CN102818543B - Target free multi-optical axis parallelism detection system based on digital image - Google Patents

Abstract

The invention relates to a digital image-based multi-optical axis parallelism detection system, which relates to the field of photoelectric imaging. The present invention uses a back-to-back laser scene video collector to collect laser and scene images at the same time, input the fusion module to generate a laser scene fusion image, use a projectile launch axis camera to collect the first scene image with cross divisions, and use a pointing camera to obtain the second scene image Scene image with reticle. Input the laser scene fusion image, the first scene image with cross reticle and the second scene image with cross reticle into the parallelism calculation module to obtain a registration image with two cross reticle and one laser spot, From this registration image, the parallelism between the laser axis, the projectile launching axis and the aiming optical axis can be calculated. The invention is applicable to the detection of the parallelism of multiple optical axes, including but not limited to the detection of the parallelism of the aiming axis, the laser axis and the projectile launching axis of weaponry.

Description

Targetless multi-optical axis parallelism detection system based on digital image

technical field

The invention relates to a targetless multi-optical axis parallelism detection system based on digital images, which belongs to the field of photoelectric imaging.

Background technique

With the development of science and technology, weapon systems integrating photoelectric imaging systems such as laser rangefinders are increasingly being used in modern warfare equipment. The weapon system itself has an aiming axis and a projectile launching axis. Among them, the aiming axis usually uses a photoelectric imaging system (such as CCD, thermal imaging system, etc.), and its optical axis is considered to be the center of the imaging device, which is marked by a cross on the display end. , output the scene image with a cross; for artillery, the projectile launch axis is the gun axis. After adding the laser rangefinder, the weapon system added a laser axis to form a system with multiple optical axes. In order to maximize the effectiveness of the photoelectric imaging system, it is necessary to ensure that the parallelism of each optical axis in the multi-optical axis system.

For the weapon system, in order to ensure that the aiming axis, the projectile launching axis and the laser axis are parallel to each other, it is necessary to perform parallelism detection and calibration between the three axes. After the parallelism detection and correction of the laser axis and the projectile launch axis, and then the parallelism detection and correction of the laser axis and the aiming axis, the non-parallel between the aiming axis and the projectile launch axis can be obtained through the conversion relationship of the laser axis Spend.

At present, in order to detect the parallelism between the laser axis, the projectile launch axis and the aiming axis, the existing typical multi-optical axis parallelism detection methods at home and abroad can be considered, such as: projection plate target method, large aperture Parallel light tube method, beam splitting method, etc.

(1) The projection plate target method can be used not only for the detection of the parallelism of the optical axis of the telescope lens barrel, but also for the detection of the parallelism of the optical axis of the laser rangefinder and the optical axis of other devices. Subjective judgment, so the operation is complicated, reliable accuracy cannot be guaranteed, and a large number of manual operations are required;

(2) Both the large-aperture parallel light tube method and the beam splitting method adopt a complex beam splitting structure. Since the beam splitting structure requires strict adjustment of the light path during use, it is inconvenient to operate; they both involve light pipes and beam splitting. The road structure has high requirements on the environment. When the environment cannot meet its requirements, the system stability cannot be guaranteed, which will affect the parallelism calibration accuracy; moreover, due to the baseline distance between the laser axis and the projectile launch axis (or aiming axis) Larger, requires a longer optical path of the system, the system is bulky, and the applicability is poor.

It can be seen that the existing schemes that can be applied to the parallelism detection between the laser optical axis, the projectile launching axis, and the sighting optical axis have complex operations, strong dependence on the environment, and cannot guarantee system stability and parallelism. The problem of calibration accuracy of degrees.

Contents of the invention

The purpose of the present invention is to propose a targetless multi-optical axis parallelism detection system based on digital images, which is mainly used to detect the parallelism between optical axes in weapons and equipment, which can reduce the complexity of operation and reduce the impact on the environment. Dependence, which can guarantee the calibration accuracy of system stability and parallelism.

In order to achieve the above object, the present invention provides a targetless multi-optical axis parallelism detection system based on digital images, including a back-to-back laser scene video collector, a projectile emission axis photoelectric imaging system, a fusion module and a parallelism detection module;

The back-to-back laser scene video collector is installed before the laser exit of the laser rangefinder, and includes a first photoelectric imaging system and a second photoelectric imaging system, both of which are coaxial and fixed back to back, wherein the first photoelectric imaging system faces The laser exit port of the laser rangefinder is used to collect laser spot images, and the second photoelectric imaging system faces the scene to collect scene images, and the collected laser spot images and scene images are sent to the fusion module;

The photoelectric imaging system of the projectile launching axis is fixed at the exit of the projectile launching chamber, the lens of the projectile launching axis photoelectric imaging system has a cross reticle, and the projectile launching axis photoelectric imaging system is used to collect the first scene image with a cross reticle , the central position of the cross marks represents the direction of the projectile launch axis, and the first scene image with cross marks is sent to the parallelism detection module;

The fusion module is used to perform image fusion processing on the laser spot image and the scene image input to the fusion module to obtain a laser scene fusion image, and send the laser scene fusion image to the parallelism detection module;

The parallelism detection module is used to perform image registration processing on the input first scene image with cross reticle and laser scene fusion image, and divide the cross reticle in the first scene image with cross reticle Projected into the laser scene fusion image to obtain a registered image;

The registration image includes a cross and a laser spot, the position of the laser spot represents the laser axis, and the center position of the cross represents the projectile launch axis. According to the center position of the cross in the registration image and the position of the laser spot Calculate the deviation between the laser axis and the projectile launch axis to obtain the horizontal and vertical angles, that is, the parallelism between the laser axis and the projectile launch axis.

In order to detect the parallelism between the sighting and aiming optical axis, the laser axis and the projectile launching axis, the system further includes a sighting and aiming optical axis photoelectric imaging system;

The aiming optical axis photoelectric imaging system is fixed on the aiming optical axis, and the second scene image with cross reticle is collected through the aiming mirror, and the center position of the cross reticle in the image represents the direction of the aiming optical axis, Send the second scene image with cross marks to the parallelism detection module;

The parallelism detection module further uses the input second scene image with cross reticle to project the cross reticle in the second scene image with cross reticle into the laser scene fusion image to obtain the final The registered image;

The final registration image includes two crosses and a laser spot, the position of the laser spot represents the laser axis, and the center position of the two crosses represents the projectile launch axis and the aiming optical axis respectively. According to the two points in the registration image, The deviation between the center position of the cross reticle and the position of the laser spot is calculated to obtain the horizontal and vertical angles between the laser axis, the projectile launching axis and the sighting optical axis, that is, the laser axis, projectile The parallelism between the launch axis and the aiming optical axis.

The present invention also provides a targetless multi-optical axis parallelism detection system based on digital images, including a back-to-back laser scene video collector, an optical axis photoelectric imaging system, a fusion module, and a parallelism detection module;

The back-to-back laser scene video collector is installed before the laser exit of the laser rangefinder, and includes a first photoelectric imaging system and a second photoelectric imaging system, both of which are coaxial and fixed back to back, wherein the first photoelectric imaging system faces The laser exit port of the laser rangefinder is used to collect laser spot images, and the second photoelectric imaging system faces the scene to collect scene images, and the collected laser spot images and scene images are sent to the fusion module;

The optical axis photoelectric imaging system of sight and sight is fixed on the optical axis of sight and sight, and the scene image with cross reticle is collected through the sight, and the center position of the cross reticle in the image represents the direction of the light axis of sight and sight, and the described Scene images with cross marks are sent to the parallelism detection module;

The fusion module is used to perform image fusion processing on the laser spot image and the scene image input to the fusion module to obtain a laser scene fusion image, and send the laser scene fusion image to the parallelism detection module;

The parallelism detection module is used to perform image registration processing on the input scene image with cross reticle and laser scene fusion image, and project the cross reticle in the scene image with cross reticle to the laser scene fusion image , get the final registration image;

The registration image includes a reticle and a laser spot, the position of the laser spot represents the laser axis, and the center position of the reticle represents the aiming optical axis. According to the center position of the reticle in the registration image and the laser spot The deviation between the positions is calculated to obtain the horizontal and vertical angles between the laser axis and the aiming optical axis, that is, the parallelism between the laser axis and the aiming optical axis.

Wherein, for some weapons and equipment with a video signal collection system for sight and sight, the optical axis photoelectric imaging system for sight and sight can directly use the video signal collection system for sight and sight that comes with the weapon and equipment.

Beneficial effects of the present invention: (1) The present invention has no complex optical splitter structure, easy to operate, good system stability, and reliable precision; (2) The present invention does not use a target, and can realize no Target online detection of multi-optical axis parallelism; (3) the present invention adopts digital image processing method, which has little dependence on the environment and subjective judgment of human eyes, thereby being able to improve detection accuracy; Launch shafts and other weapons and equipment have certain applicability.

Description of drawings

Fig. 1 is a working principle diagram of the present invention;

Figure 2 is the imaging matching principle of the coaxial back-to-fixed photoelectric imaging system;

Fig. 3 is a schematic diagram of the relative position of the laser spot and the reticle in the registration image;

Detailed ways

The invention provides a targetless multi-optical axis parallelism detection system based on a digital image, which is used for detecting the parallelism between laser optical axes, projectile launching axes and sighting optical axes in a weapon system.

The basic idea of parallelism detection is as follows: use the back-to-back laser scene video collector to simultaneously collect laser and scene images, input the fusion module to generate laser scene fusion images, and use the projectile launch axis photoelectric imaging system to collect the first scene image with cross marks. Obtain the second scene image with reticle with the optical axis photoelectric imaging system. Input the laser scene fusion image and the first scene image with crosses into the parallelism calculation module to obtain the parallelism between the laser optical axis and the projectile launch axis; combine the laser scene fusion image and the second scene image with crosses Input the parallelism calculation module to obtain the parallelism between the laser optical axis and the aiming optical axis; take the laser optical axis as the reference, and use the geometric transformation relationship to obtain the parallelism between the projectile launching optical axis and the aiming optical axis.

It can be seen that the present invention realizes the detection of the parallelism of multiple optical axes without using complex light-splitting structures and targets, and has little dependence on the environment and subjective judgment of the human eye, and is not sensitive to different types of laser range finders and Weapons such as projectile launching shafts have certain applicability.

The following is a detailed description of the multi-optical axis parallelism detection process of a preferred embodiment of the system in conjunction with the accompanying drawings:

The process of this method detecting the parallelism between the optical axis of the laser range finder, the gun axis and the sighting optical axis in the artillery is as follows:

As shown in Figure 1, the targetless multi-optical axis parallelism detection system based on digital images in this embodiment includes: a back-to-back laser scene video collector, a projectile launch axis photoelectric imaging system, an aiming optical axis photoelectric imaging system, a fusion module and parallelism detection module.

Step 1: Install the back-to-back laser scene video collector in front of the laser exit of the laser rangefinder. The back-to-back laser scene video collector is composed of the first photoelectric imaging system and the second photoelectric imaging system. The two are coaxial and back-to-back Fixed, wherein the first photoelectric imaging system faces the laser exit port of the laser rangefinder and is used to collect laser spot images, and the second photoelectric imaging system faces the scene and is used to collect scene images. Wherein, the first photoelectric imaging system adopts an imaging device sensitive to laser light, and the second photoelectric imaging system is a visible light photoelectric imaging system; in this embodiment, the first photoelectric imaging system is selected as a near-infrared photoelectric imaging system.

Step 2: Input the laser spot image and scene image into the fusion module to generate a laser scene fusion image. Since the first photoelectric imaging system and the second photoelectric imaging system are mechanically fixed and there is no relative movement, there is a unique geometric mapping relationship between the images collected by the two photoelectric imaging systems, and this mapping relationship can be obtained through system calibration. The above mapping relationship is stored in the fusion module, and the laser spot image and the scene image can be fused together by the fusion module to generate a laser scene fusion image, wherein the position of the laser spot represents the laser direction.

The mapping relationship between the laser spot image and the scene image is shown in Figure 2. The laser beam AB intersects the main plane of the lens of the first photoelectric imaging system at point B, and converges to point C on the image plane through the lens. According to the principle of geometric imaging, it is obvious that

AB//O ₁ C (1)

Assume that the pixel row and column coordinates of point C in the laser spot image matrix are (m _laser , n _laser ), and the instantaneous field of view of the first photoelectric imaging system is p ₁ ×q ₁ .

As shown in Figure 2, establish the first photoelectric imaging system coordinate system O ₁ -x ₁ y ₁ z ₁ and the second photoelectric imaging system coordinate system O ₂ -x ₂ y ₂ z ₂ respectively, then point C is in the coordinate system O ₁ -x The coordinates in ₁ y ₁ z ₁ are f ₁ '(m _laser p ₁ ,n _laser q ₁ ,-1), and then the direction of the laser can be used by the vector express

$\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Let the rotation transformation matrix between the O ₁ -x ₁ y ₁ z ₁ coordinate system and the O ₂ -x ₂ y ₂ z ₂ coordinate system be R, and the displacement vector be T, namely

${\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right]}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}{\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\end{array}\right]}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

then vector In the O ₂ -x ₂ y ₂ z ₂ coordinate system, it can be expressed as

$\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; =</span>{\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\end{array}\right]}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}\end{array}\right]}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}{\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\end{array}\right]}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span>}{\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

In the formula, ${\left[\begin{array}{c}{x}_C\\ {\mathrm{the\; y}}_C\\ z_C\end{array}\right]}_2$ Indicates the coordinates of point C in the O ₂ -x ₂ y ₂ z ₂ coordinate system, ${\left[\begin{array}{c}{x}_{o_1}\\ {\mathrm{the\; y}}_{o_1}\\ z_{o_1}\end{array}\right]}_2$ Indicates the coordinates of point O ₁ in the O ₂ -x ₂ y ₂ z ₂ coordinate system, ${\left[\begin{array}{c}{x}_C\\ {\mathrm{the\; y}}_C\\ z_C\end{array}\right]}_1$ Indicates the coordinates of point C in the O ₁ -x ₁ y ₁ z ₁ coordinate system, ${\left[\begin{array}{c}{m}_{\mathrm{laser}}{p}_1\\ {\mathrm{no}}_{\mathrm{laser}}{q}_1\\ -1\end{array}\right]}_1$ Indicates the coordinates of the point (m _laser p ₁ , n _laser q ₁ , -1) in the O ₁ -x ₁ y ₁ z ₁ coordinate system, (m _laser , n _laser ) is the row and column coordinates of the pixel of point D in the scene image matrix .

set up but

$\stackrel{\&Right\; Arrow;}{{\mathrm{do}}_2}=-f_2^{\&prime;}{\left[\begin{array}{ccc}{m}_{\mathrm{scene}}{p}_2& {\mathrm{no}}_{\mathrm{scene}}{q}_2& -1\end{array}\right]}_2^T=\mathrm{\&lambda;}{f}_1^{\&prime;}R{\left[\begin{array}{ccc}{m}_{\mathrm{laser}}{p}_1& {\mathrm{no}}_{\mathrm{laser}}{q}_1& -1\end{array}\right]}_1^T---\left(5\right)$ ${\left[\begin{array}{ccc}{m}_{\mathrm{scene}}{p}_2& {\mathrm{no}}_{\mathrm{scene}}{q}_2& -1\end{array}\right]}_2^T$ Indicates the coordinates of the point (m _scene p ₂ n _scene q ₂ -1) in the O ₂ -x ₂ y ₂ z ₂ coordinate system;

Right now

${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; scene</span>}}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; scene</span>}}\\ \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&lambda;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\mathrm{<span\; class="notranslate">\; R</span>}\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}\\ \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

The following formula can be obtained:

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; scene</span>}}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; scene</span>}}\\ \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\mathrm{<span\; class="notranslate">\; R</span>}\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}\\ \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; h</span>}\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; laser</span>}}\\ \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

in,

$\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\mathrm{<span\; class="notranslate">\; R</span>}\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&lambda;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 33</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

Where r ₃₃ is the value of the third row and third column of the third-order matrix R;

Obviously, H is only related to the internal parameters (p ₁ ,q ₁ ,f' ₁ ) of the first photoelectric imaging system and the internal parameters (p ₂ ,q ₂ ,f' ₂ ) of the second photoelectric imaging system, where p ₁ ,q ₁ is the instantaneous field of view of the first photoelectric imaging system, f ₁ ' is the focal length of the first photoelectric imaging system, p ₂ , q ₂ are the instantaneous field of view of the second photoelectric imaging system, f' ₂ is the The focal length; and the rotation matrix R of the two coordinate systems are related. Since the first photoelectric imaging system and the second photoelectric imaging system are mechanically fixed, R is a fixed system parameter, and matrix H is a fixed mapping matrix. Obviously, there is a unique and fixed mapping relationship H between the laser spot image and the scene image. According to the mapping relationship, the fusion program of the two images is set in the fusion module, and then the two images input to the fusion module can be fused according to certain rules.

Step 3: Install the projectile emission axis photoelectric imaging system in the gun bore, collect the scene image with cross reticle, and record it as the first scene image with cross reticle. The rear end of the photoelectric imaging system of the projectile launch axis is connected to the fixed rod. Since the fixed rod matches the bore diameter of the gun, mechanical fixing can ensure that the optical axis of the photoelectric imaging system of the projectile launch axis coincides with the gun axis. The lens of the projectile launch axis photoelectric imaging system has a cross reticle, so that the scene image collected by the projectile launch axis photoelectric imaging system also has a cross reticle, and the position of the center of the cross reticle represents the direction of the gun axis.

Step 4: Install the optical axis photoelectric imaging system behind the sighting mirror, collect the scene image with cross reticle, and record it as the second scene image with cross reticle. The position of the cross marks represents the direction of the sighting and aiming optical axis.

Step 5: Input the laser scene fusion image and the first scene image with a cross into the parallelism detection module to calculate the parallelism between the laser axis and the projectile launch axis. Then input the laser scene fusion image and the second scene image with a cross into the parallelism detection module to calculate the parallelism between the optical axis and the sighting optical axis. Taking the laser axis as the reference, the parallelism between the projectile launching axis and the aiming optical axis can be obtained by geometric transformation.

In the parallelism detection module, first use the existing registration method to register the laser scene fusion image with the first scene image with cross reticle and the second scene image with cross reticle. The reticle in the image is respectively projected into the laser scene fusion image, and the situation shown in Figure 3 is obtained at this time. Point P in Figure 3 represents the center position of the laser spot, P ₁ represents the center position of the cross in scene image 1 with cross marks, and P ₂ represents the center position of the cross marks in scene image 2 with cross marks . If P and P ₁ (or P ₂ ) are coincident, it means that the laser axis and the projectile launching axis (or sighting optical axis) are parallel to each other. The farther the distance between P and P ₁ (or P ₂ ), the worse the parallelism between the laser axis and the projectile launching axis (or sighting optical axis). It can be seen that the relative position of the spot center and the cross reticle center can describe the parallelism between the laser axis and the projectile emission axis (or sighting optical axis). Based on the same principle, the relative position of the centers of the two crosses can describe the parallelism between the projectile launching axis and the aiming optical axis.

Let the coordinates of point P be (m, n), _the coordinates of point _P1 be (m ₁ , n ₁ ), the coordinates of point P2 be (m ₂ , n ₂ ), and p ₂ ×q ₂ be the first For the instantaneous field of view of the photoelectric imaging system, the horizontal deflection angle of the projectile launch axis relative to the laser axis is obtained by the following formula:

α ₁ =arctan[(m ₁ -m)p ₂ ] (10)

Then the vertical declination is:

β ₁ =arctan[(n ₁ -n)q ₂ ] (11)

Similarly, the horizontal deflection angle and vertical deflection angle of the aiming optical axis relative to the laser axis are respectively

α ₂ =arctan[(m ₂ -m)p ₂ ] (12)

β ₂ =arctan[(n ₂ -n)q ₂ ] (13)

The horizontal and vertical deflection angles of the aiming optical axis relative to the projectile launching axis are respectively

α ₁₂ =arctan[(m ₂ -m ₁ )p ₂ ] (14)

β ₁₂ =arctan[(n ₂ -n ₁ )q ₂ ] (15)

The relative horizontal deflection angle and vertical deflection angle between two of the aiming optical axis, the gun axis and the laser axis can represent the parallelism between the three.

The preferred embodiments of the present invention are illustrated in the above embodiments, which can detect the parallelism between the laser axis, the aiming optical axis, and the gun axis. In practice, it is also possible to only detect the unevenness between the laser axis and the gun axis, and the photoelectric imaging system of the aiming optical axis is not required in Fig. 1; if only the unevenness between the aiming optical axis and the gun axis is detected, then Figure 1 does not require a projectile launch axis photoelectric imaging system.

Claims (5)

1. Based on digital picture without many parallelisms of optical axis of target detection system, it is characterized in that: comprise back-to-back formula laser scene video collector, pellet injection axle photo electric imaging system, Fusion Module and depth of parallelism detection module;

   Described back-to-back formula laser scene video collector is arranged on before the laser exit of range finder using laser, comprise the first photo electric imaging system and the second photo electric imaging system, both are coaxial and back-to-back fixing, wherein the first photo electric imaging system is in the face of the laser emitting mouth of range finder using laser, be used for gathering representation of laser facula, the second photo electric imaging system is in the face of scene, for gathering scene image, collects to such an extent that representation of laser facula and scene image all send to Fusion Module;

   Described pellet injection axle photo electric imaging system is fixed on exit, pellet injection chamber, in the camera lens of pellet injection axle photo electric imaging system with cross-graduation, with pellet injection axle photo electric imaging system, gather the scene image of the first width band cross-graduation, the center of cross-graduation is characterizing the direction of pellet injection axle, and the scene image of described the first width band cross-graduation is sent to Parallel testing module;

   Described Fusion Module, for carrying out image co-registration processing to being input to LASER SPECKLE image and the scene image of Fusion Module, obtains laser scene fused images, and described laser scene fused images is sent to Parallel testing module;

   Described Parallel testing module, for scene image and the laser scene fused images of the first width band cross-graduation of input are carried out to image registration processing, cross-graduation in the scene image of the first width band cross-graduation is projected in laser scene fused images, obtain registering images;

   Described registering images, comprise a cross-graduation, a LASER SPECKLE, LASER SPECKLE position represents that laser axis, cross-graduation center represent pellet injection axle, according to departure between the center of the cross-graduation in registering images and LASER SPECKLE position, calculate laser axis and pellet injection axle horizontal sextant angle and vertical angle, obtain laser axis and the pellet injection axle depth of parallelism.
2. As claimed in claim 1 a kind of based on digital picture without many parallelisms of optical axis of target detection system, it is characterized in that: this system further comprises seeing takes aim at optical axis photo electric imaging system;

   Described sight is taken aim at optical axis photo electric imaging system and is fixed on to see and takes aim on optical axis, by gun sight, gather the scene image of the second width band cross-graduation, in image, the center of cross-graduation is characterizing and is seeing the direction of taking aim at optical axis, and the scene image of described the second width band cross-graduation is sent to Parallel testing module;

   Described Parallel testing module, further adopts the scene image of the second width band cross-graduation of input that the cross-graduation in the scene image of the second width band cross-graduation is projected in described laser scene fused images, obtains final registering images;

   Described final registering images, comprise two cross-graduations, a LASER SPECKLE, LASER SPECKLE position represents laser axis, two cross-graduation centers represent that respectively pellet injection axle and sight take aim at optical axis, according to the departure between the center of the center of two cross-graduations in registering images departure and two cross-graduations respectively and between LASER SPECKLE position, calculate pellet injection axle and laser axis, sight is taken aim at optical axis and laser axis and sight and is taken aim at horizontal sextant angle and the vertical angle between optical axis and pellet injection axle, thereby obtain pellet injection axle and laser axis, sight is taken aim at optical axis and laser axis and sight and is taken aim at the depth of parallelism between optical axis and pellet injection axle.
3. As claimed in claim 2 a kind of based on digital picture without many parallelisms of optical axis of target detection system, it is characterized in that: it is that video signal collective system is taken aim in the sight that weaponry carries that optical axis photo electric imaging system is taken aim in described sight.
4. Based on digital picture without many parallelisms of optical axis of target detection system, it is characterized in that: comprise back-to-back formula laser scene video collector, see and to take aim at optical axis photo electric imaging system, Fusion Module and depth of parallelism detection module;

   Described back-to-back formula laser scene video collector is arranged on before the laser exit of range finder using laser, comprise the first photo electric imaging system and the second photo electric imaging system, both are coaxial and back-to-back fixing, wherein the first photo electric imaging system is in the face of the laser emitting mouth of range finder using laser, be used for gathering representation of laser facula, the second photo electric imaging system is in the face of scene, for gathering scene image, collects to such an extent that representation of laser facula and scene image all send to Fusion Module;

   Described sight is taken aim at optical axis photo electric imaging system and is fixed on to see and takes aim on optical axis, scene image by gun sight collection with cross-graduation, in image, the center of cross-graduation is characterizing and is seeing the direction of taking aim at optical axis, and the described scene image with cross-graduation is sent to Parallel testing module;

   Described Fusion Module, for carrying out image co-registration processing to being input to LASER SPECKLE image and the scene image of Fusion Module, obtains laser scene fused images, and described laser scene fused images is sent to Parallel testing module;

   Described Parallel testing module, for the scene image with cross-graduation and the laser scene fused images of input are carried out to image registration processing, cross-graduation in scene image with cross-graduation is projected in laser scene fused images, obtain final registering images;

   Described registering images, comprise a cross-graduation, a LASER SPECKLE, LASER SPECKLE position represents that the representative of laser axis, cross-graduation center is seen and takes aim at optical axis, according to departure between the center of the cross-graduation in registering images and LASER SPECKLE position, calculate laser axis and see horizontal sextant angle and the vertical angle of taking aim between optical axis, obtain laser axis and see and take aim at the depth of parallelism between optical axis.
5. As claimed in claim 4 a kind of based on digital picture without many parallelisms of optical axis of target detection system, it is characterized in that: it is that video signal collective system is taken aim in the sight that weaponry carries that optical axis photo electric imaging system is taken aim in described sight.