CN113071672B - Multi-view-field target reconnaissance system and catapulting unmanned aerial vehicle carrying same - Google Patents
Multi-view-field target reconnaissance system and catapulting unmanned aerial vehicle carrying same Download PDFInfo
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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
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The object reconnaissance system comprises a large-view-field visible light module, a small-view-field visible light module, a large-view-field infrared module and a small-view-field infrared module, wherein an independent sensor board and an interface board are arranged behind each module, and the sensor board is connected with the interface board through a connector, and further comprises an FPGA core processing board and a high-definition image processing board which are arranged in the system; the large-view-field visible light module, the large-view-field infrared module and the small-view-field infrared module are connected with the FPGA core processing board, and the small-view-field visible light module is connected with the high-definition image processing board, so that the frame rate of the large-view-field visible light module can be improved, the small-view-field visible light module is not influenced by other modules, the image delay during target reconnaissance and tracking is effectively reduced, and the reconnaissance real-time performance is improved; the advantages of the large field of view and the small field of view are complementary, the reconnaissance action distance is improved, the size of the load sphere is miniaturized, and the method is better suitable for the ejection unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a multi-view-field target reconnaissance system and an ejection type unmanned aerial vehicle carrying the same.
Background
Currently, when performing target reconnaissance, a dual-view-field imaging system combining a visible light camera and two independent cameras of a thermal infrared imager is adopted. The visible light camera is responsible for visible light imaging and visible light image processing, so that target reconnaissance is performed in the daytime and under the condition of sufficient light, and the thermal infrared imager is responsible for infrared imaging and infrared image processing, so that target reconnaissance is performed at night and under the condition of dim light. The visible light camera of the target reconnaissance system is an independent camera and comprises two parts of imaging and image processing, the thermal infrared imager is an independent camera and comprises two parts of imaging and image processing, the two independent cameras are connected with the FPGA, and video images are output through the DSP/image processing module.
Conventional dual-field infrared optical systems fall into two categories: one type is a switching system in which the focal length of the optical system is changed by switching the lens group in the system. The optical system is characterized in that no moving optical element is arranged in a narrow-view-field optical path, the optical axis stability of the optical system is good, the system switching time is short, and the transmittance is high; there is a problem in that a group of lenses is in an idle state outside the optical path, and the lens use efficiency is not high. Further, a large space is required at the time of lens switching, and thus the lateral size of the optical system is large. The second type is an axial moving type, in which the focal length of the optical system is changed by changing the axial interval of the lens group, although the axial dimension is controlled by the system optimization design, satisfactory imaging quality can be obtained at a shorter axial dimension, and the disadvantage is that the axial dimension is larger.
In the whole, under the limited load size, two independent small-view-field (long-focus) camera modules lead to a larger load volume, and the catapulting unmanned aerial vehicle has strict requirements on the size of the reconnaissance load, and only a large-view-field (short-focus or zooming) camera can be passively selected, so that the reconnaissance requirement of the catapulting unmanned aerial vehicle cannot be met, meanwhile, the small-view-field visible light module is influenced by other modules, the object reconnaissance efficiency is low, and the image has delay in tracking. And a large field of view (short focal) camera cannot find and track a long-distance target in time. On the other hand, the traditional optical zoom system has weak emission impact resistance, and when the catapulting unmanned aerial vehicle takes off, the optical focusing component is easy to damage, so that focusing cannot be performed.
Disclosure of Invention
Therefore, the invention provides a multi-view-field target reconnaissance system and an ejection type unmanned aerial vehicle carrying the same, which realize multi-view-field imaging and image processing in one system and solve the problems of short acting distance, small view field and low image processing delay reconnaissance efficiency.
In order to achieve the above object, the present invention provides the following technical solutions: a multi-view field target reconnaissance system comprises a large-view field visible light module, a small-view field visible light module, a large-view field infrared module, a small-view field infrared module, an FPGA core processing board and a high-definition image processing board;
The large-view-field visible light module is provided with a large-view-field visible light sensor board and a large-view-field visible light interface board, and is electrically connected with the FPGA core processing board through the large-view-field visible light sensor board and the large-view-field visible light interface board;
The small visual field visible light module is provided with a small visual field visible light sensor board and a small visual field visible light interface board, and is electrically connected with the high-definition image processing board through the small visual field visible light sensor board and the small visual field visible light interface board;
The large-view-field infrared module is provided with a large-view-field infrared sensor plate and a large-view-field infrared interface plate, and is electrically connected with the FPGA core processing plate through the large-view-field infrared sensor plate and the large-view-field infrared interface plate;
the small-view infrared module is provided with a small-view infrared sensor board and a small-view infrared interface board, and is electrically connected with the FPGA core processing board through the small-view infrared sensor board and the small-view infrared interface board;
The high-definition image processing board is electrically connected with the FPGA core processing board, the large-view-field visible light module and the large-view-field infrared module are used for searching targets in a close-range scene area, and the small-view-field visible light module and the small-view-field infrared module are used for detecting long-range targets and carefully observing or amplifying the searched targets; the high-definition image processing board is used for carrying out image processing on the large-view-field visible light module and the small-view-field visible light module.
As the preferable scheme of the multi-view field target reconnaissance system, the large-view field visible light sensor board is connected with the large-view field visible light interface board by adopting a connector;
the small visual field visible light sensor board is connected with the small visual field visible light interface board by adopting a connector;
The large-view-field infrared sensor board is connected with the large-view-field infrared interface board by adopting a connector;
the small-view-field infrared sensor board is connected with the small-view-field infrared interface board by adopting a connector.
As the preferable scheme of the multi-view field target reconnaissance system, a large-view field visible light interface board of the large-view field visible light module, a large-view field infrared interface board of the large-view field infrared module and a small-view field infrared interface board of the small-view field infrared module are all connected with an I2C communication interface of an FPGA core processing board through flexible coaxial lines, and the small-view field visible light interface board of the small-view field visible light module is connected with a high-definition image processing board through the flexible coaxial lines;
The large-view-field infrared module and the small-view-field infrared module are connected with the FPGA core processing board through one-to-two flexible coaxial lines;
and the FPGA core processing board is connected with the high-definition image processing board through a TTL serial port.
As a preferable scheme of the multi-view field target reconnaissance system, the large-view field visible light module further comprises a large-view field visible light lens and a large-view field visible light sensor integrated on a large-view field visible light sensor board, and the large-view field visible light lens is connected with the large-view field visible light sensor; the large-view-field visible light interface board provides power for the large-view-field visible light sensor;
The small-view-field visible light module further comprises a small-view-field visible light lens and a small-view-field visible light sensor integrated on the small-view-field visible light sensor board, and the small-view-field visible light lens is connected with the small-view-field visible light sensor; the small visual field visible light interface board provides power for the small visual field visible light sensor;
The large-view-field infrared module further comprises a large-view-field infrared lens and a large-view-field infrared sensor integrated on the large-view-field infrared sensor plate, and the large-view-field infrared lens is connected with the large-view-field infrared sensor; the large-view-field infrared interface board provides power for the large-view-field infrared sensor;
The small-view-field infrared module further comprises a small-view-field infrared lens and a small-view-field infrared sensor integrated on the small-view-field infrared sensor board, and the small-view-field infrared lens is connected with the small-view-field infrared sensor; the small-view-field infrared interface board provides power for the small-view-field infrared sensor;
The large visual field visible light module, the small visual field visible light module and the large visual field infrared module are connected through a three-support type integrated structural member, and the three-support type integrated structural member is simultaneously connected with a large visual field visible light lens, a large visual field visible light sensor board, a large visual field visible light interface board, a small visual field visible light lens, a small visual field visible light sensor board, a small visual field visible light interface board, a large visual field infrared lens, a large visual field infrared sensor board and a large visual field infrared interface board;
The small-view-field infrared module is connected with the small-view-field infrared lens, the small-view-field infrared sensor plate and the small-view-field infrared interface plate of the small-view-field infrared module through independent integrated structural members.
As the preferable scheme of the multi-view field target reconnaissance system, the large-view field visible light sensor board and the large-view field visible light interface board are of a two-layer laminated structure;
The small visual field visible light sensor board and the small visual field visible light interface board are of a two-layer laminated structure;
The large-view-field infrared sensor board and the large-view-field infrared interface board are of a two-layer laminated structure;
the small-view-field infrared sensor plate and the small-view-field infrared interface plate are of a single-layer parallel structure.
As the preferable scheme of the multi-view field target reconnaissance system, the FPGA core processing board carries out image processing, target tracking and character superposition on a large-view field visible light module at a high frame frequency of 120 HZ; and the FPGA core processing board converts the 120HZ image into a 60HZ image and transmits the 60HZ image to the high-definition image processing board for dimming processing.
As the optimal scheme of the multi-view field target reconnaissance system, the FPGA core processing board carries out real-time adjustment on parameters of integration time, analog gain and digital gain on the large-view field visible light module through an I2C communication interface;
The FPGA core processing board carries out initialization configuration on parameters of integration time, integration capacitance and bias voltage of the large-field infrared module and the small-field infrared module through the I2C communication interface;
and the high-definition image processing board adjusts the parameters of integration time, analog gain and digital gain of the small-view-field visible light module in real time through the I2C communication interface.
As a preferable scheme of the multi-view-field target reconnaissance system, after the original image of the large-view-field visible light module is analyzed by the FPGA, the original image is transmitted to a high-definition image processing board for performing dead point replacement, non-uniform correction, dimming, color restoration and automatic white balance;
The small-view-field visible light module performs dead point replacement, nonuniform correction, dimming, color restoration and automatic white balance in a high-definition image processing board, and transmits the processed image to an FPGA core processing board for tracking processing;
And the large-view-field infrared module and the small-view-field infrared module perform dead point replacement, non-uniform correction and dimming on the FPGA core processing board at the same time.
As the preferable scheme of the multi-view field target reconnaissance system, the FPGA core processing board comprises a video tracking function, and the video tracking function is used for carrying out target tracking and character superposition on a large-view field infrared module, a small-view field infrared module, a large-view field visible light module and a small-view field visible light module.
The invention also provides an ejection type unmanned aerial vehicle which is provided with the multi-view-field target reconnaissance system.
The invention has the following advantages: the target reconnaissance system comprises a large-view-field visible light module, a small-view-field visible light module, a large-view-field infrared module and a small-view-field infrared module, wherein an independent sensor board and an interface board are arranged behind each module, the sensor board is connected with the interface board through a connector, and the target reconnaissance system further comprises an FPGA core processing board and a high-definition image processing board which are arranged in the system; the large-view-field visible light module, the large-view-field infrared module and the small-view-field infrared module are connected with the FPGA core processing board, and the small-view-field visible light module is connected with the high-definition image processing board, so that the frame rate of the large-view-field visible light module can be improved, the small-view-field visible light module is not influenced by other modules, the image delay during target reconnaissance and tracking is effectively reduced, and the reconnaissance real-time performance is improved; the advantages of the large and small fields of view are complementary, the reconnaissance action distance is improved, and the search range is enlarged; the invention also reduces the focal length of the camera, reduces the load size, effectively saves the internal space of the load, realizes the miniaturization of the size of the load sphere, and is better suitable for the ejection unmanned aerial vehicle; meanwhile, the problem that the zoom camera is easy to damage when the catapult unmanned aerial vehicle takes off is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.
FIG. 1 is a schematic diagram of a multi-field target reconnaissance system architecture according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a load sphere structure of a multi-field target reconnaissance system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a load sphere structure of a multi-field target reconnaissance system at another view angle provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a connection of a large-field visible light module, a small-field visible light module and a large-field infrared module through a three-bracket type integrated structural member provided in an embodiment of the present invention;
fig. 5 is a schematic diagram of a small-view infrared module according to an embodiment of the present invention, where the small-view infrared module is connected to the small-view infrared module through an independent integral structural member.
In the figure: 1. a large field visible light module; 2. a small field visible light module; 3. a large field infrared module; 4. a small-view-field infrared module; 5. an FPGA core processing board; 6. a high definition image processing board; 7. a large field of view visible light sensor panel; 8. a large field visible light interface board; 9. a small field-of-view visible light sensor panel; 10. a small field visible light interface board; 11. a large field of view infrared sensor plate; 12. a large field infrared interface board; 13. a small field of view infrared sensor plate; 14. a small field infrared interface board; 15. three-support type integrated structural member; 16. and (3) an independent integrated structural member.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be emphasized that "large", "small", "large field of view", "small field of view", "far", "near" and "high definition" referred to in the present application are conventional expressions known to those skilled in the art of cameras, and do not cause ambiguity in the technical solution and ambiguity in the protection scope of the present application, and those skilled in the art know that "large", "small", "far" and "near" are relative concepts.
The processing methods and algorithms involved in integrating time, analog gain, digital gain parameter adjustment, dead pixel replacement, non-uniform correction, dimming, color restoration, automatic white balance, etc. in the present application are known to those skilled in the art.
Referring to fig. 1,2 and 3, a multi-view field target reconnaissance system is provided, which comprises a large-view field visible light module 1, a small-view field visible light module 2, a large-view field infrared module 3, a small-view field infrared module 4, an FPGA core processing board 5 and a high-definition image processing board 6;
The large-view-field visible light module 1 is provided with a large-view-field visible light sensor plate 7 and a large-view-field visible light interface plate 8, and the large-view-field visible light module 1 is electrically connected with the FPGA core processing plate 5 through the large-view-field visible light sensor plate 7 and the large-view-field visible light interface plate 8;
The small-view-field visible light module 2 is configured with a small-view-field visible light sensor board 9 and a small-view-field visible light interface board 10, and the small-view-field visible light module 2 is electrically connected with the high-definition image processing board 6 through the small-view-field visible light sensor board 9 and the small-view-field visible light interface board 10;
The large-field infrared module 3 is provided with a large-field infrared sensor plate 11 and a large-field infrared interface plate 12, and the large-field infrared module 3 is electrically connected with the FPGA core processing plate 5 through the large-field infrared sensor plate 11 and the large-field infrared interface plate 12;
The small-field infrared module 4 is provided with a small-field infrared sensor plate 13 and a small-field infrared interface plate 14, and the small-field infrared module 4 is electrically connected with the FPGA core processing board 5 through the small-field infrared sensor plate 13 and the small-field infrared interface plate 14;
The high-definition image processing board 6 is electrically connected with the FPGA core processing board 5, the large-view-field visible light module 1 and the large-view-field infrared module 3 are used for searching targets in a short-distance scene area, and the small-view-field visible light module 2 and the small-view-field infrared module 4 are used for long-distance target reconnaissance and carefully observing or amplifying the searched targets; the high-definition image processing board 6 is used for performing image processing on the large-view-field visible light module 1 and the small-view-field visible light module 2.
In this embodiment, the large-view-field visible light sensor board 7 and the large-view-field visible light interface board 8 are connected by a connector;
the small visual field visible light sensor board 9 is connected with the small visual field visible light interface board 10 by adopting a connector;
the large-view-field infrared sensor board 11 is connected with the large-view-field infrared interface board 12 by adopting a connector;
The small-view-field infrared sensor board 13 is connected with the small-view-field infrared interface board 14 through a connector.
The large-view-field visible light sensor plate 7 and the large-view-field visible light interface plate 8 are of a two-layer laminated structure;
The small visual field visible light sensor board 9 and the small visual field visible light interface board 10 are of a two-layer laminated structure;
the large-view-field infrared sensor plate 11 and the large-view-field infrared interface plate 12 are of a two-layer laminated structure;
the small-view-field infrared sensor plate 13 and the small-view-field infrared interface plate 14 are of a single-layer parallel structure.
Specifically, the large visual field visible light sensor plate 7 and the large visual field visible light interface plate 8, the small visual field visible light sensor plate 9 and the small visual field visible light interface plate 10, and the large visual field infrared sensor plate 11 and the large visual field infrared interface plate 12 all adopt two-layer structures and are connected through connectors, so that the internal space of a load can be saved, and the size of the load can be reduced. The small-view infrared sensor board 13 and the small-view infrared interface board 14 are designed into a single-layer large-area structure, because the small-view infrared module 4 is larger, the occupied load front space is more, and the FPGA core processing board 5 and the high-definition image processing board 6 are required to be placed at the rear position of the load corresponding to the small-view infrared module 4, so that the sensor board and the interface board of the small-view infrared module 4 are designed into an integrated single-layer plate, the load inner space is effectively saved, the miniaturization of the load sphere size is achieved, and the small-view infrared interface board is better suitable for the ejection type unmanned aerial vehicle.
In this embodiment, the large-field visible light interface board 8 of the large-field visible light module 1, the large-field infrared interface board 12 of the large-field infrared module 3, and the small-field infrared interface board 14 of the small-field infrared module 4 are all connected with the I2C communication interface of the FPGA core processing board 5 through flexible coaxial lines, and the small-field visible light interface board 10 of the small-field visible light module 2 is connected with the high-definition image processing board 6 through flexible coaxial lines; the FPGA core processing board 5 is connected with the high-definition image processing board 6 through a TTL serial port, and transmits original image signals according to SUBLVDS protocols.
In this embodiment, the large-view-field infrared module 3 and the small-view-field infrared module 4 are connected to the FPGA core processing board by a split flexible coaxial line. The two sub-lines of the split coaxial line are respectively connected with the large-view-field infrared module 3 and the small-view-field infrared module 4, and the bus at the other end of the split coaxial line is connected with the FPGA core processing board 5.
Specifically, the FPGA core processing board 5 adjusts parameters of integration time, analog gain and digital gain of the large-field visible light module 1 in real time through the I2C communication interface; thereby driving the large-view-field visible light module 1 and realizing real-time parameter adjustment. The FPGA core processing board 5 carries out initialization configuration on parameters of integration time, integration capacitance and bias voltage on the large-field infrared module 3 and the small-field infrared module 4 through the I2C communication interface; thereby generating driving signals required by the large-view-field infrared module 3 and the small-view-field infrared module 4 and realizing the driving of the large-view-field infrared module 3 and the small-view-field infrared module 4. The high-definition image processing board 6 adjusts the parameters of integration time, analog gain and digital gain of the small-view-field visible light module 2 in real time through the I2C communication interface. Thereby driving the small-view-field visible light module 2 and realizing real-time parameter adjustment.
Specifically, the FPGA core processing board 5 is connected with four paths of video channels, the large-view-field infrared module 3, the small-view-field infrared module 4, the large-view-field visible module 1 and the high-definition image processing board 6. The FPGA core processing board 5 has the function of controlling and switching four paths of video channels, and can inform the high-definition image processing board 6 of which path of video stream is output through a serial port protocol; the high-definition image processing board 6 selects different processing modes according to different video streams.
Specifically, the FPGA core processing board 5 is connected with the high-definition image processing board 6 through a TTL serial port; the cable is flexible superfine coaxial cable, and the flexibility is great, and the position shape can be along with the appearance change.
In this embodiment, the large-view-field visible light module 1 further includes a large-view-field visible light lens and a large-view-field visible light sensor integrated on the large-view-field visible light sensor board 7, where the large-view-field visible light lens is connected with the large-view-field visible light sensor; the large-view-field visible light interface board 8 provides power for a large-view-field visible light sensor;
the small-view-field visible light module 2 further comprises a small-view-field visible light lens and a small-view-field visible light sensor integrated on the small-view-field visible light sensor board 9, and the small-view-field visible light lens is connected with the small-view-field visible light sensor; the small visual field visible light interface board 10 provides power for a small visual field visible light sensor;
The large-view-field infrared module 3 further comprises a large-view-field infrared lens and a large-view-field infrared sensor integrated on the large-view-field infrared sensor plate 11, and the large-view-field infrared lens is connected with the large-view-field infrared sensor; the large field infrared interface board 12 provides power for the large field infrared sensor;
the small-field infrared module 4 further comprises a small-field infrared lens and a small-field infrared sensor integrated on the small-field infrared sensor plate 13, and the small-field infrared lens is connected with the small-field infrared sensor; the small field infrared interface board 14 provides power to the small field infrared sensor.
In the embodiment, the large-view-field visible light module 1, the small-view-field visible light module 2 and the large-view-field infrared module 3 are connected through a three-support type integrated structural member 15, and the three-support type integrated structural member 15 is simultaneously connected with the large-view-field visible light lens, the large-view-field visible light sensor plate 7, the large-view-field visible light interface plate 8, the small-view-field visible light lens, the small-view-field visible light sensor plate 9, the small-view-field visible light interface plate 10, the large-view-field infrared lens, the large-view-field infrared sensor plate 11 and the large-view-field infrared interface plate 12.
In the embodiment, the small-view infrared module 4 is connected with the small-view infrared lens, the small-view infrared sensor board 13 and the small-view infrared interface board 14 of the small-view infrared module 4 through independent integrated structural members 16 in auxiliary fig. 5.
In this embodiment, the FPGA core processing board 5 performs image processing, object tracking, and character superposition on the large-field visible light module 1 at a high frame rate of 120 HZ; the FPGA core processing board 5 converts the 120HZ image into a 60HZ image and transmits the 60HZ image to the high-definition image processing board 6 for dimming processing.
Specifically, under the high resolution condition, the receivable frame rate of the high definition image processing board 6 is 30 HZ-60 HZ, the large visual field visible light module 1 is connected with the FPGA core processing board 5, and the FPGA core processing board 5 performs image processing, target tracking and character superposition on the large visual field visible light module 1 at a high frame rate of 120HZ, so that the frame rate of the large visual field visible light module 1 is improved, the image delay when the large visual field visible light module 1 tracks a target is reduced, and the real-time performance of target tracking is improved; meanwhile, the 120HZ image is converted into a 60HZ image and transmitted to the high-definition image processing board 6 for dimming processing, so that a good image processing effect is ensured.
In this embodiment, the large-field visible light module 1 and the small-field visible light module 2 perform dead pixel replacement, non-uniform correction, dimming, color reduction and automatic white balance in the high-definition image processing board 6; the large-view-field infrared module 3 and the small-view-field infrared module 4 perform dead point replacement, non-uniform correction and dimming links (infrared does not need color reduction and automatic white balance) on the FPGA core processing board 5.
In this embodiment, the FPGA core processing board 5 includes a video tracking function, where the video tracking function is used to track the target and superimpose characters on the large-field infrared module 3, the small-field infrared module 4, the large-field visible module 1, and the small-field visible module 2.
Specifically, the FPGA core processing board 5 comprises a video tracking function, and the video tracking function realizes the target tracking and character superposition functions of the large-view-field infrared module 3, the small-view-field infrared module 4 and the large-view-field visible module 1 through software algorithm and hardware cooperation. And the high-definition image processing board 6 outputs the video stream to the FPGA core processing board 5 through the BT1120 protocol, and the FPGA core processing board 5 performs target tracking and character superposition processing on the video stream, so that the target tracking and character superposition functions of the small-view-field visible light module 2 are realized.
The embodiment of the invention also provides an ejection type unmanned aerial vehicle, which is provided with the multi-view-field target reconnaissance system. Specifically, the catapulting unmanned aerial vehicle comprises a body and a multi-view-field target reconnaissance system carried in the unmanned aerial vehicle. The multi-view-field target reconnaissance system comprises a large-view-field visible light module 1, a small-view-field visible light module 2, a large-view-field infrared module 3 and a small-view-field infrared module 4, wherein an independent sensor board and an interface board are arranged behind each module, the sensor board is connected with the interface board through a connector, and the multi-view-field target reconnaissance system further comprises an FPGA core processing board 5 and a high-definition image processing board 6 which are arranged inside the system; the large-view-field visible light module 1, the large-view-field infrared module 3 and the small-view-field infrared module 4 are connected with the FPGA core processing board 5 through flexible micro-coaxial wires, and the small-view-field visible light module 2 is connected with the high-definition image processing board 6.
In the conventional art, two independent cameras: the device comprises a visible light camera and a thermal infrared imager. The visible light camera is responsible for visible light imaging and visible light image processing, and the thermal infrared imager is responsible for infrared imaging and infrared image processing; in the embodiment of the invention, two independent cameras are designed into a visible light module and an infrared module, the visible light module is used for visible light imaging, the infrared module is used for infrared imaging, the visible light module image processing part is realized in a high-definition image processing board 6, and the infrared module image processing part is realized in an FPGA core processing board 5.
The traditional visible light camera of the target reconnaissance system is an independent camera and comprises two parts of imaging and image processing, the thermal infrared imager is an independent camera and comprises two parts of imaging and image processing, the two independent cameras are connected with the FPGA, and video images are output through the DSP/image processing module. The embodiment of the invention designs the traditional visible light camera into the visible light module, the visible light module is only used for visible light imaging, and the image processing parts of the large-view-field visible light module 1 and the small-view-field visible light module 2 are realized in the high-definition image processing board 6, so that the modules with smaller view fields and longer focal lengths are adopted as far as possible under the condition that the catapulting unmanned aerial vehicle load size is met.
According to the embodiment of the invention, the traditional thermal infrared imager is designed into an infrared module, the large-view-field infrared module 3 and the small-view-field infrared module 4 are only used for infrared imaging, and the image processing part of the infrared module is realized in the FPGA core processing board 5, so that the infrared module can be used as far as possible under the condition of meeting the load size of the catapulting unmanned aerial vehicle, and the modules with smaller view fields and longer focal lengths are adopted. Because the FPGA core processing board 5 has the characteristics of more pins and strong expandability, the multi-path sensor can be connected. According to the embodiment of the invention, the large-view-field infrared module 3, the small-view-field infrared module 4 and the large-view-field visible light module 1 are connected with the FPGA core processing board 5, so that multi-view-field imaging and image processing in one system are realized; in the embodiment of the invention, the small-view-field visible light module 2 is connected with the high-definition image processing board 6, and the high-definition image processing board 6 directly performs image processing on the small-view-field visible light module 2, so that the image processing delay is reduced and the small-view-field visible light module is not influenced by other modules;
The traditional target reconnaissance system consists of an independent visible light camera with imaging and image processing functions and an independent thermal imager with imaging and image processing functions. Since both imaging and image processing functions are implemented inside the camera, the camera module is large, resulting in a large load. The catapulting unmanned aerial vehicle has strict requirements on the size of the reconnaissance load, and only a large-view-field (short-focus or zooming) camera can be selected passively. On the other hand, the traditional optical zoom camera has weak emission impact resistance, and when the catapulting unmanned aerial vehicle takes off, the optical focusing component is easy to damage, so that focusing cannot be performed. According to the invention, a traditional small view field (a long-focus camera or a zoom camera) is designed to comprise a large view field visible light module 1 and a small view field visible light module 2 of a large and small view field fixed-focus camera, so that the focal length of the camera is reduced, the load size is reduced, and the load requirement of an ejection unmanned aerial vehicle is met; meanwhile, the problem that the zoom camera is easy to damage when the catapult unmanned aerial vehicle takes off is avoided.
The embodiment of the invention adopts a large-view-field visible light module 1, a small-view-field visible light module 2, a large-view-field infrared module 3 and a small-view-field infrared module 4. The large-view-field visible light module 1 and the large-view-field infrared module 3 are used for large-range observation and searching of suspected targets in a short-distance scene area, the small-view-field visible light module 2 and the small-view-field infrared module 4 are used for long-distance target reconnaissance, and the searched targets are carefully observed or amplified, so that target details are clearly seen. The large view field and the small view field are matched with each other, so that the failure distance is reduced and the action distance of the reconnaissance system is effectively improved under the condition of limited load size.
In the embodiment of the invention, the infrared module uses the uncooled dual-view infrared thermal imager, and compared with the method for changing the infrared optical system in the traditional mode, the method has the following advantages: 1, the volume is small, the weight is light, the cost is low, and the volume, the weight and the cost are about 1/2 of those of the traditional optical system mode; 2, the acquisition process is simple, the fixed focus lens is subjected to athermalization treatment, and imaging is stable; 3, the power consumption is low, and the fixed focus lens does not need motor driving; and 4, the field of view is quickly switched, the traditional switching mode generally adopts motor driving machinery to perform conversion, about 10s is needed, and the switching can be realized only by 1s in the invention.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (8)
1. The multi-view field target reconnaissance system is characterized by comprising a large-view field visible light module (1), a small-view field visible light module (2), a large-view field infrared module (3), a small-view field infrared module (4), an FPGA core processing board (5) and a high-definition image processing board (6);
the large-view-field visible light module (1) is provided with a large-view-field visible light sensor board (7) and a large-view-field visible light interface board (8), and the large-view-field visible light module (1) is electrically connected with the FPGA core processing board (5) through the large-view-field visible light sensor board (7) and the large-view-field visible light interface board (8);
the small visual field visible light module (2) is provided with a small visual field visible light sensor board (9) and a small visual field visible light interface board (10), and the small visual field visible light module (2) is electrically connected with the high-definition image processing board (6) through the small visual field visible light sensor board (9) and the small visual field visible light interface board (10);
The large-view-field infrared module (3) is provided with a large-view-field infrared sensor plate (11) and a large-view-field infrared interface plate (12), and the large-view-field infrared module (3) is electrically connected with the FPGA core processing plate (5) through the large-view-field infrared sensor plate (11) and the large-view-field infrared interface plate (12);
the small-view-field infrared module (4) is provided with a small-view-field infrared sensor plate (13) and a small-view-field infrared interface plate (14), and the small-view-field infrared module (4) is electrically connected with the FPGA core processing plate (5) through the small-view-field infrared sensor plate (13) and the small-view-field infrared interface plate (14);
The high-definition image processing board (6) is electrically connected with the FPGA core processing board (5), the large-view-field visible light module (1) and the large-view-field infrared module (3) are used for searching targets in a short-distance scene area, and the small-view-field visible light module (2) and the small-view-field infrared module (4) are used for long-distance target reconnaissance and carefully observing or amplifying the searched targets; the high-definition image processing board (6) is used for carrying out image processing on the large-view-field visible light module (1) and the small-view-field visible light module (2);
The FPGA core processing board (5) performs image processing, target tracking and character superposition on the large-view-field visible light module (1) at a high frame frequency of 120 HZ; the FPGA core processing board (5) converts the 120HZ image into a 60HZ image and transmits the 60HZ image to the high-definition image processing board (6) for dimming processing;
The FPGA core processing board (5) comprises a video tracking function, and the video tracking function is used for carrying out target tracking and character superposition on the large-view-field infrared module (3), the small-view-field infrared module (4), the large-view-field visible light module (1) and the small-view-field visible light module (2).
2. The multi-field target reconnaissance system of claim 1, wherein said large field visible light sensor board (7) is connected to a large field visible light interface board (8) by connectors;
the small visual field visible light sensor board (9) is connected with the small visual field visible light interface board (10) by adopting a connector;
the large-view-field infrared sensor board (11) is connected with the large-view-field infrared interface board (12) through a connector;
The small-view-field infrared sensor board (13) is connected with the small-view-field infrared interface board (14) through a connector.
3. The multi-view-field target reconnaissance system according to claim 1, wherein a large-view-field visible light interface board (8) of the large-view-field visible light module (1), a large-view-field infrared interface board (12) of the large-view-field infrared module (3) and a small-view-field infrared interface board (14) of the small-view-field infrared module (4) are connected with an I2C communication interface of the FPGA core processing board (5) through flexible coaxial lines, and a small-view-field visible light interface board (10) of the small-view-field visible light module (2) is connected with the high-definition image processing board (6) through flexible coaxial lines;
the large-view-field infrared module (3) and the small-view-field infrared module (4) are connected with the FPGA core processing board (5) through one-to-two flexible coaxial lines;
And the FPGA core processing board (5) is connected with the high-definition image processing board (6) through a TTL serial port.
4. The multi-field target reconnaissance system according to claim 1, wherein the large field visible light module (1) further comprises a large field visible light lens and a large field visible light sensor integrated on a large field visible light sensor board (7), the large field visible light lens being connected with the large field visible light sensor; the large-view-field visible light interface board (8) provides power for a large-view-field visible light sensor;
The small-view-field visible light module (2) further comprises a small-view-field visible light lens and a small-view-field visible light sensor integrated on the small-view-field visible light sensor board (9), and the small-view-field visible light lens is connected with the small-view-field visible light sensor; the small-view-field visible light interface board (10) provides power for a small-view-field visible light sensor;
The large-view-field infrared module (3) further comprises a large-view-field infrared lens and a large-view-field infrared sensor integrated on the large-view-field infrared sensor plate (11), and the large-view-field infrared lens is connected with the large-view-field infrared sensor; the large-view-field infrared interface board (12) provides power for the large-view-field infrared sensor;
The small-view-field infrared module (4) further comprises a small-view-field infrared lens and a small-view-field infrared sensor integrated on a small-view-field infrared sensor plate (13), and the small-view-field infrared lens is connected with the small-view-field infrared sensor; the small-view-field infrared interface board (14) provides power for the small-view-field infrared sensor;
The large-view-field visible light module (1), the small-view-field visible light module (2) and the large-view-field infrared module (3) are connected through a three-support type integrated structural member (15), and the three-support type integrated structural member (15) is simultaneously connected with a large-view-field visible light lens, a large-view-field visible light sensor plate (7), a large-view-field visible light interface plate (8), a small-view-field visible light lens, a small-view-field visible light sensor plate (9), a small-view-field visible light interface plate (10), a large-view-field infrared lens, a large-view-field infrared sensor plate (11) and a large-view-field infrared interface plate (12);
the small-view-field infrared module (4) is connected with a small-view-field infrared lens, a small-view-field infrared sensor plate (13) and a small-view-field infrared interface plate (14) of the small-view-field infrared module (4) through independent integrated structural members (16).
5. The multi-field target reconnaissance system of claim 1, wherein said large field visible light sensor panel (7) and large field visible light interface panel (8) are of a two-layer stacked construction;
The small visual field visible light sensor board (9) and the small visual field visible light interface board (10) are of a two-layer laminated structure;
the large-view-field infrared sensor plate (11) and the large-view-field infrared interface plate (12) are of a two-layer laminated structure;
the small-view-field infrared sensor plate (13) and the small-view-field infrared interface plate (14) are of a single-layer parallel structure.
6. A multi-field-of-view target reconnaissance system according to claim 3, wherein the FPGA core processing board (5) performs real-time integration time, analog gain and digital gain parameter adjustment on the large field-of-view visible light module (1) through the I2C communication interface;
the FPGA core processing board (5) carries out initialization configuration on parameters of integration time, integration capacitance and bias voltage on the large-view-field infrared module (3) and the small-view-field infrared module (4) through the I2C communication interface;
and the high-definition image processing board (6) carries out real-time adjustment on integration time, analog gain and digital gain parameters of the small-view-field visible light module (2) through the I2C communication interface.
7. The multi-view-field target reconnaissance system according to claim 1, wherein the original image of the large-view-field visible light module (1) is transmitted to a high-definition image processing board (6) for performing dead pixel replacement, non-uniform correction, dimming, color restoration and automatic white balance after being analyzed by an FPGA;
The small-view-field visible light module (2) performs dead point replacement, nonuniform correction, dimming, color restoration and automatic white balance in the high-definition image processing board (6), and transmits the processed image to the FPGA core processing board (5) for tracking processing;
the large-view-field infrared module (3) and the small-view-field infrared module (4) perform bad point replacement, non-uniform correction and dimming links on the FPGA core processing board (5) at the same time.
8. An catapulting unmanned aerial vehicle, wherein the multi-field-of-view target reconnaissance system according to any one of claims 1 to 7 is mounted.
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| CN104580858B (en) * | 2014-12-26 | 2017-08-29 | 北京航天控制仪器研究所 | A kind of unmanned plane is imaged load with multi-source |
| CN209120325U (en) * | 2018-11-27 | 2019-07-16 | 江苏北方湖光光电有限公司 | A kind of zooming system with optical axis stable |
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