Control system and method for adaptive tracking of photoelectric turntable

Abstract

The invention discloses a control system and method for self-adaptive tracking of a photoelectric rotary table. The system comprises a control unit, a driving unit, a position acquisition unit and a motor, the motor is used for driving the photoelectric rotary table to rotate, and various optical sensors of different types are installed on the photoelectric rotary table. The position acquisition unit is respectively connected with the motor and the control unit and is used for acquiring real-time position information of the motor and sending the acquired position information to the control unit; the control unit is respectively connected with the driving unit and an external man-machine interaction system, and is used for calculating a control signal required for moving the motor to a target position by adopting a preset tracking algorithm based on the received position information and a control instruction and image information sent by the man-machine interaction system, and sending the control signal to the driving unit; the parameter value of the tracking algorithm is changed along with the change of the control instruction and the image information; the driving unit is used for driving the motor to rotate based on the control signal so that the motor moves to a target position. According to the invention, the target tracking precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and particularly relates to a control system and method for adaptive tracking of an optoelectronic turntable. Background Art

[0002] An optoelectronic turntable is a highly integrated device, which is usually used in application scenarios that require precise observation, identification, and tracking of distant targets. In related technologies, on the one hand, various different types of optical sensors are usually mounted on the optoelectronic turntable, such as visible light cameras, infrared thermal imagers, laser rangefinders, etc., so that it can work under different lighting conditions and weather conditions. On the other hand, the optoelectronic turntable is usually equipped with a precise servo control system, which is used to position and track the target. When tracking the target,

[0003] However, when the existing servo control system performs tracking calculations on the target, it does not consider the influence of different optical sensors, different targets, and software algorithms on the tracking accuracy, but uses unified tracking design parameters for tracking calculations, resulting in low tracking accuracy.

[0004] Based on this, there is an urgent need for a control system and method for adaptive tracking of an optoelectronic turntable to solve the above problems. Summary of the Invention

[0005] The present invention provides a control system and method for adaptive tracking of an optoelectronic turntable, which can improve the tracking accuracy of the target. The technical solutions are as follows:

[0006] In a first aspect, an embodiment of the present invention provides a control system for adaptive tracking of an optoelectronic turntable, the system comprising:

[0007] A control unit, a drive unit, a position acquisition unit, and a motor; the motor is used to drive the optoelectronic turntable to rotate, and various different types of optical sensors are installed on the optoelectronic turntable;

[0008] The position acquisition unit is respectively connected to the motor and the control unit, and is used to acquire the real-time position information of the motor and send the acquired position information to the control unit;

[0009] The control unit is also respectively connected to the drive unit and an external human-computer interaction system, and is used to calculate the control signal required to move the motor to the target position by using a preset tracking algorithm based on the position information sent by the position acquisition unit, the control instruction and image information sent by the human-computer interaction system, and send the control signal to the drive unit; the parameter values of the tracking algorithm change with the change of the control instruction and image information;

[0010] The driving unit is used to drive the motor to rotate based on the control signal, so that the motor moves to the target position.

[0011] In a possible design, the control instruction includes the working mode and the given value of the turntable;

[0012] The working mode at least includes: stop mode, positioning mode, speed mode, search mode, and tracking mode;

[0013] The given value at least includes position given value, speed given value, motion amplitude given value, and frequency period given value.

[0014] In a possible design, the image information includes the field of view, resolution, and image off-target amount of each optical sensor.

[0015] In a possible design, the control unit includes an FPGA chip and a DSP chip; the FPGA chip is used to receive the position information sent by the position acquisition unit, the control instruction and image information sent by the human-computer interaction system, and send the received information to the DSP chip; the DSP chip calculates the drive current required to move the motor to the target position using the tracking algorithm based on the received position information, control instruction, and image information, and sends the drive current to the FPGA chip in the form of a DA signal; the FPGA chip sends the DA signal to the driving unit.

[0016] In a possible design, for different control cycles, the parameter values of the tracking algorithm are determined by the following method:

[0017] Based on the comparison result between the resolution sent by the human-computer interaction system in the current control cycle and the rated resolution of each optical sensor, select the optical sensor that meets the tracking requirements from the optical sensors as the target optical sensor;

[0018] For the current control cycle, use the parameter values of the target optical sensor for the parameters related to the sensor in the tracking algorithm.

[0019] In a possible design, when the working mode changes from a mode other than the tracking mode to the tracking mode, the tracking algorithm further includes:

[0020] S1, select the moving target to be tracked based on the current tracking frame and execute S2;

[0021] S2, capture the image center of the current tracking frame, determine the current image off-target amount based on the difference between the current image center and the preset position, and execute S3;

[0022] S3. Determine whether the current image miss distance is within a preset range. If not, maintain the current working mode and enter the next tracking, then return to execute S1; if so, execute S4;

[0023] S4. Determine whether the delay counter has reached a preset value. If not, return to execute S1; if so, transfer the current working mode to the tracking mode.

[0024] In a possible design, each optical sensor is a variable field of view sensor, and the tracking algorithm further includes:

[0025] Based on the size, motion trajectory, and speed of the target to be tracked, divide the capture and tracking process into multiple stages, and the field of view sizes adopted by the optical sensors in each stage are different;

[0026] For each stage, use the field of view parameters of the optical sensor in this stage as the parameter value of the tracking algorithm in the current stage.

[0027] In a possible design, the types of the optical sensors include infrared detectors, visible light cameras, and ultraviolet detectors.

[0028] In a possible design, the tracking algorithm is a PID algorithm.

[0029] In a second aspect, an embodiment of the present invention further provides a control method for the adaptive tracking of an optoelectronic turntable, which is applied to any of the possible control systems described above. The method includes:

[0030] Use the position acquisition unit to collect the real-time position information of the motor and send the collected position information to the control unit;

[0031] Based on the position information sent by the position acquisition unit, the control instruction sent by the human-machine interaction system, and the image information, use the control unit to calculate the control signal required to move the motor to the target position by using a preset tracking algorithm, and send the control signal to the drive unit;

[0032] Based on the control signal, use the drive unit to drive the motor to rotate so that the motor moves to the target position.

[0033] An embodiment of the present invention provides a control system for adaptive tracking of an optoelectronic turntable. In this system, for each control cycle, first, the position acquisition unit is used to acquire the real-time position information of the motor. Then, the control unit, based on the received position information, control instructions, and image information, uses a preset tracking algorithm to calculate the control signal required to move the motor to the target position. Since the parameter values of this tracking algorithm change with the change of the control instructions and image information, rather than using fixed parameters, the problem of unsatisfactory tracking accuracy when the previous system tracks different targets can be avoided, and the tracking accuracy can be improved. Finally, the driving unit is used to drive the motor to rotate so that the motor can quickly and accurately move to the target position. It can be seen that this application can improve the tracking accuracy of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 is a schematic structural diagram of a control system for adaptive tracking of an optoelectronic turntable provided by an embodiment of the present invention;

[0036] Figure 2 is a flowchart of a tracking algorithm provided by an embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of a PID algorithm provided by an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of a piecewise variable parameter PID algorithm provided by an embodiment of the present invention.

[0039] Reference numerals:

[0040] 1 - Control unit; 2 - Driving unit; 3 - Position acquisition unit; 4 - Motor; 5 - Human-machine interaction system. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0042] The specific implementation manners of the above concepts are described below.

[0043] Please refer to Figure 1 , a control system for adaptive tracking of an optoelectronic turntable provided by an embodiment of the present invention. The system includes: a control unit 1, a driving unit 2, a position acquisition unit 3, and a motor 4; the motor 4 is used to drive the optoelectronic turntable to rotate, and a variety of different types of optical sensors are installed on the optoelectronic turntable;

[0044] The position acquisition unit 3 is respectively connected to the motor 4 and the control unit 1, and is used to acquire the real-time position information of the motor 4 and send the acquired position information to the control unit 1;

[0045] The control unit 1 is also respectively connected to the driving unit 2 and an external human-computer interaction system 5, and is used to calculate, based on the position information sent by the position acquisition unit 3, the control instructions and image information sent by the human-computer interaction system 5, the control signal required to move the motor 4 to the target position by using a preset tracking algorithm, and send the control signal to the driving unit 2; the parameter values of the tracking algorithm change with the change of the control instructions and image information;

[0046] The driving unit 2 is used to drive the motor 4 to rotate based on the control signal, so that the motor 4 moves to the target position.

[0047] In this embodiment, for each control cycle, first, the position acquisition unit 3 is used to acquire the real-time position information of the motor 4, and then, the control unit 1 is used to calculate, based on the received position information, control instructions and image information, the control signal required to move the motor 4 to the target position by using a preset tracking algorithm. Since the parameter values of the tracking algorithm change with the change of the control instructions and image information, rather than using fixed parameters, the problem of unsatisfactory tracking accuracy of the previous system when tracking different targets can be avoided, and the tracking accuracy can be improved. Finally, the driving unit 2 is used to drive the motor 4 to rotate, so that the motor 4 quickly and accurately moves to the target position. It can be seen that the present application can improve the tracking accuracy of the target.

[0048] It should be noted that the real-time position information of the motor 4 is used to characterize the pitch angle and azimuth angle of the turntable. The types of the optical sensors include infrared detectors, visible light cameras, and ultraviolet detectors. The field of view and resolution of each sensor are known. For example, an infrared detector with a resolution of 640*512, a visible light camera with a resolution of 1920*1080, and an ultraviolet detector with a resolution of 640*480 are adopted. In addition, the infrared detectors can be divided into tracking state one according to different resolutions, the visible light cameras can be divided into tracking state two, and the ultraviolet detectors can be divided into tracking state three. In this way, sensors in corresponding states can be selected in different capture and tracking stages, and the parameters of the tracking algorithm can be set based on the corresponding sensor parameters.

[0049] In some embodiments, the control instruction includes the working mode and the given value of the turntable;

[0050] The working mode at least includes: stop mode, positioning mode, speed mode, search mode, and tracking mode;

[0051] The given value at least includes position given value, speed given value, motion amplitude given value, and frequency period given value.

[0052] Of course, this application is not limited to the above working mode and given value, and users can select other parameters according to needs. In addition, under different modes and given values, the tracking algorithm can adopt different parameter values.

[0053] In some embodiments, the image information includes the field of view, resolution, and image off-target amount of each optical sensor.

[0054] In some embodiments, as Figure 1 shown, the control unit 1 includes an FPGA chip and a DSP chip; the FPGA chip is used to receive the position information sent by the position acquisition unit 3, the control instruction and image information sent by the human-computer interaction system 5, and send the received information to the DSP chip; the DSP chip, based on the received position information, control instruction and image information, uses the tracking algorithm to calculate the drive current required to move the motor 4 to the target position, and sends the drive current to the FPGA chip in the form of a DA signal; the FPGA chip sends the DA signal to the drive unit 2.

[0055] In this embodiment, the control unit 1 adopts a DSP+FPGA architecture. The two control chips cooperate with each other to jointly implement the functions of the control unit 1. Among them, the DSP is used for signal processing tasks with large amounts of data, complex calculations, and high real-time requirements. However, necessary peripheral circuits are required. Therefore, the decoding and logic control of the peripheral circuits are designed using the FPGA. In this way, the hardware is easily standardized, the design is flexible, the debugging is convenient, the development cycle is shortened, the integration degree is high, and the noise interference and circuit drift caused by the complex circuit are reduced. At the same time, as an external interface, the FPGA can be expanded into multiple serial ports and encoder interfaces, and the expandability is high. The control instructions and image information sent by the human-computer interaction system 5 and the real-time position information fed back by the position acquisition unit 3 are all transmitted to the DSP through the FPGA, and the DSP realizes functions such as control algorithms, signal processing, and data parsing.

[0056] In some embodiments, the driving unit 2 includes a driver, and the driver is connected to the position acquisition unit. The position acquisition unit can also send the acquired information to the driver. In addition, a current feedback is provided in the driving unit 2.

[0057] In some embodiments, for different control cycles, the parameter values of the tracking algorithm are determined in the following manner:

[0058] Based on the comparison result between the resolution sent by the human-computer interaction system 5 in the current control cycle and the rated resolutions of the respective optical sensors, an optical sensor that meets the tracking requirements is selected from the optical sensors as the target optical sensor;

[0059] For the current control cycle, the parameters related to the sensor in the tracking algorithm are set to the parameter values of the target optical sensor.

[0060] For example, when the resolution sent by the human-computer interaction system 5 is 640*512, a sensor with a resolution of 640*512 is required to track the target. At this time, the control unit 1 will compare this resolution with the rated resolution parameters of each sensor, and select the sensor with the closest resolution as the target sensor. For example, an infrared detector with a resolution of 640*512 is used for tracking. At this time, the parameters related to the sensor in the tracking algorithm all adopt the parameters corresponding to the infrared detector. In this way, the tracking accuracy can be improved.

[0061] In some embodiments, when the working mode changes from a mode other than the tracking mode to the tracking mode, the tracking algorithm further includes:

[0062] S1, based on the current tracking frame, select the moving target to be tracked and execute S2;

[0063] S2. Capture the image center of the current tracking frame, determine the current image off-target amount based on the difference between the current image center and the preset position, and execute S3;

[0064] S3. Determine whether the current image off-target amount is within the preset range. If not, maintain the current working mode and enter the next tracking, return to execute S1; if so, execute S4;

[0065] S4. Determine whether the delay counter has reached the preset value. If not, return to execute S1; if so, transfer the current working mode to the tracking mode.

[0066] In this embodiment, when the working mode changes from other modes to the tracking mode, if the switch is too fast, it will cause a short-term oscillation and easily lose the target. By adopting the above steps, this embodiment increases the process from target capture to tracking. After the tracking frame selects the moving target each time, it first slowly captures the center. By judging whether the image off-target amount is within the preset range and the delay counter reaches the set value, and then switches to stable tracking, which can avoid the problem of short-term oscillation when switching from other modes to the tracking mode and improve the stability of tracking.

[0067] In some embodiments, each optical sensor is a variable field of view sensor, and the tracking algorithm further includes:

[0068] Based on the size, motion trajectory and speed of the target to be tracked, divide the capture and tracking process into multiple stages, and the field of view sizes adopted by the optical sensors in each stage are different;

[0069] For each stage, use the field of view parameters of the optical sensor in this stage as the parameter values of the tracking algorithm in the current stage.

[0070] In this embodiment, the adaptive tracking algorithm performs segmented processing on the moving target under different fields of view of different sensors, and fixes the parameters of the segmented processing after actual testing into the algorithm, avoiding the problem of unsatisfactory tracking accuracy when tracking different targets.

[0071] In addition, in some embodiments, a Kalman filter can be added, which can be used to estimate the state of the target (such as position, speed, etc.) and predict the future trajectory, helping to recapture the target after a short-term loss.

[0072] In some embodiments, the tracking algorithm is a PID algorithm, as Figures 2 to 4 shown, which is a schematic flow diagram of the algorithm. This algorithm includes a current loop, a position loop and a speed loop. By adopting the above algorithm, the control of the optoelectronic turntable adaptive tracking is completed.

[0073] The present invention also provides a control method for optoelectronic turntable adaptive tracking, which is applied to the control system in any of the above embodiments. The method includes:

[0074] Step 100: Use the position acquisition unit 3 to acquire the real-time position information of the motor 4 and send the acquired position information to the control unit 1;

[0075] Step 102: Based on the position information sent by the position acquisition unit 3, the control instructions and image information sent by the human-computer interaction system 5, use the control unit 1 to calculate the control signal required to move the motor 4 to the target position by using a preset tracking algorithm, and send the control signal to the drive unit 2;

[0076] Step 103: Based on the control signal, use the drive unit 2 to drive the motor 4 to rotate so that the motor 4 moves to the target position.

[0077] It should be noted that the control method provided in this embodiment and the control system provided in the above embodiment are based on the same inventive concept, so they have the same beneficial effects and will not be elaborated here.

[0078] Finally, it should also be noted that in this article, relational terms such as first, second, third, and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0079] The above are only the preferred embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A control system for adaptive tracking of an optoelectronic turntable, characterized in that, The system includes: a control unit (1), a driving unit (2), a position acquisition unit (3), and a motor (4); the motor (4) is used to drive the optoelectronic turntable to rotate, and a variety of different types of optical sensors are installed on the optoelectronic turntable; The position acquisition unit (3) is respectively connected to the motor (4) and the control unit (1), and is used to acquire the real-time position information of the motor (4) and send the acquired position information to the control unit (1); The control unit (1) is also respectively connected to the driving unit (2) and an external human-computer interaction system (5), and is used to calculate the control signal required to move the motor (4) to the target position by using a preset tracking algorithm based on the position information sent by the position acquisition unit (3), the control instructions and image information sent by the human-computer interaction system (5), and send the control signal to the driving unit (2); the parameter values of the tracking algorithm change with the change of the control instructions and image information; The driving unit (2) is used to drive the motor (4) to rotate based on the control signal, so that the motor (4) moves to the target position.

2. The system according to claim 1, wherein The control instructions include the working mode and given values of the turntable; The working mode at least includes: stop mode, positioning mode, speed mode, search mode, and tracking mode; The given values at least include position given values, speed given values, motion amplitude given values, and frequency period given values.

3. The system according to claim 2, wherein The image information includes the fields of view, resolutions, and image off-target amounts of the optical sensors.

4. The system according to claim 3, characterized in that, The control unit (1) includes an FPGA chip and a DSP chip; the FPGA chip is used to receive the position information sent by the position acquisition unit (3), the control instructions and image information sent by the human-computer interaction system (5), and send the received information to the DSP chip; the DSP chip calculates the drive current required to move the motor (4) to the target position by using the tracking algorithm based on the received position information, control instructions, and image information, and sends the drive current to the FPGA chip in the form of a DA signal; the FPGA chip sends the DA signal to the driving unit (2).

5. The system according to claim 4, wherein For different control cycles, the parameter values of the tracking algorithm are determined by the following method: Based on the comparison result between the resolution sent by the human-computer interaction system (5) in the current control cycle and the rated resolutions of the optical sensors, select the optical sensors that meet the tracking requirements from the optical sensors as the target optical sensors; For the current control cycle, use the parameter values of the target optical sensor for the parameters related to the sensor in the tracking algorithm.

6. The system according to claim 2, wherein When the working mode changes from a mode other than the tracking mode to the tracking mode, the tracking algorithm further includes: S1, select the moving target to be tracked based on the current tracking frame, and execute S2; S2, capture the image center of the current tracking frame, determine the current image off-target amount based on the difference between the current image center and the preset position, and execute S3; S3. Determine whether the current image miss distance is within a preset range. If not, maintain the current working mode and enter the next tracking, then return to execute S1. If so, execute S4. S4. Determine whether the delay counter has reached a preset value. If not, return to execute S1. If so, transfer the current working mode to the tracking mode.

7. The system according to claim 1, characterized in that, Each optical sensor is a variable field of view sensor, and the tracking algorithm further includes: Based on the size, motion trajectory and speed of the target to be tracked, divide the capture and tracking process into multiple stages, and the field of view sizes adopted by the optical sensors in each stage are different. For each stage, use the field of view parameters of the optical sensor corresponding to this stage as the parameter values of the tracking algorithm for the current stage.

8. The system according to claim 1, characterized in that, The types of the optical sensors include infrared detectors, visible light cameras and ultraviolet detectors.

9. The system according to claim 1, wherein The tracking algorithm is a PID algorithm.

10. A control method for adaptive tracking of an optoelectronic turntable, characterized in that, Applied to the system according to any one of claims 1-9, the method includes: Use the position acquisition unit (3) to acquire the real-time position information of the motor (4) and send the acquired position information to the control unit (1). Based on the position information sent by the position acquisition unit (3), the control instructions and image information sent by the human-machine interaction system (5), use the control unit (1) to calculate the control signal required to move the motor (4) to the target position by using a preset tracking algorithm, and send the control signal to the drive unit (2). Based on the control signal, use the drive unit (2) to drive the motor (4) to rotate so that the motor (4) moves to the target position.

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