Automatic switching system and method for position guidance and target tracking

Abstract

The invention relates to an automatic switching system and method for position guiding and target tracking. The system comprises a control module, a visual axis platform, a target platform, an image processing circuit and a servo control circuit, the visual axis platform collects image information on the target platform, the image information is processed through the image processing circuit, miss distance information and a flag bit of a target light spot are obtained, and the target light spot is displayed on the servo control circuit. And the servo control circuit controls the visual axis platform to automatically track the target platform based on the miss distance information and the flag bit, so that the automatic switching of position guide-target tracking of the target is realized, human intervention is not needed in the whole process, the action execution speed is effectively improved, and the labor consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the field of servo system control, and in particular to an automatic switching system and method for position guidance and target tracking. Background Art

[0002] In recent years, the search capability of aviation platforms for long-range targets has been continuously enhanced, especially after the target is found, the platform guides the payload's visual axis to point to the target and then tracks the target. When traditional aviation platforms realize the function of tracking targets, they mostly use manual operation to switch between the two functions of position guidance and target tracking. The manual switching method increases the time cost and is prone to error risks, which reduces the rapidity of function switching, which is an adverse effect on the detection of air targets.

[0003] There is still a lack of a reliable and convenient system to achieve automatic switching between position guidance and target tracking, the efficiency of automatic switching, and whether the same effect can be achieved for targets in different positions.

[0004] Therefore, the prior art still has deficiencies and needs to be improved. Summary of the invention

[0005] The embodiment of the present invention provides a system and method for automatic switching between position guidance and target tracking, so as to at least solve the technical problem of high error probability caused by human participation in switching between the two states of position guidance and target tracking of an aviation platform.

[0006] According to an embodiment of the present invention, there is provided an automatic switching system for position guidance and target tracking, comprising:

[0007] Control module;

[0008] The visual axis platform is used to collect image information, which carries target light spot information;

[0009] The target platform is provided with a movable target light tube, and the target light tube points to the visual axis platform, and the target light spot is located on the target light tube;

[0010] The image processing circuit is connected to the visual axis platform and is used to obtain the image information collected by the visual axis platform in real time, and process the image information to obtain the miss distance information and flag position of the target light spot;

[0011] The servo control circuit is respectively connected with the control module, the visual axis platform and the image processing circuit, and is used for controlling the visual axis platform to automatically track the target light tube based on the miss amount information and the flag position.

[0012] In one embodiment, the target platform includes:

[0013] Pedestal;

[0014] A slide rail is arranged on the base;

[0015] The light pipe sliding module can be slidably arranged on the slide rail, and the target light pipe is installed on the sliding module;

[0016] The first motor is connected to the control module and is used to drive the sliding module.

[0017] In one embodiment, the slide rail is an arc-shaped slide rail, and the visual axis platform is located at the center of a virtual circle of the arc-shaped slide rail.

[0018] In one embodiment, the target platform further includes:

[0019] The second motor is arranged on the base, connected to the control module, and is used for driving the slide rail to rotate.

[0020] In one embodiment, the system further comprises:

[0021] The third motor is connected to the servo control circuit and is used for driving the visual axis platform to rotate.

[0022] In one embodiment, the image processing circuit includes:

[0023] An image receiving module is used to obtain image information collected by the visual axis platform;

[0024] An image processor is used to calculate the miss distance information of the target light spot based on the image information and mark the tracking status of the target light spot through a flag bit;

[0025] The first communication encoding module is used to decode the miss distance information and the flag bit and send them to the servo control circuit. The servo control circuit tracks the target light tube according to the miss distance information and the flag bit.

[0026] In one embodiment, the servo control circuit comprises:

[0027] A second communication encoding module is connected to the first communication encoding module and is used to receive the miss distance information and the flag bit;

[0028] The driving module is used to drive the third motor to rotate according to the miss distance information and the flag position.

[0029] A method for automatically switching between position guidance and target tracking comprises the following steps:

[0030] Collect image information, which carries target light spot information;

[0031] Based on the target light spot, the miss distance information of the target light spot is calculated and the tracking status of the target light spot is marked;

[0032] Track the target light spot based on the miss distance information and the marker position.

[0033] In one embodiment, based on the target light spot, calculating the miss distance information of the target light spot and marking the tracking state of the target light spot by a flag bit specifically include:

[0034] Based on the target light spot, searching for the position information of the target light spot;

[0035] Generate a flag based on the position information movement;

[0036] Based on the flag position, the miss distance information of the target light spot and the tracking status of the target light spot are calculated and used to mark the flag position;

[0037] Track the target light spot based on the miss distance information and the marker position.

[0038] In one embodiment, the tracking state of the target light spot includes:

[0039] Lost state, indicating that the target light spot was not successfully tracked, and the corresponding flag bit is 0x60;

[0040] Capture status, indicating that the target light spot is captured before full tracking is achieved, and the corresponding flag bit is marked as 0x50;

[0041] Tracking status means that the target light spot is completely tracked, and its corresponding code is 0x40.

[0042] In the automatic switching system and method for position guidance and target tracking in the embodiments of the present invention, the visual axis platform collects image information on the target platform, and then processes the image information through the image processing circuit to obtain the miss amount information and flag position of the target light spot, and the servo control circuit controls the visual axis platform to automatically track the target platform based on the miss amount information and the flag position, thereby realizing the automatic switching of position guidance-target tracking of the target, and no human intervention is required in the whole process, which effectively improves the action execution speed and reduces labor consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0044] Figure 1 It is a schematic diagram of the principle of the automatic switching system of position guidance and target tracking of the present invention;

[0045] Figure 2 It is a schematic diagram of the principles of the servo control circuit and the image processing circuit of the present invention;

[0046] Figure 3 A flow chart of the automatic switching method between position guidance and target tracking of the present invention;

[0047] Figure 4 It is a flow chart of a specific implementation mode of the present invention.

[0048] Figure markings: 1-base, 2-bracket, 3-second motor, 4-slide rail, 5-light tube sliding module, 6-light tube, 7-displacement slide rail motor control cable, 8-host computer, 9-test platform, 10-platform load, 11-image processing circuit, 12-servo control circuit, 13-image transmission cable, 14-servo motor control cable; 15-host computer command cable, 16-image processor, 17-first communication encoding module, 18-image receiving module, 19-second communication encoding module, 20-servo processor, 21-driving module. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] Example 1

[0052] According to an embodiment of the present invention, a system for automatically switching between position guidance and target tracking is provided. Figure 1 ,include:

[0053] Control module;

[0054] The visual axis platform is used to collect image information, which carries target light spot information;

[0055] The target platform is provided with a movable target light tube 6, and the target light tube 6 points to the visual axis platform, and the target light spot is located on the target light tube 6;

[0056] The image processing circuit 11 is connected to the visual axis platform and is used to obtain the image information collected by the visual axis platform in real time, and process the image information to obtain the miss distance information and flag position of the target light spot;

[0057] The servo control circuit 12 is connected to the control module, the visual axis platform and the image processing circuit 11 respectively, and is used to control the visual axis platform to automatically track the target light tube 6 based on the miss amount information and the flag position.

[0058] The present application collects image information on the target platform through the line of sight platform, and then processes the image information through the image processing circuit 11 to obtain the off-target amount information and the flag position of the target light spot. The servo control circuit 12 controls the line of sight platform to automatically track the target platform based on the off-target amount information and the flag position, thereby realizing the automatic switching of the target position guidance-target tracking. No human intervention is required in the whole process, which effectively improves the action execution speed and reduces the labor consumption.

[0059] Furthermore, the control module may be a host computer 8 such as a computer, and the visual axis platform includes a measured platform 9 and a platform load 10 .

[0060] In one embodiment, the target platform includes:

[0061] Pedestal;

[0062] A slide rail 4 is arranged on the base;

[0063] A sliding module is slidably arranged on the slide rail 4, and a target light pipe 6 is installed on the sliding module;

[0064] The first motor is connected to the control module and is used to drive the sliding module.

[0065] Specifically, the base includes a base 1 and a bracket 2, the bracket 2 is arranged on the base 1, and the base 1 and the bracket 2 are used to support the slide rail 4 and the target light pipe 6. Wheels are installed under the base 1 so that the slide rail 4 can move to any position. The target light pipe 6 is installed on the light pipe sliding module 5, and the upper computer 8 controls the first motor (not shown in the figure) through a cable to drive the light pipe sliding module 5 to move on the slide rail 4 to adjust the position of the target light pipe 6.

[0066] Furthermore, the slide rail 4 is an arc-shaped slide rail 4, and the visual axis platform is located at the center of the virtual circle of the arc-shaped slide rail 4. The upper computer 8 drives the displacement slide rail 4 to rotate by controlling the second motor 3 set on the base 1 through a cable. The upper computer 8 drives the target light pipe 6 to move on the slide rail 4 through the first motor, and drives the slide rail 4 to rotate through the second motor 3. These two movements realize that the target light pipe 6 is at any position on the arc surface of the slide rail 4. This design can realize the tracking function of the visual axis platform when the target light pipe 6 is in different positions.

[0067] In one embodiment, reference Figure 1 , the system further comprises:

[0068] The third motor is connected to the servo control circuit 12 and is used to drive the visual axis platform to rotate.

[0069] Specifically, the visual axis platform collects image information, the image processing circuit 11 receives the image information collected by the visual axis platform, processes the image information to obtain position guidance information, encodes the position guidance information and transmits it to the servo control circuit 12, the servo control circuit 12 decodes it, and drives the third motor (not shown in the figure) to drive the visual axis of the platform load 10 to rotate to the corresponding angle.

[0070] refer to Figure 1 The host computer 8 is connected to the target platform through the displacement slide motor control cable 7, the host computer 8 is connected to the servo control circuit 12 through the host computer command cable 15, the servo control circuit 12 is connected to the second motor through the servo motor control cable 14, and the visual axis platform is connected to the image processing circuit 11 through the image transmission cable 13.

[0071] In one embodiment, reference Figure 1 and Figure 2 , the image processing circuit 11 comprises:

[0072] An image receiving module 18 is used to obtain image information collected by the visual axis platform;

[0073] An image processor 16 is used to calculate the miss distance information of the target light spot based on the image information and mark the tracking status of the target light spot through a flag bit;

[0074] The first communication encoding module 17 is used to decode the miss distance information and the flag bit and send them to the servo control circuit 12. The servo control circuit 12 tracks the target light tube 6 according to the miss distance information and the flag bit.

[0075] Specifically, the image receiving module 18 receives the image information collected from the visual axis platform in real time, and then sends the image information to the image processor 16 for processing, calculates the off-target amount information of the target light spot based on the target light spot carried by the image information, and marks the tracking status of the target light spot through a flag bit.

[0076] The first communication encoding module 17 decodes the miss distance information and the flag and sends them to the servo control circuit 12. The servo control circuit 12 automatically enters the target light spot tracking according to the judgment of the flag, thereby realizing the function of automatic switching between the platform's position guidance and target tracking for the target.

[0077] In one embodiment, reference Figure 1 and Figure 2 , the servo control circuit 12 comprises:

[0078] The second communication coding module 19 is connected to the first communication coding module 17 and is used to receive the miss distance information and the flag bit;

[0079] The driving module 21 is used to drive the third motor to rotate according to the miss distance information and the flag position.

[0080] Specifically, data is transmitted between the servo control circuit 12 and the image processing circuit 11 through the first communication encoding module 17 and the second communication encoding module 19. After the second communication encoding module 19 receives the miss amount information and the flag information transmitted by the first communication encoding module 17, it is processed by the servo processor 20 and the processed data is sent to the driving module 21. The driving module 21 drives the third motor to rotate according to the miss amount information and the flag, and the third motor drives the visual axis platform to rotate, so that the visual axis platform tracks the target light spot.

[0081] The information transmission between the servo control circuit 12 and the image processing circuit 11 is as follows. Figure 1 and Figure 2 :

[0082] refer to Figure 3 , ①②③④⑤⑥⑦ represent seven level communication lines. The servo control circuit 12 and the image processing circuit 11 perform TTL level transmission through the level communication line, perform encoding and decoding, and transmit TTL level, which represents seven binary codes from high to low during the decoding process. The servo control circuit 12 and the image processing circuit 11 both have a communication encoding module. When encoding, the module selects the corresponding communication line to pull the level up and keep it for a period of time (the specific holding time depends on the system), and the other communication lines keep the low level; when receiving, the communication encoding module judges the rising edge of the high level, and corresponds the high and low levels to the binary encoder information to complete the transmission of information. As shown in Table 1, the position guide angle value is the binary direct translation information. According to the high and low level information on the seven level communication lines, the binary code is obtained, and the code is directly converted into decimal to obtain the position angle information.

[0083] The servo control circuit 12 controls the movement of the visual axis platform, and the image processing circuit 11 collects image information of the platform load 10. The two transmit switching flags and other related information by adopting a multi-line level encoding and decoding method. This method can increase the speed of information transmission and provide conditions for improving the switching speed.

[0084] Table 1

[0085]

[0086] Table 1 contains two types of communication information: position guidance angle value and tracking flag information, where the position guidance angle value is 0-2 x Range, where x = 1, 2, 3, 4, 5, 6, 7, so the guide angle range is converted into 0°-128°. Since the angle range of the arc slide rail 4 is 0°-120°, it can cover the entire target light tube 6 movement area; the tracking flag is divided into three states: lost, captured, and tracked, and each flag has a specific flag code.

[0087] The position guide angle value range after conversion is 0-2 x , the corresponding decimal guide angle range is 0°-128°. The visual axis of the platform load 10 can be guided to the target light tube 6 in the entire arc motion area of ​​the target light tube 6. The tracking flag information is binary code comparison information. First, the tracking status of the image information is divided into loss, capture, and tracking, where:

[0088] The lost state indicates that the image processor 16 fails to track the target light spot, and its corresponding code is 0x60;

[0089] Capture state, indicating the state of the image processor 16 capturing the target light spot before tracking is fully realized, and its corresponding code is 0x50;

[0090] The tracking state indicates that the image processor 16 completely tracks the target light spot, and its corresponding code is 0x40.

[0091] The servo control circuit 12 can realize automatic switching between target position guidance and target tracking through these three states according to the planned switching control strategy method. No human intervention is required in the whole process, which effectively improves the action execution speed and reduces labor consumption.

[0092] The position guidance-target tracking automatic switching system provided by the present invention is applied to an aviation platform, specifically, the servo control circuit 12 controls the axis system movement of the visual axis platform, and the image processing circuit 11 collects the image information of the visual axis platform. The servo control circuit 12 and the image processing circuit 11 use a multi-line level encoding and decoding method to transmit the switching flag and other related information. This method can improve the information transmission speed and provide conditions for improving the switching speed. The servo control circuit 12 and the image processing circuit 11 automatically switch according to each other's information to realize the position guidance-target tracking function.

[0093] Example 2

[0094] According to another embodiment of the present invention, a method for automatically switching between position guidance and target tracking is provided. Figure 3 ,include:

[0095] S100: real-time acquisition of image information, the image information carrying target light spot information;

[0096] S200: Based on the target light spot, calculating the miss distance information of the target light spot and marking the tracking status of the target light spot;

[0097] S300: Tracking the target light spot based on the miss distance information and the marker position.

[0098] Specifically, the present application realizes automatic tracking by acquiring image information with target light spot information in real time, calculating the miss amount information based on the target light spot, marking the tracking status of the target light spot, and then tracking the target light spot according to the miss amount information and the mark.

[0099] Step S200 specifically includes:

[0100] Based on the target light spot, searching for the position information of the target light spot;

[0101] Generate a flag based on the position information movement;

[0102] Based on the flag position, the miss distance information of the target light spot and the tracking status of the target light spot are calculated and used to mark the flag position;

[0103] Track the target light spot based on the miss distance information and the marker position.

[0104] Specifically, an image is collected toward the target light spot, the position information of the target light spot is searched in the collected image, and the position information is marked to produce a mark. The miss distance information of the target light spot is calculated based on the marked position, and the state of the target light spot is marked with the marked position, and finally the target light spot is tracked based on the miss distance information and the mark.

[0105] Furthermore, the tracking flag information is binary code comparison information. First, the image processing board tracking state is divided into lost, captured, and tracked, where:

[0106] The lost state indicates that the target light spot has not been successfully tracked, and its corresponding code is 0x60.

[0107] Capture state, indicating the state of capturing the target light spot before tracking is fully realized, and its corresponding code is 0x50;

[0108] Tracking state means the state of completely tracking the target light spot, and its corresponding code is 0x40. The servo control circuit 12 can realize the automatic switching of the position guidance-target tracking of the target according to the planned and designed switching control strategy method through this state, and no human intervention is required in the whole process, which effectively improves the action execution speed and reduces the labor consumption.

[0109] The method of the present application is described in detail below through specific implementation methods:

[0110] refer to Figure 1 , Figure 2 and Figure 4 , install the automatic switching system of position guidance and target tracking of this application, ensure that the center of the platform load 10 of the visual axis platform is at the center point of the arc 4 of the slide rail 4, and the visual axis of the platform load 10 points to the center of the arc length of the slide rail 4.

[0111] The upper computer 8 controls the light pipe sliding module 5 to move on the slide rail 4 and controls the second motor 3 to drive the slide rail 4 to rotate, so that the light pipe 6 can be located at any position on the two-dimensional surface passed by the arc slide rail 4.

[0112] The position guidance-target tracking automatic switching method of the present invention is applied to an aviation platform, and the specific implementation steps are as follows:

[0113] Step 1: The host computer 8 sends a control instruction to the servo control circuit 12 and the image processing circuit 11. The servo control circuit 12 controls the visual axis platform to move within the target arc area. During this movement, the image processor 16 receives the image information of the platform payload 10, and searches for the target light spot in the image information to obtain the position information of the target light spot, and transmits the searched position information to the servo control circuit 12 through encoding and decoding.

[0114] Step 2: The servo control circuit 12 controls the platform payload 10 to move according to the guidance of the position information given by the image processor 16, and points the visual axis of the platform payload 10 to the target light tube 6. When the platform payload 10 moves to the position, the position information is completed and flagged and sent to the image processor 16 through encoding and decoding.

[0115] Step 3: The image processor 16 calculates the miss amount information of the target light spot, and marks the tracking status of the target light spot with a flag bit, and transmits it to the servo control circuit 12 through a codec; the servo control circuit 12 controls the visual axis of the visual axis platform to automatically track the target light spot by judging the miss amount information and the flag bit information.

[0116] Step 4: Modify the spatial coordinate position of the target light pipe 6 through the host computer 8, and repeat it many times to realize the visual axis platform tracking the target light spot.

[0117] Compared with the traditional method of manually switching functions by pressing buttons, the method of the present application can effectively reduce the probability of errors caused by human participation, shorten the time for switching between the two states of position guidance and target tracking of the aviation platform, and improve the efficiency of the line of sight platform during actual use.

[0118] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic switching system for position guidance and target tracking, characterized in that: include: Control module; A visual axis platform, used to collect image information, wherein the image information carries target light spot information; A target platform is provided with a movable target light pipe, and the target light pipe points to the visual axis platform, and the target light spot is located on the target light pipe; An image processing circuit is connected to the visual axis platform, and is used to obtain image information collected by the visual axis platform in real time, and process the image information to obtain the miss distance information and flag position of the target light spot; The servo control circuit is respectively connected to the control module, the visual axis platform and the image processing circuit, and is used for controlling the visual axis platform to automatically track the target light tube based on the miss amount information and the flag position.

2. The automatic switching system for position guidance and target tracking according to claim 1 is characterized in that: The target platforms include: Pedestal; A slide rail, arranged on the base; A light pipe sliding module is slidably arranged on the slide rail, and the target light pipe is installed on the sliding module; The first motor is connected to the control module and is used to drive the sliding module.

3. The automatic switching system for position guidance and target tracking according to claim 2 is characterized in that: The slide rail is an arc-shaped slide rail, and the visual axis platform is located at the center of a virtual circle of the arc-shaped slide rail.

4. The automatic switching system for position guidance and target tracking according to claim 2 or 3, characterized in that: The target platform also includes: The second motor is arranged on the base, connected to the control module, and is used for driving the slide rail to rotate.

5. The automatic switching system for position guidance and target tracking according to claim 4 is characterized in that: The system further comprises: The third motor is connected to the servo control circuit and is used for driving the visual axis platform to rotate.

6. The automatic switching system for position guidance and target tracking according to claim 5, characterized in that: The image processing circuit comprises: An image receiving module, used to obtain image information collected by the visual axis platform; An image processor, used for calculating the miss distance information of the target light spot based on the image information and marking the tracking status of the target light spot through a flag bit; The first communication encoding module is used to decode the miss distance information and the flag bit, and send them to the servo control circuit. The servo control circuit tracks the target light tube according to the miss distance information and the flag bit.

7. The automatic switching system for position guidance and target tracking according to claim 6, characterized in that: The servo control circuit comprises: A second communication coding module, connected to the first communication coding module, for receiving the miss distance information and the flag bit; The driving module is used to drive the third motor to rotate according to the miss distance information and the flag position.

8. A method for automatic switching between position guidance and target tracking, characterized in that: The following steps are involved: Collecting image information, wherein the image information carries target light spot information; Based on the target light spot, calculating the miss distance information of the target light spot and marking the tracking state of the target light spot; The target light spot is tracked based on the miss distance information and the flag position.

9. The method for automatically switching between position guidance and target tracking according to claim 8, characterized in that: The step of calculating the miss distance information of the target light spot based on the target light spot and marking the tracking state of the target light spot through a flag bit specifically includes: Based on the target light spot, searching for position information of the target light spot; Generate a flag based on the position information movement; Based on the flag position, calculating the miss distance information of the target light spot and marking the tracking state of the target light spot for the flag position; The target light spot is tracked based on the miss distance information and the flag position.

10. The method for automatically switching between position guidance and target tracking according to claim 9, characterized in that: The tracking state of the target light spot includes: Lost state, indicating that the target light spot is not tracked successfully, and the corresponding flag bit is marked as 0x60; Capture status, indicating that the target light spot is captured before full tracking is achieved, and the corresponding flag bit is marked as 0x50; The tracking state indicates that the target light spot is completely tracked, and its corresponding code is 0x40.

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