Method for identifying tracking target and laser countermeasure device
阅读说明：本技术 一种识别追踪目标的方法以及激光对抗装置 (Method for identifying tracking target and laser countermeasure device ) 是由 陈喜春 朱惠芳 胡建伟 于妍 孔浩冉 张文芳 于 2020-07-24 设计创作，主要内容包括：本发明提供一种识别追踪目标的方法以及激光对抗装置,属于军事训练技术领域。所述的识别追踪目标的方法,包括以下步骤：S1：通过CCD摄像机采集目标图像信息并发送至主机进行图像处理；S2：所述主机接收所述目标图像,对图像进行分析,检测识别的目标物体,目标物体位置信息发送给激光发射器；S3：所述激光发射器根据目标物体位置信息调整发射角度,并向目标物体发射激光束；S4：目标物体上的光电探测传感器接收到激光束并解码成数字信号,发送给主机。本申请利用机器视觉方法,模拟战场上的固定火力,对战场正面的运动目标、伪装目标及其姿态进行捕捉、识别,用激光对抗的方式对目标进行杀伤,进而实现“人-机激光对抗”训练。(The invention provides a method for identifying a tracked target and a laser countermeasure device, and belongs to the technical field of military training. The method for identifying the tracking target comprises the following steps: s1: acquiring target image information through a CCD camera and sending the target image information to a host for image processing; s2: the host receives the target image, analyzes the image, detects the identified target object, and sends the position information of the target object to the laser emitter; s3: the laser transmitter adjusts a transmitting angle according to the position information of the target object and transmits a laser beam to the target object; s4: the photoelectric detection sensor on the target object receives the laser beam, decodes the laser beam into a digital signal and sends the digital signal to the host. The method simulates fixed firepower on a battlefield by using a machine vision method, captures and identifies the moving target, the camouflage target and the posture of the moving target and the camouflage target on the front side of the battlefield, kills the target by using a laser countermeasure mode, and further realizes the man-machine laser countermeasure training.)
1. A method of identifying a tracked target, comprising the steps of:
s1: acquiring target image information through a CCD camera and sending the target image information to a host for image processing;
s2: the host receives the target image, analyzes the image, detects a target object to be identified, calibrates the position of the target object, locks the position information of the target object and simultaneously sends the position information of the target object to the laser emitter;
s3: the laser transmitter arranged on the automatic control holder adjusts the transmitting angle according to the position information of the target object sent by the receiving host, and transmits laser beams to the target object;
s4: the photoelectric detection sensor on the target object receives the laser beam, decodes the laser beam into a digital signal and sends the digital signal to the host, and the alarm annunciator gives out smoke or flashes to alarm.
2. The method of claim 1, wherein the analyzing the image uses a YOLO algorithm to segment the image into SxS grids, and if the center of a target object falls into one of the grids, the grid is responsible for detecting the target object, so as to accurately identify the object type in the video, and select and send the target object position to the laser transmitter to track the target for striking.
3. The method for identifying the tracked target according to claim 1, wherein the rotation direction of the automatic control pan/tilt is driven by a stepping motor, the controller on the host controls the forward and backward steps of the stepping motor on the automatic control pan/tilt, and the stepping motor driver drives the stepping motor to rotate by a fixed angle in the set direction to control the deflection and the pitch of the CCD camera and the laser emitter every time the stepping motor driver receives a pulse signal, so as to accurately track the position of the target object and accurately strike the target object.
4. The utility model provides a laser countermeasure device which characterized in that, includes CCD camera, laser emitter, automatic control cloud platform and host computer, wherein:
the CCD camera is connected with the host and used for acquiring target image information according to a host instruction and inputting the target image information into the host for image processing;
the host comprises an image processing module and a controller, wherein the image processing module receives the target image information, identifies and locks target position information, and simultaneously sends the target position information to the controller;
the laser transmitter is connected with the controller and used for receiving the target position information sent by the controller and transmitting a laser beam;
the automatic control holder is connected with the controller, the CCD camera and the laser emitter are coaxially arranged on the automatic control holder, and the controller controls the deflection and the pitching of the CCD camera and the laser emitter by controlling the forward and backward steps of a stepping motor on the automatic control holder.
5. The intelligent laser countermeasure device based on machine vision as claimed in claim 4, characterized in that the automatic control pan-tilt is a two-degree-of-freedom pan-tilt including a Z-axis stepping motor and an X-axis stepping motor, and the CCD camera and the laser transmitter can rotate on the XOY plane with the Z-axis as the rotation axis and rotate on the YOZ plane with the X-axis as the rotation axis.
6. The intelligent laser countermeasure apparatus based on machine vision as claimed in claim 4, further comprising a sound simulator and a light simulator, the sound simulator and the light simulator are connected with the controller, the sound simulator comprises two speakers, a heat sink, a control panel and a housing, wherein the two speakers can simulate various fire sound effects.
7. The intelligent laser countermeasure apparatus based on machine vision as claimed in claim 4, further comprising a photo detection sensor and an alarm annunciator, the photo detection sensor and the alarm annunciator are installed on the trainee helmet or combat uniform, the photo detection sensor is used for receiving the laser beam sent by the laser emitter and decoding the laser beam into a digital signal and sending the digital signal to the controller, and the alarm annunciator is used for receiving the instruction of the controller and giving a smoke or flashing alarm.
8. The intelligent laser countermeasure device based on machine vision of claim 7, characterized by further comprising a communication device, wherein the communication device is an external portable array antenna, and is used for uploading information of laser shock conditions and personnel damage conditions to the host.
9. The machine-vision-based intelligent laser countermeasure apparatus of claim 1, further comprising a power module that provides power to the laser countermeasure apparatus.
10. The intelligent laser countermeasure device based on machine vision of any one of claims 4-9, characterized in that the laser countermeasure device further comprises a support, the host is mounted on the support through a support, and a fixed base is arranged below the support; the automatic control holder is arranged on a support above the host.
Technical Field
The invention belongs to the technical field of military training, and particularly relates to a method for identifying a tracked target and a laser countermeasure device.
Background
Laser countermeasure is one of the effective means currently in use for tactical research, tactical training and teaching. Usually, a 'person-person confrontation' mode is adopted, both sides need to participate in the fighting force together, and the training benefit in certain subjects is not high.
In simulating a confrontation, the basic form of "lasing" a direct-aiming weapon is typically employed. That is, on firearms such as guns, rocket barrels, artillery (tank artillery, anti-tankmark), anti-tank missiles, etc., which are operated in a direct-firing manner, laser transmitters are installed, and the firing of the weapons is simulated by the laser emitted by the laser transmitters. The struck object is provided with a plurality of laser sensors, and after sensing laser irradiation, the struck object is simulated by sound, light, smoke, and the like.
At present, the laser countermeasure device in the market is designed mainly by adopting the principle of laser beam interweaving or scanning. The disadvantages are single function, poor automatic control capability and large difference from actual battlefield. In training and practice, the traditional laser simulated fire power emitting device has fixed emitting direction and limited scanning angle, the difference between the battlefield behavior and the fire striking intensity in the actual combat state is large, and the actions of fire power searching, target finding and the like on the battlefield are difficult to be simulated well, so that the training purpose is difficult to achieve.
Disclosure of Invention
The invention provides a method for identifying a tracked target and a laser countermeasure device, and aims to solve the technical problem that the training effect is discounted because a technical scheme that a camera is not adopted for acquiring a target object and identifying the tracked target object for striking is not adopted in the conventional laser countermeasure device.
In order to achieve the purpose, the technical solution of the invention is as follows:
a method of identifying a tracked target, comprising the steps of:
s1: acquiring target image information through a CCD camera and sending the target image information to a host for image processing;
s2: the host receives the target image, analyzes the image, detects a target object to be identified, calibrates the position of the target object, locks the position information of the target object and simultaneously sends the position information of the target object to the laser emitter;
s3: the laser transmitter arranged on the automatic control holder adjusts the transmitting angle according to the position information of the target object sent by the receiving host, and transmits laser beams to the target object;
s4: the photoelectric detection sensor on the target object receives the laser beam, decodes the laser beam into a digital signal and sends the digital signal to the host, and the alarm annunciator gives out smoke or flashes to alarm.
Preferably, the image analysis adopts a YOLO algorithm to divide the image in the video into SxS grids, and if the center of a target object falls into one of the grids, the grid is responsible for detecting the target object, so as to accurately identify the object type in the video, and select and send the position of the target object to a laser emitter to track the target to perform striking.
Preferably, the rotation direction of the automatic control holder is driven by a stepping motor, a controller on the host controls the forward and backward steps of the stepping motor on the automatic control holder, and a stepping motor driver drives the stepping motor to rotate by a fixed angle according to a set direction to control the deflection and the pitching of the CCD camera and the laser emitter every time the stepping motor driver receives a pulse signal, so as to accurately track the position of the target object and accurately strike the target object.
The utility model provides a laser countermeasure device, includes CCD camera, laser emitter, automatic control cloud platform and host computer, wherein:
the CCD camera is connected with the host and used for acquiring target image information according to a host instruction and inputting the target image information into the host for image processing;
the host comprises an image processing module and a controller, wherein the image processing module receives the target image information, identifies and locks target position information, and simultaneously sends the target position information to the controller;
the laser transmitter is connected with the controller and used for receiving the target position information sent by the controller and transmitting a laser beam;
the automatic control holder is connected with the controller, the CCD camera and the laser emitter are coaxially arranged on the automatic control holder, and the controller controls the deflection and the pitching of the CCD camera and the laser emitter by controlling the forward and backward steps of a stepping motor on the automatic control holder.
Preferably, the automatic control holder is a two-degree-of-freedom holder, and comprises a Z-axis stepping motor and an X-axis stepping motor, and the CCD camera and the laser transmitter can rotate on the XOY plane with the Z-axis as a rotation axis and rotate on the YOZ plane with the X-axis as a rotation axis.
Preferably, the lamp light simulator comprises a sound simulator and a lamp light simulator, wherein the sound simulator and the lamp light simulator are connected with the controller, the sound simulator comprises two loudspeakers, a heat dissipation device, a control panel and a shell, and the two loudspeakers can simulate various firepower sound effects.
Preferably, the intelligent training device further comprises a photoelectric detection sensor and an alarm annunciator, wherein the photoelectric detection sensor and the alarm annunciator are mounted on a helmet or combat uniform of a trainee, the photoelectric detection sensor is used for receiving laser beams sent by the laser transmitter, decoding the laser beams into digital signals and sending the digital signals to the controller, and the alarm annunciator is used for receiving instructions of the controller and giving a smoke or flashing an alarm.
Preferably, the system further comprises a communication device, wherein the communication device is an external portable array antenna and uploads the information of the laser hitting condition and the personnel damage condition to the host.
Preferably, the laser countermeasure device further comprises a power supply module, and the power supply module supplies power to the laser countermeasure device.
Preferably, the laser countermeasure device further comprises a support, the host is mounted on the support through a support, and a fixed base is arranged below the support; the automatic control holder is arranged on a support above the host.
The invention has the beneficial effects that:
1. the main research objective of the application is to simulate fixed firepower on a battlefield by using a machine vision method, capture and identify a moving target, a camouflage target and the posture of the moving target and the camouflage target on the front side of the battlefield, kill and kill the target in a laser countermeasure mode according to program setting, and further realize human-machine laser countermeasure training.
2. The CCD camera is arranged to search firepower to find a target, the image module tracks and locks the target, the controller controls the stepping motor to rotate, the laser emitting device can automatically rotate in shooting direction, and the rotating angle of the holder can be adjusted in a programmable mode, so that the laser shooting direction can be adjusted, the target can be hit accurately, and the actual effects of firepower searching, target finding and firepower damage on a battlefield can be simulated better.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of an automatic control pan-tilt portion.
Fig. 3 is a schematic connection diagram of the module structure of the present invention.
In the figure: 1. an intelligent laser countermeasure device support; a CCD camera; 3. a laser transmitter; a Z-axis stepping motor; an X-axis stepping motor; 6. a host; 7. and fixing the base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
A method of identifying a tracked target, comprising the steps of:
s1: acquiring target image information through a CCD camera and sending the target image information to a host for image processing;
s2: the host receives the target image, analyzes the image, detects a target object to be identified, calibrates the position of the target object, locks the position information of the target object and simultaneously sends the position information of the target object to the laser emitter;
s3: the laser transmitter arranged on the automatic control holder adjusts the transmitting angle according to the position information of the target object sent by the receiving host, and transmits laser beams to the target object;
s4: the photoelectric detection sensor on the target object receives the laser beam, decodes the laser beam into a digital signal and sends the digital signal to the host, and the alarm annunciator gives out smoke or flashes to alarm.
Preferably, the CCD camera identifies the recorded video or the real-time video, VS2015+ openCV software and the YOLO algorithm are adopted for image analysis, the image in the video is divided into SxS grids, if the center of a target object falls into one grid, the grid is responsible for detecting the target object, so that the object type in the video is accurately identified, and the position of the target object is selected and sent to the laser emitter to track the target to implement striking.
More preferably, the rotation direction of the automatic control holder is driven by a stepping motor, and the controller on the host machine controls the forward and backward steps of the stepping motor on the automatic control holder. Specifically, arduino software is installed on the host computer and used for controlling the rotating angle of the laser transmitter so as to accurately strike the target. After the position of the target is determined, the deflection of the beam is calculated by mathematical operation to calculate the deflection angle of the laser beam, and a simple tracking method can be adopted: where the target is biased, the beam is biased towards by a step. If the CCD camera captures images at a rate of 30 frames/second, the laser beam will quickly track the target object. When the stepping motor driver receives a pulse signal, the stepping motor is driven to rotate by a fixed angle according to a set direction to control the deflection and the pitching of the CCD camera and the laser emitter so as to accurately track the position of a target object and accurately strike the target object. A typical stepper motor, such as FM5756SFD04, can be set to a subdivision number of around 5000, which accuracy is satisfactory for simulating a shooter firing process. The controller mainly controls the deflection and the pitching of the camera and the laser by controlling the forward and backward steps of the stepping motor. The essence of the method is to output a certain number of pulses and then control the stepping motor by matching with a stepping motor controller.
The CCD camera and the laser emitter are coaxially fastened on the cloud deck, programming is carried out through arduino software according to a target identification result, the stepping motor is controlled to rotate, the shooting direction of the laser emitter can automatically rotate, and the shooting direction of laser can be adjusted due to programmable adjustment of the rotating angle of the cloud deck, so that the target is accurately hit.
Referring to fig. 1 to 3, a laser countermeasure device includes a
Further, the CCD camera and the laser transmitter are coaxially mounted, and are mounted on a Z-
The laser countermeasure device also comprises a bracket 1, the host 6 is arranged on the bracket 1 through a support, and a fixed base 7 is arranged below the support; the automatic control holder is arranged on a support above the host 6. The automatic control holder is a two-degree-of-freedom holder, the CCD camera and the laser emitter are coaxially arranged on the automatic control holder, and the automatic control holder is driven by a Z-axis stepping motor and an X-axis stepping motor, so that the CCD camera and the laser emitter realize two-degree-of-freedom movement of rotating on an XOY plane by taking a Z axis as a rotating shaft and rotating on a YOZ plane by taking an X axis as a rotating shaft, and scanning detection is carried out. Image information acquired by the CCD camera is sent to the image processing module, when the image information is identified and processed by the image processing module and a target signal is sensed, the target signal is fed back to the controller, the laser emitter is controlled to carry out laser pulse coding, the laser emitter is driven to emit a corresponding coded laser beam, and firepower striking is carried out on target personnel.
Preferably, the lamp light simulator comprises a sound simulator and a lamp light simulator, wherein the sound simulator and the lamp light simulator are connected with the controller, the sound simulator comprises two loudspeakers, a heat dissipation device, a control panel and a shell, and the two loudspeakers can simulate various firepower sound effects. Specifically, a sound simulator is arranged below the holder, so that when firepower is emitted, sound simulation is triggered, artillery sound is simulated, and the battlefield environment is simulated more vividly. The intelligent fire fighting device is powered by the power module to complete battlefield fire simulation.
More preferably, the intelligent training device further comprises a photoelectric detection sensor and an alarm annunciator, wherein the photoelectric detection sensor and the alarm annunciator are mounted on a helmet or combat uniform of a trainee, the photoelectric detection sensor is used for receiving the laser beam sent by the laser emitter, decoding the laser beam into a digital signal and sending the digital signal to the controller, and the alarm annunciator is used for receiving an instruction of the controller to smoke or flash and alarm.
At present, when the army trains, intelligence laser countermeasure device acts as intelligent firepower, implements laser firepower to individual soldier's clothing and the helmet that the training personnel dressed and strikes. The intelligent laser countermeasure device is mainly used for helmets or combat uniforms with photoelectric detection sensors and alarm annunciators, and when the CCD camera detects personnel information, the laser transmitter is controlled to emit coded infrared (other colors can be selected) pulse laser beams to carry out firepower striking. When the emitted laser irradiates a photoelectric detection sensor on a helmet carried by a trainee or on a combat uniform, the photoelectric detection sensor receives the laser beam and decodes the laser beam into a digital signal to obtain hit information; meanwhile, the hit information is transmitted to the controller to judge whether the hit happens or not, and the war damage and injury conditions are met. After the trainee is hit, the alarm annunciator is driven to smoke or flash to alarm.
Preferably, the system further comprises a communication device, wherein the communication device is an external portable array antenna and uploads the information of the laser hitting condition and the personnel damage condition to the host. This communication device can realize folding fast and withdraw, and whole process of erectting does not need any instrument, also need not any screw, conveniently expandes fast in any area, is applicable to the transmission of the communication data of intelligence ignition.
The invention has the beneficial effects that:
1. the achievement of the invention comprehensively uses the technical means of machine vision, embedded computer, electromechanical integrated design and the like, is mainly applied to the field of military training, and has the innovativeness in tactics and technology.
2. In tactics, the intelligent fire point is arranged in a tactical training field, so that the intelligent fire point can serve as an opponent in teaching and training; in the game of martial arts, the "intelligent fire point" may again serve as a referee. The life can be lost in the battlefield due to insufficient consciousness, insufficient concealment and overlong exposure time in the battlefield. Obviously, the actual combat experience of personnel can be greatly enhanced through the design, and a battlefield environment close to actual combat is constructed.
3. Technically, the invention adopts a machine learning method, and the machine learning is just a representative field of the third burst of artificial intelligence. Big data and artificial intelligence, the names have profound influence on various industries, but the phenomena of difficult wedging point, "application for application" and names greater than meaning exist. In the scheme, the algorithm of machine vision and the difficulty in military training practice are exactly criticized perfectly, and the practical problem is solved easily. The machine learning method is introduced into the field of military training, and the scheme is a good practice.
4. The application of the achievement of the scheme can bring greater military economic benefits and has wide application prospect.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
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