CN106204457A - A kind of method for capture target and catching device - Google Patents
A kind of method for capture target and catching device Download PDFInfo
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- CN106204457A CN106204457A CN201610564594.8A CN201610564594A CN106204457A CN 106204457 A CN106204457 A CN 106204457A CN 201610564594 A CN201610564594 A CN 201610564594A CN 106204457 A CN106204457 A CN 106204457A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005286 illumination Methods 0.000 claims abstract description 215
- 230000004927 fusion Effects 0.000 claims abstract description 16
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- 238000010304 firing Methods 0.000 claims description 6
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B15/00—Weapons not otherwise provided for, e.g. nunchakus, throwing knives
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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Abstract
A kind of method that the present invention relates to capture target, gather the first focal length some width of ultra-low illumination image and the second focal length some width of ultra-low illumination image respectively, the ultra-low illumination image that focusing is identical respectively carries out image mosaic, obtains the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length；The ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length are carried out image co-registration, ultra-low illumination image after being merged, ultra-low illumination image after merging presents to aircraft human pilot, the ultra-low illumination image after display fusion；Ultra-low illumination image after merging identifies object image, when recognizing object image, start laser lamp, according to the object image lock object recognized in the ultra-low illumination image after merging, when object meets default when arresting condition, launch arrest net, capture target thing, close laser lamp.
Description
Technical field
The present invention relates to vehicle technology field, particularly to a kind of method for capture target and catching device.
Background technology
In recent decades, along with the development of science and technology, a large amount of uses of new material, aircraft has been high and new technology
Masterpiece, aircraft the most progressively in the application of the field such as transport, agriculture, police, fire extinguishing, aloft flies due to it, no longer
It is confined to the restriction of traditional land communications environment, therefore, is more praised highly by people.But, due to natural cause with artificial because of
Aviation accident ratio that is plain and that cause is greatly increased.Nearly seventy percent accident of numerical monitor is led with artificial origin by natural cause according to statistics
Cause, become the biggest obstacle of restriction aviation safety.
In flight, especially during landing, aircraft pilot is it should be understood that the ambient conditions of front and lower section, with safety
Ground flight, landing.But, in prior art, aircraft does not has such equipment, so that aircraft pilot observation flight
Device front and the scene of lower section.Even if some aircraft have observation front and the camera head of lower section scene, but owing to using
The restriction of condition, can not preferably use, and more lacks relevant theoretical method simultaneously and instructs so that aircraft security performance
Can not get being effectively improved.
It addition, the inventors discovered that, the function that police aircraft is generally configured with is to propaganda directed to communicate, it is impossible to implement to arrest work, logical
For Chang, when police perform to arrest suspect, danger coefficient is high, and owing to being limited by arresting environment,
Many times can not understand and implement the most safely to arrest work.
Summary of the invention
Based on the problems referred to above, it is an object of the invention to overcome above-mentioned the deficiencies in the prior art, it is provided that one is used for arresting mesh
Calibration method and catching device, make the aircraft pilot can be with the convenient field that aircraft front and lower section are clearly viewed in time
Scape environment.The technology such as ultra-low illumination video camera, image processing techniques and elaborate servo control are combined to come together in and grab by the present invention
Catch in device, can well assisting in flying person be dark at night and completes aircraft takeoff under the bad weather circumstances such as rain, snow, mist, haze, fly
The demands such as row, landing, and can accurate capture target thing.
A kind of method for capture target, including:
Catching device gathers the first focal length some width of ultra-low illumination image and the second focal length some width of ultra-low illumination image respectively, respectively
The identical ultra-low illumination image of focusing carries out image mosaic, obtains ultra-low illumination stitching image and second focal length of the first focal length
Ultra-low illumination stitching image；
The ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length are carried out image co-registration, obtains
Ultra-low illumination image after fusion, presents to aircraft human pilot by the ultra-low illumination image after described fusion, and display is merged
After ultra-low illumination image；
Ultra-low illumination image after merging identifies object image, when recognizing object image, starts laser lamp, root
According to the object image lock object recognized described ultra-low illumination image after merging, when described object meets pre-
If when arresting condition, launch arrest net, arrest described object, close described laser lamp.
Described gather the first focal length ultra-low illumination image and the second focal length ultra-low illumination image respectively, including: gather respectively
The second focal length ultra-low illumination image in the first focal length ultra-low illumination image in front apparent direction, front apparent direction, gathers vertical view side
The first focal length ultra-low illumination image upwards, the second focal length ultra-low illumination image overlooked on direction；
The identical ultra-low illumination image of described focusing respectively carries out image mosaic, obtains the ultra-low illumination spliced map of the first focal length
The ultra-low illumination stitching image of picture and the second focal length, including: the described front apparent direction part of the body cavity above the diaphragm housing the heart and lungs is entered away from identical ultra-low illumination image
Row image mosaic, obtains the second focal length in the ultra-low illumination stitching image of the first focal length in front apparent direction and front apparent direction
Ultra-low illumination stitching image；And the ultra-low illumination image that focal length on described vertical view direction is identical is carried out image mosaic, obtain
The ultra-low illumination stitching image overlooking the first focal length on direction and the ultra-low illumination spliced map of the second focal length overlooked on direction
Picture；
The ultra-low illumination stitching image of the described ultra-low illumination stitching image by described first focal length and described second focal length is carried out
Image co-registration, the ultra-low illumination image after being merged, including: the ultra-low illumination of the first focal length in described front apparent direction is spelled
The ultra-low illumination stitching image of the second focal length on map interlinking picture and described front apparent direction carries out image co-registration, obtains in front apparent direction
Ultra-low illumination image after fusion；By ultra-low illumination stitching image and the described vertical view side of the first focal length on described vertical view direction
The ultra-low illumination stitching image of the second focal length upwards carries out image co-registration, obtains overlooking the ultra-low illumination figure after merging on direction
Picture.
Described method also includes: detection forward sight shooting direction whether be in level, when detect be not in level time, adjust
Orientation is to level；Detection overlook shooting direction whether be in vertically, when detect be not in vertical time, adjustment orientation to vertically.
Described method also includes: preserve the ultra-low illumination image merged.
Described method also includes: by the ultra-low illumination image rendering after described fusion to the satellite map prestored,
And show.
Described method also includes: when receiving the operational order that control centre sends, resolve described operational order, according to
Described operational order performs corresponding operating.
Described operational order includes firing order, and when receiving firing order, described catching device launches arrest net.
Described operational order includes closing laser lamp instruction, when receiving closedown laser lamp instruction, stops described laser
Lamp is powered.
A kind of catching device for capture target, including:
Image capture module, for gathering the first focal length some width of ultra-low illumination image and the second focal length ultra-low illumination image respectively
Some width；
Image mosaic module, carries out image mosaic for the ultra-low illumination image that focusing is identical respectively, obtains the first focal length
The ultra-low illumination stitching image of ultra-low illumination stitching image and the second focal length；
Image co-registration module, for by the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length
Carry out image co-registration, the ultra-low illumination image after being merged；
Display module, for presenting to aircraft human pilot, after display is merged by the ultra-low illumination image after described fusion
Ultra-low illumination image；
Capture target module, identifies object image for the ultra-low illumination image after described fusion, is recognizing target
During object image, start laser lamp, according to the object image lock mesh recognized described ultra-low illumination image after merging
Mark thing, when described object meets default when arresting condition, launches arrest net, arrests described object, close described laser
Lamp.
Described image capture module, the first focal length ultra-low illumination image in apparent direction, forward sight side before gathering respectively
The second focal length ultra-low illumination image upwards, gathers the first focal length ultra-low illumination image on vertical view direction, overlooks on direction
Second focal length ultra-low illumination image；
Described image mosaic module, for the described front apparent direction part of the body cavity above the diaphragm housing the heart and lungs is carried out image mosaic away from identical ultra-low illumination image,
The ultra-low illumination obtaining the second focal length in the ultra-low illumination stitching image of the first focal length in front apparent direction and front apparent direction is spelled
Map interlinking picture；And the ultra-low illumination image that focal length on described vertical view direction is identical is carried out image mosaic, obtain overlooking on direction
The ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length overlooked on direction；
Described image co-registration module, for by the ultra-low illumination stitching image of the first focal length in described front apparent direction and described before
The ultra-low illumination stitching image of the second focal length in apparent direction carries out image co-registration, obtains the ultralow photograph after merging in front apparent direction
Degree image；By the second focal length on the ultra-low illumination stitching image of the first focal length on described vertical view direction and described vertical view direction
Ultra-low illumination stitching image carry out image co-registration, obtain overlooking the ultra-low illumination image after merging on direction.
The invention has the beneficial effects as follows: the method that the present invention provides can absorb the some width of image of different focal, to taking the photograph
The image got carries out image procossing, identifies object image the image after processing, and starts laser lamp and follows the trail of this object,
Prevent object depart from arrest range region, when meet preset arrest condition time, launch arrest net arrest this object, carry with this
The accuracy of high capture target thing, whole capture process is automatically performed, it is not necessary to personnel participate in, and reduces the danger of capture process.
After completing to arrest work, close laser lamp, reduce power consumption with this.
Accompanying drawing explanation
Fig. 1 is a kind of method flow diagram for capture target that the embodiment of the present invention provides.
Fig. 2 is a kind of catching device structured flowchart for capture target that the embodiment of the present invention provides.
Fig. 3 is the another kind catching device structured flowchart for capture target of embodiment of the present invention offer.
Fig. 4 be the embodiment of the present invention provide another for the catching device structured flowchart of capture target.
Fig. 5 is the unmanned plane schematic diagram carrying catching device that the embodiment of the present invention provides.
Detailed description of the invention
That the following description is substantially merely exemplary and be not intended to limit the disclosure, application or purposes.Should
Being understood by, in whole accompanying drawings, corresponding reference represents identical or corresponding parts and feature.
A kind of method for capture target, reference Fig. 1, specific as follows:
Step 101: if catching device gathers the first focal length some width of ultra-low illumination image and the second focal length ultra-low illumination image respectively
Dry width；
In embodiments of the present invention, can gather respectively in the first focal length ultra-low illumination image in front apparent direction, front apparent direction
The second focal length ultra-low illumination image, gather the first focal length ultra-low illumination image overlooked on direction, overlook on direction second
Focal length ultra-low illumination image.
During carrying out image acquisition, the visual angle of definition and image in order to improve the image collected is enough
Open, some images that width focal length is identical, shooting angle is different can be gathered in front apparent direction；Can also overlook equally
On direction, gather some images that width focal length is identical, shooting angle is different.
By gathering forward sight and overlooking the image in direction, it is simple to understand aircraft front and the ambient conditions of lower section, protect
Barrier flight safety.Owing to the biggest angle of visual field of focal length is the least, the distance of shooting is the most remote, and it is the biggest that focal length more neglects rink corner, shooting away from
Close to more, the purpose gathering the image under different focal in the present invention is, by different focal image co-registration, reaches image big
Visual angle and at a distance purpose, with this rich image content, image is apparent.
It addition, in embodiments of the present invention, it is also possible to including: whether detection forward sight shooting direction is in level, works as detection
To when being not in level, adjust orientation to level；Detection overlooks whether shooting direction is in vertically, is not in vertically when detecting
Time, adjust orientation to vertically.
Step 102: the ultra-low illumination image that focusing is identical respectively carries out image mosaic, obtains the ultralow photograph of the first focal length
Degree stitching image and the ultra-low illumination stitching image of the second focal length；
In the embodiment of the present invention, the front apparent direction part of the body cavity above the diaphragm housing the heart and lungs is carried out image mosaic away from identical ultra-low illumination image, obtains forward sight side
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image of the first focal length upwards and front apparent direction；And
Carry out image mosaic to overlooking the ultra-low illumination image that focal length is identical on direction, obtain overlooking the ultralow of the first focal length on direction
The ultra-low illumination stitching image of the second focal length on illumination stitching image and vertical view direction.
By by identical under focus condition upper, identical, the image for each angle acquisition carries out image mosaic, obtains
The ultra-low illumination stitching image of the first focal length in front apparent direction and the ultra-low illumination stitching image of the second focal length, wherein, first
The ultra-low illumination stitching image of focal length is the image mosaic collected under the first focus condition, the ultralow photograph of the second focal length
Degree stitching image is the image mosaic collected under the second focus condition, and the image mosaic of each angle is become piece image
Time, by increasing capacitance it is possible to increase picture material, the definition of raising characteristics of image.It addition, with the ultra-low illumination stitching image phase of the second focal length
Relatively, but the narrow target that can photograph remotely of the ultra-low illumination stitching image angle of visual field of the first focal length, accordingly, the
With a wide angle of view for two ultra-low illumination splicing figures, but characteristics of image at a distance is fuzzyyer.
Step 103: the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length are carried out
Image co-registration, the ultra-low illumination image after being merged；
Ultra-low illumination by the second focal length on the ultra-low illumination stitching image of the first focal length in front apparent direction and front apparent direction
Stitching image carries out image co-registration, obtains the ultra-low illumination image after merging in front apparent direction；First Jiao that will overlook on direction
Away from ultra-low illumination stitching image and the ultra-low illumination stitching image of the second focal length overlooked on direction carry out image co-registration, obtain
Overlook the ultra-low illumination image after merging on direction.
In the present embodiment, by the image of identical focal length is carried out image mosaic process, the video of wide viewing angle can be formed
Image, and by the fusion of the video image to spliced different focal, both reached the requirement of wide visual field angle, in turn ensure that
The fine definition of image central authorities, solves image unsharp problem at a distance, by splicing the image of different focal, expands
Big picture material, thus obtain the image of more content, it is easy to aircraft human pilot with this and understands large-scale ambient image,
Prevent shooting blind angle amount, stop because the problem that ambient image causes potential safety hazard is clapped in leakage.
Step 104: the ultra-low illumination image after merging presents to aircraft human pilot, the ultralow photograph after display fusion
Degree image；
In the present invention, by by the ultra-low illumination stitching image of the first focal length in front apparent direction and the ultralow photograph of the second focal length
Degree stitching image carries out image co-registration, makes the ultra-low illumination stitching image of narrower the first focal length of the angle of visual field be fused to the angle of visual field relatively
In the ultra-low illumination stitching image of the second wide focal length, both reached the purpose of wide visual field angle, improve again the definition of image,
And characteristics of image at a distance can be seen.It is easy to aircraft human pilot and is apparent from aircraft surrounding, improve
Flight safety.
Step 105: identify object image the ultra-low illumination image after merging, when recognizing object image,
Start laser lamp, according to the object image lock object recognized in the ultra-low illumination image after merging, work as object
Meet default when arresting condition, launch arrest net, capture target thing, close laser lamp.
It should be noted that during ultra-low illumination image after being merged, it is also possible to including: preserve the ultralow photograph merged
Degree image.Ultra-low illumination image rendering after merging is in the satellite map prestored, and shows so that aircraft
Driver can understand the environment of surrounding on three dimensions.The present invention is in order to improve aircraft pilot to disclosed by the invention
The controllability of catching device, it is also possible to accept the operational order that control centre (aircraft pilot or other related personnel) sends
Time, resolve operational order, perform corresponding operating according to operational order, wherein, operational order includes firing order, sends out when receiving
When penetrating instruction, catching device launches arrest net.Operational order can also include closing laser lamp instruction, when receiving closedown laser lamp
During instruction, stop laser lamp and power, save the energy with this.
A kind of catching device for capture target, as in figure 2 it is shown, include:
Image capture module 201, for gathering the first focal length some width of ultra-low illumination image and the second focal length ultra-low illumination respectively
The some width of image；
In the present embodiment, image capture module 201, before gathering respectively the first focal length ultra-low illumination image in apparent direction,
The second focal length ultra-low illumination image in front apparent direction, gathers the first focal length ultra-low illumination image, the vertical view side overlooked on direction
The second focal length ultra-low illumination image upwards.
Can gather that some width focal lengths are identical, shooting respectively in forward sight with overlook on direction by image capture module 201
The image that angle is different, by gathering forward sight and overlooking the image in direction, it is simple to understand aircraft front and the environment of lower section
Situation, ensures flight safety.Owing to the biggest angle of visual field of focal length is the least, the distance of shooting is the most remote, and it is the biggest that focal length more neglects rink corner, claps
The distance taken the photograph is the nearest, and the purpose gathering the image under different focal is, by different focal image co-registration, reaches the big visual angle of image
And purpose at a distance, with this rich image content, image is apparent.
Image mosaic module 202, carries out image mosaic for the ultra-low illumination image that focusing is identical respectively, obtains first
The ultra-low illumination stitching image of focal length and the ultra-low illumination stitching image of the second focal length；
In the present embodiment, image mosaic module 202, for carrying out image to the front apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical ultra-low illumination image
Splicing, obtains the ultralow photograph of the second focal length in the ultra-low illumination stitching image of the first focal length in front apparent direction and front apparent direction
Degree stitching image；And carry out image mosaic to overlooking the ultra-low illumination image that on direction, focal length is identical, obtain overlooking on direction
The ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length overlooked on direction.Pass through image
Concatenation module 202 can be by identical under focus condition upper, identical, and the image for each angle acquisition carries out image mosaic,
Obtain ultra-low illumination stitching image and the ultra-low illumination stitching image of the second focal length of the first focal length in front apparent direction, wherein,
The ultra-low illumination stitching image of the first focal length is the image mosaic collected under the first focus condition, surpassing of the second focal length
Low-light (level) stitching image is the image mosaic collected under the second focus condition, and the image mosaic of each angle is become a width
During image, by increasing capacitance it is possible to increase picture material, the definition of raising characteristics of image.It addition, with the ultra-low illumination spliced map of the second focal length
As comparing, but the narrow target that can photograph remotely of the ultra-low illumination stitching image angle of visual field of the first focal length, accordingly
, with a wide angle of view for the second ultra-low illumination splicing figure, but characteristics of image at a distance is fuzzyyer.
Image co-registration module 203, for by the ultra-low illumination stitching image of the first focal length and the ultra-low illumination of the second focal length
Stitching image carries out image co-registration, the ultra-low illumination image after being merged；
In the present embodiment, image co-registration module 203, for by the ultra-low illumination stitching image of the first focal length in front apparent direction and
The ultra-low illumination stitching image of the second focal length in front apparent direction carries out image co-registration, obtain in front apparent direction merge after ultralow
Illumination image；Ultralow by the ultra-low illumination stitching image of the first focal length overlooked on direction and the second focal length of overlooking on direction
Illumination stitching image carries out image co-registration, obtains overlooking the ultra-low illumination image after merging on direction.In the present embodiment, image melts
The further of image is processed on the basis of image mosaic module 202 by compound module 203, has both reached the requirement of wide visual field angle,
In turn ensure that the fine definition of image central authorities, solve image unsharp problem at a distance, by the image of different focal is entered
Row splicing, expands picture material, thus obtains the image of more content, is easy to aircraft human pilot with this and understands on a large scale
Ambient image, prevents shooting blind angle amount, stops because the problem that ambient image causes potential safety hazard is clapped in leakage.
Display module 204, the ultra-low illumination image after merging presents to aircraft human pilot, after display is merged
Ultra-low illumination image；
In the embodiment of the present invention, aircraft human pilot passes through display module 204, it is possible to be apparent from ring around aircraft
Border, improves flight safety.
Capture target module 205, identifies object image for the ultra-low illumination image after merging, is recognizing mesh
During mark object image, start laser lamp, according to the object image lock target recognized in the ultra-low illumination image after merging
Thing, when object meets default when arresting condition, launches arrest net, capture target thing, closes laser lamp.
In embodiments of the present invention, catching device can also be as it is shown on figure 3, include adjusting orientation module 206, before detection
Whether be in level depending on shooting direction, when detect be not in level time, adjust orientation to level；It is additionally operable to detection and overlooks shooting
Whether direction is in vertically, when detect be not in vertical time, adjust orientation to vertically.
In embodiments of the present invention, by adjust orientation module, enable image acquisition units collect front apparent direction with
And the image on vertical view direction, ensure, with this, the environment that the image collected can comprehensively react around aircraft.
It addition, catching device can also as shown in Figure 4, including: memory module 207 with redraw module 208, wherein, store mould
Block 207, for preserving the ultra-low illumination image of fusion.
Redrawing module 208, the ultra-low illumination image rendering after merging, to the satellite map prestored, is gone forward side by side
Row display, can make aircraft pilot can understand the environment of surrounding on three dimensions by redrawing module.
In order to improve the aircraft pilot controllability to this catching device, it is also possible to include, command process module, be used for connecing
During the operational order that controlled center (aircraft pilot or other related personnel) sends, resolve operational order, according to behaviour
Making instruction and perform corresponding operating, wherein, operational order includes firing order, and when receiving firing order, catching device transmitting is grabbed
Catch net.Operational order can also include closing laser lamp instruction, when receiving closedown laser lamp instruction, stops laser lamp and supplies
Electricity, saves the energy with this.
It should be noted that in the present invention, the relational terms of such as first and second or the like is used merely to one
Entity or operation separate with another entity or operating space, and not necessarily require or imply between these entities or operation
There is relation or the order of any this reality.And, term " includes ", " comprising " or its any other variant are intended to contain
Comprising of lid nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that
Including process, method, article or the equipment of described key element there is also other identical element.
Presently disclosed embodiment, is used for making those skilled in the art realize or using the present invention.To these embodiments
Multiple amendment or modification will be apparent from for a person skilled in the art.General Principle described herein can be
In the case of the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to
Embodiment described herein, and it is to fit to the widest model consistent with principles disclosed herein and novel features
Enclose.
Claims (10)
1. the method for capture target, it is characterised in that including:
Catching device gathers the first focal length some width of ultra-low illumination image and the second focal length some width of ultra-low illumination image respectively, respectively
The identical ultra-low illumination image of focusing carries out image mosaic, obtains ultra-low illumination stitching image and second focal length of the first focal length
Ultra-low illumination stitching image；
The ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length are carried out image co-registration, obtains
Ultra-low illumination image after fusion, presents to aircraft human pilot by the ultra-low illumination image after described fusion, and display is merged
After ultra-low illumination image；
Ultra-low illumination image after merging identifies object image, when recognizing object image, starts laser lamp, root
According to the object image lock object recognized described ultra-low illumination image after merging, when described object meets pre-
If when arresting condition, launch arrest net, arrest described object, close described laser lamp.
2. the method for claim 1, it is characterised in that
Described gather the first focal length ultra-low illumination image and the second focal length ultra-low illumination image respectively, including: gather forward sight respectively
The second focal length ultra-low illumination image in the first focal length ultra-low illumination image on direction, front apparent direction, gathers and overlooks on direction
The first focal length ultra-low illumination image, the second focal length ultra-low illumination image overlooked on direction；
The identical ultra-low illumination image of described focusing respectively carries out image mosaic, obtains the ultra-low illumination spliced map of the first focal length
The ultra-low illumination stitching image of picture and the second focal length, including: the described front apparent direction part of the body cavity above the diaphragm housing the heart and lungs is entered away from identical ultra-low illumination image
Row image mosaic, obtains the second focal length in the ultra-low illumination stitching image of the first focal length in front apparent direction and front apparent direction
Ultra-low illumination stitching image；And the ultra-low illumination image that focal length on described vertical view direction is identical is carried out image mosaic, obtain
The ultra-low illumination stitching image overlooking the first focal length on direction and the ultra-low illumination spliced map of the second focal length overlooked on direction
Picture；
The ultra-low illumination stitching image of the described ultra-low illumination stitching image by described first focal length and described second focal length is carried out
Image co-registration, the ultra-low illumination image after being merged, including: the ultra-low illumination of the first focal length in described front apparent direction is spelled
The ultra-low illumination stitching image of the second focal length on map interlinking picture and described front apparent direction carries out image co-registration, obtains in front apparent direction
Ultra-low illumination image after fusion；By ultra-low illumination stitching image and the described vertical view side of the first focal length on described vertical view direction
The ultra-low illumination stitching image of the second focal length upwards carries out image co-registration, obtains overlooking the ultra-low illumination figure after merging on direction
Picture.
3. the method for claim 1, it is characterised in that described method also includes: whether detection forward sight shooting direction is located
In level, when detect be not in level time, adjust orientation to level；Detection overlooks whether shooting direction is in vertically, works as inspection
Measure when being not in vertical, adjust orientation to vertically.
4. the method for claim 1, it is characterised in that described method also includes: preserve the ultra-low illumination image merged.
5. method as claimed in claim 4, it is characterised in that described method also includes: by the ultra-low illumination after described fusion
Image rendering is in the satellite map prestored, and shows.
6. the method for claim 1, it is characterised in that described method also includes: when receiving what control centre sent
During operational order, resolve described operational order, perform corresponding operating according to described operational order.
7. method as claimed in claim 6, it is characterised in that described operational order includes firing order, when receiving transmitting
During instruction, described catching device launches arrest net.
8. method as claimed in claim 6, it is characterised in that described operational order includes closing laser lamp instruction, works as reception
To when closing laser lamp instruction, stop described laser lamp and power.
9. the catching device for capture target, it is characterised in that including:
Image capture module, for gathering the first focal length some width of ultra-low illumination image and the second focal length ultra-low illumination image respectively
Some width；
Image mosaic module, carries out image mosaic for the ultra-low illumination image that focusing is identical respectively, obtains the first focal length
The ultra-low illumination stitching image of ultra-low illumination stitching image and the second focal length；
Image co-registration module, for by the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length
Carry out image co-registration, the ultra-low illumination image after being merged；
Display module, for presenting to aircraft human pilot, after display is merged by the ultra-low illumination image after described fusion
Ultra-low illumination image；
Capture target module, identifies object image for the ultra-low illumination image after described fusion, is recognizing target
During object image, start laser lamp, according to the object image lock mesh recognized described ultra-low illumination image after merging
Mark thing, when described object meets default when arresting condition, launches arrest net, arrests described object, close described laser
Lamp.
10. catching device as claimed in claim 9, it is characterised in that described image capture module, for gathering forward sight side respectively
The second focal length ultra-low illumination image in the first focal length ultra-low illumination image upwards, front apparent direction, gathers and overlooks on direction
First focal length ultra-low illumination image, the second focal length ultra-low illumination image overlooked on direction；
Described image mosaic module, for the described front apparent direction part of the body cavity above the diaphragm housing the heart and lungs is carried out image mosaic away from identical ultra-low illumination image,
The ultra-low illumination obtaining the second focal length in the ultra-low illumination stitching image of the first focal length in front apparent direction and front apparent direction is spelled
Map interlinking picture；And the ultra-low illumination image that focal length on described vertical view direction is identical is carried out image mosaic, obtain overlooking on direction
The ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length overlooked on direction；
Described image co-registration module, for by the ultra-low illumination stitching image of the first focal length in described front apparent direction and described before
The ultra-low illumination stitching image of the second focal length in apparent direction carries out image co-registration, obtains the ultralow photograph after merging in front apparent direction
Degree image；By the second focal length on the ultra-low illumination stitching image of the first focal length on described vertical view direction and described vertical view direction
Ultra-low illumination stitching image carry out image co-registration, obtain overlooking the ultra-low illumination image after merging on direction.
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