CN100432696C - Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye - Google Patents

Abstract

The invention relates to a low-altitude automatic tracking system for ground moving targets based on bionic human eye control. It includes the aircraft and its flight control system, airborne PTZ camera, airborne image processing unit and airborne bionic control microprocessor. The microprocessor adopts the mathematical model of human eye movement control established according to the physiological neural circuit as the control law of the airborne PTZ camera controller to control the airborne PTZ camera rotation (P), roll (T), zoom ( Z) motor, to realize the unique bionic movement characteristics of human eyes such as vestibular oculomotor reflex, jerk eye movement, smooth eye movement, visual reflex, etc., so that the automatic tracking system can be continuous, smooth, clear and stable like human eyes to track ground moving targets. This bionic control method also explores an effective way to develop a bionic robot eye with many visual functions like the human eye, which is urgently needed by today's robots.

Description

Low-altitude automatic tracking system for ground moving targets based on bionic human eye control

technical field

The invention relates to a ground moving target automatic tracking system, in particular to a low-altitude ground moving target automatic tracking system based on bionic human eye control.

Background technique

The low-altitude automatic tracking of ground moving targets is expected to keep the tracked ground moving targets at the center of the image all the time by effectively controlling the attitude of the low-altitude unmanned aerial vehicle and its onboard PTZ (the abbreviation of Pan-Tilt-Zoom) camera, and keep the image Send back to the ground command center. It can be widely used in military reconnaissance, weapon delivery, ground attack, anti-terrorism and anti-riot, traffic monitoring, emergency service assistance, photogrammetry and surveying, etc., so it has received great attention from many countries in the world. Many universities and companies at home and abroad And other research institutions have carried out research work in this area. However, in the low-altitude automatic tracking system for ground moving targets, since the low-altitude ultra-small unmanned aerial vehicle, the airborne PTZ camera and the ground tracked target are all in motion, and the vibration of the aircraft itself has a great impact on image stability , making it difficult to apply existing object recognition and tracking methods for scenes obtained from stationary cameras. On the issue of tracking, the focus of previous research at home and abroad was mainly on image processing. The movement of the camera itself is only compensated by image processing methods such as affine deformation algorithms, so the stability of the image is not ideal, and the tracked target is easy to escape. out of view.

Contents of the invention

The object of the present invention is to provide a new low-altitude automatic tracking system for ground moving targets based on bionic human eye control, which can track ground moving targets continuously, smoothly, clearly and stably like human eyes.

In order to achieve the above object, the idea of the present invention is: the reason why the human eye has the visual function of being able to track and watch the object in motion and the image is clear is that the eyeball of the human eye, under the control of its neural circuit, can realize Rapid eye movement, smooth eye movement, vestibulo-ocular reflex, visual reflex and other forms of movement. Rapid eye movements can cause the line of sight to move quickly from one point of fixation to another point of fixation, that is, to quickly switch the target of the line of sight. Smooth eye movement can make the line of sight track the gaze target smoothly, keep the image of the gaze target on the fovea of the retina, and obtain continuous and stable target images. The vestibular eye movement reflex is a reflex eye movement caused by vestibular stimulation, that is, when the head position suddenly changes, it produces eye movement in the opposite direction to the head rotation, so that the eye position remains unchanged when the head and body posture changes, To maintain the stability of retinal imaging. Optic reflex is a kind of eye reflex movement caused by gazing at fast-moving objects in front of the eyes, so that the human eye can see the external scene clearly in the case of background movement.

The present invention just wants to control the airborne PTZ camera by bionic human eye jerk eye movement mode to quickly acquire the tracked target after the target is lost during the tracking or tracking process; bionic human eye smooth eye movement mode to control the airborne PTZ camera Once the PTZ camera acquires the tracking target, it will smoothly track the moving target on the ground; the vestibular eye movement reflex of the bionic human eye can overcome the tracked target's easy escape of vision caused by the vibration of the aircraft; Even when the background is in motion due to flight, it can still track the ground moving target stably.

According to above-mentioned design, the present invention adopts following technical scheme:

A low-altitude automatic tracking system for ground moving targets based on bionic human eye control, including an aircraft and its flight control system, and an airborne PTZ camera, is characterized in that the video output terminal Vout of the airborne PTZ camera and the video output of an airborne image processing unit The input terminal Vin is connected, the data output serial port of the airborne image processing unit is connected with the data input serial port of an airborne bionic control microprocessor, and the control information output port of the airborne bionic control microprocessor is connected with the data port of the airborne PTZ camera. The flight control system of the aircraft is connected to the airborne bionic control microprocessor through another serial port; the software of the airborne bionic control microprocessor is written into the mathematical model formula of bionic eye movement control, so as to output control information to control the airborne PTZ respectively. Motors for camera rotation P, roll T and zoom Z.

The mathematical model formula of the bionic eye movement control is as follows:

$<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; E.</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; v</span>}}{\mathrm{<span\; class="notranslate">\; the\; s</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; v</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&lambda;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \}</span>$

The output [E(s)] of the model is the rotation angle of the visual axis, the input [H(s)] of the model is the rotation angle of the head, [ε(s)] is the displacement of the tracked ground moving target obtained by retinal image processing, T _v is the time constant of the vestibular nucleus receiving information (the data obtained from the physiological experiment is 16s), and T _n is the time constant of the nerve integration (the data obtained from the physiological experiment is 25s). α, λ, and γ are the conversion gains of the neural circuit to the head angular velocity signal, the angular displacement and angular velocity of the tracked target, and the value range is 0-1.

The bionic corresponding relationship in this tracking system is: the output [E(s)] of the model is the optical axis rotation angle of the PTZ camera; the input [H(s)] of the model is the movement attitude of the ultra-small unmanned rotorcraft SUAV-X160 The information, that is, the pitch rate and yaw rate of the aircraft, are respectively sensed by the two angular rate gyroscopes equivalent to the semicircular canal; the other input [ε(s)] of the model is the tracked ground motion obtained by the airborne image processing unit The displacement of the target; the PTZ camera is equivalent to the eyeball of the human eye, and the motors that drive the camera to rotate (P), roll (T) and zoom (Z) are equivalent to eye muscles, and the onboard bionic control microprocessor and its control software are equivalent to Eye movements control neural circuits.

The above-mentioned airborne PTZ camera is installed at the front lower part of the aircraft body, and the airborne bionic control microprocessor and the airborne image processing unit are also installed at the lower body of the aircraft.

In the above system, the tracking image of the airborne image processing unit and the tracking data of the airborne bionic control microprocessor communicate with the host computer of the ground monitoring station through a pair of wireless transmission modules, and the ground control commands communicate with the airborne bionic control station through a wireless spread spectrum digital transmission station. Controls microprocessor communications.

The above-mentioned aircraft adopts the SUAV-X160 type ultra-small unmanned rotorcraft.

The microprocessor of the above-mentioned airborne image processing unit adopts TMS320DM642 TI DSP microprocessor.

The bionic control microprocessor of the airborne PTZ camera adopts the C8051F021 microprocessor.

The PTZ camera mentioned above uses Canon VC-C50iR.

The above gyroscope adopts Murata ENC-03M angular velocity gyroscope.

The bionic control principle of the PTZ camera is: the above-mentioned eye movement control mathematical model formula (1) is written into the software of the onboard bionic control microprocessor, and the pitch and yaw angular rates of the aircraft are respectively obtained by the two gyroscopes as the artificial head. The rotation information is input to the airborne bionic control microprocessor; the image captured by the PTZ camera tracking the ground moving target is input to the airborne image processing unit, which is equivalent to the retina, and the target motion information is obtained, which is fed back to the airborne bionic control microprocessor. The airborne bionic control microprocessor acts on the above two inputs according to the control law of the mathematical model formula (1) of bionic eye movement control, and generates output information that controls the rotation of the PTZ camera, which is transmitted to the PTZ camera through the serial port.

The present invention has the following obvious outstanding features and significant advantages: the present invention adopts the bionic control law of the bionic human eye movement to control the physiological neural circuit to control the movement of the airborne PTZ camera to realize vestibular oculomotor reflex, jerk eye movement, smooth The unique bionic movement characteristics of the human eye, such as sexual eye movement and visual reflex, enable it to track moving ground targets continuously, smoothly, clearly and stably like the human eye, which can greatly improve the performance of the low-altitude automatic tracking system for ground moving targets . Moreover, it also explores an effective way for the development of the bionic robot eye with many special natural functions like the human eye, which is urgently needed by today's robots.

Description of drawings

Fig. 1 is a system control block diagram of an embodiment of the present invention.

Fig. 2 is a system configuration diagram of an embodiment of the present invention.

Detailed ways

A preferred embodiment of the present invention is: referring to Fig. 1 and Fig. 2, PTZ camera 5 is installed on the body front bottom of ultra-small unmanned rotorcraft 1, and its bionic control microprocessor 3 and airborne image processing unit 4 follow it It is also installed under the body of the ultra-small unmanned rotorcraft 1. The Vout terminal of the PTZ camera 5 is connected to the Vin of the onboard image processing unit 4 . The data output serial port of the onboard image processing unit 4 is connected with the data input serial port of the bionic control microprocessor 3 . The control information output port of the bionic control microprocessor 3 is connected with the data port of the PTZ camera 5 . The flight control system 2 installed in the rear bottom of the ultra-small unmanned rotorcraft 1 body is connected with the bionic control microprocessor 3 through another serial port. The tracking image of the airborne image processing unit and the tracking data of the airborne bionic control microprocessor are communicated with the host computer 8 of the ground monitoring station through a pair of wireless transmission modules 9 . The ground control command communicates with the airborne bionic control microprocessor 3 through the wireless spread spectrum digital transmission station 7 .

The image of the tracking ground moving target 6 captured by the PTZ camera 5 is input to the airborne image processing unit 4 to obtain target motion information, which is fed back to the airborne bionic control microprocessor 3, and the flight control system 2 of the ultra-small unmanned rotorcraft 1 passes The pitch rate gyro and the yaw rate gyro perceive the attitude information of the rotorcraft 1, which is equivalent to the semicircular canal sensing the head information, and then input it to the airborne bionic control microprocessor 3, and the mathematical model formula of the bionic eye movement control is used as the control law code Enter the software of the airborne bionic control microprocessor 3, and its serial port output signals control the rotation (P), roll (T) and zoom (Z) motors of the PTZ camera 5 respectively. There is also a coordinated mixed control between the PTZ camera 5 and the ultra-small unmanned rotorcraft 1, and the method that the PTZ camera 5 responds preferentially to track the ground moving target is adopted.

Claims (5)

1. ground moving object low latitude automatic tracking system based on bionics human eyes control, comprise aircraft (1) and flight control system (2) thereof, airborne Pan/Tilt/Zoom camera (5), the video output terminal Vout that it is characterized in that airborne Pan/Tilt/Zoom camera (5) is connected with the video input terminal Vin of an airborne graphics processing unit (4), the data output serial ports of airborne graphics processing unit (4) is connected with the data input serial ports of an airborne bionical control microprocessor (3), the FPDP of the control information output port of airborne bionical control microprocessor (3) and airborne Pan/Tilt/Zoom camera (5) is connected in series, and the flight control system (2) of aircraft (1) is connected by another serial ports with airborne bionical control microprocessor (3); The software of airborne bionical control microprocessor (3) writes bionical eye movement mathematics of control model formation (1), thereby rotation P, the inclination T of airborne Pan/Tilt/Zoom camera (5) and the motor of zoom Z are controlled in the output control information respectively.

2. the ground moving object low latitude automatic tracking system based on bionics human eyes control according to claim 1 is characterized in that described bionical eye movement mathematics of control model formation is:

$\left[E\left(s\right)\right]=\frac{T_n}{(T_{n}s+1)}\left\{\mathrm{\&alpha;}\frac{T_v{s}^2}{T_{v}s+1}\right[H\left(s\right)]+(\mathrm{\&gamma;s}+\mathrm{\&lambda;})[\mathrm{\&epsiv;}\left(s\right)\left]\right\}$

The output of model in the formula [E (s)] expression optical axis corner, the input of model [H (s)] expression head movement corner, [ε (s)] expression retinal images is handled the displacement of the tracked ground moving object that obtains, T _vRepresent nucleus (nervi) vestibularis to receive the time constant of information, be 16s, T _nRepresent neural integration time constant, be 25s, α, λ, γ represent neural circuit to the angular displacement of head angular velocity signal, tracked target and the conversion gain of angular velocity respectively, span 0～1,

The optical axis corner of the output of above-mentioned mathematical model [E (s)] expression Pan/Tilt/Zoom camera; The athletic posture information of the input of above-mentioned mathematical model [H (s)] expression aircraft, promptly the angle of pitch speed and the yawrate of aircraft are distinguished perception by 2 angular rate gyroscopes that are equivalent to semicircular canal; The displacement of the tracked ground moving object that the airborne graphics processing unit of another input of above-mentioned mathematical model [ε (s)] expression obtains.

3. the ground moving object low latitude automatic tracking system based on bionics human eyes control according to claim 1 is characterized in that described aircraft (1) adopts SUAV-X160 type microminiature unmanned gyroplane; The microprocessor of described airborne graphics processing unit (4) adopts TMS320DM642 type TI DSP microprocessor; Described airborne video camera (5) adopts Canon VC-C50iR video camera; Described airborne bionical control microprocessor (3) adopts C8051F021 type microprocessor; Adopt Murata ENC-03M type angular velocity gyro in the described flight control system (2).

4. the ground moving object low latitude automatic tracking system based on bionics human eyes control according to claim 1, it is characterized in that described airborne Pan/Tilt/Zoom camera (5) is installed in the body front lower place of aircraft (1), airborne bionical control microprocessor (3) and airborne graphics processing unit (4) also are installed on the body below following closely.

5. according to claim 1 or 4 described ground moving object low latitude automatic tracking systems based on bionics human eyes control, it is characterized in that the tracking image of airborne graphics processing unit and the tracking data of airborne bionical control microprocessor communicate by letter with ground monitoring station host (8) by a pair of wireless transport module (9), the Ground Control instruction is communicated by letter with airborne bionical control microprocessor (3) by a pair of wireless frequency expansion data radio station (7).