CN111405174A - High-speed moving target camera system based on laser ranging - Google Patents

Abstract

The invention provides a high-speed moving target camera system based on laser ranging, including a laser range finder and a high-speed moving target camera system; the laser range finder is used to measure the distance of a moving object, and the high-speed moving target The camera system includes a servo controller, a servo motor, a rotating mirror and a high-speed camera; the servo controller is connected with a laser range finder for collecting the distance of a moving object, and the servo controller is connected with the rotating mirror through a servo motor , used to adjust the angle of the rotating mirror; the servo controller is also connected with the high-speed camera to trigger the camera to shoot. The invention has the advantages of simple structure, convenient installation and use, and can effectively improve the tracking accuracy.

Description

High-speed moving target camera system based on laser ranging

technical field

The invention relates to the field of image acquisition, in particular to a high-speed moving target camera system based on laser ranging.

Background technique

In many occasions, detailed observation of high-speed moving targets is required. Due to the fast flying speed of high-speed moving targets (typically 1000 m/s) and the large observation distance, a single high-speed camera cannot perform effective shooting, field of view and detailed observation. is a contradiction. In order to solve this problem, the commonly used method is to place a certain number of sky targets under the movement track to cooperate with the rotating mirror for shooting. The sky target is a discrete point on the movement trajectory. To improve the tracking accuracy can only increase the number of sky targets. Not feasible in practice.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above problems and provide a high-speed moving target camera system based on laser ranging, which improves the safety and convenience of use.

In order to achieve the above object, the present invention provides the following technical solutions: a high-speed moving target camera system based on laser ranging, including a laser range finder and a high-speed moving target camera system; the laser range finder is used to measure the distance of a moving object. distance, the high-speed moving target camera system includes a servo controller, a servo motor, a rotating mirror and a high-speed camera; the servo controller is connected with a laser range finder for collecting the distance of the moving object, and the servo control The controller is connected with the rotating mirror through a servo motor for adjusting the angle of the rotating mirror; the servo controller is also connected with the high-speed camera for triggering the camera to shoot.

As an improvement of the present invention, the servo controller includes a servo motor driver, a central control unit and a power supply module; the central control unit is connected with a laser range finder for collecting the distance of a moving object; the The central control unit is connected with the high-speed camera to trigger the camera to shoot; the central control unit modulates the PWM signal according to the output pulse width, and the servo motor driver completes the closed-loop control of the servo controller; the power module supplies power to the servo motor driver and the CPU.

As an improvement of the present invention, the high-speed moving target camera system is arranged on a bracket; the bracket is provided with a direction adjustment mechanism and a pitch angle adjustment mechanism.

The present invention also discloses a shooting method based on the above-mentioned laser ranging-based high-speed moving target camera system, the method comprising the following steps: (1) adjusting the direction adjustment mechanism and the pitch adjustment mechanism to make the camera shooting direction parallel to the moving target flight direction ; (2) After the servo controller is turned on, it is in the initial waiting state, continuously reads the distance data of the laser rangefinder, and always judges whether there is a moving target at minus 50 degrees from the rotating mirror; (3) Once it appears, the rotating mirror Rotate at a preset speed, and the servo controller judges whether the moving object has reached the position at minus 45 degrees from the rotating mirror; (4) After reaching, trigger the high-speed camera to shoot, calculate the current speed of the moving object, and correct the rotating speed of the rotating mirror; (5) After that, it is continuously in closed-loop control until the position where the moving target appears is positive 45 degrees from the rotating mirror, and the rotating mirror returns to the initial position.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

The high-speed moving target camera system based on laser ranging of the present invention has the advantages of simple structure, convenient installation and use, and can effectively improve the tracking accuracy.

Description of drawings

Fig. 1 is the system structure schematic diagram of the present invention;

FIG. 2 is a schematic structural diagram of a high-speed moving target camera system of the present invention.

Fig. 3 is the working flow chart of the present invention;

FIG. 4 is an internal schematic diagram of the servo controller of the present invention.

Detailed ways

The technical solutions provided by the present invention will be described in detail below with reference to specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

Example 1:

As shown in Figure 1, a high-speed moving target camera system based on laser ranging includes a laser rangefinder and a high-speed moving target camera system; the laser rangefinder is used to measure the distance of moving objects, and the laser rangefinder Close to the launch tube, the data update frequency is high (above 1KHz), and the distance of moving objects can be measured in real time.

The high-speed moving target camera system includes a servo controller, a servo motor, a rotating mirror and a high-speed camera; the servo controller is connected with a laser range finder for collecting the distance of the moving object, and the servo controller passes the The servo motor is connected with the rotating mirror for adjusting the angle of the rotating mirror; the servo controller is also connected with the high-speed camera for triggering the camera to shoot.

The servo controller inside the system collects the distance data of the laser rangefinder at high speed. When the trigger is valid, it informs the high-speed camera to start collecting the image imaged by the rotating mirror plane. The servo controller calculates the rotating mirror angle according to the distance data of the high-speed moving target, and drives the servo The motor rotates synchronously to ensure that the moving object is shot within an angle of ±45 degrees from the rotating mirror.

As shown in Figure 4, the servo controller includes a servo motor driver, a central control unit and a power supply module; the central control unit is connected to a laser range finder for collecting the distance of a moving object; the central control unit The unit is connected with the high-speed camera to trigger the camera to shoot; the central control unit modulates the PWM signal according to the output pulse width, and the servo motor driver completes the closed-loop control of the servo controller; the power module supplies power to the servo motor driver and the CPU.

As shown in FIG. 3 , the high-speed moving target camera system is arranged on a bracket; a direction adjustment mechanism and a pitch angle adjustment mechanism are arranged on the bracket. The direction adjustment mechanism and the pitch angle adjustment mechanism are all existing structures, and will not be elaborated here. Before the test, adjust the direction adjustment mechanism and pitch adjustment mechanism to make the camera shooting direction parallel to the flying direction of the moving target.

As shown in FIG. 2 , the present invention also discloses a shooting method based on the above-mentioned laser ranging-based high-speed moving target camera system. The method includes the following steps: (1) adjusting the direction adjustment mechanism and the pitch adjustment mechanism to adjust the camera shooting direction Parallel to the flying direction of the moving target; (2) After the servo controller is turned on, it is in the initial waiting state, continuously reads the distance data of the laser rangefinder, and always judges whether there is a moving target when the position is minus 50 degrees from the rotating mirror; (3) ) once appears, the rotating mirror rotates at a preset speed, and the servo controller judges whether the moving object has reached the position at minus 45 degrees from the rotating mirror; (4) After reaching, trigger the high-speed camera to shoot, and calculate the current speed of the moving object, Correct the rotation speed of the rotating mirror; (5) After that, it is continuously in closed-loop control until the position where the moving target appears is positive 45 degrees from the rotating mirror, and the rotating mirror returns to the initial position.

The high-speed moving target camera system based on laser ranging of the present invention has the advantages of simple structure, convenient installation and use, and can effectively improve the tracking accuracy.

The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims (4)

1. High-speed moving target camera system based on laser rangefinder, its characterized in that: the system comprises a laser range finder and a high-speed moving target camera system; the laser range finder is used for measuring the distance of a moving object, and the high-speed moving target shooting system comprises a servo controller, a servo motor, a rotating mirror and a high-speed camera; the servo controller is connected with the laser range finder and used for collecting the distance of a moving object, and the servo controller is connected with the rotating mirror through a servo motor and used for adjusting the angle of the rotating mirror; the servo controller is also connected with the high-speed camera and used for triggering the camera to shoot.

2. The laser ranging-based high-speed moving target camera system as claimed in claim 1, wherein: the servo controller comprises a servo motor driver, a central control unit and a power supply module; the central control unit is connected with the laser range finder and is used for acquiring the distance of a moving object; the central control unit is connected with the high-speed camera and used for triggering the camera to shoot; the central control unit completes closed-loop control of the servo controller by the servo motor driver according to the output Pulse Width Modulation (PWM) signal; the power module supplies power to the servo motor driver and the CPU.

3. The laser ranging-based high-speed moving target camera system as claimed in claim 2, wherein: the high-speed moving target camera system is arranged on the bracket; the bracket is provided with a direction adjusting mechanism and a pitch angle adjusting mechanism.

4. A shooting method of a high-speed moving target camera system based on laser ranging is characterized in that: the photographing method is based on the camera system of claim 3, and the method comprises the following steps: (1) the shooting direction of the camera is parallel to the flying direction of the moving target through the adjusting direction adjusting mechanism and the pitching adjusting mechanism; (2) the servo controller is in an initial waiting state after being started, continuously reads the distance data of the laser range finder, and constantly judges whether a moving target appears at a position which is minus 50 degrees from the rotating mirror; (3) once the target arrives, the rotating mirror rotates at a preset speed, and the servo controller judges whether a moving target arrives at a position which is minus 45 degrees from the rotating mirror; (4) triggering a high-speed camera to shoot after the moving object arrives, calculating the current speed of the moving object, and correcting the rotating speed of the rotating mirror; (5) and then continuously in closed-loop control until the position of the moving target is positive 45 degrees to the rotating mirror, and the rotating mirror returns to the initial position.

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