High-speed dense target detecting and positioning device and method based on line-scan digital camera

Abstract

The invention belongs to the field of image detection and stereoscopic vision positioning, and particularly relates to a high-speed dense target detection positioning device and method based on a line-scan digital camera, and the device comprises an image collection device which is used for overlapping to form an imaging target surface within the detection range of the image collection device so as to collect the image information of a target, image information of the collected target is sent to the data processing module and the main control module through the data transmission module; the data processing module is used for receiving the image information acquired by the image acquisition device, processing and analyzing the image information in real time, calculating the coordinate position of the target in the imaging target surface of the image acquisition device, and sending the coordinate position to the main control module; the main control module is used for sending a control command to each module, respectively receiving the image information sent by the image acquisition device and the target coordinate position data detected by the data processing module, and determining the detection position of the target on the imaging target surface; and the actual coordinate of the target is calculated according to the detection position of the target on the imaging target surface.

Description

Technical Field

[0001] The present invention belongs to the field of image detection and stereo vision positioning, and specifically relates to a high-speed and dense target detection and positioning device and method based on a linear array camera. Background Art

[0002] According to the characteristics of the target, various high-speed and dense target detection and positioning devices have been designed, such as lasers, infrared rays, sound waves, area array cameras, and so on.

[0003] Radar detection method: The radar detection method refers to the radio waves emitted from the radar position to the target point. When the radio waves encounter the target obstacle, a part of the waves will be reflected back. When the reflected radio waves are received, the direction of the target point can be located according to the emission direction of the radio waves. Then, calculate the distance between the target point and the radar, which can be determined according to the time difference between emission and reception. Finally, determine the position of the target point. Although the radar detection method is widely used, it is not suitable for detecting and positioning small targets because its applicable range is for large target obstacles and long-distance measurements.

[0004] Laser detection method: In the measurement system, when a high-resolution laser is used as the signal carrier in the experiment, it is called the laser detection method. When the measurement target passes through the target body, the target body is divided into equally spaced grids at a fixed interval. By using a processor and other components, the element numbers of the photosensitive elements that change due to the passing of the target can be collected, and thus the target coordinate position can be obtained. The output experimental parameters can be used as a reference in weapon launch and training. When the grid interval is small, the target coordinate position will be more accurate, but the cost of the detection system will also increase accordingly. Laser detection is suitable for the live ammunition shooting automatic target reporting system with a small field of view and a narrow range because its laser beam is narrow. When it is used to detect the impact points of a cluster of projectiles in a shooting range environment with a large field of view and a wide range, its detection performance will be lost.

[0005] Sound detection and positioning method: The technology of using a microphone to receive sound wave signals and then analyzing the sound wave signals through the system to achieve the spatial coordinate positioning of the object to be identified is called the sound detection and positioning method. The positioning accuracy of this method is poor. Summary of the Invention

[0006] The purpose of the present invention is to provide a high-speed and dense target detection and positioning device and method based on a linear array camera, which uses two cameras to simulate the human visual system, based on the parallax principle and uses imaging devices to simultaneously obtain two images of the measured target area from different positions, and obtains the three-dimensional information of the target by calculating the position deviation between corresponding points of the images, so as to overcome the above-mentioned defects of poor positioning and detection accuracy.

[0007] The technical solution adopted by the present invention to achieve the above object is: A high-speed dense target detection and positioning device based on a linear array camera, comprising: an image acquisition device, a data processing module, a main control module, a positioning and measurement module, and a data transmission module;

[0008] The image acquisition device is used to form an imaging target surface by superposition within its detection range to acquire the image information of the target, and respectively send the acquired image information of the target to the data processing module and the main control module through the data transmission module;

[0009] The data processing module is used to receive the image information acquired by the image acquisition device, perform real-time processing and analysis on the image information, calculate the coordinate position of the target in the imaging target surface of the image acquisition device, and send it to the main control module;

[0010] The main control module is used to send control commands to each module, respectively receive the image information sent by the image acquisition device and the target coordinate position data detected by the data processing module, determine the detection position of the target on the imaging target surface; and calculate the actual coordinates of the target according to the detection position of the target on the imaging target surface;

[0011] The positioning and measurement module is used to measure the positions and angles between the image acquisition devices, store them in the data processing module, and provide initial positioning data for the data processing module.

[0012] A plurality of the image acquisition devices are provided, including: a first image acquisition device, a second image acquisition device, a third image acquisition device, and a fourth image acquisition device with the same structure;

[0013] The first image acquisition device and the second image acquisition device are symmetrically arranged on the ground, and each of them forms an imaging target surface T1 by superposition within the detection range;

[0014] The third image acquisition device and the fourth image acquisition device are symmetrically arranged on the ground, and each of them forms an imaging target surface T2 by superposition within the detection range;

[0015] The first image acquisition device and the third image acquisition device are arranged on the same side, and the second image acquisition device and the fourth image acquisition device are arranged on the same side.

[0016] The distance between the first image acquisition device and the third image acquisition device is equal to the distance between the second image acquisition device and the fourth image acquisition device; and the imaging target surface T1 is parallel to the imaging target surface T2.

[0017] The image acquisition device includes: a camera, a turntable, and a servo control unit;

[0018] The camera is fixedly installed on the turntable, and the turntable is connected to the servo control unit;

[0019] The servo control unit is used to drive and control the turntable to rotate horizontally or pitch, and drive the camera on the turntable to move, so as to realize imaging target surfaces in different directions.

[0020] The camera is a linear array camera with a line frequency of 40K - 80k.

[0021] The horizontal rotation range of the turntable is: 0° - 360°, and the pitch rotation range is: 0° - 180°.

[0022] A positioning method for a high-speed dense target detection and positioning device based on a linear array camera includes the following steps:

[0023] 1) The servo control unit corresponding to each image acquisition device receives the control command sent by the main control module through the transmission module, drives its turntable to move to the specified angular position, and forms imaging target surface T1 and imaging target surface T2;

[0024] 2) The main control module sends a shooting instruction to each image acquisition device, and the linear array camera in the image acquisition device takes a picture, and sends the image information captured by each camera to the data processing module;

[0025] 3) The positioning and measurement module measures the positions and angles between the image acquisition devices and stores them in the data processing module. The data processing module performs real-time processing and analysis on the image information sent by the image acquisition device received through the transmission module, and calculates the coordinate positions of the target in the linear array camera of each image acquisition device;

[0026] 4) The main control module sends control commands to each module through the transmission module, and receives the image information sent by each image acquisition device and the different coordinate position data of the target detected and recognized by the data processing module in each image acquisition device, and determines the detection positions of the target on the imaging target surfaces P1 and P2 through the intersection positioning principle;

[0027] 5) The main control module connects the target coordinates on the imaging target surfaces P1 and P2 through which the target passes according to the principle that the final flight trajectory of the target is approximately a straight line, and extends it to intersect with the horizontal plane. The intersection point is used as the actual position coordinate of the target on the ground horizontal plane, and then the actual coordinate of the target is calculated.

[0028] Specifically, in step 3): Images are collected by the image acquisition device, and the images are segmented using threshold rules. When a target passes through the linear array camera, its gray value is different from other areas, and the coordinates of the target on the camera target surface are identified through correlation or centroid algorithms.

[0029] Extend the imaging target surfaces P1 and P2 until they intersect with the horizontal plane, and use the intersection points as the actual position coordinates of the target on the ground horizontal plane. Then, calculate the actual coordinates of the target, including the following steps:

[0030] (1) Establish a world coordinate system:

[0031] The world coordinate system takes the ground target center as the coordinate origin o. The projection of the central ballistic trajectory passing through point o on the target plane is the ox axis, and it is positive in the same direction as the central target direction; the oy axis passes through point o and is perpendicular to the target plane, with the direction upward; the oz axis is perpendicular to the oxy plane, and its direction is determined by the right-hand rule;

[0032] (2) Establish the coordinate systems of camera 1 and camera 2, and camera 3 and camera 4:

[0033] Let the coordinate system of camera 1 and camera 2 be o′x′y′z′: Assume that the detection surfaces of camera 1 and camera 2 are coplanar. The center of the camera positions is the coordinate origin o′. The line connecting the positions of camera 1 and camera 2 passing through the origin o′ is the o′z′ axis. The o′x′ axis is perpendicular to the o′z′ axis within the coplanar plane, and the o′y′ axis is determined by the right-hand rule; Repeat this step to establish the coordinate systems of camera 3 and camera 4

[0034] (3) Obtain the attitude relationship between the camera coordinate system and the world coordinate system. According to the attitude relationship between the camera coordinate system and the world coordinate system, calculate the actual coordinates of the target through the coordinate system transformation method.

[0035] The specific content of step (3) is as follows:

[0036] a) Assume that the coordinates of the center of the camera in the oxyz coordinate system are o′(x 12 *, y 12 *, z 12 *); Then, the attitude relationship between the camera coordinate system o′x′y′z′ and the coordinate system oxyz is as follows:

[0037] Pitch angle J 12 : The angle between the o′x′ axis and the target plane oxz. When the o′x′ axis passes through the target plane from bottom to top, it is positive; otherwise, it is negative; Yaw angle y 12 : The angle between the projection of the o′x′ axis on the target plane oxyz and the ox axis. When rotating counterclockwise from the ox axis to the projection line direction, it is positive; otherwise, it is negative; Roll angle g 12 : The angle between the o′x′ axis and the vertical plane containing the o′y′ axis. Looking along the o′y′ axis direction, when the camera rotates to the right from the vertical plane, it is positive; otherwise, it is negative;

[0038] b) Calculate the actual coordinates of the target through the coordinate system transformation method:

[0039] Let P 1 be the detection point where the target passes through the imaging target surface P1, a1、 a 2 is the ray inclination angle, and L is the distance from the imaging target surface P1 or the imaging target surface P2 to the center point;

[0040] P 1 The equation of the ray from P to camera 1 in the camera coordinate system o′x′y′z′ is:

[0041]

[0042] P 1 The equation of the ray from P to camera 2 in the camera coordinate system o′x′y′z′ is:

[0043]

[0044] According to formulas (1) and (2), the coordinates of P 1 in the o′x′y′z′ coordinate system are obtained, that is:

[0045]

[0046] The detection point P 1 The coordinates P of P in the camera coordinate system o′x′y′z′ 1 (x 1 ′, y 1 ′, z 1 ′) and the world coordinate system conversion formula is as follows:

[0047]

[0048] According to formula (4), the coordinates of P 1 in the world coordinate system are calculated as (x 1 , y 1 , z 1 ), and similarly, the coordinates of P 2 in the world coordinate system are calculated as (x 2 , y 2 , z 2 );

[0049] If the actual calculation does not rely on the rate y, then let y = 0,

[0050]

[0051] According to formula (5), the actual position coordinates (x*, z*) of the target on the ground horizontal plane are calculated.

[0052] The present invention has the following beneficial effects and advantages:

[0053] 1. The high-speed and dense target detection and positioning device and method based on the line array camera of the present invention have better environmental adaptability and stronger anti-interference ability than the traditional area array camera measurement method.

[0054] 2. The rapid dense target detection and positioning device of the present invention adopts a symmetric layout of two groups of 4 linear array cameras with consistent performance arranged at a certain distance. The effective detection ranges of each group of linear array cameras are superimposed to form an imaging target surface, and the actual position coordinates of the target obtained are more accurate.

[0055] 3. The present invention can obtain the number of ranging times of the target passing through the detection target surface in sequence according to a certain period of time, and can also effectively distinguish low-speed flying interference objects such as birds and insects.

[0056] 4. The present invention can identify and position targets with high mobility, large dispersion area, and high speed density. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic structural diagram of a high-speed dense target detection and positioning device according to an embodiment of the present invention;

[0058] Figure 2a It is a schematic diagram of the formation principle of the imaging target surface T1 of the present invention;

[0059] Figure 2b It is a schematic diagram of the formation principle of the imaging target surface T2 of the present invention;

[0060] Figure 3 It is a schematic diagram of connecting the principle that the flight trajectory of the target in the final stage is approximately a straight line and passes through the imaging target surface of the present invention;

[0061] Figure 4 It is a schematic diagram of the angular relationship of the camera coordinate system of the present invention;

[0062] Among them, 1 is the first linear array camera, 2 is the second linear array camera, 3 is the third linear array camera, 4 is the fourth linear array camera, 5 is the data processing module, 6 is the main control module, and 7 is the positioning and measurement module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] The following further describes the present invention in detail with reference to the drawings and embodiments.

[0064] As Figure 1 shown, it is a schematic structural diagram of a high-speed dense target detection and positioning device according to an embodiment of the present invention; A high-speed dense target detection and positioning device based on a linear array camera of the present invention includes: an image acquisition device, a data processing module 5, a main control module 6, a positioning and measurement module 7, and a data transmission module;

[0065] The image acquisition device is used to superimpose and form an imaging target surface within its detection range to collect image information of the target, and respectively send the collected image information of the target to the data processing module 5 and the main control module 6 through the data transmission module;

[0066] The data processing module 5 is configured to receive the image information collected by the image acquisition device, perform real-time processing and analysis on the image information, calculate the coordinate position of the target in the imaging target plane of the image acquisition device, and send it to the main control module 6; the data processing module 6 can also detect and identify high-speed targets passing through the detection target plane in sequence, and can effectively distinguish low-speed flying interference objects, such as birds, insects, etc.

[0067] The main control module 6 is configured to send control commands to each module, respectively receive the image information sent by the image acquisition device and the target coordinate position data detected by the data processing module 5, determine the detection position of the target on the imaging target plane; and calculate the actual coordinates of the target according to the detection position of the target on the imaging target plane;

[0068] The positioning and measurement module 7 is configured to measure the positions and angles between the image acquisition devices, and store them in the data processing module 5 to provide initial positioning data for the data processing module 5.

[0069] Among them, there are multiple image acquisition devices, including: the first image acquisition device, the second image acquisition device, the third image acquisition device, and the fourth image acquisition device with the same structure;

[0070] The first image acquisition device and the second image acquisition device are symmetrically arranged on the ground, and the two respectively form an imaging target plane T1 by superposition within the detection range;

[0071] The third image acquisition device and the fourth image acquisition device are symmetrically arranged on the ground, and the two respectively form an imaging target plane T2 by superposition within the detection range;

[0072] The first image acquisition device and the third image acquisition device are arranged on the same side, and the second image acquisition device and the fourth image acquisition device are arranged on the same side.

[0073] The distance between the first image acquisition device and the third image acquisition device is equal to the distance between the second image acquisition device and the fourth image acquisition device; and the imaging target plane T1 is parallel to the imaging target plane T2.

[0074] The image acquisition device includes: a camera, a turntable, and a servo control unit;

[0075] The camera is fixedly installed on the turntable, and the turntable is connected to the servo control unit;

[0076] Among them, there are 4 corresponding cameras, turntables, and servo control units, including: the first line array camera 1, the second line array camera 2, the third line array camera 3, the fourth line array camera 4, the first high-precision turntable, the second high-precision turntable, the third high-precision turntable, the fourth high-precision turntable, the first servo control unit, the second servo control unit, the third servo control unit, and the fourth servo control unit;

[0077] A servo control unit is used to drive and control a turntable to perform horizontal rotation or pitching rotation, and drive the camera on the turntable to move, so as to realize imaging target surfaces in different directions.

[0078] As Figure 2a and Figure 2b shown, in this embodiment, the first line array camera 1 and the second line array camera 2 are symmetrically arranged, and their effective detection ranges are superimposed to form an imaging target surface, forming an imaging target surface T1. If the system uses a line array camera with a line frequency of 80K, a projectile with a minimum size of 0.1m and a maximum speed of 1000m / s can be detected 7 times, thus avoiding missed detection.

[0079] The third line array camera 3 and the fourth line array camera 4 are symmetrically arranged, and their effective detection ranges are superimposed to form an imaging target surface. The first group of line array cameras can form an imaging target surface T2, which is placed in parallel with the first line array camera 1 and the second line array camera 2 at a certain distance along the target flight trajectory.

[0080] The servo control unit is used to control the high-precision turntable to move horizontally by 360 degrees and pitch by 180 degrees;

[0081] The control high-precision turntable is used to drive the line array camera installed on its platform to quickly complete the layout according to the actual installation site and environment, and combine to form an imaging target surface.

[0082] The data transmission module is composed of a wired optical fiber and a wireless bridge, and is used for data interaction between the first line array camera 1, the second line array camera 2, the second line array camera 3, the second line array camera 4, the first high-precision turntable, the second high-precision turntable, the third high-precision turntable, the fourth high-precision turntable, the first servo control unit, the second servo control unit, the third servo control unit, the fourth servo control unit (12), the data processing module 5, the data transmission module and the main control module 6 installed at different positions of the site, including on-site real-time image data, control commands issued by the main control module 6, data processing module 5 identification and positioning data, etc.

[0083] A high-speed dense target detection and positioning method based on a line array camera of the present invention includes the following steps:

[0084] 1) The servo control unit corresponding to each image acquisition device receives the control command issued by the main control module through the transmission module, drives its turntable to move to the specified angular position, and forms an imaging target surface T1 and an imaging target surface T2;

[0085] 2) The main control module sends a shooting instruction to each image acquisition device, and the line array camera in the image acquisition device shoots, and sends the image information captured by each camera to the data processing module;

[0086] 3) The positioning and measurement module measures the positions and angles between the image acquisition devices and stores them in the data processing module. The data processing module performs real-time processing and analysis on the image information sent by the image acquisition devices through the transmission module, and calculates the coordinate positions of the target in the line array cameras of each image acquisition device;

[0087] The present invention uses the image acquisition device to acquire images, and segments the images using the threshold rule. When a target passes through the line array camera, its gray value is different from other regions, and the coordinates of the target on the camera target surface are identified through the correlation or centroid algorithm.

[0088] 4) The main control module issues control commands to each module through the transmission module, and receives the image information sent by each image acquisition device and the data of different coordinate positions of the target detected and identified by the data processing module in each image acquisition device, and determines the detection positions of the target on the imaging target surfaces P1 and P2 through the intersection positioning principle;

[0089] 5) The main control module connects the target coordinates on the imaging target surfaces P1 and P2 where the target passes through according to the principle that the flight trajectory of the target in the final stage is approximately a straight line, and extends it to intersect with the horizontal plane. The intersection point is used as the actual position coordinate of the target on the ground horizontal plane, and then the actual coordinates of the target are calculated, including the following steps:

[0090] (1) Establish a world coordinate system:

[0091] The world coordinate system takes the ground target center as the coordinate origin o, the projection of the central ballistic passing through point o on the target plane is the ox axis, and it is positive in the same direction as the central target direction; the oy axis passes through point o and is perpendicular to the target plane, with the direction upward; the oz axis is perpendicular to the oxy plane, and the direction is determined by the right-hand rule;

[0092] (2) As Figure 4 shown, it is a schematic diagram of the angle relationship of the camera coordinate system of the present invention; establish the coordinate systems of the first line array camera 1 and the second line array camera 2, as well as the third line array camera 3 and the fourth line array camera 4:

[0093] Let the coordinate systems of camera 1 and camera 2 be o′x′y′z′: Assume that the detection surfaces of camera 1 and camera 2 are coplanar, the center of the camera position is the coordinate origin o′, the connection line o′z′ of the positions of camera 1 and camera 2 passing through the origin o′ is the axis, the o′x′ axis perpendicular to the o′z′ axis in the coplanar plane, and the o′y′ axis is determined by the right-hand rule; repeat this step to establish the coordinate systems of camera 3 and camera 4

[0094] (3) Obtain the attitude relationship between the camera coordinate system and the world coordinate system, and calculate the actual coordinates of the target through the coordinate system transformation method according to the attitude relationship between the camera coordinate system and the world coordinate system.

[0095] Step (3) is specifically:

[0096] a) Suppose the coordinates of the center of the camera in the oxyz coordinate system are o′(x 12 *, y 12 *, z 12 *); then the attitude relationship between the camera coordinate system o′x′y′z′ and the coordinate system oxyz is as follows:

[0097] Pitch angle J 12 : The angle between the o′x′ axis and the target plane oxz. It is positive when the o′x′ axis passes through the target plane from bottom to top, and negative otherwise; Yaw angle y 12 : The angle between the projection of the o′x′ axis on the target plane oxyz and the ox axis. It is positive when rotating counterclockwise from the ox axis to the projection line direction, and negative otherwise; Roll angle g 12 : The angle between the o′x′ axis and the vertical plane containing the o′y′ axis. Looking along the o′y′ axis direction, it is positive when the camera turns right from the vertical plane, and negative otherwise;

[0098] b) Calculate the actual coordinates of the target through the coordinate system transformation method:

[0099] Suppose P 1 is the detection point where the target passes through the imaging target plane P1, a 1、 a 2 is the ray inclination angle, and L is the distance from the imaging target plane P1 or the imaging target plane P2 to the center point;

[0100] The equation of the ray from P 1 to camera 1 in the camera coordinate system o′x′y′z′ is:

[0101]

[0102] The equation of the ray from P 1 to camera 2 in the camera coordinate system o′x′y′z′ is:

[0103]

[0104] According to formulas (1) and (2), obtain the coordinates of P 1 in the o′x′y′z′ coordinate system, that is:

[0105]

[0106] The coordinates of the detection point P 1 in the camera coordinate system o′x′y′z′ are P 1 (x 1 ′, y 1 ′, z 1 ′), and the conversion formula with the world coordinate system is as follows:

[0107]

[0108] Calculate P according to formula (4). 1 The coordinates (x 1 , y 1 , z 1 ) in the world coordinate system. Similarly, calculate the coordinates of P 2 The coordinates (x 2 , y 2 , z 2 ) in the world coordinate system;

[0109] If the actual calculation does not depend on the rate y, then set y = 0,

[0110]

[0111] Calculate the actual position coordinates (x*, z*) of the target on the ground horizontal plane according to formula (5).

[0112] Embodiment:

[0113] Preferably in this embodiment, the first line array camera 1, the second line array camera 2, the third line array camera 3, and the fourth line array camera 4 are all line array cameras with a line frequency of 50K. The field of view angle is 51.457°. The first line array camera (1) and the second line array camera (2) are placed 120 meters away from the center point, and the imaging target surface T1 formed by them has a coverage range greater than 115 meters. The third line array camera (3) and the fourth line array camera (4) are symmetrically arranged 50 meters away from the center, and the imaging target surface T2 formed by them has a coverage range greater than 50 meters. For a target with a minimum size of 0.1m and a maximum speed of 1000m / s, 5 detections can be achieved, which can fully ensure capturing high-speed and dense targets, thus avoiding phenomena such as missed detection and false detection.

[0114] In this embodiment, according to the number of ranging times of the four line array cameras in a certain period, low-speed flying interference objects such as birds and insects can also be effectively distinguished.

[0115] In this embodiment, the first high-precision turntable, the second high-precision turntable, the third high-precision turntable, and the fourth high-precision turntable can be adjusted horizontally by 360 degrees and vertically by 180 degrees, and the accuracy can reach 0.01 degrees. It can ensure that the first line array camera 1, the second line array camera 2, the third line array camera 3, and the fourth line array camera 4 are quickly adjusted to the specified installation position, and the positioning error caused by the installation error meets the use conditions.

[0116] Preferably, in this embodiment, during the process of the target passing through the imaging target surface T1, the target is respectively identified and detected, and the impact point position P1 of the target on the imaging target surface T1 is determined through the intersection positioning principle. Similarly, the position coordinates of point P2 of the target on the imaging target surface T2 can be determined. According to the principle that the final trajectory of the target is approximately a straight line, the detection points P1 and P2 of the target passing through these two detection target surfaces are connected and extended to intersect with the horizontal plane, and the intersection point can be approximately regarded as the actual landing point of the target on the horizontal plane, thereby calculating the positioning coordinates of the target. According to the flight characteristics of the target, the landing points of the target on the ground are basically on the same straight line. Based on this, the linear regression principle can be used to correct the position error of the impact point.

[0117] Preferably, in this embodiment, the positioning accuracy is less than 0.5 m, far superior to other similar devices and methods. It can effectively identify targets with a time interval less than 2 ms, and can effectively avoid problems such as firelight and smoke generated by the target landing that plague other similar methods, greatly improving the anti-interference ability of the high-speed dense target detection and positioning device.

[0118] The above are only the embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, expansions, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A high-speed dense target detection and positioning device based on a linear array camera, characterized in that, it includes: an image acquisition device, a data processing module, a main control module, a positioning and measurement module, and a data transmission module; The image acquisition device is used to form an imaging target surface by superposition within its detection range to collect image information of the target, and send the collected image information of the target to the data processing module and the main control module respectively through the data transmission module; The data processing module is used to receive the image information collected by the image acquisition device, perform real-time processing and analysis on the image information, calculate the coordinate position of the target in the imaging target surface of the image acquisition device, and send it to the main control module; The main control module is used to send control commands to each module, receive the image information sent by the image acquisition device and the target coordinate position data detected by the data processing module respectively, and determine the detection position of the target on the imaging target surface; And calculate the actual coordinates of the target according to the detection position of the target on the imaging target surface; The positioning and measurement module is used to measure the positions and angles between the image acquisition devices and store them in the data processing module to provide initial positioning data for the data processing module.

2. The high-speed dense target detection and positioning device based on a linear array camera according to claim 1, characterized in that, There are multiple image acquisition devices, including: a first image acquisition device, a second image acquisition device, a third image acquisition device, and a fourth image acquisition device with the same structure; The first image acquisition device and the second image acquisition device are symmetrically arranged on the ground, and each of them forms an imaging target surface T1 by superposition within the detection range; The third image acquisition device and the fourth image acquisition device are symmetrically arranged on the ground, and each of them forms an imaging target surface T2 by superposition within the detection range; The first image acquisition device and the third image acquisition device are arranged on the same side, and the second image acquisition device and the fourth image acquisition device are arranged on the same side.

3. The high-speed dense target detection and positioning device based on a linear array camera according to claim 2, characterized in that, The distance between the first image acquisition device and the third image acquisition device is equal to the distance between the second image acquisition device and the fourth image acquisition device; and the imaging target surface T1 is parallel to the imaging target surface T2.

4. The high-speed dense target detection and positioning device based on a linear array camera according to claim 1, characterized in that, The image acquisition device includes: a camera, a turntable, and a servo control unit; The camera is fixedly installed on the turntable, and the turntable is connected to the servo control unit; The servo control unit is used to drive and control the turntable to rotate horizontally or pitch, and drive the camera on the turntable to move to achieve imaging target surfaces in different directions.

5. The high-speed dense target detection and positioning device based on a linear array camera according to claim 4, characterized in that, The camera is a linear array camera with a line frequency of 40K to 80K.

6. The high-speed dense target detection and positioning device based on a linear array camera according to claim 4, characterized in that, The horizontal rotation range of the turntable is: 0° to 360°, and the pitching rotation range is: 0° to 180°.

7. The positioning method of a high-speed dense target detection and positioning device based on a linear array camera according to claim 1, characterized in that it includes the following steps: 1) The servo control unit corresponding to each image acquisition device receives the control command issued by the main control module through the transmission module, drives its turntable to move to the specified angular position, and forms an imaging target surface T1 and an imaging target surface T2; 2) The main control module sends a shooting instruction to each image acquisition device, and the linear array camera in the image acquisition device takes a picture and sends the image information captured by each camera to the data processing module; 3) The positioning measurement module measures the positions and angles between the image acquisition devices and stores them in the data processing module. The data processing module performs real-time processing and analysis on the image information received from the image acquisition device through the transmission module, and calculates the coordinate positions of the target in the linear array camera of each image acquisition device; 4) The main control module issues control commands to each module through the transmission module, and receives the image information sent by each image acquisition device and the different coordinate position data of the target detected and recognized by the data processing module in each image acquisition device, and determines the detection positions of the target on the imaging target surfaces P1 and P2 through the intersection positioning principle; 5) The main control module connects the target coordinates on the imaging target surfaces P1 and P2 according to the principle that the end-section flight trajectory of the target is approximately a straight line, and extends it to intersect with the horizontal plane. The intersection point is used as the actual position coordinate of the target on the ground horizontal plane, and then the actual coordinate of the target is calculated.

8. The positioning method of a high-speed dense target detection and positioning device based on a linear array camera according to claim 1, characterized in that in step 3), specifically: the image acquisition device is used to acquire an image, and the image is segmented using a threshold rule. When a target passes through the linear array camera, its gray value is different from other regions, and the coordinates of the target on the camera target surface are identified through a correlation or centroid algorithm.

9. The positioning method of a high-speed dense target detection and positioning device based on a linear array camera according to claim 1, characterized in that the step of extending the imaging target surfaces P1 and P2 to intersect with the horizontal plane, and using the intersection point as the actual position coordinate of the target on the ground horizontal plane, and then calculating the actual coordinate of the target, includes the following steps: (1) Establish a world coordinate system: The origin of the world coordinate system is the ground target center o. The projection of the central ballistic passing through point o on the target plane is the ox axis, and it is positive in the same direction as the central target direction; the oy axis passes through point o and is perpendicular to the target plane, with the direction upward; the oz axis is perpendicular to the oxy plane, and the direction is determined by the right-hand rule; (2) Establish the coordinate systems of camera 1 and camera 2, and camera 3 and camera 4: Let the coordinate systems of camera 1 and camera 2 be \(o'x'y'z'\): Assume that the detection planes of camera 1 and camera 2 are coplanar, the center of the camera positions is the coordinate origin \(o'\), the line \(o'z'\) connecting the positions of camera 1 and camera 2 passing through the origin \(o'\) is the axis, the \(o'x'\) axis perpendicular to the \(o'z'\) axis in the coplanar plane, and the \(o'y'\) axis is determined by the right-hand rule; repeat this step to establish the coordinate systems of camera 3 and camera 4. (3) Obtain the attitude relationship between the camera coordinate system and the world coordinate system, and calculate the actual coordinates of the target by the coordinate system transformation method according to the attitude relationship between the camera coordinate system and the world coordinate system.

10. The positioning method of a high-speed dense target detection and positioning device based on a linear array camera according to claim 9, characterized in that the step (3) is specifically: a) Let the center of the camera have coordinates \(o'(x\) 12 *, y 12 *, z 12 *) in the \(oxyz\) coordinate system; then the attitude relationship between the camera coordinate system \(o'x'y'z'\) and the coordinate system \(oxyz\) is as follows: Pitch angle J 12 : The angle between the o'x' axis and the target plane oxz. When the o'x' axis passes through the target plane from bottom to top, it is positive; otherwise, it is negative. Yaw angle y 12 : The angle between the projection of the o'x' axis on the target plane oxyz and the ox axis. When rotating from the ox axis counterclockwise to the projection line direction, it is positive; otherwise, it is negative. Roll angle g 12 : The angle between the o'x' axis and the vertical plane containing the o'y' axis. Looking along the o'y' axis direction, when the camera turns right from the vertical plane, it is positive; otherwise, it is negative; b) Calculate the actual coordinates of the target by the coordinate system transformation method: Let P 1 be the detection point where the target passes through the imaging target surface P1, and a 1、 a 2 be the ray inclination angle, and L be the distance from the imaging target surface P1 or the imaging target surface P2 to the center point; P 1 The equation of the ray from P to camera 1 in the camera coordinate system o′x′y′z′ is as follows: P 1 The equation of the ray from P to camera 2 in the camera coordinate system o′x′y′z′ is as follows: Obtain P according to formulas (1) and (2) 1 The coordinates in the o′x′y′z′ coordinate system, that is: Detection point P 1 Coordinates P of the detection point in the camera coordinate system o′x′y′z′ 1 (x 1 ′, y 1 ′, z 1 ′) and the world coordinate system conversion formula is as follows: Solve for P according to formula (4). 1 The coordinates (x 1 , y 1 , z 1 ) in the world coordinate system. Similarly, solve for P 2 The coordinates (x 2 , y 2 , z 2 ) in the world coordinate system; If the actual calculation does not consider the rate y, then let y = 0, Calculate the actual position coordinates \((x^*, z^*)\) of the target on the ground horizontal plane according to formula (5).

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