receives the processing result and displays the processing result.
The invention has the beneficial effects that:
According to the rotary scanning type moving object optical detection device and method provided by the embodiment of the invention, the optical imaging device shoots an image after receiving the trigger signal sent by the trigger signal transmission disc, and the signal processing module performs wide-field spliced imaging processing and moving object detection processing on the image, so that high-quality, high-efficiency and high-reliability wide-field spliced imaging is realized, and a moving object is detected from a wide-field scene.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a rotary scanning type moving object optical detection apparatus according to a first embodiment of the present invention;
fig. 2 shows a schematic diagram of the structure of the trigger signal transmitting disc;
Fig. 3 is a flowchart of a method for optical detection of a moving object according to another embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
As shown in fig. 1, a schematic structural diagram of a rotary scanning type moving object optical detection apparatus according to a first embodiment of the present invention is shown, including: the system comprises a turntable, a trigger signal transmission disc, a network transmission module, a signal processing module, a display control terminal and a plurality of optical imaging devices, wherein the plurality of optical imaging devices are mounted on the turntable and are used for detecting peripheral moving targets in a rotary scanning mode, the plurality of optical imaging devices are in a fan shape and are arrayed at equal angular intervals, the visual field is sequentially connected, and the arrangement direction is perpendicular to the rotation direction of the turntable; the trigger signal transmission disc is arranged in the turntable and is used for transmitting a trigger signal to the optical imaging equipment; the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module; the network transmission module is used for transmitting the shot image to the signal processing module; the signal processing module receives the image, performs wide-field spliced imaging and moving object detection processing on the image, obtains a processing result, and sends the processing result to the display control terminal; and displaying the processing result by the display control terminal.
In the embodiment of the invention, the optical imaging device with the triggering mode photographing is adopted, and the optical imaging device immediately photographs a picture after receiving the triggering signal sent by the triggering signal transmission disc.
A trigger signal transmitting disc is installed in the turntable. The trigger signal transmission disc consists of a circular ring and a rotating arm. N 1 contacts are arranged on the inner side of the circular ring at equal angle intervals, the contacts can conduct trigger signals, and other parts of the circular ring cannot conduct trigger signals. N 1 satisfies the following constraint:
Wherein ω is the highest rotation speed of the turntable, and N 2 is the maximum number of shots per second of the optical imaging device. The whole rotary arm can transmit trigger signals, one end of the rotary arm is connected with the axis of the rotary table, the other end of the rotary arm touches the inner side of the circular ring, and the structural schematic diagram of the trigger signal transmission disc is shown in fig. 2, and the rotary arm is easy to replace after touching the circular ring end for abrasion. The trigger signal is transmitted to the optical imaging apparatus through the trigger signal transmitting disc. When the rotating arm rotates to the position where the contact is, the optical imaging device receives a trigger signal and shoots an image. The photographing at a fixed angle is realized.
When the optical detection equipment is in operation, the turntable keeps rotating, the optical imaging equipment shoots an image after receiving a trigger signal, the shot image is transmitted to the signal processing module through the network transmission module, the signal processing module performs wide-field spliced imaging and moving target detection processing to obtain a processing result, the processing result is transmitted to the display control terminal, and the display control terminal displays the processing result.
The signal processing module comprises a spliced imaging processing unit, and the spliced imaging processing unit realizes wide-field spliced imaging and imaging real-time updating according to the following steps:
(1) The splice horizontal offset P H is calculated as follows,
Where W is the width pixel resolution of the captured image and θ H is the horizontal field angle of the optical imaging device.
(2) The splice vertical offset P V is calculated as follows,
PV＝H-Ho
Where H is the high pixel resolution of the captured image and H o is the number of overlapping pixels of the vertically adjacent images.
(3) The wide-field stitched image is initialized with a total width of P H N1 pixels, a total height of P VN3 pixels, and N 3 being the number of optical imaging devices.
(4) After the optical imaging device shoots the image, the image data is copied to the corresponding area of the wide-field spliced image. The starting position of the region is (n 1PH,n2H-(n2-1)Ho), the width is W pixels, and the height is H pixels. n 1 is the contact number, n 1＜N1,n2 is the optical imaging device number, n 2＜N3 is 0.
(5) And adjusting imaging parameters according to the overall situation of all the photographed images in one circle of rotation, so as to avoid the problems of brightness difference of adjacent images and the like.
The signal processing module comprises a target period detection processing unit, and the target detection processing unit realizes period detection of a moving target according to the following steps:
(1) During the shooting of one revolution of the device, the image shot at each contact point is recorded.
(2) During the shooting process in which the device continues to rotate, a new image shot at each contact is acquired. For two images shot in sequence at the same contact position, firstly, detecting a moving target by using a frame difference method, and then replacing an old image with a new image.
(3) And judging whether the moving object is a type to be detected or an interference type by using a classification method, and filtering the interference type.
(4) Reporting the angle coordinate of the detection target, wherein the horizontal angle is
Pitch angle is
Where x and y are the pixel abscissa and ordinate of the moving object in the image, θ V is the vertical field angle of the optical imaging device, and θ V' is the lowest visible angle in the vertical direction.
(5) Continuously repeating the steps (2) - (4).
The signal processing module comprises an instantaneous detection processing unit, and the instantaneous detection processing unit realizes instantaneous detection of a moving target according to the following steps:
(1) During rotation of the device, two images are taken consecutively.
(2) And taking the overlapped area of the two images, and detecting the moving object by using a frame difference method.
(3) And judging whether the moving object is a type to be detected or an interference type by using a classification method, and filtering the interference type.
(4) Reporting the angle coordinates of the detected target, and periodically detecting the moving target according to the formula (4).
(5) Continuously repeating the steps (1) - (4).
According to the rotary scanning type moving object optical detection equipment provided by the embodiment of the invention, the optical imaging equipment shoots an image after receiving the trigger signal sent by the trigger signal transmission disc, and the signal processing module performs wide-field spliced imaging processing and moving object detection processing on the image, so that high-quality, high-efficiency and high-reliability wide-field spliced imaging is realized, and a moving object is detected from a wide-field scene.
The optical imaging device takes pictures under the drive of all trigger signals or part of trigger signals so as to adapt to different rotation speeds and focal length settings. The optimal performance state of the rotary scanning type moving object optical detection device provided by the embodiment of the invention is that the turntable runs at the highest rotation speed, and the horizontal view angle of the imaging device is slightly higher than the angle difference between two contacts. In addition to the optimum performance state, the apparatus can be operated at an arbitrary rotational speed, and the focal length of the imaging apparatus can be set to an arbitrary value not higher than the optimum performance state. And can be converted at any time in operation without stopping the equipment. Therefore, the optical detection device also has zooming and speed changing adaptive capacity.
In the first embodiment, a rotary scanning type moving object optical detection device is provided, and the application also provides a rotary scanning type moving object optical detection method corresponding to the rotary scanning type moving object optical detection device, please refer to fig. 3, which is a flowchart of a rotary scanning type moving object optical detection method provided in a second embodiment of the application. Since the method embodiments are substantially similar to the apparatus embodiments, the description is relatively simple, and reference is made to the description of the apparatus embodiments for relevant points. The method embodiments described below are merely illustrative.
As shown in fig. 3, a flowchart of a method for optical detection of a rotating scanning moving object according to another embodiment of the present invention is shown, and the method is applicable to the optical detection device of a rotating scanning moving object described in the first embodiment, and includes the following steps:
The trigger signal transmission disc transmits a trigger signal to the optical imaging device;
the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module;
the network transmission module receives the image sent by the optical imaging device and transmits the image to the signal processing module;
The signal processing module receives the image sent by the network transmission module, performs wide-field spliced imaging and moving target detection processing on the image to obtain a processing result, and sends the processing result to the display control terminal;
and the display control terminal receives the processing result and displays the processing result.
In this embodiment, the trigger signal transmitting disc includes a ring and a rotating arm, the contact and the rotating arm are used for conducting the trigger signal, one end of the rotating arm is connected with the axis of the turntable, the other end of the rotating arm touches the inner side of the ring, N 1 contacts are installed at equal angular intervals on the inner side of the ring, and the calculation formula of N 1 is as follows:
Wherein ω is the highest rotation speed of the turntable, N 2 is the maximum photographing number per second of the optical imaging device, and when the rotating arm rotates to the position where the contact is located, the trigger signal transmitting disc transmits a trigger signal to the optical imaging device.
In this embodiment, a specific method for performing wide-field stitching imaging processing on an image includes:
The splice horizontal offset P H and the splice vertical offset P v are calculated as follows,
PV＝H-Ho
Where W is the width pixel resolution of the captured image, θ H is the horizontal field angle of the optical imaging device, H is the height pixel resolution of the captured image, and H o is the number of overlapping pixels of adjacent images in the vertical direction;
Initializing a wide-field spliced image, wherein the total width is P HN1 pixels, the total height is P VN3 pixels, and N 3 is the number of optical imaging devices;
After the optical imaging device shoots an image, copying image data to a corresponding area of the wide-field spliced image, wherein the initial position of the area is (n 1PH,n2H-(n2-1)Ho), the width is W pixels, the height is H pixels, n 1 is a contact number, n 1＜N1,n2 is an optical imaging device number, and n 2＜N3 is more than or equal to 0;
And adjusting imaging parameters according to the overall situation of all the photographed images in one circle of rotation to obtain spliced images.
In this embodiment, the method for detecting a moving object includes periodically detecting the moving object, and specifically includes:
Recording the image shot at each contact point in the shooting process of rotating the turntable for one circle;
In the shooting process of continuously rotating the turntable, acquiring a new image shot at each contact point, shooting two images at the same contact point position successively, detecting a moving target by using a frame difference method, and replacing an old image with the new image;
judging whether the moving object is a detection type or an interference type by using a classification method, filtering the interference type, respectively calculating the horizontal angle and the pitching angle coordinates of the moving object according to the following formulas and reporting the horizontal angle and the pitching angle coordinates,
Where x and y are the pixel abscissa and ordinate of the moving object in the image, θ V is the vertical field angle of the optical imaging device, and θ V' is the lowest visible angle in the vertical direction.
In this embodiment, the method for detecting a moving object includes detecting the moving object immediately, specifically including:
In the rotating process of the turntable, two continuously shot images are taken, a frame difference method is used for detecting a moving object in an overlapped area of the two images, a classification method is used for judging whether the moving object is of a detection type or an interference type, the interference type is filtered, and the horizontal angle and pitching angle coordinates of the moving object are calculated and reported.
According to the optical detection method for the rotary scanning moving target, which is provided by the embodiment of the invention, the optical imaging equipment shoots an image after receiving the trigger signal sent by the trigger signal transmission disc, and the signal processing module performs wide-field spliced imaging processing and moving target detection processing on the image, so that high-quality, high-efficiency and high-reliability wide-field spliced imaging is realized, and the moving target is detected from a wide-field scene.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (10)
1. A rotary scanning type moving object optical detection apparatus, characterized by comprising: the system comprises a turntable, a trigger signal transmission disc, a network transmission module, a signal processing module, a display control terminal and a plurality of optical imaging devices,
The optical imaging devices are arranged in a fan shape at equal angular intervals, and the arrangement direction is perpendicular to the rotation direction of the turntable;
The trigger signal transmission disc is arranged in the turntable and is used for transmitting a trigger signal to the optical imaging equipment;
the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module;
the network transmission module is used for transmitting the shot image to the signal processing module;
the signal processing module receives the image, performs wide-field spliced imaging and moving object detection processing on the image to obtain a processing result, and sends the processing result to the display control terminal;
and the display control terminal displays the processing result.
2. The optical detection device as claimed in claim 1, wherein the trigger signal transmission disc comprises a ring and a rotating arm, the contact and the rotating arm are used for transmitting the trigger signal, one end of the rotating arm is connected with the axis of the turntable, the other end of the rotating arm is contacted with the inner side of the ring, N 1 contacts are installed on the inner side of the ring at equal angular intervals, and the calculation formula of N 1 is as follows:
Wherein ω is the highest rotation speed of the turntable, N 2 is the maximum photographing number per second of the optical imaging device, and when the rotating arm rotates to the position where the contact is located, the trigger signal transmitting disc transmits a trigger signal to the optical imaging device.
3. The optical detection device of claim 2, wherein the signal processing module comprises a stitched imaging processing unit that calculates a stitched horizontal offset P H, a stitched vertical offset P v according to,
PV＝H-Ho
Where W is the width pixel resolution of the captured image, θ H is the horizontal field angle of the optical imaging device, H is the height pixel resolution of the captured image, and H o is the number of overlapping pixels of adjacent images in the vertical direction;
Initializing a wide-field spliced image, wherein the total width is P HN1 pixels, the total height is P VN3 pixels, and N 3 is the number of optical imaging devices;
After the optical imaging device shoots an image, copying image data to a corresponding area of the wide-field spliced image, wherein the initial position of the area is (n 1PH,n2H-(n2-1)Ho), the width is W pixels, the height is H pixels, n 1 is a contact number, n 1＜N1,n2 is an optical imaging device number, and n 2＜N3 is more than or equal to 0;
And adjusting imaging parameters according to the overall situation of all the photographed images in one circle of rotation to obtain spliced images.
4. The optical probe apparatus according to claim 3, wherein the signal processing module includes a target period detection processing unit for recording an image photographed at each contact point during photographing of one rotation of the turntable, acquiring a new image photographed at each contact point during photographing of the turntable continuously rotated, detecting a moving target using a frame difference method for two images photographed sequentially at the same contact point position, replacing an old image with the new image, judging whether the moving target is a detection type or an interference type using a classification method, filtering the interference type, calculating horizontal angle and pitch angle coordinates of the moving target according to the following formulas, respectively, and reporting,
Where x and y are the pixel abscissa and ordinate of the moving object in the image, θ V is the vertical field angle of the optical imaging device, and θ V' is the lowest visible angle in the vertical direction.
5. The optical detection device according to claim 4, wherein the signal processing module further comprises a target instantaneous detection processing unit, the target instantaneous detection processing unit is configured to take two images continuously shot during rotation of the turntable, detect a moving target in an overlapping area of the two images by using a frame difference method, determine whether the moving target is a detection type or an interference type by using a classification method, filter the interference type, calculate a horizontal angle and a pitch angle coordinate of the moving target, and report the horizontal angle and the pitch angle coordinate.
6. The optical detection device of claim 1, wherein the optical imaging device photographs under the drive of all or part of the trigger signals to accommodate different rotational speeds and focal length settings.
7. A method of optical detection of a rotating scanning moving object, adapted for use in an optical detection apparatus according to claim 1, said method comprising the steps of:
The trigger signal transmission disc transmits a trigger signal to the optical imaging device;
the optical imaging device shoots an image after receiving the trigger signal and sends the shot image to the network transmission module;
the network transmission module receives the image sent by the optical imaging device and transmits the image to the signal processing module;
The signal processing module receives the image sent by the network transmission module, performs wide-field spliced imaging and moving target detection processing on the image to obtain a processing result, and sends the processing result to the display control terminal;
and the display control terminal receives the processing result and displays the processing result.
8. The method of claim 7, wherein the trigger signal transmitting disc comprises a ring and a rotating arm, the contacts and the rotating arm are used for transmitting trigger signals, one end of the rotating arm is connected with the axis of the turntable, the other end of the rotating arm is contacted with the inner side of the ring, N 1 contacts are arranged at equal angular intervals on the inner side of the ring, and the calculation formula of N 1 is as follows:
Wherein ω is the highest rotation speed of the turntable, N 2 is the maximum photographing number per second of the optical imaging device, and when the rotating arm rotates to the position where the contact is located, the trigger signal transmitting disc transmits a trigger signal to the optical imaging device.
9. The method of claim 8, wherein the specific method for performing wide-field stitched imaging processing on the image comprises:
The splice horizontal offset P H and the splice vertical offset P v are calculated as follows,
PV＝H-Ho
Where W is the width pixel resolution of the captured image, θ H is the horizontal field angle of the optical imaging device, H is the height pixel resolution of the captured image, and H o is the number of overlapping pixels of adjacent images in the vertical direction;
Initializing a wide-field spliced image, wherein the total width is P HN1 pixels, the total height is P VN3 pixels, and N 3 is the number of optical imaging devices;
After the optical imaging device shoots an image, copying image data to a corresponding area of the wide-field spliced image, wherein the initial position of the area is (n 1PH,n2H-(n2-1)Ho), the width is W pixels, the height is H pixels, n 1 is a contact number, n 1＜N1,n2 is an optical imaging device number, and n 2＜N3 is more than or equal to 0;
And adjusting imaging parameters according to the overall situation of all the photographed images in one circle of rotation to obtain spliced images.
10. The method according to claim 9, wherein the method of detecting a moving object includes periodically detecting the moving object, specifically including:
Recording the image shot at each contact point in the shooting process of rotating the turntable for one circle;
In the shooting process of continuously rotating the turntable, acquiring a new image shot at each contact point, shooting two images at the same contact point position successively, detecting a moving target by using a frame difference method, and replacing an old image with the new image;
judging whether the moving object is a detection type or an interference type by using a classification method, filtering the interference type, respectively calculating the horizontal angle and the pitching angle coordinates of the moving object according to the following formulas and reporting the horizontal angle and the pitching angle coordinates,
Wherein x and y are the abscissa and ordinate of pixels of the moving object in the image, θ V is the vertical view angle of the optical imaging device, and θ V' is the lowest visible angle in the vertical direction;
The method for detecting and processing the moving target comprises the steps of detecting the moving target immediately, and specifically comprises the following steps:
In the rotating process of the turntable, two continuously shot images are taken, a frame difference method is used for detecting a moving object in an overlapped area of the two images, a classification method is used for judging whether the moving object is of a detection type or an interference type, the interference type is filtered, and the horizontal angle and pitching angle coordinates of the moving object are calculated and reported.
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