Photoelectric investigation equipment control method and device, electronic equipment and storage medium

Abstract

The invention provides a control method and device of photoelectric detection equipment, electronic equipment and a storage medium, and relates to the technical field of automatic control. The control method of the photoelectric investigation equipment comprises the following steps: constructing a first relational expression among a vertical field angle, an external trigger frame frequency, a photoelectric roll scanning speed and a first preset overlapping degree between adjacent images; acquiring a first preset overlapping degree, a vertical field angle and an external trigger frame frequency between two adjacent shot images; determining the photoelectric roll scanning speed based on the first relational expression, the vertical field angle, the external trigger frame frequency and the first preset overlapping degree; and according to the vertical field angle, the external trigger frame frequency and the photoelectric roll scanning speed, controlling the photoelectric investigation equipment to operate. According to the method and the device, the photoelectric roll scanning speed required by normal splicing of the images is determined according to the relational expression, a basis is provided for accurate control of photoelectric reconnaissance equipment, the problem of splicing of the images in the strip caused by unreasonable scanning speed is avoided, and the splicing effect of the images in the strip is ensured.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a control method, device, electronic equipment and storage medium for photoelectric detection equipment. Background Art

[0002] As an important means of obtaining information in modern military and civilian fields, optoelectronic reconnaissance equipment is widely used in many scenarios such as battlefield reconnaissance, border monitoring, and disaster monitoring.

[0003] When optoelectronic reconnaissance equipment is used for large-area reconnaissance, it is necessary to stitch multiple captured images together to obtain complete scene information. However, due to the lack of comprehensive consideration of the factors affecting the overlap between adjacent images, it is easy to cause problems such as mismatched stitching of adjacent images, gaps, or excessive overlap, which seriously affects the reconnaissance effect and data accuracy.

[0004] Therefore, how to propose a method that can accurately control optoelectronic detection equipment to ensure the stitching effect of each image within the strip has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, the present invention provides a control method which can provide a basis for the precise control of optoelectronic reconnaissance equipment and effectively avoid the image stitching problem caused by unreasonable scanning speed.

[0006] Specifically, the present invention is implemented through the following technical solutions: According to a first aspect of the present invention, a control method for an optoelectronic detection device is provided, the optoelectronic detection device includes a sensor, and the control method for the optoelectronic detection device includes: constructing a first relationship between a vertical field angle of the sensor, an external trigger frame rate of the sensor, an optoelectronic roll scanning speed, and a first preset overlap between adjacent images; obtaining the first preset overlap between two adjacent captured images, the vertical field angle of the sensor, and the external trigger frame rate of the sensor; determining the optoelectronic roll scanning speed based on the first relationship, the vertical field angle, the external trigger frame rate, and the first preset overlap; and controlling the operation of the optoelectronic detection device according to the vertical field angle, the external trigger frame rate, and the optoelectronic roll scanning speed.

[0007] In some embodiments, the first relationship is:

[0008] ω1≤θ v ×(1-α1)×f;

[0009] Where ω1 is the photoelectric rolling scanning speed; θ v is the vertical field of view angle; α1 is the first preset overlap degree; f is the external trigger frame rate.

[0010] In some embodiments, the control method of the optoelectronic reconnaissance equipment also includes: constructing a second relationship between the upper bottom length of the instantaneous field of view, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle of the sensor; constructing a third relationship between the upper bottom length of the instantaneous field of view, the second preset overlap between adjacent strips, the flight speed and the scanning period; obtaining the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle of the optoelectronic reconnaissance equipment; determining the upper bottom length of the instantaneous field of view according to the second relationship, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle; obtaining the second preset overlap between adjacent strips and the scanning period; determining the flight speed based on the third relationship, the upper bottom length of the instantaneous field of view, the second preset overlap and the scanning period; controlling the operation of the optoelectronic reconnaissance equipment according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the flight altitude, the pitch scanning lower limit angle, the horizontal field of view angle, the scanning period and the flight speed.

[0011] In some embodiments, the second relationship is:

[0012]

[0013] Among them, S is the length of the upper bottom of the instantaneous field of view, H is the flight altitude, β0 is the lower limit angle of the pitch scan, and θ h is the horizontal field of view, θ v is the vertical field of view;

[0014] The third relation is:

[0015] S×(1-α2)≥V×T / 2;

[0016] Wherein, S is the length of the upper bottom of the instantaneous field of view, α2 is the second preset overlap, V is the flight speed, and T is the scanning period.

[0017] In some embodiments, the optoelectronic detection device also includes a pitch frame, and the control method of the optoelectronic detection device also includes: determining the compensation angular velocity of the pitch frame during forward image shift compensation according to the flight speed and the flight altitude; controlling the operation of the optoelectronic detection device according to the vertical field of view angle, external trigger frame rate, optoelectronic roll scanning speed, flight altitude, pitch scanning lower limit angle, horizontal field of view angle, scanning cycle, flight speed and compensation angular velocity; wherein the flight speed V, flight altitude H and compensation angular velocity ω3 satisfy the following relationship: ω3=V / H.

[0018] In some embodiments, the optoelectronic detection device also includes an imaging channel optical system, an internal frame and an optical micro-scanning mechanism, and the control method of the optoelectronic detection device also includes: constructing a fourth relationship between the first angular velocity of the roll axis in the internal frame, the magnification of the imaging channel optical system and the second angular velocity of the optical micro-scanning mechanism; obtaining the first angular velocity of the roll axis in the internal frame and the magnification of the imaging channel optical system; determining the second angular velocity of the optical micro-scanning mechanism based on the fourth relationship, the first angular velocity and the magnification; and controlling the operation of the optoelectronic detection device according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the first angular velocity, the magnification and the second angular velocity.

[0019] In some embodiments, the fourth relationship is:

[0020]

[0021] Among them, ω1 is the first angular velocity, n is the magnification, and ω2 is the second angular velocity.

[0022] According to a second aspect of the present invention, a control device for an optoelectronic detection device is provided. The optoelectronic detection device includes a sensor, and the control device for the optoelectronic detection device includes: a construction module for constructing a first relationship between a vertical field angle of the sensor, an external trigger frame rate of the sensor, an optoelectronic roll scanning speed, and a first preset overlap between adjacent images; an acquisition module for acquiring the first preset overlap between two adjacent captured images, the vertical field angle of the sensor, and the external trigger frame rate of the sensor; a determination module for determining the optoelectronic roll scanning speed based on the first relationship, the vertical field angle, the external trigger frame rate, and the first preset overlap; and a control module for controlling the operation of the optoelectronic detection device according to the vertical field angle, the external trigger frame rate, and the optoelectronic roll scanning speed.

[0023] According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for controlling an optoelectronic detection device in the first aspect or any possible implementation of the first aspect are implemented.

[0024] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for controlling an optoelectronic detection device in the first aspect or any possible implementation of the first aspect.

[0025] The technical solution provided by the present invention brings at least the following beneficial effects: In this solution, the restriction conditions of scanning and stitching imaging of the optoelectronic reconnaissance equipment are comprehensively analyzed from four aspects: the overlap between adjacent images, the overlap between adjacent strips, the roll scanning image motion compensation, and the carrier aircraft forward flight image motion compensation, so as to determine the operating parameters of the optoelectronic reconnaissance equipment, thereby controlling the optoelectronic reconnaissance equipment to operate according to the parameters, providing a basis for the precise control of the optoelectronic reconnaissance equipment, ensuring the stitching effect between multiple images taken by the optoelectronic reconnaissance equipment, so as to improve the overall performance and reconnaissance efficiency of the optoelectronic reconnaissance equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 A schematic flow chart of a control method for an optoelectronic detection device provided by an embodiment of the present invention;

[0029] Figure 2 A stitching effect diagram of images taken by the control method based on the photoelectric detection device provided in an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the generation and compensation principle of image motion in the flight direction provided by an embodiment of the present invention;

[0031] Figure 4 A block diagram of a control device for an optoelectronic detection device provided by an embodiment of the present invention;

[0032] Figure 5 A block diagram of an electronic device provided by an embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of the inner frame of the visual reconnaissance type optoelectronic pod in the related art;

[0034] Figure 7 This is an image effect diagram without forward flight image motion compensation stitching in the related art. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 are within the scope of protection of the present invention.

[0036] See also Figure 1 The embodiment of the present invention provides a control method for an optoelectronic detection device, which may include the following steps:

[0037] S102: constructing a first relationship between the vertical field angle of the sensor, the external trigger frame rate of the sensor, the photoelectric rolling scanning speed, and a first preset overlap between adjacent images.

[0038] S104: Acquire a first preset overlap degree between two adjacent captured images, a vertical field angle of the sensor, and an external trigger frame rate of the sensor.

[0039] S106 , determining a photoelectric rolling scanning speed based on a first relationship, a vertical field of view angle, an external trigger frame rate, and a first preset overlap degree.

[0040] S108, controlling the operation of the optoelectronic detection equipment according to the vertical field angle, the external trigger frame rate and the optoelectronic rolling scanning speed.

[0041] According to the control method of the optoelectronic reconnaissance equipment provided by the present invention, a relationship between the vertical field of view angle of the sensor, the external trigger frame rate, the optoelectronic rolling scanning speed and the preset overlap between adjacent images is constructed, and the optoelectronic rolling scanning speed required for normal image stitching is determined based on the relationship, thereby providing a basis for precise control of the optoelectronic reconnaissance equipment, effectively avoiding the problem of image stitching within the strip caused by unreasonable scanning speed, ensuring the stitching effect between images within the strip, and improving the overall performance and reconnaissance efficiency of the optoelectronic reconnaissance equipment.

[0042] In some embodiments, the first relationship is:

[0043] ω1≤θ v ×(1-α1)×f;

[0044] Where ω1 is the photoelectric rolling scanning speed; θ v is the vertical field of view angle; α1 is the first preset overlap degree; f is the external trigger frame rate.

[0045] In some embodiments, the control method of the optoelectronic reconnaissance equipment also includes: constructing a second relationship between the upper bottom length of the instantaneous field of view, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle of the sensor; constructing a third relationship between the upper bottom length of the instantaneous field of view, the second preset overlap between adjacent strips, the flight speed and the scanning period; obtaining the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle of the optoelectronic reconnaissance equipment; determining the upper bottom length of the instantaneous field of view according to the second relationship, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle; obtaining the second preset overlap between adjacent strips and the scanning period; determining the flight speed based on the third relationship, the upper bottom length of the instantaneous field of view, the second preset overlap and the scanning period; controlling the operation of the optoelectronic reconnaissance equipment according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the flight altitude, the pitch scanning lower limit angle, the horizontal field of view angle, the scanning period and the flight speed.

[0046] In this embodiment, in the side pitch scanning reconnaissance mode, the pitch axis is kept at zero position at the start position of the single-pass strip scanning. At this time, due to the continuous change of the earth's roll angle, the ground projection trapezoid of the single-frame image is also constantly changing. In order to ensure that there is sufficient overlap between adjacent strips, it is necessary to ensure that the length of the shorter bottom, i.e., the upper bottom, of the instantaneous field of view projection trapezoid meets certain requirements, that is, according to the second and third relationship formulas, by adjusting the flight speed of the optoelectronic detection device (the aircraft where the optoelectronic detection device is located), the overlap between adjacent strips is ensured, thereby ensuring that there are no cracks in the splicing between adjacent strips and the overall imaging effect of the optoelectronic detection device.

[0047] Optionally, the parameter relationship between the flight speed and the scanning period (one round trip of the roll axis is considered as a scanning period) can be determined based on the third relationship, the upper bottom length of the instantaneous field of view and the second preset overlap, so that the operation of the optoelectronic detection equipment can be controlled according to the parameter relationship between the flight speed and the scanning period. In this way, the two independent variables of flight speed and scanning period can be adjusted to ensure that adjacent strips are spliced ​​without cracks.

[0048] In some embodiments, the second relationship is:

[0049]

[0050] Among them, S is the length of the upper bottom of the instantaneous field of view, H is the flight altitude, β0 is the lower limit angle of the pitch scan, and θ h is the horizontal field of view, θ v is the vertical field of view;

[0051] The third relation is:

[0052] S×(1-α2)≥V×T / 2;

[0053] Wherein, S is the length of the upper bottom of the instantaneous field of view, α2 is the second preset overlap, V is the flight speed, and T is the scanning period.

[0054] In some embodiments, the optoelectronic detection device also includes a pitch frame, and the control method of the optoelectronic detection device also includes: determining the compensation angular velocity of the pitch frame during forward image shift compensation according to the flight speed and the flight altitude; controlling the operation of the optoelectronic detection device according to the vertical field of view angle, external trigger frame rate, optoelectronic roll scanning speed, flight altitude, pitch scanning lower limit angle, horizontal field of view angle, scanning cycle, flight speed and compensation angular velocity; wherein the flight speed V, flight altitude H and compensation angular velocity ω3 satisfy the following relationship: ω3=V / H.

[0055] In this embodiment, the compensation angular velocity of the pitch frame during forward image motion compensation is determined according to the flight speed and the flight altitude, which can effectively compensate for the image motion in the flight direction, so that the image strips acquired in a single scanning direction are perpendicular to the flight direction, avoiding the appearance of traditional stepped images, facilitating subsequent stitching processing between images, and improving the overall reconnaissance effect of the optoelectronic reconnaissance equipment.

[0056] In some embodiments, the optoelectronic detection device also includes an imaging channel optical system, an internal frame and an optical micro-scanning mechanism, and the control method of the optoelectronic detection device also includes: constructing a fourth relationship between the first angular velocity of the roll axis in the internal frame, the magnification of the imaging channel optical system and the second angular velocity of the optical micro-scanning mechanism; obtaining the first angular velocity of the roll axis in the internal frame and the magnification of the imaging channel optical system; determining the second angular velocity of the optical micro-scanning mechanism based on the fourth relationship, the first angular velocity and the magnification; and controlling the operation of the optoelectronic detection device according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the first angular velocity, the magnification and the second angular velocity.

[0057] In this embodiment, for the optical micro-scanning mechanism, when the inner frame roll axis rotates at a first angular velocity, the optical micro-scanning mechanism needs to rotate in the opposite direction, so that the second angular velocity of the optical micro-scanning mechanism and the first angular velocity of the inner frame roll axis satisfy the fourth relationship. In this solution, the fourth relationship is constructed to clarify the relationship between the angular velocity of the roll axis in the inner frame, the magnification of the imaging channel optical system, and the angular velocity of the optical micro-scanning mechanism, so that the optical micro-scanning mechanism and the inner frame roll axis can move in coordination, thereby further improving the accuracy and stability of imaging, avoiding image quality degradation due to problems such as image shift, and providing guarantees for the effective operation of optoelectronic detection equipment.

[0058] In some embodiments, the fourth relationship is:

[0059]

[0060] Among them, ω1 is the first angular velocity, n is the magnification, and ω2 is the second angular velocity.

[0061] The control method and control device of the photoelectric detection equipment in the present application are further described below in conjunction with a specific embodiment.

[0062] The ground scanning imaging of the side-looking reconnaissance electro-optical pod is limited by many parameters. These parameters determine the performance indicators such as scanning speed and imaging area. If they are not reasonably matched during the design stage, it may cause omissions and cracks in the scanning image, ultimately leading to mission failure. Currently, there is no comprehensive design calculation method reported.

[0063] In view of the above problems, the present invention discloses a ground reconnaissance stitching imaging calculation method (control method of optoelectronic reconnaissance equipment), comprehensively analyzes the restriction conditions of optoelectronic pod ground scanning imaging, and then calculates the design parameters that optoelectronics should meet from the restriction conditions.

[0064] High-altitude drones conduct "carpet-style" scanning and reconnaissance along the enemy's border, obtaining real-time and detailed image intelligence through the electro-optical pods they carry. It is reported that the electro-optical pods can complete ground image reconnaissance missions over an area of ​​90,000 square kilometers within one hour.

[0065] like Figure 6 As shown, Figure 6 This is a schematic diagram of the internal frame of a typical side-view reconnaissance optoelectronic pod in the relevant technology, which has two degrees of freedom in pitch (no more than ±20°) and roll (no more than ±90°) along the flight direction. By swinging the roll axis back and forth within a fixed angle range, combined with optoelectronic imaging and splicing technology, large-scale splicing imaging of the ground area can be achieved. The optoelectronic reconnaissance imaging area and reconnaissance efficiency are related to many parameters, such as optical television field angle, scanning cycle, scanning speed, image frame rate, flight speed-to-height ratio, etc. The above parameters determine the reconnaissance capability of this type of reconnaissance pod and are the key factors to be considered when carrying out related design work.

[0066] In view of the above problems, the present invention studies a method for calculating ground reconnaissance stitching imaging. The requirements for photoelectric parameters are calculated from four aspects: overlap between adjacent images, overlap between adjacent strips, roll scanning image motion compensation, and forward flight image motion compensation of the carrier aircraft, so that the photoelectric reconnaissance equipment is operated according to the working parameters provided by the present application to ensure the stitching effect between the captured images. The specific stitching effect between images is as follows: Figure 2 shown.

[0067] Overlap between adjacent images: To ensure that the images within the strip can be stitched together normally, adjacent image frames must meet a certain degree of overlap. The overlap requirement is mainly related to the stitching algorithm.

[0068] Overlap between adjacent strips: To ensure seamless splicing between adjacent strips, the last frame of the preceding strip and the first frame of the succeeding strip must have a certain degree of overlap along the flight direction.

[0069] Roll scanning image motion compensation: When the roll axis of the photoelectric inner frame scans at a certain speed, the optical micro-scanning mechanism at the front end of the detector needs to translate in the opposite direction within the detector integration time.

[0070] Image motion compensation for forward flight of the carrier aircraft: ensure that the image strips acquired in a single scanning direction are perpendicular to the flight direction.

[0071] The specific implementation is as follows:

[0072] 1) Overlap between adjacent images

[0073] During the lateral scanning process, the rolling scanning speed ω1 of the optoelectronic device must satisfy the following relationship:

[0074] ω1≤θ v ×(1-α1)×f (1-1)

[0075] Where, ω1: photoelectric rolling scanning speed; θ v : vertical field of view angle; α1: overlap between adjacent images (first preset overlap); f: sensor external trigger frame rate.

[0076] 2) Overlap rate between adjacent strips

[0077] In the side elevation scanning reconnaissance mode, the elevation axis is kept at zero position at the start of the single-pass strip scanning. At this time, due to the continuous change of the earth's roll angle, the ground projection trapezoid of the single-frame image is also changing. In order to ensure that there is sufficient overlap between adjacent strips, it is necessary to ensure that the shorter base of the instantaneous field of view projection trapezoid, i.e., the upper base S, meets the following requirements:

[0078]

[0079] In the formula, θ h ×θ v : sensor field of view; θ h is the horizontal field of view, θ v is the vertical field of view angle, H: aircraft flying height (flight altitude); V: aircraft flying speed (flight speed); β0: pitch scanning lower limit angle; T: scanning period (one round trip of the roll axis is considered as a scanning period); α2: overlap between adjacent strips (the second preset overlap).

[0080] 3) Roll scanning image motion compensation

[0081] For the optical micro-scanning mechanism, when the inner frame rolling axis rotates at a speed of ω1, the optical micro-scanning mechanism needs to rotate in the opposite direction, and the speeds between the two have the following relationship:

[0082]

[0083] Wherein, n: magnification of the imaging channel optical system; ω2: speed of the optical micro-scanning mechanism (second angular velocity); ω1: speed of the inner frame roll axis (first angular velocity).

[0084] 4) Forward flight image motion compensation

[0085] like Figure 7 As shown, Figure 7 This is a stitching effect diagram without forward flight image motion compensation. In this application, the generation and compensation principle of flight direction image motion is as follows Figure 3 As shown, at the start of exposure, the optical focus is at position O, and point A below the camera passes through the optical lens and is imaged at point OA on the focal plane along the visual axis AOOA.

[0086] Assuming that the pitch frame is stationary relative to the carrier aircraft, after exposure time t, the optical lens moves at high speed with the aircraft to the O' position, and the ground point A' passes through the optical component along the visual axis A'O'O A The image is formed at point OA in the focal plane, while point A is along the visual axis AO′O′ A O′ imaged on the focal plane A Obviously, the high-speed flight of the aircraft brings about the image shift problem, and the image shift direction is from OA to O' A .

[0087] If the pitch frame is rotated by a suitable angle at this time so that point A is still imaged at point OA on the focal plane after passing through the focus O′ of the optical system, the relative motion between the ground target and the detector is eliminated.

[0088] According to the plane trigonometric geometry, the angle α of the pitch frame rotation is the angle between O′A and O′A′. For the area array detector, the exposure time is relatively short, generally in the order of ms, and the maximum design speed-to-height ratio of the carrier is 0.025. According to the geometric relationship:

[0089]

[0090] Among them, α is the angle of rotation of the pitch frame, v is the flight speed of the aircraft, H is the flight altitude, and t is the exposure time of the array detector, thus obtaining:

[0091]

[0092] Among them, ω3 is the angular velocity of the pitch frame rotation during forward image motion compensation (compensation angular velocity), α is the angle of rotation of the pitch frame, t is the exposure time of the array detector, v is the flight speed of the aircraft, and H is the flight altitude.

[0093] Based on the same inventive concept, Figure 4As shown, an embodiment of the present invention further provides a control device 1 for an optoelectronic detection device, the optoelectronic detection device includes a sensor, and the control device 1 for the optoelectronic detection device includes: a construction module 12, used to construct a first relationship between a vertical field angle of the sensor, an external trigger frame rate of the sensor, an optoelectronic roll scanning speed and a first preset overlap between adjacent images; an acquisition module 14, used to acquire the first preset overlap between two adjacent captured images, the vertical field angle of the sensor and the external trigger frame rate of the sensor; a determination module 16, used to determine the optoelectronic roll scanning speed based on the first relationship, the vertical field angle, the external trigger frame rate and the first preset overlap; a control module 18, used to control the operation of the optoelectronic detection device according to the vertical field angle, the external trigger frame rate and the optoelectronic roll scanning speed.

[0094] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0095] In some embodiments, the construction module 12 is further used to construct a second relationship between the upper bottom length of the instantaneous field of view, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle of the sensor; and to construct a third relationship between the upper bottom length of the instantaneous field of view, the second preset overlap between adjacent strips, the flight speed and the scanning period; the acquisition module 14 is further used to obtain the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle of the sensor of the optoelectronic reconnaissance equipment; the determination module 16 is further used to determine the upper bottom length of the instantaneous field of view according to the second relationship, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle and the horizontal field of view angle; obtain the second preset overlap between adjacent strips and the scanning period; determine the flight speed based on the third relationship, the upper bottom length of the instantaneous field of view, the second preset overlap and the scanning period; the control module 18 is further used to control the operation of the optoelectronic reconnaissance equipment according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the flight altitude, the pitch scanning lower limit angle, the horizontal field of view angle, the scanning period and the flight speed.

[0096] In some embodiments, the determination module 16 is further used to determine the compensation angular velocity of the pitch frame during forward image motion compensation according to the flight speed and the flight altitude; the control module 18 is further used to control the operation of the optoelectronic detection equipment according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the flight altitude, the pitch scanning lower limit angle, the horizontal field of view angle, the scanning cycle, the flight speed and the compensation angular velocity; wherein the flight speed V, the flight altitude H and the compensation angular velocity ω3 satisfy the following relationship: ω3=V / H.

[0097] In some embodiments, the construction module 12 is further used to construct a fourth relationship between the first angular velocity of the roll axis in the inner frame, the magnification of the imaging channel optical system and the second angular velocity of the optical micro-scanning mechanism; the acquisition module 14 is further used to acquire the first angular velocity of the roll axis in the inner frame and the magnification of the imaging channel optical system; the determination module 16 is further used to determine the second angular velocity of the optical micro-scanning mechanism based on the fourth relationship, the first angular velocity and the magnification; the control module 18 is further used to control the operation of the optoelectronic detection equipment according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the first angular velocity, the magnification and the second angular velocity.

[0098] Based on the same inventive concept, see Figure 5 The embodiment of the present invention further provides an electronic device 2, including a memory 20 (such as a non-volatile memory), a processor 22, and a computer program stored in the memory 20 and executable on the processor 22. When the processor 22 executes the computer program, the steps of the control method of the photoelectric detection device in any possible implementation method described above are implemented, which can be equivalent to the control device of the photoelectric detection device as described above. Of course, the processor can also be used to process other data or operations. The electronic device 2 can be a PC, a server, a terminal, and other devices.

[0099] The electronic device 2 may also generally include: a memory, a network interface, and an internal bus. In addition to these components, other hardware may also be included, which will not be described in detail.

[0100] It should be pointed out that the above electronic device can be implemented through software. As a device in a logical sense, it is formed by the processor of the electronic device in which it is located reading the computer program instructions stored in the non-volatile memory into the internal memory and running them.

[0101] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the optoelectronic detection device in any possible implementation manner described above are implemented.

[0102] Alternatively, the storage medium may be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0103] Based on the same inventive concept, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the control method of the optoelectronic detection device in any possible implementation manner described above.

[0104] In the embodiments according to the present invention, the terms "first", "second", and "third" are only used for description and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments according to the present invention can be understood according to specific circumstances.

[0105] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in a specific order or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present invention. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0106] Although the subject matter has been described in the language of specific structural features and / or method logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0107] The above are only preferred embodiments according to the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various modifications and changes may be made according to the embodiments of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present invention shall be included in the protection scope of the embodiments of the present invention.

Claims

1. A control method for an optoelectronic detection device, wherein the optoelectronic detection device comprises a sensor, characterized in that: The control method of the photoelectric detection device comprises: Constructing a first relationship between the vertical field angle of the sensor, the external trigger frame rate of the sensor, the photoelectric rolling scanning speed, and a first preset overlap between adjacent images; Acquire a first preset overlap between two adjacent captured images, a vertical field angle of the sensor, and an external trigger frame rate of the sensor; Determine the photoelectric rolling scanning speed based on the first relationship, the vertical field of view angle, the external trigger frame rate and the first preset overlap; The operation of the photoelectric detection device is controlled according to the vertical field angle, the external trigger frame rate and the photoelectric rolling scanning speed.

2. The control method of the photoelectric detection equipment according to claim 1, characterized in that: The first relation is: ω1≤θ v ×(1-α1)×f; Wherein, ω1 is the photoelectric rolling scanning speed; θ v is the vertical field of view angle; α1 is the first preset overlap degree; and f is the external trigger frame rate.

3. The control method of the photoelectric detection equipment according to claim 1 or 2, characterized in that: Also includes: Constructing a second relationship between the upper base length of the instantaneous field of view, the flight altitude, the lower limit angle of the pitch scan, the vertical field of view angle, and the horizontal field of view angle of the sensor; Constructing a third relationship between the length of the upper base of the instantaneous field of view, the second preset overlap between adjacent strips, the flight speed and the scanning period; Obtaining the flight altitude, pitch scanning lower limit angle, vertical field of view angle and horizontal field of view angle of the sensor of the optoelectronic reconnaissance equipment; Determine the upper bottom length of the instantaneous field of view according to the second relationship, the flight altitude, the pitch scanning lower limit angle, the vertical field of view angle, and the horizontal field of view angle; Obtaining a second preset overlap degree and scanning period between adjacent strips; Determine a flight speed based on the third relationship, the length of the upper bottom of the instantaneous field of view, the second preset overlap, and the scanning period; The operation of the optoelectronic detection equipment is controlled according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the flight altitude, the pitch scanning lower limit angle, the horizontal field of view angle, the scanning period and the flight speed.

4. The control method of the photoelectric detection equipment according to claim 3, characterized in that: The second relation is: Wherein, S is the upper bottom length of the instantaneous field of view, H is the flight altitude, β0 is the lower limit angle of the pitch scan, θ h is the horizontal viewing angle, θ v is the vertical field angle; The third relational expression is: S×(1-α2)≥V×T / 2; Wherein, S is the upper bottom length of the instantaneous field of view, α2 is the second preset overlap, V is the flight speed, and T is the scanning period.

5. The control method of the photoelectric detection device according to claim 4, wherein the photoelectric detection device further comprises a pitch frame, characterized in that: The control method of the photoelectric detection device also includes: determining, according to the flight speed and the flight altitude, a compensation angular velocity of the pitch frame during forward image motion compensation; Controlling the operation of the optoelectronic detection device according to the vertical field of view angle, the external trigger frame rate, the optoelectronic roll scanning speed, the flight altitude, the pitch scanning lower limit angle, the horizontal field of view angle, the scanning period, the flight speed and the compensation angular velocity; The flight speed V, the flight altitude H and the compensation angular velocity ω3 satisfy the following relationship: ω3=V / H.

6. The control method of the optoelectronic detection device according to claim 1 or 2, wherein the optoelectronic detection device further comprises an imaging channel optical system, an inner frame and an optical micro-scanning mechanism, characterized in that: The control method of the photoelectric detection device also includes: Constructing a fourth relationship between a first angular velocity of the roll axis in the inner frame, a magnification of the imaging channel optical system, and a second angular velocity of the optical micro-scanning mechanism; Acquire a first angular velocity of a roll axis in the inner frame and a magnification of the imaging channel optical system; Determining a second angular velocity of the optical micro-scanning mechanism based on the fourth relationship, the first angular velocity, and the magnification; The operation of the photoelectric detection device is controlled according to the vertical field angle, the external trigger frame rate, the photoelectric rolling scanning speed, the first angular velocity, the magnification and the second angular velocity.

7. The control method of the photoelectric detection equipment according to claim 6, characterized in that: The fourth relational expression is: Wherein, ω1 is the first angular velocity, n is the magnification, and ω2 is the second angular velocity.

8. A control device (1) for a photoelectric detection device, the photoelectric detection device comprising a sensor, characterized in that: The control device of the photoelectric detection equipment comprises: A construction module (12) is used to construct a first relationship between the vertical field angle of the sensor, the external trigger frame rate of the sensor, the photoelectric rolling scanning speed and the first preset overlap between adjacent images; An acquisition module (14) is used to acquire a first preset overlap between two adjacent captured images, a vertical field of view angle of the sensor, and an external trigger frame rate of the sensor; A determination module (16) is used to determine the photoelectric rolling scanning speed based on the first relationship, the vertical field of view angle, the external trigger frame rate and the first preset overlap; A control module (18) is used to control the operation of the photoelectric detection device according to the vertical field angle, the external trigger frame frequency and the photoelectric rolling scanning speed.

9. An electronic device (2), comprising a memory (20), a processor (22), and a computer program stored in the memory (20) and executable on the processor (22), characterized in that: When the processor (22) executes the computer program, the steps of the control method of the optoelectronic detection device according to any one of claims 1 to 7 are implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method of the optoelectronic detection device according to any one of claims 1 to 7 are implemented.

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