Two-ground photoelectric linkage identification and ranging method, device, equipment, medium and product

Abstract

This application discloses a two-ground-based photoelectric linkage identification and ranging method, device, equipment, medium, and product. It effectively utilizes the proportional relationship between the target detector's surface imaging size and the actual distance, while simultaneously combining target identification and ranging. Through the spatial conversion rules of detector pixels and the observation angle of the turntable, the rotation angle of the linked device is calculated. After automatically guiding the rotation, the same target is identified. Based on the rotation angle value obtained from actually tracking the target after linkage, the corrected target distance value is calculated. This reduces the manual target-finding process, making the linkage ranging more intelligent and practical.

Description

Technical Field

[0001] This application belongs to the field of ranging technology, and in particular relates to a two-ground-based photoelectric linkage identification ranging method, device, equipment, medium and product. Background Technology

[0002] Due to the combined effects of high temperature, high humidity, and the size and power of photoelectric equipment, laser rangefinders are significantly less effective in humid environments such as near the sea or rivers. This is particularly true for long-distance target ranging, which greatly weakens the countermeasures capabilities of photoelectric equipment that relies on laser ranging. Because border monitoring towers are deployed at equal intervals without blind spots along China's borders, passive ranging technology using two sets of photoelectric detection equipment for joint detection has been a hot research topic in China due to its simple application, practicality, and feasibility.

[0003] For conventional ground-based optoelectronic equipment without ranging components, it only has observation capabilities and lacks ranging ability. Currently, when two sets of ground-based optoelectronic equipment simultaneously observe the same target, the process of achieving distance measurement between the two sets of equipment includes: measuring the position information of the two sets of optoelectronic equipment, including latitude, longitude, and altitude, and setting north for both sets of equipment, after the first set of optoelectronic equipment detects the target, it tracks the target. At the same time, the second set of optoelectronic equipment needs to be manually operated to find the target and then track it. The distance to the target is calculated based on the position information of the two sets of equipment and the feedback values ​​from the turntables of the two sets of equipment.

[0004] However, when the distance between the first set of photoelectric equipment and the target cannot be determined, the second set of photoelectric equipment, using its maximum field of view, cannot directly cover the entire area. Furthermore, using the maximum field of view to search for the target is difficult due to its small size, making manual target searching very challenging and time-consuming. During this search, the target may move out of the observation area, making distance measurement impossible. Additionally, when there are multiple similar targets on the road, the second set of photoelectric equipment cannot determine which target the first set of equipment is observing. Summary of the Invention

[0005] This application provides a two-ground-based photoelectric linkage identification and ranging method, device, equipment, medium, and product to at least solve the problems of low accuracy and efficiency of manual target finding in related technologies.

[0006] In a first aspect, embodiments of this application provide a two-ground-based photoelectric linkage identification and ranging method, applied to a first photoelectric device and a second photoelectric device, the method comprising: In response to the first optoelectronic device recognizing the target object, the first target distance from the first optoelectronic device to the target object is calculated based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device. Based on the first location information of the first optoelectronic device, the second location information of the second optoelectronic device, the first altitude of the first optoelectronic device and the second altitude of the second optoelectronic device, calculate the horizontal device distance between the first optoelectronic device and the second optoelectronic device. Based on the first target distance, the first altitude of the first optoelectronic device, and the first pitch feedback value of the turntable corresponding to the target object identified by the first optoelectronic device, the third altitude of the target object and the first horizontal target distance between the first optoelectronic device and the target object are calculated. Based on the first horizontal target distance, the horizontal equipment distance, the second altitude of the second optoelectronic device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first optoelectronic device, calculate the turntable pre-rotation azimuth angle and pre-rotation pitch angle of the second optoelectronic device. The turntable of the second optoelectronic device is controlled to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and target object recognition and tracking is performed at the first position. In response to the second optoelectronic device recognizing the target object, the second azimuth angle feedback value and the second pitch feedback value of the turntable corresponding to the target object currently recognized by the second optoelectronic device are determined. Based on the horizontal equipment distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value, calculate the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object.

[0007] Secondly, embodiments of this application provide a two-ground-based photoelectric linkage identification and ranging device, applied to a first photoelectric device and a second photoelectric device, the device comprising: The first calculation module is used to respond to the first optoelectronic device recognizing the target object, and to calculate the first target distance from the first optoelectronic device to the target object based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device. The second calculation module is used to calculate the horizontal device distance between the first optoelectronic device and the second optoelectronic device based on the first location information of the first optoelectronic device, the second location information of the second optoelectronic device, the first altitude of the first optoelectronic device and the second altitude of the second optoelectronic device. The third calculation module is used to calculate the third altitude of the target object and the first horizontal target distance between the first photoelectric device and the target object based on the first target distance, the first altitude of the first photoelectric device and the first pitch feedback value of the turntable corresponding to the target object identified by the first photoelectric device. The fourth calculation module is used to calculate the pre-rotation azimuth angle and pre-rotation pitch angle of the turntable of the second photoelectric device based on the first horizontal target distance, the horizontal device distance, the second altitude of the second photoelectric device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device. The control module is used to control the turntable of the second optoelectronic device to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and to perform target object recognition and tracking at the first position. In response to the second optoelectronic device recognizing the target object, the module determines the second azimuth angle feedback value and the second pitch feedback value of the turntable corresponding to the target object currently recognized by the second optoelectronic device. The fifth calculation module is used to calculate the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object based on the horizontal device distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value.

[0008] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the steps of the two-ground photoelectric linkage identification and ranging method as described in any embodiment of the first aspect.

[0009] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the steps of the two-ground photoelectric linkage identification and ranging method as described in any embodiment of the first aspect.

[0010] Fifthly, embodiments of this application provide a computer program product, which is stored in a storage medium and executed by at least one processor to implement the steps of the two-ground photoelectric linkage identification and ranging method provided in the first aspect of embodiments of this application.

[0011] The two-ground photoelectric linkage identification and ranging method, device, equipment, medium and product of this application effectively utilize the proportional law between the target detector target surface imaging size and the actual distance, and effectively combine target identification and ranging. By using the spatial conversion law of detector pixels and the observation angle of the turntable, the rotation angle of the device linkage is calculated, and the same target is automatically identified after the rotation is automatically guided. Based on the rotation angle value obtained by actually tracking the target after linkage, the corrected target distance value is calculated, which reduces the process of manually searching for the target and makes the linkage ranging more intelligent and practical. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a simplified schematic diagram illustrating the positional relationship between two optoelectronic devices and a target, as provided in an embodiment of this application. Figure 2 This is a schematic flowchart of a two-ground photoelectric linkage identification and ranging method provided in an embodiment of this application; Figure 3 This is a schematic flowchart of another two-ground-based photoelectric linkage identification and ranging method provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of a two-ground photoelectric linkage identification and ranging device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0014] Figure label: The two-ground photoelectric linkage identification and ranging device 400 includes a first calculation module 401, a second calculation module 402, a third calculation module 403, a fourth calculation module 404, a control module 405, and a fifth calculation module 406. Electronic device 500, processor 501, memory 502, communication interface 503, bus 510. Detailed Implementation

[0015] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0016] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0017] Due to the combined effects of high temperature, high humidity, and the size and power of photoelectric equipment, laser rangefinders are significantly less effective in humid environments such as near the sea or rivers. This is particularly true for long-distance target ranging, which greatly weakens the countermeasures capabilities of photoelectric equipment that relies on laser ranging. Because border monitoring towers are deployed at equal intervals without blind spots along China's borders, passive ranging technology using two sets of photoelectric detection equipment for joint detection has been a hot research topic in China due to its simple application, practicality, and feasibility.

[0018] Common ground-based photoelectric detection equipment typically employs a combination of infrared thermal imagers and visible light cameras. The infrared thermal imager can operate at night or during the day when visibility is poor, while the visible light camera operates during the day when visibility is good. It is also equipped with a turntable capable of 360° continuous rotation, enabling all-weather, wide-area observation of border and coastal areas. To achieve better observation results, both the infrared thermal imager and the visible light camera have autofocus capabilities. Furthermore, the turntable rotation speed is combined with the field of view of the visible light camera, ensuring that the image speed relative to the display remains essentially constant as the field of view of the visible light camera changes during the turntable rotation. Additionally, for important areas, preset positions can be set, meaning that information such as the monitoring location, monitoring field of view, and lens focal length of the area can be pre-saved, and the system can automatically cycle through multiple preset points.

[0019] For conventional ground-based optoelectronic equipment without ranging components, it only has observation capabilities and lacks ranging ability. Currently, when two sets of ground-based optoelectronic equipment simultaneously observe the same target, the process of achieving distance measurement between the two sets of equipment includes: measuring the position information of the two sets of optoelectronic equipment, including latitude, longitude, and altitude, and setting north for both sets of equipment, after the first set of optoelectronic equipment detects the target, it tracks the target. At the same time, the second set of optoelectronic equipment needs to be manually operated to find the target and then track it. The distance to the target is calculated based on the position information of the two sets of equipment and the feedback values ​​from the turntables of the two sets of equipment.

[0020] For example, assuming two sets of optoelectronic devices are 2 kilometers apart, when the first set of optoelectronic devices observes a target 1 kilometer away directly in front, the angle θ between the second set of optoelectronic devices and the target is 26°; when the first set of optoelectronic devices observes a target 2 kilometers away directly in front, the angle θ between the second set of optoelectronic devices and the target is 45°; when the first set of optoelectronic devices observes a target 4 kilometers away directly in front, the angle θ between the second set of optoelectronic devices and the target is 63°; when observing targets within 4 kilometers, the equipment needs to observe targets within a range of 0° to 63°, calculated based on a maximum field of view of 20° for a telephoto lens.

[0021] However, when the distance between the first set of photoelectric equipment and the target cannot be determined, the second set of photoelectric equipment, using its maximum field of view, cannot directly cover the entire area. Furthermore, using the maximum field of view to search for the target is difficult due to its small size, making manual target searching very challenging and time-consuming. During this search, the target may move out of the observation area, making distance measurement impossible. Additionally, when there are multiple similar targets on the road, the second set of photoelectric equipment cannot determine which target the first set of equipment is observing.

[0022] To address the problems in the related technologies, embodiments of this application provide a two-ground-based photoelectric linkage identification and ranging method, device, equipment, medium, and product.

[0023] The following description, in conjunction with the accompanying drawings, details the two-ground photoelectric linkage identification and ranging method provided in this application through specific embodiments and application scenarios.

[0024] It should be noted that the two-ground photoelectric linkage identification and ranging method of this application embodiment is applicable to situations where the target imaging features are clear within the observation range of the ground-based photoelectric equipment, and the number of pixels on the long side of the target reaches more than 200. It is not applicable to distant point targets.

[0025] It should be noted that the two-ground photoelectric linkage identification and ranging method of this application embodiment is applied to the first photoelectric device and the second photoelectric device. Specifically, refer to... Figure 1This is a simplified schematic diagram illustrating the positional relationship between the two optoelectronic devices and the target in an embodiment of this application.

[0026] It should be noted that, due to factors such as size and power, most optoelectronic devices do not have laser rangefinders installed; they can only observe targets and lack active ranging capabilities. Therefore, in this embodiment, based on the first and second optoelectronic devices, after a specific target is identified, multiple optoelectronic devices work together to obtain the target distance based on the optoelectronic position information and observation angle information.

[0027] Specifically, both the first and second optoelectronic devices are mainly composed of four parts: front-end detection equipment, front-end processing equipment, transmission equipment, and back-end display and control equipment.

[0028] In some embodiments, the front-end detection equipment mainly includes a turntable, an infrared thermal imager assembly, and a high-definition visible light camera assembly. This part is located at the very front of the entire system and realizes the function of video image acquisition through infrared sensors and visible light sensors.

[0029] Optionally, the high-definition visible light camera assembly consists of an imaging component and a continuously zoom visible light lens. The imaging component comprises an image sensor, a signal processing board, an encoding control board, and a power interface board. The image sensor performs photoelectric signal conversion; the signal processing board processes image data and controls the detector; the encoding control board encodes and compresses image data, outputs network signals, and controls the lens; and the power interface board provides an external interface and power conversion, filtering the input power and converting it into the various voltages required by the internal modules of the high-definition visible light camera. The continuously zoom visible light lens consists of an optical lens group, a defogging component, and a drive module. The defogging component comprises a filter and a switching component, while the drive module comprises a drive board, potentiometers, and a motor. Upon receiving a command, the drive board drives the motor to complete the zooming and focusing actions of the optical lens group. Furthermore, the visible light lens can perform optical defogging.

[0030] Optionally, a cooled infrared thermal imager mainly consists of a cooled infrared focal plane detector, an imaging processing module, and a telephoto infrared lens. The imaging processing module acquires the original image output by the detector through a detector signal readout circuit; the telephoto infrared lens employs continuous optical zoom and a high-precision optomechanical design.

[0031] Optionally, the servo turntable features a wind-resistant design to ensure image stability. The servo turntable system consists of a pitch component and an azimuth component. The pitch component includes a pitch angle position sensor, a pitch motor, and a servo drive / control module, while the azimuth component includes a slip ring module, an azimuth angle position sensor, and an azimuth motor.

[0032] In some embodiments, the front-end processing equipment mainly includes a rainproof cabinet, a front-end signal processing device, a power supply device, an environmental control device, etc., and is mainly configured to provide power and control to the front-end detection device and perform image processing related work.

[0033] Optionally, the front-end signal processing equipment is configured to perform image analysis and processing after receiving the video signal from the front end. It has target recognition functions for visible light video and infrared video, and can identify targets such as people, vehicles, and drones in the image. It also has target tracking function, which can stably track the target by controlling the rotation of the turntable.

[0034] In some embodiments, the transmission device is configured to transmit information such as front-end and back-end video images, control commands, and feedback data. The transmission device offers three operating modes: fiber optic transmission, wireless transmission, or wired transmission. Fiber optic transmission is generally used when the distance between the front-end and back-end devices is greater than 10 kilometers; wired transmission is used when the distance is less than 100 meters; and wireless transmission can be used when the distance between the front-end and back-end devices is less than 5 kilometers, there are no obstructions such as mountains between the devices, and cabling is difficult.

[0035] In some embodiments, the back-end display and control equipment mainly includes a computer and display device containing display and control software, control device, interface device, display and control console, and UPS power supply equipment, etc., and is configured to receive video image information and various target information collected by the front-end device, and perform image display and recording, and alarm handling.

[0036] Figure 2 A schematic flowchart of a two-ground-based photoelectric linkage identification and ranging method according to an embodiment of this application is shown. Figure 2 As shown, the two-ground photoelectric linkage identification and ranging method may specifically include the following steps: S201. In response to the first optoelectronic device recognizing the target object, the first target distance from the first optoelectronic device to the target object is calculated based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device. S202. Based on the first position information of the first optoelectronic device, the second position information of the second optoelectronic device, the first altitude of the first optoelectronic device and the second altitude of the second optoelectronic device, calculate the horizontal device distance between the first optoelectronic device and the second optoelectronic device. S203. Based on the first target distance, the first altitude of the first optoelectronic device, and the first pitch feedback value of the turntable corresponding to the target object identified by the first optoelectronic device, calculate the third altitude of the target object and the first horizontal target distance between the first optoelectronic device and the target object. S204. Based on the first horizontal target distance, the horizontal equipment distance, the second altitude of the second photoelectric device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device, calculate the turntable pre-rotation azimuth angle and pre-rotation pitch angle of the second photoelectric device. S205. Control the turntable of the second optoelectronic device to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and perform target object recognition and tracking at the first position. In response to the second optoelectronic device recognizing the target object, determine the second azimuth angle feedback value and the second pitch feedback value of the turntable corresponding to the target object currently recognized by the second optoelectronic device. S206. Based on the horizontal equipment distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value, calculate the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object.

[0037] Therefore, it effectively utilizes the proportional relationship between the target detector's surface imaging size and the actual distance, and effectively combines target recognition and ranging. By using the spatial conversion law of detector pixels and the observation angle of the turntable, the rotation angle of the equipment linkage is calculated, and the same target is automatically identified after the rotation is automatically guided. Based on the rotation angle value obtained by actually tracking the target after linkage, the corrected target distance value is calculated, reducing the process of manually searching for targets and making linkage ranging more intelligent and practical.

[0038] The specific implementation methods for each of the above steps are described below.

[0039] In some embodiments, the first optoelectronic device uses the signal processing equipment of the front-end processing device to process the optoelectronic image, employing a deep learning-based target recognition algorithm, mainly through a convolutional neural network model to achieve end-to-end feature extraction and classification. Video capture is performed on specific targets, such as vehicles and people, and a database is then established to extract and summarize target features from the video information. A regression-based detection method is used to analyze and process the real-time images, treating target detection as a regression problem, where a single network inference iteration is sufficient to complete the localization and classification.

[0040] The algorithm is implemented using a fixed model of vehicle as the test target for verification. The length of this model of vehicle is a fixed value, and the roads observed by both sets of photoelectric sensors are long straight roads. This algorithm is not suitable for mountain roads because the length of the vehicle appearing in the image is affected by the vehicle's angle relative to the photoelectric sensor. On mountain roads, the length of the vehicle target in the image will constantly change, making it unsuitable for calculation. For example, a vehicle that is 2 meters wide and 4 meters long will appear as 4 meters when traveling on a level road, but will appear as 3.7 meters when the road is at a 60° angle. Because current target recognition algorithms can only identify targets from images but cannot accurately determine the vehicle's angle of travel, they cannot determine the vehicle's image length. Therefore, in this embodiment, a specific road weight value can be set in the algorithm. For example, when the road is at a 60° angle, the weight value is set to 0.925. Then, when the vehicle is 4 meters long, the image of the vehicle on that road will be 3.7 meters, which is the second size information.

[0041] In other words, when the target object is a vehicle, the angle of the vehicle's current driving road is obtained; based on the driving road angle, the corresponding road weight value is determined; and based on the first size information of the target object and the road weight value, the second size information of the target object image is determined.

[0042] In some embodiments, in S201, for a visible light optical system, the target imaging size is proportional to the target distance, and the first target distance from the first optoelectronic device to the target object can be calculated according to the following formula (1). : ; (1) in, This indicates the first dimension information of the target object. This represents the second size information of the target object imaged on the target surface of the first optoelectronic device. This represents the focal length of the visible light lens of the first optoelectronic device. However, it should be understood that the focal length calculated according to formula (1) is... There is a certain degree of error, so this embodiment reduces the distance error by performing subsequent steps.

[0043] In some embodiments, in S202, the device distance between the first optoelectronic device and the second optoelectronic device is calculated based on the first position information of the first optoelectronic device and the second position information of the second optoelectronic device; then, based on the device distance, the first altitude of the first optoelectronic device and the second altitude of the second optoelectronic device, the horizontal device distance between the first optoelectronic device and the second optoelectronic device is calculated according to the following formula (2). : ; (2) in, Indicates the distance between devices. This indicates the first altitude of the first optoelectronic device. This indicates the second altitude of the second optoelectronic device.

[0044] In some embodiments, in S203, the third altitude of the target object can be calculated according to the following formula (3). : ; (3) in, This indicates the first altitude of the first optoelectronic device. This indicates the first pitch feedback value of the turntable corresponding to the target object, as identified by the first optoelectronic device. Indicates the distance to the first target.

[0045] Furthermore, in some embodiments, based on trigonometric relationships, the first horizontal target distance between the first photoelectric device and the target object can be calculated according to the following formula (4). : (4) As an optional embodiment, S204 includes: calculating a first angle between a first horizontal target distance and a horizontal device distance based on a first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device; and then calculating a second angle between the first photoelectric device and the second photoelectric device based on the first horizontal target distance, the horizontal device distance, and the first angle.

[0046] In practice, after the photoelectric equipment is aligned with the north, the first photoelectric equipment identifies the first azimuth angle feedback value of the turntable corresponding to the target object. The relative position angle can be obtained based on the position information of the two sets of photoelectric sensors. Then the first angle between the first horizontal target distance and the horizontal equipment distance can be calculated. ,Right now: .

[0047] In practice, the second included angle between the first photoelectric device and the second photoelectric device can be calculated according to the following formula (5). : ; (5) in, Indicates the first included angle. Indicates the distance to the first-level target. Indicates the distance between horizontal devices.

[0048] Furthermore, the second included angle is converted into the pre-rotation azimuth angle of the turntable of the second photoelectric device. ,Right now: .

[0049] Furthermore, based on the first horizontal target distance, the horizontal device distance, and the first included angle, the second horizontal target distance between the second photoelectric device and the target object is calculated according to the following formula (6). : ; (6) Furthermore, based on the distance to the second horizontal target, the second altitude of the second optoelectronic device, and the third altitude of the target object, the pre-rotation pitch angle of the turntable of the second optoelectronic device is calculated according to the following formula (7). : ; (7) in, This indicates the second altitude of the second optoelectronic device. This indicates the third altitude of the target object.

[0050] In some embodiments, in S205, the turntable of the second optoelectronic device is controlled to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and a target is searched at the first position. Specifically, the target is captured and tracked according to a deep learning target recognition algorithm.

[0051] In some optional embodiments, in S206, the corrected first horizontal target distance is calculated according to the following formulas (8) and (9) based on the horizontal device distance, the second azimuth angle feedback value, and the first included angle. Distance to the corrected second-level target To reduce distance error: ; (8) ; (9) in, This represents the second azimuth angle feedback value.

[0052] Furthermore, based on the first pitch feedback value, the second pitch feedback value, the corrected first horizontal target distance, and the corrected second horizontal target distance, the corrected first target distance from the first optoelectronic device to the target object is calculated according to the following formulas (10) and (11). Second target distance from the second optoelectronic device to the target object : ; (10) ; (11) in, This represents the first pitch feedback value. This represents the second pitch feedback value.

[0053] In this way, the final corrected value obtained through the turntable feedback angle calculation and It is more accurate and has a smaller error than the distance calculated from pixels.

[0054] Additionally, refer to Figure 3 This is a schematic flowchart of another two-ground-based photoelectric linkage identification and ranging method provided in an embodiment of this application. Figure 3 As shown, the two-ground photoelectric linkage identification and ranging method may include the following steps: First, when the first set of photoelectric equipment identifies the target, and the target size is known, such as a certain model of car with fixed length and height, we define... The size of the target surface image. The focal length of a visible light lens. For the size of the target, Let be the effective range of the target. Since the target imaging size is proportional to the target distance in a visible light optical system, the equivalent formula can be obtained as follows: In this way, the distance can be calculated based on the size of the target's surface image. However, it should be understood that the target's effective range obtained from the above formula is... There is some error.

[0055] Secondly, the distance between the two sets of equipment is calculated using their location information. And the altitude of the two sets of equipment is known to be and When the first set of equipment observed the target, the azimuth feedback value of the turntable of the first set of equipment was... Pitch feedback value Then, the altitude of the target can be calculated using the following formula. : Then, the horizontal distance between the first set of equipment and the target can be obtained through trigonometric functions. ,Right now: Furthermore, based on the height difference and distance between the two sets of equipment, the horizontal distance between them is calculated. : Furthermore, the azimuth angle of the turntable of the first set of equipment... ,get and The included angle After the photoelectric equipment is aligned with the north, the first photoelectric equipment identifies the first azimuth angle feedback value of the turntable corresponding to the target object. The relative position angle can be obtained based on the position information of the two sets of photoelectric sensors. Then calculate the first angle between the first horizontal target distance and the horizontal equipment distance. ,Right now .

[0056] Then, calculate the angle between the second set of photoelectric sensors and the first set of photoelectric sensors using the following formula. : Next, Converted to the second set of equipment orientation rotation angles ,Right now .

[0057] Then calculate the horizontal distance between the second set of equipment and the target. And calculate the pitch angle according to the height relationship. ,Right now: Therefore, based on the calculated azimuth and elevation angles, the turntable of the second set of equipment is controlled to directly jump to the designated position, search for the target, and track it. After tracking the target, the actual azimuth feedback value of the turntable of the second set of equipment is recorded and stored. Pitch feedback value Furthermore, according to and Calculate the distance again. Corrections are made to reduce distance error. That is: Therefore, the horizontal distance between the first set of equipment and the target can be calculated using the above formula. And the horizontal distance between the second set of equipment and the target Then, the distance can be obtained by using the pitch angle value. and : As can be seen, in this embodiment of the application, the distance between the first set of equipment and the target is obtained by calculating the feedback angle through the turntable. The distance between the second set of equipment and the target It is more accurate and has less error than the distance calculated based on the size of the target's surface image.

[0058] In other words, the implementation of the two sets of ground-based linkage identification and ranging technology in this application embodiment is divided into two parts. The first part includes: after the first set of photoelectric equipment detects and locks onto the target, based on the position information of the first set of photoelectric equipment, the position information of the second set of photoelectric equipment, the angle information of the turntable when the first set of photoelectric equipment locks onto the target, and the approximate distance between the first set of photoelectric equipment and the target calculated using the conversion law between target surface imaging and actual distance, the angle value of the target relative to the second set of turntables can be calculated. After the second set of equipment rotates by the corresponding angle, the target in the image is identified and locked onto using a deep learning target recognition algorithm. The second part includes: based on the distance values ​​between the first and second sets of photoelectric equipment, the angle value of the turntable when the first set of photoelectric equipment locks onto the target, and the angle value of the turntable when the second set of photoelectric equipment locks onto the target, the distance between the first set of photoelectric equipment and the target, and the distance between the second set of photoelectric equipment and the target, using trigonometric functions.

[0059] Furthermore, simulation test results were analyzed for the target distance between the photoelectric device and the target object obtained by the two-ground photoelectric linkage identification and ranging method of this application embodiment. The test results show that the two-ground photoelectric linkage identification and ranging method of this application embodiment has small ranging error, strong convenience, and high degree of intelligence.

[0060] Therefore, the two-ground photoelectric linkage identification and ranging method of this application embodiment has at least the following beneficial technical effects: First, by utilizing the conversion law between target surface imaging and actual distance, the angle value that the second set of photoelectric observation targets needs to rotate can be calculated, reducing the process of manually searching for targets and improving the linkage efficiency of the two sets of ground equipment; Second, a deep learning target recognition algorithm is used in the linkage process, enabling the photoelectric equipment to automatically identify and lock the target, reducing the manual target locking operation process and making the linkage of the two sets of ground equipment more intelligent and efficient; Third, by using the trigonometric function law, the distance between the two sets of photoelectric equipment and the target is calculated through the turntable angle information of the two sets of photoelectric equipment and the distance value obtained based on the position information of the two sets of photoelectric equipment.

[0061] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0062] Based on the same technical concept, corresponding to any of the above embodiments, this application also provides a two-ground-based photoelectric linkage identification and ranging device 400. It should be noted that this two-ground-based photoelectric linkage identification and ranging device 400 can be applied to a first photoelectric device and a second photoelectric device.

[0063] like Figure 4 As shown, the two-ground photoelectric linkage identification and ranging device 400 may include: The first calculation module 401 is used to respond to the first optoelectronic device recognizing the target object and calculate the first target distance from the first optoelectronic device to the target object based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device. The second calculation module 402 is used to calculate the horizontal device distance between the first photoelectric device and the second photoelectric device based on the first location information of the first photoelectric device, the second location information of the second photoelectric device, the first altitude of the first photoelectric device and the second altitude of the second photoelectric device. The third calculation module 403 is used to calculate the third altitude of the target object and the first horizontal target distance between the first photoelectric device and the target object based on the first target distance, the first altitude of the first photoelectric device and the first pitch feedback value of the turntable corresponding to the target object identified by the first photoelectric device. The fourth calculation module 404 is used to calculate the pre-rotation azimuth angle and pre-rotation pitch angle of the turntable of the second photoelectric device based on the first horizontal target distance, the horizontal equipment distance, the second altitude of the second photoelectric device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device. Control module 405 is used to control the turntable of the second photoelectric device to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and to perform target object recognition and tracking at the first position. In response to the second photoelectric device recognizing the target object, it determines the second azimuth angle feedback value and the second pitch feedback value of the turntable corresponding to the target object currently recognized by the second photoelectric device. The fifth calculation module 406 is used to calculate the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object based on the horizontal device distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value.

[0064] It should be noted that, for ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0065] The apparatus of the above embodiments is used to implement the corresponding two-ground photoelectric linkage identification and ranging method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0066] Based on the same technical concept, corresponding to any of the above embodiments, this application also provides an electronic device.

[0067] Figure 5 A schematic diagram of a more specific electronic device hardware structure provided in this embodiment is shown.

[0068] The electronic device 500 may include a processor 501 and a memory 502 storing computer program instructions.

[0069] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0070] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory.

[0071] In certain embodiments, the memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this application.

[0072] The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any of the two-ground photoelectric linkage identification and ranging methods in the above embodiments.

[0073] In some examples, the electronic device 500 may also include a communication interface 503 and a bus 510. For example, Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0074] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0075] Bus 510 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not as a limitation, bus 510 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0076] For example, the electronic device 500 can be a mobile phone, tablet computer, laptop computer, handheld computer, in-vehicle electronic device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc.

[0077] Based on the same technical concept, corresponding to any of the methods in the above embodiments, this application also provides a non-transitory computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the two-ground photoelectric linkage identification and ranging methods in the above embodiments. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, etc.

[0078] Based on the same technical concept, corresponding to any of the above-described embodiments, this application also provides a computer program product, which includes computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer to cause the computer and / or the processor to execute the two-ground-based photoelectric linkage identification and ranging method. Corresponding to the execution entity for each step in each embodiment of the two-ground-based photoelectric linkage identification and ranging method, the processor executing the corresponding step can belong to the corresponding execution entity.

[0079] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0080] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0081] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0082] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0083] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A two-ground-based photoelectric linkage identification and ranging method, characterized in that, Applied to a first optoelectronic device and a second optoelectronic device, the method includes: In response to the first optoelectronic device recognizing the target object, the first target distance from the first optoelectronic device to the target object is calculated based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device. Based on the first location information of the first optoelectronic device, the second location information of the second optoelectronic device, the first altitude of the first optoelectronic device and the second altitude of the second optoelectronic device, calculate the horizontal device distance between the first optoelectronic device and the second optoelectronic device. Based on the first target distance, the first altitude of the first optoelectronic device, and the first pitch feedback value of the turntable corresponding to the target object identified by the first optoelectronic device, the third altitude of the target object and the first horizontal target distance between the first optoelectronic device and the target object are calculated. Based on the first horizontal target distance, the horizontal equipment distance, the second altitude of the second optoelectronic device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first optoelectronic device, calculate the turntable pre-rotation azimuth angle and pre-rotation pitch angle of the second optoelectronic device. The turntable of the second optoelectronic device is controlled to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and target object recognition and tracking is performed at the first position. In response to the second optoelectronic device recognizing the target object, the second azimuth angle feedback value and the second pitch feedback value of the turntable corresponding to the target object currently recognized by the second optoelectronic device are determined. Based on the horizontal equipment distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value, calculate the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object.

2. The method according to claim 1, characterized in that, The step of calculating the first target distance from the first optoelectronic device to the target object based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device includes: The first target distance from the first optoelectronic device to the target object is calculated using the following formula. : ； in, This indicates the first dimension information of the target object. This represents the second size information of the target object imaged on the target surface of the first optoelectronic device. This indicates the focal length of the visible light lens of the first optoelectronic device; The method further includes: when the target object is a vehicle, obtaining the angle of the vehicle's current driving road; determining the corresponding road weight value based on the driving road angle; and determining the second size information of the target object image based on the first size information of the target object and the road weight value.

3. The method according to claim 1, characterized in that, The step of calculating the third altitude of the target object and the first horizontal target distance between the first photoelectric device and the target object based on the first target distance, the first altitude of the first photoelectric device, and the first pitch feedback value of the turntable corresponding to the target object identified by the first photoelectric device includes: Calculate the third altitude of the target object using the following formula. : ； in, This indicates the first altitude of the first optoelectronic device. This indicates the first pitch feedback value of the turntable corresponding to the target object, as identified by the first optoelectronic device. Indicates the distance to the first target; The distance between the first photoelectric device and the first horizontal target object is calculated using the following formula. : ； The step of calculating the horizontal distance between the first and second photoelectric devices based on the first location information of the first photoelectric device, the second location information of the second photoelectric device, the first altitude of the first photoelectric device, and the second altitude of the second photoelectric device includes: Calculate the device distance between the first optoelectronic device and the second optoelectronic device based on the first position information of the first optoelectronic device and the second position information of the second optoelectronic device. Based on the equipment distance, the first altitude of the first photoelectric device, and the second altitude of the second photoelectric device, the horizontal equipment distance between the first and second photoelectric devices is calculated using the following formula. : ； in, Indicates the distance between devices. This indicates the first altitude of the first optoelectronic device. This indicates the second altitude of the second optoelectronic device.

4. The method according to claim 1, characterized in that, The step of calculating the pre-rotation azimuth angle and pre-rotation pitch angle of the second photoelectric device based on the first horizontal target distance, the horizontal equipment distance, the second altitude of the second photoelectric device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device includes: Based on the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device, calculate the first included angle between the first horizontal target distance and the horizontal device distance; Based on the first horizontal target distance, the horizontal equipment distance, and the first included angle, the second included angle between the first and second photoelectric devices is calculated using the following formula. : ； in, Indicates the first included angle. Indicates the distance to the first-level target. Indicates the horizontal distance between devices; The second included angle is converted into the pre-rotation azimuth angle of the turntable of the second optoelectronic device; Based on the first horizontal target distance, the horizontal device distance, and the first included angle, the second horizontal target distance between the second photoelectric device and the target object is calculated using the following formula. : ； Based on the distance to the second horizontal target, the second altitude of the second optoelectronic device, and the third altitude of the target object, the pre-rotation pitch angle of the turntable of the second optoelectronic device is calculated using the following formula. : ； in, This indicates the second altitude of the second optoelectronic device. This indicates the third altitude of the target object.

5. The method according to claim 4, characterized in that, The step of calculating the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object based on the horizontal device distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value includes: Based on the horizontal distance to the equipment, the second azimuth angle feedback value, and the first included angle, calculate the corrected first horizontal target distance using the following formulas. Distance to the corrected second-level target : ； ； in, This indicates the second azimuth angle feedback value; Based on the first pitch feedback value, the second pitch feedback value, the corrected first horizontal target distance, and the corrected second horizontal target distance, the corrected first target distance from the first optoelectronic device to the target object is calculated according to the following formula. Second target distance from the second optoelectronic device to the target object : ； ； in, This represents the first pitch feedback value. This represents the second pitch feedback value.

6. The method according to claim 1, characterized in that, Both the first optoelectronic device and the second optoelectronic device include: a front-end detection device, a front-end processing device, a transmission device, and a back-end display and control device, wherein the front-end processing device includes at least a signal processing device; The step of identifying and tracking the target object at the first location includes: For the acquired real-time photoelectric images, the signal processing device uses a deep learning-based target recognition algorithm to identify and lock the target objects in the images, and then tracks the target objects after they are captured.

7. A two-ground-based photoelectric linkage identification and ranging device, characterized in that, Applied to a first optoelectronic device and a second optoelectronic device, the device includes: The first calculation module is used to respond to the first optoelectronic device recognizing the target object, and to calculate the first target distance from the first optoelectronic device to the target object based on the first size information of the target object, the second size information of the target object imaged on the target surface of the first optoelectronic device, and the focal length of the visible light lens of the first optoelectronic device. The second calculation module is used to calculate the horizontal device distance between the first optoelectronic device and the second optoelectronic device based on the first location information of the first optoelectronic device, the second location information of the second optoelectronic device, the first altitude of the first optoelectronic device and the second altitude of the second optoelectronic device. The third calculation module is used to calculate the third altitude of the target object and the first horizontal target distance between the first photoelectric device and the target object based on the first target distance, the first altitude of the first photoelectric device and the first pitch feedback value of the turntable corresponding to the target object identified by the first photoelectric device. The fourth calculation module is used to calculate the pre-rotation azimuth angle and pre-rotation pitch angle of the turntable of the second photoelectric device based on the first horizontal target distance, the horizontal device distance, the second altitude of the second photoelectric device, the third altitude of the target object, and the first azimuth angle feedback value of the turntable corresponding to the target object identified by the first photoelectric device. The control module is used to control the turntable of the second optoelectronic device to jump to a first position that matches the pre-rotation azimuth angle and the pre-rotation pitch angle, and to perform target object recognition and tracking at the first position. In response to the second optoelectronic device recognizing the target object, the module determines the second azimuth angle feedback value and the second pitch feedback value of the turntable corresponding to the target object currently recognized by the second optoelectronic device. The fifth calculation module is used to calculate the corrected first target distance from the first optoelectronic device to the target object and the second target distance from the second optoelectronic device to the target object based on the horizontal device distance, the first pitch feedback value, the second azimuth feedback value, and the second pitch feedback value.

8. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; when the processor invokes the computer program instructions, it implements the two-ground photoelectric linkage identification and ranging method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when invoked by a processor, implement the two-ground photoelectric linkage identification and ranging method as described in any one of claims 1-6.

10. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the two-ground photoelectric linkage identification and ranging method as described in any one of claims 1-6.

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