A drive system supporting two-dimensional image motion compensation function

Abstract

This application belongs to the field of aerospace technology and provides a CCD driving system supporting two-dimensional image motion compensation function, including: a camera controller, a two-dimensional image motion compensation timing driving circuit, a two-dimensional image motion compensation image interface module, a two-dimensional image motion compensation image fusion module, a two-dimensional image motion compensation image storage module, and a two-dimensional image motion compensation image display module connected in sequence; it also includes a first lens, a first area array CCD detector, a first detector front-end signal processing module, a first horizontal driving circuit, and a first vertical driving circuit; a second lens, a second area array CCD detector, a second detector front-end signal processing module, a second horizontal driving circuit, and a second vertical driving circuit; the driving system of this application can achieve on-chip compensation for roll, pitch, and yaw motions without moving components, and can reduce the quality, volume, power consumption, and cost of the imaging system.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and particularly relates to a drive system supporting a two-dimensional image motion compensation function. Background Art

[0002] During reconnaissance, in order to avoid the surveillance of enemy radars, reconnaissance aircraft need to fly at high speed and low altitude. Flying at low altitude and high speed greatly improves the aircraft's own battlefield survival ability and in-depth reconnaissance and surveillance ability. However, at this time, serious image motion will appear on the imaging target surface of aerial imaging, resulting in blurred aerial imaging. The existence of image motion greatly affects the imaging quality of the camera, significantly reducing the resolution of aerial photography images. When there is image motion, the target contour captured is not clear, and there is a more or less transitional area between the target and the surrounding background, which expands as the image motion increases. When the transitional area reaches a certain level, the imaging of adjacent two targets will overlap or even be indistinguishable. In addition to forward flight, the flight attitude of a reconnaissance aircraft will also be adjusted according to the needs of technical and tactical requirements, such as: pitch, yaw, roll, and complex multi-degree-of-freedom motion. Corresponding to different flight attitudes, different image motion trajectories will be left on the target surface by the image. Therefore, it is of great significance to compensate for the attitude angles generated by the carrier aircraft's flight attitude. Regarding the impact of the carrier aircraft's flight attitude on the imaging performance of an aerial camera and the compensation of the carrier aircraft's flight attitude, scholars at home and abroad have carried out relevant research. Due to the special use of aerial cameras, relevant information on platform attitude image motion compensation in foreign research is highly confidential, and there is limited introduction in relevant literature.

[0003] Currently developed image motion compensation methods mainly start from three aspects: one is to use electronics means to develop a CCD device with Time Delay and Integration (TDI) function, and adopt charge transfer drive technology for a specific CCD device to control the charge transfer speed of the CCD during the integration time, then image motion compensation can be carried out; the second is to research image processing algorithms to realize the clarification of blurred images or the correction of image rotation through post-processing of images, but image information will be lost; the third is to use motion control technology to compensate for the image motion caused by motion imaging by controlling inertial stabilization platforms, scanning mirrors, fast steering mirrors, etc. This method has very high requirements for structural accuracy, reliability, and stability.

[0004] For aviation cameras at home and abroad, the camera compensation methods include mechanical, optical, image, and electronic image motion compensation methods. Mechanical and optical compensation systems will significantly increase the weight and volume of aviation cameras; the image-based image motion compensation method is a post-compensation method and lacks real-time performance. Currently reported electronic image motion compensation methods mainly use TDICCD for forward image motion compensation and stepped block compensation for aviation asynchronous image motion, but no good solution has been given for the roll, pitch, yaw, and above composite multi-degree-of-freedom motions of aviation cameras, severely restricting the development of image motion compensation technology and high-end CCDs (CCDs supporting on-chip compensation for roll, pitch, yaw, and composite multi-degree-of-freedom dynamic motions). Summary of the Invention

[0005] In view of this, it is necessary to provide a drive system supporting two-dimensional image motion compensation function to achieve on-chip compensation for roll, pitch, and yaw motions without moving components, and to reduce the quality, volume, power consumption, and cost of the imaging system in view of the defects existing in the prior art.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] A CCD drive system supporting two-dimensional image motion compensation function, comprising:

[0008] A camera controller, a two-dimensional image motion compensation timing drive circuit, a two-dimensional image motion compensation image interface module, a two-dimensional image motion compensation image fusion module, a two-dimensional image motion compensation image storage module, and a two-dimensional image motion compensation image display module connected in sequence;

[0009] It further includes a first lens, a first area CCD detector, a first detector front-end signal processing module, a first horizontal drive circuit, and a first vertical drive circuit;

[0010] A second lens, a second area CCD detector, a second detector front-end signal processing module, a second horizontal drive circuit, and a second vertical drive circuit;

[0011] The two-dimensional image motion compensation timing drive circuit is respectively connected to the first horizontal drive circuit, the first vertical drive circuit, the second horizontal drive circuit, and the second vertical drive circuit;

[0012] The first lens is connected to the first area CCD detector, the first horizontal drive circuit and the first vertical drive circuit are both connected to the first area CCD detector, the first area CCD detector is connected to the first detector front-end signal processing module, and the first detector front-end signal processing module is connected to the two-dimensional image motion compensation image interface module;

[0013] The second lens is connected to the second area array CCD detector. The second horizontal drive circuit and the second vertical drive circuit are both connected to the second area array CCD detector. The second area array CCD detector is connected to the second front-end signal processing module of the detector, and the second front-end signal processing module of the detector is connected to the two-dimensional image motion compensation image interface module.

[0014] Further, the first area array CCD detector and the second area array CCD detector are placed vertically orthogonally, and the charge transfer directions are perpendicular to each other, respectively compensating for the image motion of the first area array CCD detector along the column direction and the image motion of the second area array CCD detector along the column direction; the first area array CCD detector and the second area array CCD detector are used to image the detection scene, and perform two-dimensional image motion compensation by controlling the driving timing.

[0015] Further, it further includes a common aperture optical system, which is used to simultaneously receive target information in the optical paths of the first lens and the second lens, so that the focal lengths of the first lens and the second lens are the same, realizing simultaneous observation, synchronous tracking, and synchronous measurement of the first lens and the second lens.

[0016] Further, the camera controller is used to use the information of the received aircraft, the first area array CCD detector, and the second area array CCD detector as the task parameters for two-dimensional image motion compensation of the aerial camera and send the task parameters to the two-dimensional image motion compensation timing generation circuit.

[0017] Further, the two-dimensional image motion compensation timing drive circuit is used to generate the vertical drive timing required for vertical transfer during image motion compensation of the first area array CCD detector and the second area array CCD detector, and the drive timing required for the horizontal drive circuit and the vertical drive circuit when no image motion compensation is performed; the first horizontal drive circuit and the second horizontal drive circuit are used to amplify and translate the received horizontal timing signal and the horizontal direction charge transfer drive timing, generating a drive level signal that amplifies the horizontal timing to have sufficient voltage and current drive capabilities; the first vertical drive circuit and the second vertical drive circuit are used to amplify and translate the received vertical timing signal and the vertical direction drive timing, generating a drive level signal that amplifies the vertical timing to have sufficient voltage and current drive capabilities.

[0018] Further, the first front-end signal processing module of the detector and the second front-end signal processing module of the detector respectively perform correlated double sampling, controllable gain amplification, dark level clamping compensation, and analog-to-digital conversion on the analog signals output by the first area array CCD detector and the second area array CCD detector.

[0019] Further, the interface circuit of the two-dimensional image motion compensation image interface module is used to output the digital image signal generated by the analog-to-digital converter from the camera; the two-dimensional image motion compensation image registration module is used to register the images output by the first area array CCD detector and the second area array CCD detector; the two-dimensional image motion compensation image fusion module is used to fuse the images processed by the registration module and output the final two-dimensional image motion compensation image to the two-dimensional image motion compensation image display module.

[0020] Further, the camera controller is developed using a single-chip microcomputer, and the two-dimensional image motion compensation timing drive is developed using an FPGA; the first area array CCD detector and the second area array CCD detector are customized detectors, and the first vertical drive circuit, the first horizontal drive circuit, the second vertical drive circuit, and the second horizontal drive circuit are developed using dedicated chips; the first detector front-end signal processing circuit and the second detector front-end signal processing circuit are developed using dedicated chips; the two-dimensional image motion compensation image interface module is developed using a dedicated chip; the two-dimensional image motion compensation image registration module and the two-dimensional image motion compensation image fusion module are developed using DSP chips; the two-dimensional image motion compensation image storage module is developed using a dedicated development board; the two-dimensional image motion compensation image display module is developed using a high-performance industrial computer.

[0021] The advantages of this application adopting the above technical solutions are:

[0022] A CCD drive system supporting two-dimensional image motion compensation function in this application includes: a camera controller, a two-dimensional image motion compensation timing drive circuit, a two-dimensional image motion compensation image interface module, a two-dimensional image motion compensation image fusion module, a two-dimensional image motion compensation image storage module, and a two-dimensional image motion compensation image display module connected in sequence. It also includes a first lens, a first area array CCD detector, a first detector front-end signal processing module, a first horizontal drive circuit, and a first vertical drive circuit; a second lens, a second area array CCD detector, a second detector front-end signal processing module, a second horizontal drive circuit, and a second vertical drive circuit. The technical solution of this application can achieve on-chip compensation for roll, pitch, and yaw motions without moving components, and can reduce the quality, volume, power consumption, and cost of the imaging system. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the principle of two-dimensional image motion in aviation and the schematic diagram of two-dimensional image motion on the target surface provided by the embodiments of the present application;

[0025] Figure 2 Schematic diagram of the composition of the CCD driving system supporting the two-dimensional image motion compensation function provided by the embodiments of the present application. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0027] Reasons for the generation of two-dimensional image motion:

[0028] During the reconnaissance process, in order to avoid the surveillance of the enemy's radar, the reconnaissance aircraft needs to fly at high speed and low altitude. Flying at low altitude and high speed greatly improves the battlefield survival ability and in-depth reconnaissance and surveillance ability of the aircraft itself. However, at this time, serious image motion will appear on the target surface of aerial imaging, resulting in blurred aerial imaging. The existence of image motion greatly affects the imaging quality of the camera, and significantly reduces the resolution of the aerial photography image. When there is image motion, the outline of the target captured is not clear, and there is a transition area of varying sizes between the target and the surrounding background, which expands as the image motion increases. When the transition area reaches a certain degree, the imaging of adjacent two targets will overlap or even cannot be distinguished. In addition to flying forward, the flight attitude of the reconnaissance aircraft will also be adjusted according to technical and tactical requirements, such as: pitching, yawing and rolling motions. For different flight attitudes, different image motion trajectories will be left on the target surface, as Figure 1 shown.

[0029] Embodiment 1

[0030] As Figure 2 shown, the present application provides a CCD driving system supporting the two-dimensional image motion compensation function, including: a camera controller, a two-dimensional image motion compensation timing driving circuit, a two-dimensional image motion compensation image interface module, a two-dimensional image motion compensation image fusion module, a two-dimensional image motion compensation image storage module, and a two-dimensional image motion compensation image display module, which are connected in sequence;

[0031] It further includes a first lens, a first area CCD detector, a first detector front-end signal processing module, a first horizontal driving circuit, and a first vertical driving circuit; a second lens, a second area CCD detector, a second detector front-end signal processing module, a second horizontal driving circuit, and a second vertical driving circuit;

[0032] The two-dimensional image motion compensation timing drive circuit is respectively connected to the first horizontal drive circuit, the first vertical drive circuit, the second horizontal drive circuit, and the second vertical drive circuit; the first lens is connected to the first area array CCD detector, the first horizontal drive circuit and the first vertical drive circuit are both connected to the first area array CCD detector, the first area array CCD detector is connected to the first detector front-end signal processing module, and the first detector front-end signal processing module is connected to the two-dimensional image motion compensation image interface module; the second lens is connected to the second area array CCD detector, the second horizontal drive circuit and the second vertical drive circuit are both connected to the second area array CCD detector, the second area array CCD detector is connected to the second detector front-end signal processing module, and the second detector front-end signal processing module is connected to the two-dimensional image motion compensation image interface module.

[0033] Specifically, the two-dimensional image motion compensation timing drive circuit is connected to the camera controller, the first horizontal drive circuit, the first vertical drive circuit, the second horizontal drive circuit, and the second vertical drive circuit. The two-dimensional image motion compensation image interface module is connected to the front-end signal processing circuits of the first area array CCD detector and the second area array CCD detector through a Cameralink interface. The two-dimensional image motion compensation image interface module is connected to the two-dimensional image motion compensation image registration module through a 3-Wire interface. The two-dimensional image motion compensation image registration is connected to the two-dimensional image motion compensation image fusion module through a network interface. The two-dimensional image motion compensation image fusion module is connected to the two-dimensional image motion compensation display module through a USB3.0 interface. The first lens and the first area array CCD detector are connected through a mechanical interface, and the second lens and the second area array CCD detector are connected through a mechanical interface.

[0034] The drive system further includes a common-aperture optical system, which is used to simultaneously receive target information in the optical paths of the first lens and the second lens, make the focal lengths of the first lens and the second lens the same, and achieve simultaneous observation, synchronous tracking, and synchronous measurement of the first lens and the second lens.

[0035] The camera controller is used to use the information of the aircraft, the first area array CCD detector, and the second area array CCD detector received to obtain the task parameters for the two-dimensional image motion compensation of the airborne camera and send the task parameters to the two-dimensional image motion compensation timing generation circuit.

[0036] Specifically, the camera controller is used to calculate task parameters for two-dimensional image motion compensation of the aerial camera, such as the vertical charge transfer speed, based on the received aircraft parameters such as flight altitude, flight speed, and the parameters of the first area array CCD detector and the second area array CCD detector, such as the CCD camera focal length, CCD camera frame rate, detector parameters such as the CCD target size and CCD pixel size, and send the task parameters to the two-dimensional image motion compensation timing generation circuit.

[0037] The two-dimensional image motion compensation timing driving circuit is used to generate the vertical driving timing required for vertical transfer during image motion compensation of the first area array CCD detector and the second area array CCD detector, as well as the driving timing required for the horizontal driving circuit and the vertical driving circuit when no image motion compensation is performed; the first horizontal driving circuit and the second horizontal driving circuit are used to amplify and translate the received horizontal timing signal and the horizontal direction charge transfer driving timing to generate a driving level signal that amplifies the horizontal timing to sufficient voltage and current driving capabilities; the first vertical driving circuit and the second vertical driving circuit are used to amplify and translate the received vertical timing signal and the vertical direction driving timing to generate a driving level signal that amplifies the vertical timing to sufficient voltage and current driving capabilities.

[0038] The first area array CCD detector and the second area array CCD detector are vertically and orthogonally placed, so the charge transfer directions are perpendicular to each other, respectively compensating for the image motion of the first area array CCD detector along the column direction and the image motion of the second area array CCD detector along the column direction; the first area array CCD detector and the second area array CCD detector are used to image the detection scene, and the two-dimensional image motion compensation timing driving circuit drives the first area array CCD detector and the second area array CCD detector to perform vertical charge transfer respectively, compensating for the image motion components along the charge transfer direction in the first area array CCD detector and the second detector. Since the first area array CCD detector and the second detector are vertically and orthogonally placed, the charge transfer directions are perpendicular to each other, and the image motion can move in any direction on the CCD target surface, but there are components along the charge transfer directions of the first area array CCD detector and the second area array CCD detector, and the first area array CCD detector and the second area array CCD detector are perpendicular to each other, so the image motion along the charge transfer direction of the detector can be compensated respectively, thereby compensating for two-dimensional image motion.

[0039] The first detector front-end signal processing module and the second detector front-end signal processing module respectively perform correlated double sampling, controllable gain amplification, dark level clamping compensation, and analog-to-digital conversion on the analog signals output by the first area array CCD detector and the second area array CCD detector.

[0040] The interface circuit of the two-dimensional image motion compensation image interface module is used to output the digital image signal generated by the analog-to-digital converter from the camera; the two-dimensional image motion compensation image registration module is used to register the images output by the first area array CCD detector and the second area array CCD detector; the two-dimensional image motion compensation image fusion module is used to fuse the images processed by the registration module and output the final two-dimensional image after image motion compensation to the two-dimensional image motion compensation image display module.

[0041] The first lens and the second lens are used to collect the light converging on the detector; the camera controller is developed using a single-chip microcomputer; the two-dimensional image motion compensation timing drive is developed using an FPGA; the first area array CCD detector and the second area array CCD detector are customized detectors FTF5066M, the first vertical drive circuit is developed using TDA9991, the first horizontal drive circuit is developed using 74ACT04, the second vertical drive circuit is developed using TDA9991, and the second horizontal drive circuit is developed using 74ACT04; the first detector front-end signal processing circuit and the second detector front-end signal processing circuit are developed using the dedicated chip DS90CR268; the two-dimensional image motion compensation image interface module is developed using the chip DS90CR268; the two-dimensional image motion compensation image registration module is developed using the DSP chip TMS320C6466, and the two-dimensional image motion compensation image fusion module is developed using the DSP chip TMS320C6678; the two-dimensional image motion compensation image storage module is developed using the dedicated development board Hi3359A; the two-dimensional image motion compensation image display module is developed using the high-performance industrial computer AIMC-3403, and the upper computer display control software is developed using the QT software.

[0042] In this application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0043] In this application, unless otherwise clearly specified and defined, the terms such as "install", "connect", "connection", "fix" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0045] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

[0046] The specific implementation manners of the present application described above do not constitute a limitation on the protection scope of the present application. Any other corresponding changes and deformations made according to the technical concept of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A CCD driving system supporting two-dimensional image shift compensation function, characterized in that , including: A camera controller, a two-dimensional image motion compensation timing drive circuit, a two-dimensional image motion compensation image interface module, a two-dimensional image motion compensation image registration module, a two-dimensional image motion compensation image fusion module, a two-dimensional image motion compensation image storage module, and a two-dimensional image motion compensation image display module connected in sequence; It also includes a first lens, a first area CCD detector, a first detector front-end signal processing module, a first horizontal drive circuit, and a first vertical drive circuit; A second lens, a second area CCD detector, a second detector front-end signal processing module, a second horizontal drive circuit, and a second vertical drive circuit; The two-dimensional image motion compensation timing drive circuit is respectively connected to the first horizontal drive circuit, the first vertical drive circuit, the second horizontal drive circuit, and the second vertical drive circuit; The first lens is connected to the first area CCD detector, the first horizontal drive circuit and the first vertical drive circuit are both connected to the first area CCD detector, the first area CCD detector is connected to the first detector front-end signal processing module, and the first detector front-end signal processing module is connected to the two-dimensional image motion compensation image interface module; The second lens is connected to the second area CCD detector, the second horizontal drive circuit and the second vertical drive circuit are both connected to the second area CCD detector, the second area CCD detector is connected to the second detector front-end signal processing module, and the second detector front-end signal processing module is connected to the two-dimensional image motion compensation image interface module; The first area CCD detector and the second area CCD detector are placed vertically orthogonally, and the charge transfer directions are perpendicular to each other, respectively compensating for the image motion of the first area CCD detector along the column direction and the image motion of the second area CCD detector along the column direction; the first area CCD detector and the second area CCD detector are used to image the detection scene, and the two-dimensional image motion compensation timing drive circuit respectively drives the first area CCD detector and the second area CCD detector to perform vertical charge transfer, compensating for the image motion components of the first area CCD detector and the second area detector along the charge transfer direction.

2. The CCD driving system supporting the two-dimensional image shift compensation function according to claim 1, wherein, It also includes a common aperture optical system, which is used to simultaneously receive target information in the optical paths of the first lens and the second lens, make the focal lengths of the first lens and the second lens the same, and realize simultaneous observation, synchronous tracking, and synchronous measurement of the first lens and the second lens.

3. The CCD driving system supporting the two-dimensional image motion compensation function according to claim 1, wherein The camera controller is used to use the received aircraft parameters, the information of the first area CCD detector and the second area CCD detector as task parameters for two-dimensional image motion compensation of the airborne camera and send the task parameters to the two-dimensional image motion compensation timing drive circuit.

4. The CCD driving system supporting the two-dimensional image shift compensation function according to claim 1, characterized in that, The two-dimensional image motion compensation timing drive circuit is used to generate the vertical drive timing required for vertical transfer during image motion compensation of the first area CCD detector and the second area CCD detector, and generate the drive timing required for the horizontal drive circuit and the vertical drive circuit when no image motion compensation is performed; The first horizontal drive circuit and the second horizontal drive circuit are used to amplify and translate the received horizontal drive timing, generating a drive level signal that amplifies the horizontal drive timing into a drive level signal with sufficient voltage and current drive capabilities; The first vertical drive circuit and the second vertical drive circuit are used to amplify and translate the vertical drive timing required for image motion compensation or the vertical drive timing when no image motion compensation is performed, generating a drive level signal that amplifies the vertical drive timing required for image motion compensation or the vertical drive timing when no image motion compensation is performed into a drive level signal with sufficient voltage and current drive capabilities.

5. The CCD driving system supporting the two-dimensional image motion compensation function according to claim 1, characterized in that, The first detector front-end signal processing module and the second detector front-end signal processing module respectively perform correlated double sampling, controllable gain amplification, dark level clamping compensation, and analog-to-digital conversion on the analog signals output by the first area array CCD detector and the second area array CCD detector.

6. The CCD driving system supporting the two-dimensional image motion compensation function according to claim 1, wherein, The two-dimensional image motion compensation image interface module interface circuit is used to output the digital image signal generated by the analog-to-digital converter from the camera; the two-dimensional image motion compensation image registration module is used to perform image registration on the images output by the first area array CCD detector and the second area array CCD detector; the two-dimensional image motion compensation image fusion module is used to perform image fusion on the images processed by the registration module and output the final two-dimensional image after image motion compensation to the two-dimensional image motion compensation image display module.

7. The CCD driving system supporting the two-dimensional image shift compensation function according to claim 1, characterized in that The camera controller is developed using a single-chip microcomputer, and the two-dimensional image motion compensation timing drive is developed using an FPGA; the first area array CCD detector and the second area array CCD detector are customized detectors FTF5066M, and the first vertical drive circuit, the first horizontal drive circuit, the second vertical drive circuit, and the second horizontal drive circuit are developed using dedicated chips; The first detector front-end signal processing circuit and the second detector front-end signal processing circuit are developed using dedicated chips; the two-dimensional image motion compensation image interface module is developed using a dedicated chip; the two-dimensional image motion compensation image registration module and the two-dimensional image motion compensation image fusion module are developed using DSP chips; the two-dimensional image motion compensation image storage module is developed using a dedicated development board; the two-dimensional image motion compensation image display module is developed using an industrial computer.

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