Large-airspace continuous search method and device for photoelectric detection equipment
By employing continuous search equations and spiral trajectory search in the photoelectric detection equipment, the problem of servo system stalling during large-area searches was solved, enabling continuous searching by the photoelectric detection equipment and improving the system's reliability and field-of-view coverage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-01
- Publication Date
- 2026-03-10
AI Technical Summary
Existing photoelectric detection equipment suffers from problems such as the need for servo system pauses and high search speed and acceleration during large-area searches, which affect the continuity and reliability of the system's search.
The photoelectric detection equipment is controlled by a continuous search equation to perform continuous horizontal and vertical searches. By using the formulas for calculating the elevation angle and horizontal azimuth angle, the photoelectric search system can achieve 360° continuous rotation and elevation adjustment. Combined with the spiral trajectory search, the system can be ensured to operate continuously within its acceptable range.
It enables continuous large-area search by photoelectric detection equipment, improves system reliability, reduces angular velocity and angular acceleration requirements during the search process, and increases the field of view coverage.
Smart Images
Figure CN121635487A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of photoelectric detection technology, and in particular to a method and apparatus for continuous large-area search of photoelectric detection equipment. Background Technology
[0002] To achieve continuous 360° azimuth rotation and a certain elevation airspace search and detection, optoelectronic equipment often employs different search methods. Existing search methods generally use intermittent search methods, such as horizontal scanning with elevation, square scanning, and nine-square grid scanning. These methods suffer from the need for the servo system to pause during the scanning process, resulting in high search speed and acceleration, which is detrimental to the continuity of the search airspace and the reliability of the system operation. Summary of the Invention
[0003] This invention provides a method, apparatus, electronic device, and storage medium for continuous large-area search of photoelectric detection equipment, which can perform continuous and uninterrupted horizontal and pitch searches.
[0004] In a first aspect, embodiments of the present invention provide a method for continuous large-area search of a photoelectric detection device, comprising: Establish a continuous search equation; the continuous search equation includes a pitch angle calculation formula and a horizontal azimuth angle calculation formula. The pitch angle calculation formula includes an initial pitch angle, pitch adjustment parameters, search adjustment parameters, and search time. The horizontal azimuth angle formula includes a horizontal search rotation speed and a search time. After determining the initial pitch angle, pitch adjustment parameters, search adjustment parameters, horizontal search rotation speed, and search time, the photoelectric search system is controlled to perform continuous searching using the continuous search equation.
[0005] Secondly, embodiments of the present invention also provide a large-area continuous search device for photoelectric detection equipment, used to implement the method described in any embodiment of this specification, the device comprising: The photoelectric search system is used to continuously rotate in a 360° direction, adjust the pitch angle within a preset angle, and stitch together multiple frames of images in the horizontal direction within a 360° direction to achieve full coverage of the scene in a 360° direction. The search module is used to set the search start angle parameters and search configuration parameters, calculate the azimuth and elevation angles, and guide the photoelectric search system to perform the search. The guidance module is used to guide the servo system of the photoelectric search system to perform scanning and detection according to the azimuth and elevation angles calculated by the search module.
[0006] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.
[0007] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program. When the computer program is executed in a computer, the computer is caused to execute the method according to any of the embodiments of the present application.
[0008] Compared with the prior art, the present application has at least the following beneficial effects: The problem that the system needs to stop during servo, the search angular velocity and angular acceleration are large during the large space search of the photoelectric device is solved. The spiral continuous search method is simple and easy to implement, the servo continuous change mode is adopted, the system does not need to stop during the search process in the bearable working range, the reliability is high, the large field of view increment can be obtained through the adjustment parameter, and the requirement of the angular velocity and angular acceleration of the servo during the search process is effectively reduced. BRIEF DESCRIPTION OF DRAWINGS
[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0010] Figure 1 is a continuous search method flow chart provided by the embodiments of the present application; Figure 2 is a three-dimensional scanning trajectory diagram provided by the embodiments of the present application; Figure 3 is an azimuth angle change diagram provided by the embodiments of the present application; Figure 4 is a pitch angle change diagram provided by the embodiments of the present application; Figure 5 is a pitch angle velocity change diagram provided by the embodiments of the present application; Figure 6 is a pitch angle acceleration change diagram provided by the embodiments of the present application; Figure 7 is another three-dimensional scanning trajectory diagram provided by the embodiments of the present application; Figure 8 is another pitch angle change diagram provided by the embodiments of the present application; Figure 9 is another pitch angle velocity change diagram provided by the embodiments of the present application; Figure 10 is another pitch angle acceleration change diagram provided by the embodiments of the present application. DETAILED DESCRIPTION
[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0012] Please refer to Figure 1 This invention provides a method for continuous large-area search of photoelectric detection equipment, comprising: Establish a continuous search equation; the continuous search equation includes a pitch angle calculation formula and a horizontal azimuth angle calculation formula. The pitch angle calculation formula includes an initial pitch angle, pitch adjustment parameters, search adjustment parameters, and search time. The horizontal azimuth angle formula includes a horizontal search rotation speed and a search time. After determining the initial pitch angle, pitch adjustment parameters, search adjustment parameters, horizontal search rotation speed, and search time, the photoelectric search system is controlled to perform continuous searching using the continuous search equation.
[0013] In this embodiment, parameters such as horizontal search rotation speed, search adjustment parameters, pitch adjustment parameters, and initial pitch search parameters are set as needed. Through continuous search equations, the azimuth and pitch angles are obtained. Thus, the horizontal rotation and pitch movement of the photoelectric search system are simultaneously controlled, forming a spiral trajectory to achieve continuous measurement across the entire detection airspace.
[0014] In some embodiments of the present invention, after determining the initial pitch angle, pitch adjustment parameters, search adjustment parameters, horizontal search rotation speed, and search time, the photoelectric search system is controlled to perform continuous searching using the continuous search equation, including: The search period is determined, within which the azimuth angle of the photoelectric search system rotates by an integer multiple of 360°; During the first half of the search cycle, the photoelectric search system moves up or down, and during the second half of the search cycle, the photoelectric search system moves down or up to achieve continuous cyclic pitch search.
[0015] In some embodiments of the present invention, during the first half of the search cycle, the photoelectric search system moves upward or downward, and during the second half of the search cycle, the photoelectric search system moves downward or upward to achieve continuous cyclic pitch search, which is achieved by the following formula: Where E0 is the initial pitch angle, E1 is the pitch angle for the first half of the search cycle, E2 is the pitch angle for the second half of the search cycle, θ is the pitch adjustment parameter, k is the search adjustment parameter, and t kThe search period is defined as follows.
[0016] Specifically, a search period t is defined. k The azimuth scanning cycle is divided into N azimuth cycles, and the time of each cycle is t. k / N, each cycle scans 360° of azimuth. t k Divided into two half-cycles, the first half-cycle t k Within / 2, the pitch angle increment for upward scanning is obtained using the pitch angle calculation formula, and the second half of the cycle t k / 2 The pitch angle increment for downward scanning is obtained using the pitch angle calculation formula; conversely, a downward scan followed by an upward scan can be performed first. The parameters of the scanning equations differ in these two half-cycles. For the upward scan in the first half-cycle, the initial pitch search parameters are selected as follows: The pitch adjustment parameters are: The pitch angle increment is obtained by using the pitch angle calculation formula, and the pitch angle at the end of the upward scan is... Then, the scanning parameters are obtained by scanning downwards using the pitch angle calculation formula in the second half of the cycle. Pitch adjustment parameters .
[0017] In some embodiments of the present invention, the values of the pitch adjustment parameter and the search adjustment parameter both satisfy the following conditions: The pitch search angular velocity does not exceed the pitch angle of the optoelectronic device within a single 360° rotation cycle interval in a single azimuth. Ensure that no detection airspace is missed between the previous and next pitch airspace cycles as the search pitch increases; The angular velocity and angular acceleration do not exceed the system's set angular acceleration requirements.
[0018] In some embodiments of the present invention, the continuous search equation is: Where E is the pitch angle, t is the time variable, v is the horizontal search speed, k is the search adjustment parameter, θ is the pitch adjustment parameter, and E0 is the initial pitch angle.
[0019] In some embodiments of the present invention, v=360° / s, E0=0, the search period is 4s, k=60, and θ=4.5.
[0020] In this embodiment, the horizontal search rotation speed It takes 1 second to cover 360° in one direction. The pitch angle of the photoelectric device is 4.5°. Select parameters. , Pitch search initial parameters If a single search cycle is 4 seconds, then the search trajectory, search azimuth, pitch angle, and the calculated angular velocity and angular acceleration are as follows: Figures 2 to 6 Within a 1-second interval of each revolution, the maximum angle does not exceed the pitch angle of the optoelectronic device by 4.5°, and the angular acceleration is relatively low.
[0021] In some embodiments of the present invention, v=180° / s, E0=0, the search period is 4s, k=120, and θ=4.5.
[0022] In this embodiment, the horizontal search rotation speed It takes 2 seconds to cover 360° in one direction. The pitch angle of the photoelectric device is 4.5°. Select parameters. , Pitch search initial parameters If a single search cycle is 4 seconds, then the search trajectory, search azimuth, pitch angle, and the calculated angular velocity and angular acceleration are as follows: Figures 7 to 10 Throughout the entire search cycle, within each 2-second interval, the maximum angle does not exceed the pitch angle of the optoelectronic device by 4.5°, and the angular acceleration is also relatively low.
[0023] This invention provides a continuous large-area search device for photoelectric detection equipment. The device can be implemented via software, hardware, or a combination of both. From a hardware perspective, a hardware architecture diagram of the electronic device housing the continuous large-area search device for photoelectric detection equipment provided in this invention includes, in addition to the processor, memory, network interface, and non-volatile memory, other hardware such as a forwarding chip responsible for processing messages. Taking software implementation as an example, as a logical device, it is formed by the CPU of the electronic device reading the corresponding computer program from the non-volatile memory into memory and running it. The continuous large-area search device for photoelectric detection equipment provided in this embodiment includes: The photoelectric search system is used to continuously rotate in a 360° direction, adjust the pitch angle within a preset angle, and stitch together multiple frames of images in the horizontal direction within a 360° direction to achieve full coverage of the scene in a 360° direction. The search module is used to set the search start angle parameters and search configuration parameters, calculate the azimuth and elevation angles, and guide the photoelectric search system to perform the search. The guidance module is used to guide the servo system of the photoelectric search system to perform scanning and detection according to the azimuth and elevation angles calculated by the search module.
[0024] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a large-area continuous search device for photoelectric detection equipment. In other embodiments of the present invention, a large-area continuous search device for photoelectric detection equipment may include more or fewer components than illustrated, or combine some components, or split some components, or arrange different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
[0025] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.
[0026] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a method for continuous large-area search of a photoelectric detection device according to any embodiment of this invention.
[0027] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a large-area continuous search method for photoelectric detection equipment according to any embodiment of this invention.
[0028] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.
[0029] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.
[0030] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.
[0031] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.
[0032] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.
[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0034] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.
[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for large-area continuous search of optoelectronic detection devices, characterized in that, The method comprises the following steps: establishing a continuous search equation; the continuous search equation comprises a pitch angle calculation formula and a horizontal azimuth angle calculation formula, the pitch angle calculation formula comprises an initial pitch angle, a pitch adjustment parameter, a search adjustment parameter and a search time, and the horizontal azimuth angle formula comprises a horizontal search rotation speed and a search time; after determining the initial pitch angle, the pitch adjustment parameter, the search adjustment parameter, the horizontal search rotation speed and the search time, the continuous search equation is used to control the photoelectric search system to perform continuous search.
2. The method of claim 1, wherein, the method of using the continuous search equation to control the photoelectric search system to perform continuous search after determining the initial pitch angle, the pitch adjustment parameter, the search adjustment parameter, the horizontal search rotation speed and the search time, comprises the following steps: determining a search period, in the search period, the photoelectric search system rotates 360° times of integer multiples of azimuth angle; in the first half of the search period, the photoelectric search system moves upward or downward, and in the second half of the search period, the photoelectric search system moves downward or upward, so as to realize continuous cyclic pitch search.
3. The method of claim 2, wherein, the method of using the continuous search equation to control the photoelectric search system to perform continuous search after determining the initial pitch angle, the pitch adjustment parameter, the search adjustment parameter, the horizontal search rotation speed and the search time, comprises the following steps: where E0 is the initial pitch angle, E1 is the pitch angle of the first half of the search period, E2 is the pitch angle of the second half of the search period, θ is a pitch adjustment parameter, k is a search adjustment parameter, t k is the search period.
4. The method of claim 1, wherein, the values of the pitch adjustment parameter and the search adjustment parameter satisfy the following conditions: the pitch search angular velocity does not exceed the pitch angle of the photoelectric device in the interval of a single azimuth 360° rotation period; ensure that there is no missed detection space between the last pitch space and the next pitch space when the search pitch increases; the angular velocity and the angular acceleration do not exceed the system set angular acceleration requirement.
5. The method of claim 1, wherein, the continuous search equation is as follows: wherein, E is the pitch angle, t is the time variable, v is the horizontal search rotation speed, k is the search adjustment parameter, θ is the pitch adjustment parameter, and E0 is the initial pitch angle.
6. The method of claim 3, wherein, v=360° / s, E0=0, the search period is 4s, k=60, and θ=4.
5.
7. The method of claim 3, wherein, v=180° / s, E0=0, the search period is 4s, k=120, and θ=4.
5.
8. A large-area continuous search device for photodetector equipment, characterized in that, The device is used to realize the method as claimed in any one of claims 1-7, and the device comprises: a photoelectric search system, which is used to continuously rotate in the azimuth 360° direction, adjust the pitch angle within a preset angle, and stitch multiple frames of images imaged in the horizontal direction within the azimuth 360° to realize full coverage of the scene in the azimuth 360°; a search module, which is used to set search starting angle parameters and search configuration parameters, calculate the azimuth and the pitch angle, and guide the photoelectric search system to search; a guide module, which is used to guide the servo system of the photoelectric search system to scan and detect according to the azimuth and the pitch angle calculated by the search module. 9.An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the method as claimed in any one of claims 1-7. 10.A computer readable storage medium, which stores a computer program, and the computer program, when executed in a computer, causes the computer to execute the method as claimed in any one of claims 1-7.