Optical pod control system and method

Abstract

This invention discloses a photoelectric pod control system and method. The photoelectric pod control system includes an image preprocessing system chip and an intelligent control system chip. The image preprocessing system chip receives externally input image data and preprocesses the image data to send the preprocessed image data to the intelligent control system chip. The intelligent control system chip is communicatively connected to the image preprocessing system chip and receives the preprocessed image data and performs target perception based on the preprocessed image data to obtain target perception results. In this invention, by reconstructing the core functions of the photoelectric pod control system at the chip level to form the image preprocessing system chip and the intelligent control system chip, the system size is reduced, and the system integration and overall reliability are improved while ensuring system performance.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic pod technology, and in particular to an optoelectronic pod control system and method. Background Technology

[0002] With the continuous development of intelligent sensing technology, embedded processing technology, and UAV platforms, optoelectronic pods are increasingly widely used in target recognition, detection, and tracking. To meet the functional requirements of image acquisition and target recognition, detection, and tracking of the acquired image data, optoelectronic pod control systems often adopt a board-level implementation (such as a dual-board structure) and achieve overall machine coordination through inter-board connections.

[0003] Specifically, the optoelectronic pod control system with a dual-board implementation structure completes its functions through the cooperation of a front-end image processing board and a back-end processing board. The front-end image processing board primarily handles image input and front-end processing tasks, while the back-end processing board primarily handles back-end processing tasks. This type of dual-board implementation structure can meet the basic application requirements of optoelectronic pod control systems, but it suffers from drawbacks such as dispersed hardware components and a relatively large system size.

[0004] It should be noted that the above content is not necessarily prior art, nor is it intended to limit the scope of patent protection of this application. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a photoelectric pod control system and method that can effectively improve the system integration of the photoelectric pod control system and reduce the overall system size.

[0006] In a first aspect, the present invention provides a photoelectric pod control system. The photoelectric pod control system includes an image preprocessing system chip and an intelligent control system chip; The image preprocessing system chip is used to receive externally input image data and preprocess the image data so as to send the preprocessed image data to the intelligent control system chip. The intelligent control system chip communicates directly with the image preprocessing system chip through a high-speed communication interface. The intelligent control system chip is used to receive the preprocessed image data and perform target perception based on the preprocessed image data to obtain the target perception result.

[0007] In one implementation of the first aspect, the image preprocessing system chip includes an image front-end access unit, an image preprocessing module, and a first data transmission interface; The image front-end access unit is connected to the image preprocessing module, and the image front-end access unit is used to receive the image data and send the image data to the image preprocessing module. The image preprocessing module is connected to the first data transmission interface. The image preprocessing module is used to preprocess the image data and send the preprocessed image data to the first data transmission interface. The first data transmission interface is used to send the received preprocessed image data to the intelligent control system chip.

[0008] In one implementation of the first aspect, the intelligent control system chip includes a second data transmission interface and an image processing module; The second data transmission interface is connected to both the first data transmission interface and the image processing module. The second data transmission interface is used to send the received preprocessed image data to the image processing module. The image processing module is used to perform target perception based on the preprocessed image data to obtain the target perception result.

[0009] In one implementation of the first aspect, the intelligent control system chip further includes a communication interface for communicating with an external device to send the target perception result to the external device.

[0010] Secondly, the present invention provides a photoelectric pod control method. The photoelectric pod control method is applied to the photoelectric pod control system described above, and the photoelectric pod control method includes: The image preprocessing system chip receives externally input image data. The image data is preprocessed by the image preprocessing system chip to obtain preprocessed image data, and the preprocessed image data is sent to the intelligent control system chip. The intelligent control system chip performs target perception on the preprocessed image data to obtain target perception results.

[0011] In one implementation of the second aspect, after the intelligent control system chip performs target perception on the preprocessed image data, it further includes: The intelligent control system chip feeds back coordination information to the image preprocessing system chip; The image preprocessing system chip updates its internal configuration parameters and adjusts the preprocessing process based on the coordination information.

[0012] In one implementation of the second aspect, target perception is performed on the preprocessed image data by the intelligent control system chip, including: The preprocessed image data is sequentially subjected to target recognition, target detection, and continuous target tracking to obtain the target perception result; wherein, the target perception result includes the target position and target state of the target object in the preprocessed image data.

[0013] In one implementation of the second aspect, before receiving externally input image data through the image preprocessing system chip, the method further includes: A reset signal is output from the power supply system to the image preprocessing system chip and the intelligent control system chip to lock the image preprocessing system chip and the intelligent control system chip in a reset state. The power supply system establishes the operating voltage required for the image preprocessing system chip and the intelligent control system chip. The power supply system monitors the operating voltage and releases the reset signal after the operating voltage stabilizes, thereby releasing the reset lock on the image preprocessing system chip and the intelligent control system chip.

[0014] In one implementation of the second aspect, before receiving externally input image data through the image preprocessing system chip, the method further includes: The image preprocessing system chip is started and the image preprocessing link initialization operation is performed; The intelligent control system chip is activated and the target perception function is loaded. Determine whether the image preprocessing system chip and the intelligent control system chip are both in normal working condition; If all conditions are met, the photoelectric pod control system is then put into operation.

[0015] In one implementation of the second aspect, the image preprocessing link initialization operation includes: Determine the output format of the external image acquisition unit and configure the preset parameters according to the output format; Configure the processing parameters of the image preprocessing module in the image preprocessing system chip; The storage module in the image preprocessing system chip is initialized with cache resources. The first data transmission interface in the image preprocessing system chip is initialized.

[0016] The beneficial effects of this invention are as follows: By reconstructing the core functions of the optoelectronic pod control system at the chip level, an image preprocessing system chip and an intelligent control system chip are formed. Based on this, data transmission and information interaction between the image preprocessing system chip and the intelligent control system chip are achieved through a high-speed communication interface. This reduces system size and improves system integration and overall reliability while ensuring system performance. Specifically, by concentrating the front-end image processing and back-end processing functions, which were originally scattered across board-level modules, onto the chip modules of the two chips, the optoelectronic pod control system can be transformed from a board-level functionally distributed arrangement to a chip-level functionally integrated one. Compared to directly placing the system's functional modules on the circuit board, this invention integrates functions into the corresponding chips, effectively reducing the overall size of the optoelectronic pod control system and improving system integration. Furthermore, by enabling data interaction between the image preprocessing system chip and the intelligent control system chip through a high-speed communication interface, the previously scattered interaction links between multiple board-level interfaces are consolidated into a centralized inter-chip communication link, shortening critical data transmission paths and reducing connection complexity. Based on this, through the above dual-chip architecture, this invention can reduce system size, improve system integration, and enhance overall reliability while ensuring system performance. Attached Figure Description

[0017] Figure 1 This is a system architecture diagram of a photoelectric pod control system disclosed in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the internal structure of an image preprocessing system chip disclosed in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the internal structure of an intelligent control system chip disclosed in an embodiment of the present invention.

[0020] Figure 4 This is a flowchart of the steps of a photoelectric pod control method disclosed in an embodiment of the present invention. Detailed Implementation

[0021] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0022] First, a definition of the terminology used in this application is provided: An optoelectronic pod is a cabin-type optoelectronic observation device installed on the outside of vehicles such as drones, helicopters, or vehicles, and capable of multi-degree-of-freedom rotation via universal joints. It integrates sensors such as visible light cameras, infrared thermal imagers, and laser rangefinders / indicators to search, monitor, aim, and track target objects in complex environments.

[0023] The optoelectronic pod control system is an embedded electronic system inside the optoelectronic pod. It is responsible for the overall management of functions such as multi-channel image acquisition, real-time image processing, target intelligent recognition and tracking algorithm calculation and screen display output, and external data communication. It is equivalent to the brain of the optoelectronic pod to achieve automated, intelligent observation and precise tracking.

[0024] Secondly, to facilitate understanding of the technical solutions provided in the embodiments of the present invention by those skilled in the art, the relevant technologies are described below: With the development of intelligent sensing technology, embedded processing technology, and unmanned aerial vehicle (UAV) platforms, optoelectronic pods are increasingly being used in target recognition, target detection, and target tracking. Optoelectronic pod control systems typically need to acquire visible light and infrared images, process the acquired image data, perform target recognition, target detection and tracking, and also provide display output and external communication functions.

[0025] To meet the above requirements, optoelectronic pod control systems often adopt a board-level implementation (i.e., a dual-board structure), and achieve overall system coordination through inter-board connections. It should be noted that the dual-board (two circuit boards) optoelectronic pod control system completes its functions through the cooperation of a front-end image processing board and a back-end processing board. The front-end image processing board primarily handles image input and front-end processing tasks, while the back-end processing board primarily handles back-end processing tasks.

[0026] In practical applications, the aforementioned dual-board implementation structure can meet the basic application requirements of the optoelectronic pod system. However, it is still a board-level distributed implementation method overall, and there is still room for further optimization in terms of system size, hardware integration, and link complexity. Specific issues are as follows: (1) In the above dual-board implementation structure, the front-end image processing function and the back-end processing function are usually distributed in different boards. Each board needs to be configured with corresponding storage, interface, clock reset, power management and startup configuration support circuits, which results in a relatively dispersed system hardware composition and a large overall implementation volume, which is not conducive to the miniaturization design of the optoelectronic pod control system.

[0027] (2) In the above dual-board implementation structure, the functions of image input, data transmission, display output and communication management mainly rely on board-level interface circuits and inter-board connection devices, which leads to a more complex system connection relationship and a longer signal transmission link, which is not conducive to improving the overall stability and reliability of the system.

[0028] (3) Although the above dual-board scheme has formed a dual-board structure combining the image preprocessing board and the control system board, it is still at the board-level implementation stage in general, which is difficult to meet the development needs of the system for further high integration, miniaturization and specialization.

[0029] In summary, the above-mentioned dual-board implementation methods have problems such as dispersed hardware components, large system size, complex inter-board connections, and insufficient integration levels.

[0030] To address at least the aforementioned issues, this invention provides a photoelectric pod control system and method. This solution does not achieve miniaturization by simply reducing or eliminating necessary components such as storage, clocks, and power supplies. Instead, it achieves miniaturization through chip-level reconstruction of core functions, forming an image preprocessing system chip and an intelligent control system chip. Data transmission and information interaction are achieved through a high-speed communication interface between the two types of chips. Specifically, by centralizing the front-end image processing and back-end processing functions, which were previously scattered across board-level modules, into these two types of chips, the system can be transformed from a distributed board-level functional layout to chip-level functional integration. Furthermore, the image preprocessing system chip and the intelligent control system chip achieve image data transmission, processing result feedback, and status information interaction through a high-speed communication interface. This consolidates the previously scattered interaction links between multiple board-level interfaces into a centralized inter-chip communication link, shortening critical data transmission paths and reducing connection complexity. Based on this, through the aforementioned dual-chip architecture, this invention can reduce system size, improve system integration, and enhance overall reliability while ensuring system performance.

[0031] The technical solutions according to the present invention will be described below with reference to specific embodiments and in conjunction with the accompanying drawings.

[0032] Figure 1 This is a system architecture diagram of a photoelectric pod control system disclosed in an embodiment of the present invention. (Refer to...) Figure 1 The optoelectronic pod control system includes an image preprocessing system chip and an intelligent control system chip.

[0033] The image preprocessing system chip is used to receive externally input image data and preprocess the image data so as to send the preprocessed image data to the intelligent control system chip. The intelligent control system chip and the image preprocessing system chip communicate directly through a high-speed communication interface. The intelligent control system chip is used to receive the preprocessed image data and perform target perception based on the preprocessed image data to obtain the target perception result.

[0034] As described above, the beneficial effects of this invention are as follows: By reconstructing the core functions of the optoelectronic pod control system at the chip level, an image preprocessing system chip and an intelligent control system chip are formed. Based on this, data transmission and information interaction between the image preprocessing system chip and the intelligent control system chip are achieved through a high-speed communication interface, thereby reducing system size and improving system integration and overall reliability while ensuring system performance. Specifically, firstly, by concentrating the front-end image processing and back-end processing functions, which were originally scattered across board-level modules, onto two chips, the optoelectronic pod control system can be transformed from a board-level functionally distributed arrangement to a chip-level functionally integrated one. Compared to directly placing the system's functional modules on the circuit board, this invention integrates functions into corresponding chips, effectively reducing the overall size of the optoelectronic pod control system and improving system integration. Furthermore, by enabling data interaction between the image preprocessing system chip and the intelligent control system chip through a high-speed communication interface, the previously scattered interaction links between multiple board-level interfaces are consolidated into a centralized inter-chip communication link, shortening critical data transmission paths and reducing connection complexity. Based on this, through the aforementioned dual-chip architecture, this invention can reduce system size, improve system integration, and enhance overall reliability while ensuring system performance.

[0035] like Figure 1 As shown, the overall optoelectronic pod control system includes an external image acquisition unit, a power supply system, a display output unit, external devices (such as a host computer and mission equipment), an image preprocessing system chip, and an intelligent control system chip. The following description, in conjunction with... Figure 1 The above structure will be explained in detail.

[0036] like Figure 1 As shown, the external image acquisition unit is responsible for acquiring optical or thermal radiation image signals from the external scene in real time and converting them into image data that can be processed later, providing raw visual information for core functions such as target recognition, target detection, and target tracking. The converted image data from the external image acquisition unit is sent to the image preprocessing system chip connected to it. In practical applications, the external image acquisition unit includes at least one of a visible light unit and an infrared unit. The visible light unit (such as a visible light camera) is suitable for acquiring high-resolution color texture images under daytime and well-lit conditions, while the infrared unit (such as an infrared thermal imager) can detect the presence of targets based on temperature differences at night, in inclement weather, or when the target object is obscured. The two complement each other, enabling the optoelectronic pod control system to have all-weather, multi-environment target perception capabilities.

[0037] The power supply system is responsible for converting the original input power (such as DC 28V or battery voltage) into the stable operating voltage required by the image preprocessing system chip, intelligent control system chip and related functional units. During the system startup process, it monitors voltage stability, controls the power-on sequence, and releases a reset signal after the voltage stabilizes, ensuring the safe and reliable startup and continuous operation of the entire pod control system.

[0038] The display output unit is responsible for outputting the data (such as system status screen and category labels) obtained after processing by the intelligent control system chip to the airborne display or ground station monitoring terminal in real time, so that operators can intuitively observe the situation on site, confirm the target lock status and implement manual intervention.

[0039] The external devices (such as host computers and mission devices) are connected to the intelligent control system chip. In practical applications, the external devices interact bidirectionally with the intelligent control system chip via a communication link: on the one hand, the intelligent control system chip uploads target information such as the identified target location, category, and tracking trajectory to the external devices for operator monitoring or guidance of subsequent actions; on the other hand, the external devices can send parameters (such as switching visible light / infrared modes, adjusting gain / exposure, setting regions of interest or tracking thresholds) and control commands (such as locking / unlocking targets) to the pod, while the intelligent control system chip transmits its own operating status (including working mode, buffer usage, link quality, fault alarms, etc.) in real time, thus forming a closed-loop collaboration.

[0040] Figure 2 This is a schematic diagram of the internal structure of an image preprocessing system chip disclosed in an embodiment of the present invention. (Refer to...) Figure 2 The image preprocessing system chip is used to receive image data input from the front end and perform operations such as timing matching, data organization and image preprocessing on the image data.

[0041] In some embodiments, such as Figure 2 As shown, the image preprocessing system chip includes an image front-end access unit, an image preprocessing module, and a first data transmission interface. The image front-end access unit is connected to the image preprocessing module and is used to receive the image data and send the image data to the image preprocessing module. The image preprocessing module is connected to the first data transmission interface and is used to preprocess the image data and send the preprocessed image data to the first data transmission interface. The first data transmission interface is used to send the received preprocessed image data to the intelligent control system chip, that is, the first data transmission interface can be used to realize image data transmission with the intelligent control system chip.

[0042] In practical applications, the preprocessing includes operations such as image enhancement, noise suppression, feature enhancement, format conversion, or data optimization. Furthermore, before preprocessing the image data, the image preprocessing module can also perform operations such as synchronization control and timing adjustments on the input image data, which are not limited here.

[0043] Of course, such as Figure 2 As shown, the image preprocessing system chip can also integrate functional unit modules such as a first storage unit, a first clock unit, a first power management unit, and a debugging interface. The specific functions of each of the above modules are as follows: the first storage unit can be used to cache and manage image data, related parameter information, and startup configuration data; the first clock unit can be used to provide the timing reference required for the operation of the image preprocessing system chip; the debugging interface can be used to configure related working parameters, read the running status, and perform debugging interaction; the first power management unit can be used to provide working voltage to the above-mentioned functional category chips or functional units.

[0044] In the specific operation process, the external image acquisition unit provides image data (such as visible light image and infrared image data). The image preprocessing system chip receives the image data and uses the image preprocessing module to preprocess the image data to form preprocessed image data that meets the requirements of subsequent target recognition, detection and tracking. The preprocessed image data is then output to the intelligent control system chip through the data transmission interface for subsequent processing.

[0045] In some other alternative embodiments, such as Figure 2 As shown, the image preprocessing system chip may also include a debugging interface, which is connected to an external debugging device. In practical applications, the external debugging device can be a PC, a host computer, or other debugging terminal. The debugging interface is located on the image preprocessing system chip side and is used to interact with the external debugging device during system debugging, parameter configuration, status monitoring, or fault location. It serves as an auxiliary function for system configuration, status reading, and debugging maintenance. Specifically, the debugging interface can be used to perform the following functions: First, configure the relevant operating parameters of the image preprocessing system chip, such as image input format, resolution, frame rate, preprocessing parameters, data output enable, or interface working mode; second, read the operating status of the image preprocessing system chip, such as image input status, frame synchronization / line synchronization status, buffer status, data transmission interface status, link status, and abnormal flags; third, use it for debugging interaction and fault diagnosis, such as checking whether the image processing link is normal, and determining whether there are problems such as buffer overflow, frame loss, format errors, or interface abnormalities.

[0046] In summary, by centralizing functions such as image data timing matching, data organization, image preprocessing, data caching, timing reference provision, data transmission, debugging management, and power management into the image preprocessing system chip, the previously dispersed front-end image processing functions in the optoelectronic pod control system can be centrally configured at the chip level. This reduces system size and improves system integration and operational reliability while ensuring image preprocessing capabilities and data output quality.

[0047] Figure 3 This is a schematic diagram of the internal structure of an intelligent control system chip disclosed in an embodiment of the present invention. (Refer to...) Figure 3 The intelligent control system chip is used to receive preprocessed image data after it has been processed by the image preprocessing system chip, and to perform target recognition, target detection and target tracking, as well as external communication.

[0048] In some embodiments, such as Figure 3 As shown, the intelligent control system chip includes a second data transmission interface and an image processing module; the second data transmission interface is connected to the first data transmission interface and the image processing module respectively, and the second data transmission interface is used to send the received preprocessed image data to the image processing module; the image processing module is used to perform target perception based on the preprocessed image data to obtain the target perception result.

[0049] In practical applications, the image processing module is used to perform target recognition, target detection and continuous target tracking on target objects in the input image, and the second data transmission interface is used to realize image data transmission with the image preprocessing system chip.

[0050] Of course, such as Figure 3 As shown, the intelligent control system chip can also integrate functional unit modules such as a second storage unit, a second clock unit, a second data transmission interface, a communication interface, and a second power management unit. The specific functions of each module are as follows: the second storage unit is used to cache and manage preprocessed image data, target state data, and related control parameters; the second clock unit is used to provide the timing reference required for the operation of the intelligent control system chip; the communication interface is used to realize information interaction with a host computer, task system, or other external devices. Specifically, the communication interface can be used to communicate with external devices to send the target perception results to the external devices; the second power management unit is used to provide operating voltage to the aforementioned functional category chips or functional units.

[0051] In its operation, the intelligent control system chip receives preprocessed image data from the image preprocessing system chip. The image processing module then performs target recognition, detection, and tracking on the target object, outputting the results to other system modules or external devices. Simultaneously, the intelligent control system chip interacts with the host computer, task system, or other external devices via a communication interface, enabling functions such as uploading target information, sending parameters, and transmitting status updates.

[0052] In summary, by integrating target recognition, target detection and tracking, and external communication functions into the intelligent control system chip, it is beneficial to achieve miniaturized integration of the pod system and improve the overall stability and reliability of the system operation.

[0053] The image preprocessing system chip and the intelligent control system chip have been described in detail above. It should be noted that the image preprocessing system chip and the intelligent control system chip are connected through corresponding communication links. The specific communication and coordination mechanism can be described as follows.

[0054] like Figure 1 As shown, by connecting the intelligent control system chip and the image preprocessing system chip through a corresponding communication link, they can perform operations such as image data transmission, processing result feedback, and status information interaction, thereby achieving functional integration and coordination between front-end image preprocessing and subsequent target recognition, target detection, and target tracking. It should be noted that the image preprocessing system chip and the intelligent control system chip can be interconnected via PCIe, MIPI, Ethernet, or other high-speed communication interfaces to complete the transmission of image data and related information. A high-speed communication interface refers to a communication interface with a data transmission rate of not less than 1 Gbit / s that meets the requirements for image data transmission, processing result feedback, and status information interaction between the image preprocessing system chip and the intelligent control system chip. This interface can include PCIe, MIPI, Ethernet, or other interfaces with high transmission rates and low transmission latency, and is not limited here. In the optoelectronic pod control system, based on high-speed communication interfaces such as PCIe, MIPI, and Ethernet, the intelligent control system chip and the image preprocessing system chip can quickly complete the transmission of image data and related information, thereby ensuring the real-time performance of target recognition and tracking operations.

[0055] In practical implementation, the image preprocessing system chip sends the preprocessed image data, obtained after operations such as timing matching, data organization, and preprocessing, to the intelligent control system chip. The intelligent control system chip then performs target recognition, target detection, and target tracking based on the received preprocessed image data, generating corresponding target perception results. Simultaneously, the intelligent control system chip can also provide feedback to the image preprocessing system chip based on the target perception results, data processing requirements, or system operating status information. The image preprocessing system chip, based on the received feedback, adjusts the image preprocessing parameters, data organization methods, or data output status to achieve collaborative work between the two types of chips.

[0056] Based on this, by setting up the above-mentioned inter-chip communication and collaboration mechanism, image data transmission, processing result feedback and status information interaction between the image preprocessing system chip and the intelligent control system chip can be realized, thereby forming a collaborative relationship between the pre-processing and post-processing stages, ensuring the continuous connection between the various processing stages within the system, and improving the overall coordination and stability of the system.

[0057] In some other optional embodiments, the connection between the intelligent control system chip and external devices, as well as the connection between the external debugging device and the debugging interface, can be a communication connection or a debugging communication connection. The connection between the external image acquisition unit and the image preprocessing system chip is primarily an image data input connection; the connection between the intelligent control system chip and the display output unit is primarily a display data output connection; and the connections between the various functional modules within the chip are primarily image data paths, storage access connections, clock signal connections, control signal connections, or status signal connections. It should be noted that the specific connection relationships between some modules / units / components are listed here. In practical applications, the specific connection methods between each module / unit / component can be specifically set according to the corresponding functions and actual conditions, and will not be elaborated here.

[0058] Figure 4 This is a flowchart illustrating the steps of a photoelectric pod control method according to an embodiment of the present invention. This photoelectric pod control method is applied to the photoelectric pod control system described above, with reference to... Figure 4 The photoelectric pod control method includes the following steps 100 to 104.

[0059] Step 100: Receive externally input image data through the image preprocessing system chip; Step 102: The image data is preprocessed by the image preprocessing system chip to obtain preprocessed image data, and the preprocessed image data is sent to the intelligent control system chip. Step 104: The preprocessed image data is subjected to target perception by the intelligent control system chip to obtain target perception results.

[0060] As described above, the beneficial effects of this invention are as follows: by integrating the relevant functions involved in the optoelectronic pod control system at the chip level, an intelligent control system chip and an image preprocessing system chip are formed that are interconnected. Based on this, the image preprocessing system chip completes the reception and preprocessing of the front-end input image data, and then the intelligent control system chip performs target perception (such as target recognition, detection, and tracking) to obtain the target perception results. This helps to reduce the system size, improve the system integration and operational reliability, and enhance the integration and overall stability of the optoelectronic pod in complex environments.

[0061] The following combination Figure 4 The steps in steps 100 to 104, as well as other optional steps, are described in detail.

[0062] Step 100: Receive externally input image data through the image preprocessing system chip.

[0063] The image data is a digital image stream acquired and converted by an external image acquisition unit (such as a visible light unit and an infrared unit).

[0064] Step 102: The image data is preprocessed by the image preprocessing system chip to obtain preprocessed image data, and the preprocessed image data is sent to the intelligent control system chip.

[0065] The preprocessing refers to a series of front-end processing operations performed on the image data by the image preprocessing module. Its purpose is to improve image quality, filter out invalid interference, highlight target features, and adjust the image data to a form suitable for subsequent target recognition, target detection, and target tracking. In practical applications, this preprocessing may include operations such as image enhancement, noise suppression, feature enhancement, format conversion, and data optimization, which are not limited here.

[0066] It should be noted that in practical applications, before preprocessing the image data, the image preprocessing system chip can also perform synchronization control and timing adjustment operations on the image data through the image preprocessing module, which are not limited here. The synchronization control is responsible for aligning image data from different external image acquisition units (such as visible light units and infrared units) in time, ensuring that frames or lines acquired at the same time can be processed simultaneously, avoiding image misalignment. The timing adjustment is used to convert the irregular clock and line / field synchronization signals output by the external image acquisition units into a standard timing sequence that the internal processing module can uniformly recognize, ensuring that each pixel is read and processed at the correct time.

[0067] Step 104: The preprocessed image data is subjected to target perception by the intelligent control system chip to obtain target perception results.

[0068] Target perception refers to the process of comprehensively understanding target objects in preprocessed image data, which can include target recognition, target detection, and continuous target tracking. In practical applications, target recognition first identifies the category of the target (such as vehicles or people), then target detection detects the precise location of the target in the image, and finally, the motion state of the target object is continuously tracked in consecutive video frames, thereby obtaining complete information about the target object from its attributes to its location and trajectory (i.e., the target perception result).

[0069] In some embodiments, in step 104, the target perception of the preprocessed image data by the intelligent control system chip may include the following steps: sequentially performing target recognition, target detection, and target continuous tracking on the preprocessed image data to obtain the target perception result; wherein, the target perception result includes the target position and target state of the target object in the preprocessed image data.

[0070] The target perception result refers to the comprehensive data output after target recognition, target detection, and target tracking processing of target objects in preprocessed image data, for use by other modules or external devices. In practical applications, the target perception result may include target object category information / category attributes, position coordinates (or bounding box) in the image, assigned unique tracking identifier, target state, state changes, processing status, and current motion trajectory or predicted state, etc., which are not limited here.

[0071] As described above, by performing target recognition, target detection, and continuous target tracking on the preprocessed image data, the position and motion state (such as trajectory and speed) of the target object are obtained, thereby forming a structured target perception result. This provides an effective data foundation for subsequent automatic following and outputting effective intelligence to external devices, thereby improving the system's continuous monitoring capability and response accuracy for dynamic targets.

[0072] In some embodiments, after target perception is performed on the preprocessed image data by the intelligent control system chip, the method further includes: Step 200: The intelligent control system chip feeds back coordination information to the image preprocessing system chip; Step 202 involves updating the internal configuration parameters and adjusting the preprocessing process by the image preprocessing system chip based on the coordination information.

[0073] The coordination information refers to a set of dynamic data (i.e., various operating parameters and status data) that the intelligent control system chip actively feeds back to the image preprocessing system chip during collaborative operation to coordinate the operating state. In practical applications, the coordination information may include data such as the region of interest location, image preprocessing parameter adjustment values, output image format, output resolution, frame rate control information, data output enable information, buffer status information, or link status information, etc., without limitation.

[0074] In practical applications, when the image preprocessing system chip sends preprocessed image data to the intelligent control system chip, the preprocessed image data may carry additional information such as frame number, image format, resolution, and frame validity status. After completing target recognition, detection, and tracking, the intelligent control system chip generates corresponding coordination information based on the target position, target size, target confidence level, image processing quality, data bandwidth usage, or system operating status, and sends this coordination information back to the image preprocessing system chip via a high-speed communication interface. Upon receiving this coordination information, the image preprocessing system chip can update relevant operating parameters through its internal configuration registers or parameter buffer, and adjust the image preprocessing and data output processes at the end of the current frame or the beginning of the next frame, thereby avoiding interference with the processing of the current frame.

[0075] In practice, the intelligent control system chip can send coordination information to the image preprocessing system chip via a high-speed communication interface. Upon receiving the information, the image preprocessing system chip first parses and verifies its validity, then writes the parameters into its internal configuration area. For example, the coordination information may include parameters such as the region of interest location, image enhancement intensity, noise suppression parameters, output image format, output resolution, frame rate control information, or data output enable information. Based on this, the image preprocessing system chip can internally set a working parameter area for the current frame and a parameter buffer area to be updated. During the processing of the current frame, the image preprocessing module continues to process the current frame according to the original parameters; when the end signal of the current frame or the start signal of the next frame is detected, the new parameters in the parameter buffer area are updated to the working parameters, so that the new preprocessing parameters take effect from the next frame.

[0076] For example, when the intelligent control system chip determines that the target is mainly located in the central region of the image based on the target detection results, it can feed back the region of interest (ROI) location information to the image preprocessing system chip. After receiving this information, the image preprocessing system chip can first write the coordinate range of the ROI into the parameter buffer, and then, starting from the next frame after the current frame ends, perform image cropping, data processing, or enhancement processing according to the new ROI.

[0077] For example, when the intelligent control system chip determines that the current image has high noise or low contrast, it can feed back noise suppression parameters or image enhancement parameters. After receiving these parameters, the image preprocessing system chip also caches them first, and then updates the working parameters of the image preprocessing module after the current frame ends, so that subsequent frames are processed according to the new enhancement or noise suppression strategy.

[0078] Therefore, the aforementioned "updating relevant working parameters through internal configuration registers or parameter buffers, and adjusting them after the current frame ends or at the start of the next frame" is mainly achieved through parameter caching, frame boundary updates, and working parameter switching. This ensures that parameters remain consistent throughout the current frame processing, avoiding image jumps, incomplete frame data, or output anomalies caused by parameter modifications during processing. It should be clarified that this part primarily refers to the image preprocessing system chip, upon receiving feedback from the intelligent control system chip, not immediately changing the currently processed image frame, but first writing the relevant parameters into the internal configuration register, shadow register, or parameter buffer. After the current frame processing ends, the new parameters are switched to the actual working parameters, thus preventing image anomalies or data discontinuities caused by parameter changes during the current frame processing.

[0079] As described above, the intelligent control system chip transmits the coordination information back to the image preprocessing system chip and then acts in reverse on the image preprocessing system chip. This makes the image preprocessing process no longer a fixed one-way process, but can adjust parameters, data organization, or output status according to the backend intelligent processing requirements, thereby realizing the collaborative work between the two types of chips.

[0080] In some embodiments, before receiving externally input image data through the image preprocessing system chip, it is necessary to establish operating voltage for each chip or functional unit through the power supply system. The specific implementation steps are as follows: Step 300: A reset signal is output to the image preprocessing system chip and the intelligent control system chip through the power supply system to lock the image preprocessing system chip and the intelligent control system chip in the reset state; Step 302: Establish the operating voltage required by the image preprocessing system chip and the intelligent control system chip through the power supply system; Step 304: Monitor the operating voltage through the power supply system and release the reset signal after the operating voltage stabilizes to unlock the image preprocessing system chip and the intelligent control system chip.

[0081] It should be noted that establishing working voltage for each chip or functional module means that the power supply system establishes working voltage for each circuit sequentially according to the power supply requirements of the image preprocessing system chip, the intelligent control system chip and related functional units, and releases a reset signal after the voltage reaches a stable range, so that the subsequent chip initialization process has the power supply conditions.

[0082] Specifically, during system startup, the power supply system first converts the external input power into multiple operating voltages required by the image preprocessing system chip, intelligent control system chip, and peripheral memory, interface, and other functional units, and establishes these voltages sequentially according to the timing requirements of the chip specifications. After the first and second power management units detect that all critical voltage rails have reached their rated values ​​and remained stable, the previously valid reset signals are removed, allowing each chip to enter normal operation from a forced reset state. This avoids timing errors, data errors, or hardware damage caused by startup when the voltage is unstable, ensuring that the entire optoelectronic pod control system reliably completes power-on initialization.

[0083] As described above, by establishing the working voltages of each circuit in sequence through the power supply system and releasing the reset signal after the voltage stabilizes, the image preprocessing chip, intelligent control chip and related functional units are ensured to start under reliable power supply conditions. This prevents startup failure, register abnormalities or hardware damage caused by voltage fluctuations or timing errors, and provides a stable power foundation for the subsequent operation of the system.

[0084] In some embodiments, after establishing operating voltage for each chip or functional unit through a power supply system and before receiving externally input image data through an image preprocessing system chip, the following steps may also be included: Step 400: Start the image preprocessing system chip and perform image preprocessing link initialization operation; Step 402: Start the intelligent control system chip and complete the loading of target perception functions (i.e., target recognition, target detection and target tracking processing, etc.); Step 404: Determine whether the image preprocessing system chip and the intelligent control system chip have both entered normal working state; Step 406: If all systems enter the normal operating state (i.e., the system enters the collaborative operation state), then control the photoelectric pod control system to enter the working state.

[0085] The working state refers to the stable operating mode in which the optoelectronic pod control system can continuously and effectively receive external image input, perform target perception processing normally in real time, output target perception results, and interact with external devices normally in terms of commands and data.

[0086] It should be noted that "determining whether both the image preprocessing system chip and the intelligent control system chip have entered normal working state" can be judged by the readiness status and link status of both. In practical applications, when the image preprocessing system chip can continuously output valid image data, the intelligent control system chip can normally receive image data and complete target recognition, target detection, and target tracking processing, and there are no link anomalies, cache anomalies, or data verification anomalies in the high-speed communication interface between the two chips, it can be determined that both types of chips have entered normal working state, and the system has entered a collaborative operation state. Of course, if the above conditions are not met, it can be determined that the image preprocessing system chip and the intelligent control system chip have not entered normal working state synchronously.

[0087] Specifically, firstly, the image preprocessing system chip is judged to be able to continuously output valid image data by the image link status. In practical applications, the image preprocessing system chip can be considered to be able to continuously output valid image data when the following conditions are met. The specific conditions are as follows: (1) The frame synchronization, line synchronization and pixel data on the image input side are continuously valid; (2) The image data size, format and frame rate of the continuously preset number of frames are consistent with the configuration parameters; (3) The image data can enter the buffer normally and complete the preprocessing without buffer overflow, data interruption, frame loss or format error; (4) The first data transmission interface is in a valid connection state and can send the preprocessed image data to the intelligent control system chip; (5) The image preprocessing system chip does not output error flags such as image link abnormality, buffer abnormality or interface abnormality.

[0088] Secondly, after confirming that the image preprocessing system chip can continuously output valid image data, the intelligent control system chip can load the target recognition, target detection and target tracking functions and initialize the communication function, so that the intelligent control system chip can normally receive the preprocessed image data and complete the target recognition, target detection and target tracking processing.

[0089] Finally, it is determined whether there is a link anomaly, cache anomaly, or data verification anomaly in the high-speed communication interface between the two chips. In practical applications, the image preprocessing system chip and the intelligent control system chip can determine whether there is an anomaly in the high-speed communication interface through handshake confirmation, status flags, or link heartbeat information. Specifically, if both parties complete the handshake confirmation (receive the other party's ready response), their respective status flags are set, and the link heartbeat information remains normal, then the high-speed communication interface is not abnormal; if either party does not receive the other party's handshake response within the agreed time limit, the status flag is not set, or the link heartbeat information is interrupted and times out, then the high-speed communication interface is abnormal.

[0090] Furthermore, it should be noted that the aforementioned communication function initialization refers to the configuration and confirmation of the data transmission channel between the intelligent control system chip and the image preprocessing system chip before the intelligent control system chip formally receives the preprocessed image data. Specifically, this includes resetting and releasing the communication interface, configuring the working mode, configuring transmission parameters, configuring the data format, configuring the buffer address, and performing a link handshake with the image preprocessing system chip. After the link handshake is completed, the normal transmission and reception capabilities of both interfaces can be confirmed through status data packets or test data packets.

[0091] As described above, through corresponding initialization operations and loading of corresponding functions, the system can enter the working state without any abnormalities, avoiding system synchronization failures caused by single point of failure or link defects, and ensuring efficient collaboration and continuous stable operation of the image preprocessing system chip and the intelligent control system chip under the dual-chip architecture.

[0092] In some embodiments, step 400, performing the image preprocessing link initialization operation, may include the following steps: Step 500: Determine the output format of the external image acquisition unit and configure the preset parameters according to the output format; Step 502: Configure the processing parameters of the image preprocessing module in the image preprocessing system chip; Step 504: Initialize the cache resources of the storage module in the image preprocessing system chip; Step 506: Initialize the first data transmission interface in the image preprocessing system chip. The interface initialization includes establishing the communication interface link, configuring the transmission mode, and handshaking confirmation with the intelligent control system chip.

[0093] It should be noted that the image processing link initialization mainly refers to the initialization configuration of the front-end input image, internal preprocessing path, cache resources and inter-chip data transmission interface before the image preprocessing system chip outputs image data to the intelligent control system chip, so that the image data can stably enter the subsequent processing link according to the preset format. In practical applications, the image processing link initialization may include the following process: (1) The image preprocessing system chip completes power-on reset and the clock signal reaches a stable state; (2) According to the output form of the external image acquisition unit, the image input channel, image format, resolution, data bit width, frame synchronization and line synchronization related parameters are configured; (3) The image preprocessing module related parameters are configured, including image enhancement, noise suppression, format conversion or data processing parameters; (4) The cache resources are initialized, including clearing the frame cache, line cache or data cache area, address configuration and read / write status initialization; (5) The data transmission interface is initialized, including the link establishment of the high-speed communication interface, transmission mode configuration and handshake confirmation with the intelligent control system chip.

[0094] Specifically, for step (2) above, the specific implementation method can be as follows: The image preprocessing system chip first determines whether the currently accessed data is visible light image data or infrared image data, as well as the data format, resolution, pixel bit width and synchronization signal form it adopts, and then configures the corresponding input channels and receiving parameters.

[0095] For example, when the external image acquisition unit is a visible light unit (such as a visible light camera), its output may be image data in RGB, YUV, or RAW format, with resolutions such as 1280×720 or 1920×1080, and pixel data bit widths of 8 bits, 10 bits, or other bit widths. In this case, the image preprocessing system chip can configure the corresponding visible light image input channel, image width and height parameters, pixel format, data bit width, as well as the effective polarity and sampling timing of the frame synchronization signal and row synchronization signal, so that the image data can enter the chip's internal processing link in the correct frame, row, and column order.

[0096] For example, when the external image acquisition unit is an infrared unit (such as an infrared thermal imager), its output may be a grayscale image or raw infrared data, and its resolution and data bit width are usually different from those of visible light images. In this case, the image preprocessing system chip can configure the corresponding infrared image input channel, data receiving bit width, frame format, synchronization signal method, and buffer writing method according to the output format of the infrared image to ensure that the infrared image data can be correctly received and processed.

[0097] Similarly, for step (3) above, the specific implementation method can be as follows: The image preprocessing system chip sets preprocessing parameters such as image enhancement, noise suppression, format conversion or data processing according to the input image type and subsequent target perception requirements, so that the image data has a quality and format more suitable for target recognition, detection and tracking before entering the intelligent control system chip.

[0098] For example, in scenarios where the visible light image has low brightness or insufficient contrast, image enhancement parameters can be configured to improve the distinction between the target area and the background in the image; in scenarios where the image noise is significant, noise suppression parameters can be configured to reduce the impact of random noise on subsequent target detection; when the back-end intelligent control system chip has specific requirements for the input image format, format conversion parameters can be configured to convert the input image into the data format required for subsequent processing.

[0099] For example, in infrared image input scenarios, parameters such as grayscale mapping, dynamic range compression, or noise suppression can be configured based on the characteristics of the infrared image's grayscale distribution to make the infrared target outline clearer and reduce the impact of background noise on target recognition and tracking. Simultaneously, the format, resolution, or data organization method of the output image can be configured according to backend processing requirements, so that the intelligent control system chip can stably receive and perform subsequent target perception processing.

[0100] In summary, the above two steps are mainly completed through the configuration registers, parameter buffers, or initialization configuration tables inside the image preprocessing system chip. After the system starts, the image preprocessing system chip initializes the input parameters and preprocessing parameters according to the actual output format of the external image acquisition unit, so that the external image data can enter the subsequent processing link according to the preset timing and format. Among them, the above step (2) mainly solves the problem of "how external image data is correctly received", and the above step (3) mainly solves the problem of "how the received image data is preprocessed in a preset manner". The two together complete the initialization of the image preprocessing link, so that the visible light image or infrared image can stably enter the subsequent target recognition, detection and tracking process.

[0101] As described above, by performing image preprocessing link initialization, the corresponding parameter configuration and state preparation are completed, enabling the raw image data to enter the processing flow in a standardized format, ensuring image quality and data consistency, and providing a usable input data stream for backend target perception.

[0102] To make this application easier to understand, an exemplary application is provided below. This exemplary application provides an optoelectronic pod control method based on an optoelectronic pod control system. This optoelectronic pod control system is mainly applied to miniature intelligent optoelectronic pods for optoelectronic target detection and information processing in small carriers such as small airborne platforms and small missile platforms.

[0103] It should be noted that the aforementioned optoelectronic pod control system includes an image preprocessing system chip and an intelligent control system chip. The image preprocessing system chip receives input image data and performs timing matching, data organization, and image preprocessing. The intelligent control system chip receives the image data processed by the image preprocessing system chip and performs target recognition, target detection and tracking, and external communication functions. The two chips communicate via a high-speed communication interface to transmit image data, provide processing result feedback, and exchange status information, thus forming a complete intelligent optoelectronic pod control system. Based on this, and the basic architecture of the aforementioned optoelectronic pod control system, the specific implementation steps of the optoelectronic pod control method in this exemplary application can be as follows: (1) System startup process S1, Power supply system powers on and establishes working voltage for each part: During system startup, the power supply system establishes the working voltage required by the image preprocessing system chip, intelligent control system chip and related functional units, and releases the reset signal after the voltage stabilizes.

[0104] S2, start the image preprocessing system chip and complete the image processing link initialization, and output stable image data based on the image preprocessing system chip. The specific implementation steps are as follows.

[0105] After the image preprocessing system chip starts up, it gradually completes operations such as clock stabilization, image input channel configuration, image format and resolution parameter configuration, preprocessing parameter configuration, cache resource initialization, and first data transmission interface handshake to realize image processing link initialization. When the continuously output image data meets the preset format, frame rate, and transmission requirements, and there is no buffer overflow, frame loss, format error, or interface abnormality, it is determined that it outputs stable image data.

[0106] S3: Start the intelligent control system chip and complete the loading of target recognition, target detection and target tracking functions, as well as the initialization of communication functions. The initialization of communication functions may include operations such as interface reset and release, working mode configuration, transmission parameter configuration, data format configuration, cache address configuration and inter-chip link handshake.

[0107] S4: Determine whether the image preprocessing system chip and the intelligent control system chip have entered a collaborative operation state. If they have, the working process can begin.

[0108] Whether the image preprocessing system chip and the intelligent control system chip are both in normal working condition can be determined by checking their readiness and link status. Specifically, if the image preprocessing system chip can continuously output valid image data, and the intelligent control system chip can normally receive image data and complete target recognition, target detection, and target tracking processing, and there are no link anomalies, cache anomalies, or data verification anomalies in the high-speed communication interface between the two chips, then it can be determined that both chips are in normal working condition, and the optoelectronic pod control system enters a collaborative operation state.

[0109] (2) System working process S5: The external image acquisition unit provides image data to the image preprocessing system chip, which includes visible light image data and infrared image data.

[0110] S6: The image preprocessing system chip receives image data and performs timing matching, data organization, and preprocessing operations on the received image data in sequence. After processing, the data is sent to the intelligent control system chip via a high-speed communication interface.

[0111] S7: The intelligent control system chip performs target recognition, target detection, and target tracking based on the received preprocessed image data, forming target perception results such as target position and target status. It can also feed back relevant information such as target position, region of interest, preprocessing parameters, output format, frame rate control, buffer status, or link status to the image preprocessing system chip through a high-speed communication interface.

[0112] S8: The image preprocessing system chip updates its internal configuration parameters based on the cooperation information and adjusts the image preprocessing process, data organization method, or data output status to achieve collaborative work between the two chips.

[0113] As described above, this invention integrates image preprocessing, target recognition, target detection and tracking, communication interface and power management functions at the chip level to form an optoelectronic pod control system composed of an image preprocessing system chip and an intelligent control system chip. The high-speed communication interface enables data transmission and collaborative operation between the two types of chips, thereby reducing the system size and improving the overall integration and operational reliability while ensuring system performance.

[0114] In summary, the optoelectronic pod control system of the present invention: (1) By integrating related functions at the chip level to form an intelligent control system chip and an image preprocessing system chip, the collaborative processing capability between the functional units inside the chip can be improved, and the performance of functions such as image preprocessing, target recognition, target detection and target tracking, and information interaction can be improved. (2) By adopting a dual-chip architecture combining the image preprocessing system chip and the intelligent control system chip, the overall volume of the optoelectronic pod control system can be reduced, and the integration of the whole system can be improved. Among them, the image preprocessing system chip is used to complete the reception, timing matching, data organization and preprocessing of the front-end input image; the intelligent control system chip is used to complete the target recognition, target detection and target tracking and external communication. (3) The present invention relates to the field of optoelectronic pod control technology, and in particular to a chip-level design method for a micro intelligent optoelectronic pod control system suitable for small airborne, missile-borne and other equipment.

[0115] It should be understood that the terms "first," "second," etc., are used in this invention to describe various types of information, but these terms are not limited to them and are only used to distinguish information of the same type from each other. For example, without departing from the scope of this invention, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0116] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An optical pod control system, characterized by, This includes image preprocessing system chips and intelligent control system chips; The image preprocessing system chip is used to receive externally input image data and preprocess the image data so as to send the preprocessed image data to the intelligent control system chip. The intelligent control system chip communicates directly with the image preprocessing system chip through a high-speed communication interface. The intelligent control system chip is used to receive the preprocessed image data and perform target perception based on the preprocessed image data to obtain the target perception result.

2. The photoelectric pod control system according to claim 1, characterized in that, The image preprocessing system chip includes an image front-end access unit, an image preprocessing module, and a first data transmission interface; The image front-end access unit is connected to the image preprocessing module, and the image front-end access unit is used to receive the image data and send the image data to the image preprocessing module. The image preprocessing module is connected to the first data transmission interface. The image preprocessing module is used to preprocess the image data and send the preprocessed image data to the first data transmission interface. The first data transmission interface is used to send the received preprocessed image data to the intelligent control system chip.

3. The photoelectric pod control system according to claim 2, characterized in that, The intelligent control system chip includes a second data transmission interface and an image processing module; The second data transmission interface is connected to both the first data transmission interface and the image processing module. The second data transmission interface is used to send the received preprocessed image data to the image processing module. The image processing module is used to perform target perception based on the preprocessed image data to obtain the target perception result.

4. The photoelectric pod control system according to claim 1, characterized in that, The intelligent control system chip also includes a communication interface, which is used to communicate with external devices to send the target perception results to the external devices.

5. A method for controlling an optoelectronic pod, characterized in that, The method, applied to the photoelectric pod control system according to any one of claims 1 to 4, comprises: The image preprocessing system chip receives externally input image data. The image data is preprocessed by the image preprocessing system chip to obtain preprocessed image data, and the preprocessed image data is sent to the intelligent control system chip. The intelligent control system chip performs target perception on the preprocessed image data to obtain target perception results.

6. The photoelectric pod control method according to claim 5, characterized in that, After the intelligent control system chip performs target perception on the preprocessed image data, the system further includes: The intelligent control system chip feeds back coordination information to the image preprocessing system chip; The image preprocessing system chip updates its internal configuration parameters and adjusts the preprocessing process based on the coordination information.

7. The photoelectric pod control method according to claim 5, characterized in that, The intelligent control system chip performs target perception on the preprocessed image data, including: The preprocessed image data is sequentially subjected to target recognition, target detection, and continuous target tracking to obtain the target perception result; wherein, the target perception result includes the target position and target state of the target object in the preprocessed image data.

8. The photoelectric pod control method according to claim 5, characterized in that, Before receiving externally input image data through the image preprocessing system chip, the process also includes: A reset signal is output from the power supply system to the image preprocessing system chip and the intelligent control system chip to lock the image preprocessing system chip and the intelligent control system chip in a reset state. The power supply system establishes the operating voltage required for the image preprocessing system chip and the intelligent control system chip. The power supply system monitors the operating voltage and releases the reset signal after the operating voltage stabilizes, thereby releasing the reset lock on the image preprocessing system chip and the intelligent control system chip.

9. The photoelectric pod control method according to claim 8, characterized in that, Before receiving externally input image data through the image preprocessing system chip, the process also includes: The image preprocessing system chip is started and the image preprocessing link initialization operation is performed; The intelligent control system chip is activated and the target perception function is loaded. Determine whether the image preprocessing system chip and the intelligent control system chip are both in normal working condition; If all conditions are met, the photoelectric pod control system is then put into operation.

10. The photoelectric pod control method according to claim 9, characterized in that, The image preprocessing link initialization operation includes: Determine the output format of the external image acquisition unit and configure the preset parameters according to the output format; Configure the processing parameters of the image preprocessing module in the image preprocessing system chip; The storage module in the image preprocessing system chip is initialized with cache resources. The first data transmission interface in the image preprocessing system chip is initialized.

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