Intelligent searchlight automatic tracking control method, system and device and storage medium

Abstract

The invention provides an automatic searchlight tracking method, which comprises the following steps that: S1, a central control system turns on a wide-angle light beam of a searchlight, and starts to search a target; s2, if the target is searched, the light beam of the searchlight is shrunk to be aligned with the target; and S3, if the target is not searched, expanding the light beam of the searchlight, enlarging the search range until the target is searched, and continuously tracking the target. The target searching algorithm and the target tracking algorithm are simple in processing process and high in processing speed, the problem that a traditional target tracking algorithm is slow in processing is solved, and the searchlight can rapidly track the target.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent searchlight automatic tracking control method, system and storage medium. Background Art

[0002] In recent years, with the vigorous development of the Internet of Things, big data, cloud computing and artificial intelligence, various smart devices have been launched. Searchlights have a powerful light source and a concave mirror that can focus the light in a specific direction. They are used for long-distance lighting and searching. With the help of a reflector or lens, the emitted light beam can be concentrated in a very small solid angle (generally less than 2 degrees) to obtain a larger light intensity. Considering the size, weight and ease of operation of the device, most searchlights are equipped with tripods or movable carriers. Large searchlights even have dedicated trucks as carriers. Traditional searchlights track the target by rotating the rocker under the searchlight to adjust the angle of the searchlight. This method is both labor-intensive and difficult to achieve accurate tracking. Summary of the invention

[0003] In view of the above-mentioned defects of the searchlight control method and device in the prior art, the present invention provides an intelligent searchlight automatic tracking control method, system, device and storage medium.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] In one aspect, the present invention provides a searchlight automatic tracking method, characterized in that it includes:

[0006] S1. The central control system turns on the wide-angle beam of the searchlight and starts searching for the target;

[0007] S2. If the target is found, shrink the searchlight beam to aim at the target;

[0008] S3. If the target is not found, expand the searchlight beam and increase the search range until the target is found and continue to track the target.

[0009] Further, the target is continuously tracked by:

[0010] S3-1: The central control system controls the high-definition camera to take photos with a wide angle, and the image library processing system performs image processing to generate a background image;

[0011] S3-2: The high-definition camera focuses on the search target and takes pictures, and the image processing generates the target picture;

[0012] S3-3: The high-definition camera takes photos by expanding 40% around the search target, and the image library processing system processes the image to generate a reference image 1, which is then decomposed into several small modules;

[0013] S3-4: When the target moves, repeat the process of step S3-3 to generate reference picture 2, and divide reference picture 2 into several small modules, compare the light intensity of the small modules of reference pictures 1 and 2, and feed back the signal to the central control system so that the searchlight is always aimed at the search target.

[0014] On the other hand, the present invention provides a searchlight automatic tracking central control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned searchlight automatic tracking control method when executing the computer program.

[0015] On the other hand, the present invention provides a searchlight control device, including the above-mentioned central control system, and also includes a searchlight rotation control system, a searchlight, a gallery processing system and a camera; the image captured by the camera is processed by the image processing system and transmitted to the central control system, and the central control system controls the searchlight rotation system according to the processed image information, and rotates the searchlight so that the searchlight is always aimed at the tracked target.

[0016] On the other hand, the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned searchlight automatic tracking method are implemented.

[0017] Compared with the prior art, the target search algorithm and target tracking algorithm designed by the present invention have simple processing procedures and fast processing speed, which solves the problem of slow processing of traditional target tracking algorithms and can quickly enable the searchlight to track the target. In addition, the motor control circuit designed by the present invention adds a temperature-controlled resistor to the drive circuit at the output end, and adjusts the resistance of the output drive circuit by detecting the temperature of the MOS tube, thereby modulating the current of the entire circuit, solving the problem of overheating of the motor control circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall process of the automatic tracking control method of the intelligent searchlight;

[0019] Figure 2 A schematic diagram of the system structure of the searchlight control device of the present invention;

[0020] Figure 3 This is the structural diagram of the searchlight rotation control system;

[0021] Figure 4 It is the circuit structure diagram of the control circuit;

[0022] Figure 5 Flowchart of the target search algorithm;

[0023] Figure 6 This is a flow chart of the target tracking algorithm;

[0024] Figure 7 This is a schematic diagram of the working principle of the searchlight and other control devices;

[0025] Figure 8 Schematic diagram of the working principle of the target tracking algorithm. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0027] As a specific example, please refer to Figures 1 to 8 As shown, the present invention provides a searchlight automatic tracking method, comprising the following steps:

[0028] S1. The central control system turns on the wide-angle beam of the searchlight and starts searching for the target;

[0029] S2. If the target is found, shrink the searchlight beam to aim at the target;

[0030] S3. If the target is not found, expand the searchlight beam and increase the search range until the target is found and continue to track the target.

[0031] In one embodiment, after the target is searched, in order to maintain continuous tracking and irradiation, the present invention adopts the following method to achieve continuous tracking:

[0032] S3-1: The central control system controls the high-definition camera to take photos with a wide angle, and the image library processing system performs image processing to generate a background image;

[0033] S3-2: The high-definition camera focuses on the search target and takes pictures, and the image processing generates the target picture;

[0034] S3-3: The high-definition camera takes photos with a 40% expansion around the search target, and the image library processing system processes the image to generate a reference image 1, which is divided into several small modules;

[0035] S3-4: When the target moves, repeat the process of step S3-3 to generate reference picture 2, and divide reference picture 2 into several small modules, compare the light intensity of the small modules of reference pictures 1 and 2, and feed back the signal to the central control system so that the searchlight is always aimed at the search target.

[0036] In a preferred embodiment, the following specific algorithm is used to achieve continuous tracking, and its key technology is now explained:

[0037] The image decomposition method of step S3-3 is specifically: divide the image into 8 small square modules with a side length of L. Thus, 8 parts of the first reference image can be obtained: Figure 1-1 ,son Figure 1-2 ……son Figure 1-8 When the target moves, steps S3-4 are repeated, and the 8 parts of the second reference picture are obtained: Figure 2-1 ,son Figure 2-2 ……son Figure 2-8 .

[0038] When the target moves, the contrast Figure 1-6 With the child Figure 2-6 The light intensity of the small module (sub-image) is calculated based on "average illumination (Eav) = total luminous flux of the light source (N*Ф)*utilization factor (CU)*maintenance factor (MF) / area (㎡)". The light intensity per unit area is: E = average illumination (Eav)*area (㎡). It can be concluded that the light intensity of the small module is proportional to the area of ​​the illuminated area. Different light intensities will display different brightness on the camera. By comparing the brightness of the small module on the camera through the image analysis algorithm, the light intensity of the small module can be analyzed. The distance moved by the X-axis is calculated by comparing the light intensity of small modules 1-8 and small modules 2-8, and small modules 1-4 and small modules 2-4. The calculation expression is:

[0039] ΔX1=(I1-4-I2-4) / (Eav*L), ΔX2=(I2-8-I1-8) / (Eav*L), ΔX=(ΔX1+ΔX2) / 2L

[0040] Where ΔX is the moving distance, I is the light intensity, Eav is the average illumination, and L is the side length of the small module. In this embodiment, the light source is a 1000W searchlight, the utilization coefficient (CU) = 0.3, the maintenance factor (MF) = 0.7, and the calculated value is Eav = 250Lux. The side length of the small module needs to be calculated based on the area of ​​the search target. Suppose the area of ​​the search target is S. S , then L=(S S ,*10 / 4*8) 1 / 2 .

[0041] The distance moved by the Y coordinate axis is calculated by comparing the light intensity of small module 1-2 with that of small module 2-2, and that of small module 1-6 with that of small module 2-6. The calculation formula is:

[0042] ΔY1=(I1-4-I2-4)Φ / L, ΔY2=(I2-8-I1-8)Φ / Y, ΔY=(ΔY1+ΔY2) / 2L

[0043] Where ΔY is the moving distance, I is the light intensity, Φ is the conversion constant between area and light intensity, and L is the side length of the small module.

[0044] As another specific embodiment, the present invention provides a central control system for automatic tracking of a searchlight, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned automatic tracking control method of the searchlight when executing the computer program.

[0045] As another specific embodiment, the present invention provides a searchlight control device (a searchlight control device with complete electromechanical equipment and a control system), including the above-mentioned searchlight automatic tracking central control system, and in addition, also including: a searchlight rotation control system, a searchlight, a gallery processing system and a camera; the image captured by the camera is processed by the image processing system and transmitted to the central control system, and the central control system controls the searchlight rotation system according to the processed image information, and rotates the searchlight so that the searchlight is always aimed at the tracked target.

[0046] As a preferred embodiment, the searchlight rotation control system 200 includes a control circuit 201 and a reduction motor 202. The system operation process is that the central control system 100 sends a control signal 601, and the control circuit 201 processes the control signal into a pulse signal 602 for controlling the rotation of the reduction motor to control the motor rotation after receiving the control signal, and the motor rotates to aim the searchlight at the search target. When the search target moves, the high-definition camera 500 takes a picture of the search target, and the output signal 701 is processed by the image processing system 400, and the signal 702 is fed back to the central control system 100. Through the image comparison before and after the movement described in the above-mentioned continuous tracking method, the control signal 601 is sent to control the searchlight to rotate, so that the searchlight is always aimed at the search target, thereby realizing the searchlight tracking the search target.

[0047] As a further preferred embodiment, the control process of the control circuit 201 is as follows: a four-phase motor is selected to realize the reduction motor 202, and the central control system 100 is connected to the control circuit 201 through four interfaces, so two units of control circuits are required (the specific circuit structure of the control circuit is as follows Figure 4 The specific circuit structure and working principle of the control circuit are introduced as follows:

[0048] Take the control circuit of a unit for illustration. If the signal is high level 1, the AND gate G1 is turned on, the MOS tube M1 is turned on, and OUTPUT_1 outputs high level. On the contrary, if the signal is low level 0, the NAND gate G2 is turned on, the MOS tube M3 is turned on, and OUTPUT_1 outputs low level. The control of other units is similar.

[0049] At the same time, the reverse thermistor RA1 (RA3) is used to detect the temperature of the MOS tube M1 (M3). When the temperature of the MOS tube M1 (M3) increases, the resistance of the reverse thermistor RA1 (RA3) decreases, and the current passing through it increases. The increased current is amplified by the amplifier OP1 and loaded to the heater T1. As the current increases, the heat generated by the heater increases, and the heated resistance of the forward thermistor RA5 increases. The current of the entire circuit decreases, the power consumption of the MOS tube M1 (M2) decreases, and the temperature drops.

[0050] As another specific embodiment, the present invention provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned searchlight automatic tracking method are implemented.

[0051] It will be appreciated by those skilled in the art that any reference to a memory, storage medium or database in the above embodiments of the present application may include non-volatile and / or volatile memory. Non-volatile memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) or a flash memory. Volatile memory may include a random access memory (RAM) or an external cache memory. As an illustration and not limitation, RAM may be obtained in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM), enhanced SDRAM (ESDRAM) and direct memory bus dynamic RAM (DRDRAM).

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A searchlight automatic tracking method, characterized in that: include: S1. The central control system turns on the wide-angle beam of the searchlight and starts searching for the target; S2. If the target is found, shrink the searchlight beam to aim at the target; S3. If the target is not found, expand the searchlight beam and increase the search range until the target is found and continue to track the target.

2. The searchlight automatic tracking method according to claim 1, characterized in that: The method for continuously tracking the target is: S3-1: The central control system controls the high-definition camera to take photos with a wide angle, and the image library processing system performs image processing to generate a background image; S3-2: The high-definition camera focuses on the search target and takes pictures, and the image processing generates the target picture; S3-3: The high-definition camera takes photos by expanding 40% around the search target, and the image library processing system processes the image to generate a reference image 1, which is then decomposed into several small modules; S3-4: When the target moves, repeat the process of step S3-3 to generate reference picture 2, and divide reference picture 2 into several small modules, compare the light intensity of the small modules of reference pictures 1 and 2, and feed back the signal to the central control system so that the searchlight is always aimed at the search target.

3. A searchlight automatic tracking central control system, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the searchlight automatic tracking control method according to any one of claims 1 to 2 are implemented.

4. A searchlight control device, characterized in that: It includes the central control system as described in claim 3, and also includes a searchlight rotation control system, a searchlight, a picture library processing system and a camera; the image captured by the camera is processed by the image processing system and transmitted to the central control system, and the central control system controls the searchlight rotation system according to the processed image information, and rotates the searchlight so that the searchlight is always aimed at the tracked target.

5. A computer-readable storage medium, wherein a computer program is stored in the storage medium, characterized in that: When the computer program is executed by a processor, the steps of the searchlight automatic tracking method according to any one of claims 1 to 2 are implemented.

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