CN113965712B - Multi-channel high-definition image acquisition terminal applied to grid rudder system - Google Patents
Multi-channel high-definition image acquisition terminal applied to grid rudder system Download PDFInfo
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- CN113965712B CN113965712B CN202111232740.4A CN202111232740A CN113965712B CN 113965712 B CN113965712 B CN 113965712B CN 202111232740 A CN202111232740 A CN 202111232740A CN 113965712 B CN113965712 B CN 113965712B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/015—High-definition television systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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Abstract
The invention discloses a multichannel high-definition image acquisition terminal applied to a grid rudder system, which comprises: the system comprises an image acquisition module and an image processing and transmitting module. The image acquisition module is used for acquiring image data when the external grid rudder works. The image processing and transmitting module is used for receiving the image data, compressing, storing, processing and transmitting the image data to the ground terminal. The image processing and transmitting module is configured with an FPGA to control and comprises a processing unit, a cache unit, a storage unit and a register. The buffer unit, the storage unit and the register are controlled by the processing unit to receive the image data and compress, store and play back the image data. The data generated by a plurality of cameras can be independently stored and recorded, and the functions of recording and playing back are realized. The invention has the advantages of separation of the application layer and the system layer, and more stable and reliable operation. The wireless communication network is simpler and more efficient, and supports real-time transmission of image data.
Description
Technical Field
The invention belongs to the field of aerospace image acquisition, and particularly relates to a multichannel high-definition image acquisition terminal applied to a grid rudder system.
Background
The grid rudder is a rocket flight attitude control device, plays an important role in a rocket recovery accurate landing zone, and can control the attitude during recovery through the grid rudder so as to ensure that rocket debris can fall in a set area. Along with the development of the grid rudder technology, the rocket one-level landing point control technology is mature, the precision of the one-level landing point control technology is further improved in order to better judge the working state of the grid rudder, and the swing gesture of the grid rudder during working needs to be collected in real time by a multi-channel high-definition image acquisition terminal with high reliability and high stability so as to verify the accuracy of the grid rudder technology and facilitate subsequent research.
The traditional video acquisition system uses the mode of unit SD card, all installs acquisition equipment and processing equipment on rocket one sublevel, can't accomplish real-time transmission, needs the arrangement personnel to carry out the debris search work after the one-level separation, consumes a large amount of manpower and materials to the memory card falls to ground with the one-level together after easy damage, and stability is very poor. Aiming at the technical problems and actual demands in the existing production activities, it is necessary to develop a multichannel real-time high-definition image acquisition terminal with reasonable design, simple structure and strong stability.
Disclosure of Invention
The technical aim of the invention is to provide a multichannel high-definition image acquisition terminal applied to a grid rudder system, so as to solve the technical problem that a grid rudder cannot be monitored.
In order to solve the problems, the technical scheme of the invention is as follows:
A multi-channel high definition image acquisition terminal for a grid rudder system, comprising: the system comprises an image acquisition module and an image processing and transmitting module.
The image acquisition module is used for acquiring image data when the external grid rudder works.
The image processing and transmitting module is used for receiving the image data, compressing, storing, processing and transmitting the image data to the ground terminal.
The image acquisition module comprises a plurality of cameras and a shell which is correspondingly arranged.
The cameras are arranged in the corresponding shells and are fixedly connected with the shell bolts, and the shells connected with the cameras are connected with the external aircraft bolts and are used for enabling the cameras to shoot the external grid rudders. Several cameras acquire image data from multiple angles in an array.
Specifically, the shell comprises an upper shell and a lower shell, the upper shell is provided with a data transmission port, and camera data is transmitted to the image processing transmission module through the data transmission port.
The upper shell is connected with the lower shell through bolts, a shooting hole is formed by splicing one end face of the upper shell and one end face of the lower shell, and a camera shoots through the shooting hole.
The lower shell is connected with an external aircraft through bolts and is used for stabilizing the shell and a camera arranged inside the shell.
The image processing and transmitting module is configured with an FPGA to control and comprises a processing unit, a cache unit, a storage unit and a register.
The buffer unit, the storage unit and the register are controlled by the processing unit to receive the image data and compress, store and play back the image data.
Specifically, the processing unit comprises a plurality of RS422 network ports, a plurality of RS485 camera control interfaces, an AXI FIFO interface and a debugging serial port.
The plurality of RS422 network ports comprise a camera network port and a debugging network port, and the camera network port is used for receiving image data. The debugging network port is used for receiving an external debugging instruction. The RS485 camera control interface is used for controlling the image acquisition module to output image data to the processing unit. The AXI FIFO interface is used to assist the processing unit in achieving playback. The debugging serial port is used for printing debugging information.
The processing unit is used for controlling the corresponding image acquisition module to output image data through the RS485 camera control interface according to the instruction of the instruction PS end acquisition platform, and storing the image data into the buffer memory unit, and further controlling the register to store the image data stored into the buffer memory unit into the storage unit.
The processing unit is used for acquiring platform instructions according to the instruction PS end, enabling the register to control the PL end to acquire required image data, storing the required image data into the buffer unit, transmitting the required image data to the PL end through the AXI FIFO interface, converting the PL end into a synchronous RS422 and transmitting the synchronous RS422 to the outside.
Further preferably, an arrow-mounted computer is also included.
The arrow-mounted computer is in signal connection with the image processing and transmitting module and is used for receiving the image data processed by the image processing and transmitting module.
The arrow-mounted computer is also used for acquiring parameter information required by telemetry.
Further preferably, a wireless communication network is also included.
The wireless communication network is used for downloading the image data and the parameter information from the arrow-mounted computer to the ground end in real time.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
The invention respectively stores and records the data generated by a plurality of cameras, and automatically cleans the size when the camera is started. The invention has the functions of recording and playing back at the same time, can record the image data of all the cameras and play back the image data of a plurality of cameras, and can switch and play back the other camera data after a certain time interval so as to cycle and play back the independently appointed cameras. The continuous working time is not less than 0.5 hour, and the practical application requirement is met.
According to the invention, the CPU is controlled by the operating system, so that CPU resources can be more reasonably allocated, and the utilization rate of the CPU is improved; the application layer and the system layer are separated, and the operating system allocates resources to the application program, so that the application program can run more stably and reliably. The application will not affect the system when it is crashed accidentally and can be re-run quickly. The wireless communication network supports all standard Internet network protocols, is simpler and more efficient than the network communication of bare computers, and supports the real-time transmission of image data.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
Fig. 1 is a schematic view of a camera with an image acquisition module according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of a housing of an image capturing module according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of an image processing transmission module according to an embodiment of the present invention;
Fig. 4 is a schematic diagram of an implementation flow provided in an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
The invention provides a multichannel high-definition image acquisition terminal applied to a grid rudder system, which is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims.
Examples
Referring to fig. 1 to 3, the present embodiment provides a multi-channel high-definition image acquisition terminal applied to a grid rudder system, including: the system comprises an image acquisition module and an image processing and transmitting module. The image acquisition module is used for acquiring image data when the external grid rudder works. The image processing and transmitting module is used for receiving the image data, compressing, storing, processing and transmitting the image data to the ground end; the image processing transmission module acquires image data from the image acquisition module through an RTSP transmission protocol, the acquired data is transmitted to an FPGA in the image processing transmission module through an AMBA bus by using a 'production-consumer' model, and flow control can be realized.
Referring to fig. 1 and 2, the image acquisition module includes a plurality of cameras and corresponding housings, i.e. the number of housings is the same as the number of cameras. Four basler cameras modified by special alloys are arranged in the embodiment, so that the resolution ratio is higher than that of the traditional image acquisition equipment, and night scene shooting is supported. Referring to fig. 2, RJ-45 and Terminal Connector on the back of the camera are removed from the PCB of the camera and then wired out of the pad to the J14A-26ZKB socket with a wire length of 220mm. Secondly, four cameras acquire image data from a plurality of angles in an array mode, so that the dimension of the grasped image information is more comprehensive.
The camera is arranged in the corresponding shell and is fixedly connected with the shell through bolts, and the shell is connected with an external aircraft through bolts, so that the camera can be fixed in a space formed between the aircraft and the shell to shoot an external grid rudder. Specifically, the shell comprises an upper shell and a lower shell, the upper shell is provided with a data transmission port, and camera data is transmitted to the image processing transmission module through the data transmission port. The upper shell is connected with the lower shell through bolts, a shooting hole is formed by splicing one end face of the upper shell and one end face of the lower shell, and a camera shoots through the shooting hole. The lower shell is connected with an external aircraft through bolts and is used for stabilizing the shell and a camera arranged inside the shell. After the special mechanical structure is modified, the shockproof capacity of the camera is greatly improved, and the stability of the rocket primary carrying is greatly improved.
Referring to fig. 3 and 4, the image processing transmission module is configured with an FPGA to control, and includes a processing unit, a buffer unit, a storage unit, and a register. The single machine of the image processing transmission module is shown in fig. 3, and now briefly describes the workflow of the image processing module in this embodiment, the single machine is powered on first, after the single machine is powered on for 15s (15 s+the initialization time of the component), the image data is collected from the camera and compressed, the compressed data is transmitted to the processing unit inside the camera through the internet access, the processing unit completes the processing of four paths of data at the same time, two groups of image data are packaged according to the protocol, and the two groups of image data are transmitted to the arrow-borne computer through the synchronous 422 interface. After the interval of 20S, the other two groups of data are packed according to a protocol and transmitted to an arrow-borne computer through a synchronous 422 interface, and the data are sequentially circulated according to the interval of 20S.
The buffer memory unit, the storage unit and the register are controlled by the processing unit to receive the image data to realize data processing such as compression, storage, playback and the like.
The processing unit adopts Z-7030, the chip is provided with a dual-core Cortex-A9 processor, and the system adopts a Linux operating system, so that the processing unit has the following advantages compared with a bare metal machine: the CPU resource can be more reasonably allocated by the control of the operating system, and the utilization rate of the CPU is improved. The application layer and the system layer are separated, and the operating system allocates resources to the application program, so that the application program can run more stably and reliably. The application will not affect the system when it is crashed accidentally and can be re-run quickly. The method can adapt to a strong network communication mechanism, supports all standard Internet network protocols, and is simpler and more efficient than bare computer network communication.
The caching unit is DDR3 SDRAM memory, and the image data storage and playback play a role in temporary storage.
And the storage unit is internally provided with four partitions for respectively storing and recording data generated by the four cameras, each partition is specifically not smaller than 16GB of storage space, and the whole storage unit is not smaller than 64GB of storage space. The storage unit is specifically an EMMC memory, the data access function of the EMMC is realized by the FPGA, the PS end is instructed to directly access the memory to store camera data, the PL end obtains and stores the memory data through the AXI bus bridge, and the reverse operation is performed when the EMMC data is read.
The details of the above units and the FPGA configured will now be described. First, the processing unit includes the following interfaces that need to interact: 5 RS422 network ports, 4 RS485 camera control interfaces, 1 AXI FIFO interface and 1 debugging serial port. The 5 RS422 network ports can be divided into a camera network port and a debugging network port, and the camera network port is used for receiving image data. The debugging network port is used for receiving an external debugging instruction. Because the interface of the instruction PS end only has 2 network ports, the design of the rest network ports is realized through the FPGA and the rest network ports are connected to an AXI bus bridge of the instruction PS end.
The RS485 camera control interface is used for controlling the corresponding camera to output image data to the processing unit. The AXI FIFO interface is used to assist the processing unit in achieving playback, which is capable of data interaction with the ARM of the processing unit. The debugging serial port is used for printing debugging information.
Referring to fig. 4, when storage is required, the processing unit is configured to control the corresponding camera to output image data through the RS485 camera control interface according to the PS end acquisition platform instruction, acquire data on each camera network port through the Linux system function, store the data in the cache unit by using the direct access memory technology, and further store the image data stored in the cache unit in the storage unit through the control register.
Referring to fig. 4, when playback is to be implemented, the processing unit is configured to control, according to an instruction PS end to obtain a platform instruction, the PL end to obtain, through a register, image data required in the storage unit and store the image data in the buffer unit, and send the image data obtained from the buffer unit to the PL end through an AXI FIFO interface, where the PL end is converted into a synchronous RS422 timing sequence and sent to the outside.
Preferably, the present embodiment further comprises an arrow-mounted computer. The arrow-mounted computer is in signal connection with the image processing and transmitting module and is used for receiving the image data processed by the image processing and transmitting module. The arrow-mounted computer is also used for acquiring parameter information required by telemetry.
Preferably, a wireless communication network is also included.
The wireless communication network is used for downloading the image data and the parameter information from the rocket-borne computer to the ground end in real time, the ground end can be matched with a ground analysis system, the downloaded image data is transmitted and played in real time, the influence of a rocket one-level landing point is avoided, the ground debris searching step can be omitted, the manpower and material resources are saved, and the reliability and the instantaneity are improved.
Preferably, in order to improve the reliability of the application program and prevent the crash caused by unexpected errors, a daemon process is additionally added in the design of the application program, and the application program is restarted immediately when the daemon process detects the program crash.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (5)
1. The utility model provides a be applied to multichannel high definition image acquisition terminal of grid rudder system which characterized in that includes: the image acquisition module and the image processing and transmitting module;
The image acquisition module is used for acquiring image data of the external grid rudder during working;
the image processing and transmitting module is used for receiving the image data, compressing, storing, processing and transmitting the image data to a ground end;
The image processing transmission module is configured with an FPGA to control and comprises a processing unit, a cache unit, a storage unit and a register;
the buffer unit, the storage unit and the register are controlled by the processing unit to receive the image data and compress, store and play back the image data;
the processing unit comprises a plurality of RS422 network ports, a plurality of RS485 camera control interfaces, an AXI FIFO interface and a debugging serial port;
The RS422 network ports comprise a camera network port and a debugging network port, and the camera network port is used for receiving the image data; the debugging network port is used for receiving an external debugging instruction; the RS485 camera control interface is used for controlling the image acquisition module to output image data to the processing unit; the AXI FIFO interface is configured to assist the processing unit in implementing playback; the debugging serial port is used for printing debugging information;
the image acquisition module comprises a plurality of cameras and a shell which is correspondingly arranged;
The cameras are arranged in the corresponding shells and fixedly connected with the shell through bolts, and the shells connected with the cameras are connected with external aircraft through bolts and are used for enabling the cameras to shoot external grid rudders; a plurality of cameras acquire the image data from a plurality of angles in an array mode;
The shell comprises an upper shell and a lower shell, the upper shell is provided with a data transmission port, and the camera data is transmitted to the image processing transmission module through the data transmission port;
The upper shell is connected with the lower shell through bolts, one end face of the upper shell and one end face of the lower shell are spliced to form a shooting hole, and the camera shoots through the shooting hole;
The lower shell is connected with an external aircraft through bolts and is used for stabilizing the shell and the camera arranged inside the shell.
2. The multi-channel high-definition image acquisition terminal applied to the grid rudder system according to claim 1, wherein the processing unit is configured to control the corresponding image acquisition module to output the image data through the RS485 camera control interface according to an instruction PS end acquisition platform instruction, and store the image data into the buffer unit, and further control the register to store the image data stored into the buffer unit into the storage unit.
3. The multi-channel high-definition image acquisition terminal applied to the grid rudder system according to claim 1, wherein the processing unit is configured to obtain a platform instruction according to an instruction PS end, make the register control the PL end to obtain the required image data and store the image data in the buffer unit, send the image data to the PL end through the AXI FIFO interface, and convert the image data into synchronous RS422 timing sequence and send the synchronous RS422 timing sequence to the outside.
4. A multi-channel high definition image acquisition terminal for a grid rudder system according to any one of claims 1 to3, further comprising an arrow-mounted computer;
The arrow-mounted computer is in signal connection with the image processing and transmitting module and is used for receiving the image data processed by the image processing and transmitting module;
the arrow-mounted computer is also used for acquiring parameter information required by telemetry.
5. The multi-channel high-definition image acquisition terminal applied to a grid rudder system according to claim 4, further comprising a wireless communication network;
The wireless communication network is used for downloading the image data and the parameter information from the arrow-mounted computer to the ground end in real time.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106385556A (en) * | 2016-09-08 | 2017-02-08 | 中国科学院国家空间科学中心 | Rocket-borne CCD image acquisition compression system |
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| CN104461428B (en) * | 2014-12-04 | 2017-08-01 | 四川川大智胜软件股份有限公司 | Multichannel DVI image co-registration Corrective control main frames |
| CN104967783B (en) * | 2015-07-01 | 2018-01-09 | 西北工业大学 | Towards the micro- image capturing system of multichannel of micro-nano star |
| CN108712626B (en) * | 2018-03-22 | 2020-08-04 | 苏州艾微视图像科技有限公司 | Multichannel image acquisition system |
| CN209642818U (en) * | 2019-01-31 | 2019-11-15 | 西安睿控创合电子科技有限公司 | A kind of real-time splicing apparatus for supporting multi-path high-definition image |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106385556A (en) * | 2016-09-08 | 2017-02-08 | 中国科学院国家空间科学中心 | Rocket-borne CCD image acquisition compression system |
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