CN103963968A - Remotely-controlled unmanned helicopter reconnaissance system - Google Patents
Remotely-controlled unmanned helicopter reconnaissance system Download PDFInfo
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- CN103963968A CN103963968A CN201410182530.2A CN201410182530A CN103963968A CN 103963968 A CN103963968 A CN 103963968A CN 201410182530 A CN201410182530 A CN 201410182530A CN 103963968 A CN103963968 A CN 103963968A
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Abstract
The invention discloses a remotely-controlled unmanned helicopter reconnaissance system and belongs to the technical field of tactical reconnaissance. The remotely-controlled unmanned helicopter reconnaissance system comprises a controller (1), a first blade assembly control module (2), a second blade assembly control module (3), an ultrasonic testing module (4), an infrared sensing module (5), a probe rotation control module (6), a probe pitch control module (7), a wireless communication module (8), a GPS locating module (9), a video acquisition module (10), a gyro locating module (11). Compared with the prior art, the remotely-controlled unmanned helicopter reconnaissance system has the characteristics of simple structure, reliable performance, convenient operation and the like.
Description
Technical field
The invention belongs to tactical reconnaissance technical field, in particular, belong to a kind of unmanned aerial vehicle control system that utilizes infrared technology and ultrasonic technology to scout.
Background technology
The on-the-spot Intelligence Technology of battle reconnaissance and emergency situation is that combat troop, police force all need the practical problems of facing, and how effectively battlefield and emergency situation scene effectively to be scouted, to be a great problem of restriction field army and special policeman Force Reconnaissance.The battle reconnaissance system of field army should be the sky world trinity, i.e. reconnaissance satellite, scout (comprising scounting aeroplane, reconnaissance helicopter etc.), ground armored scout car and in particular cases form moral investigation group by a small amount of scout.In prior art, always custom is paid attention to a series of high-tech means such as powerful space reconnaissance, has but ignored the vital function of traditional ground reconnaissance, and how some concealed targets being carried out effectively scouting inhibition is a great problem of the art.
Simultaneously along with social development, all kinds of disaster assistances that fire brigade faces are increasingly sophisticated, particularly some special rescues, the conventional fire-fighting systems such as such as high-altitude, lofty mountains rescue, flood-fighting are difficult to meet rescue needs, all need fire fighter emitting life danger to go deep into a line when rescue.For example, while having personnel to be confined in steep cliff somewhere, somewhere, high-altitude or flood-fighting, be confined in flood, or be difficult for being examined not by naked eyes by rescue group, when rescue, be all fire fighter emitting life danger carry rescue rope go to alone rescue, sometimes when stranded overlong time rescue difficulty is larger, also need not timing to carry water or food etc., how reducing firefighters rescue difficulty, reducing hazard to person, improve rescue efficiency is also a great problem.
Summary of the invention
The present invention, in order effectively to solve above technical matters, has provided a kind of scouting robot.
A kind of remotely pilotless of the present invention is gone straight up to scout system, it is characterized in that, comprise controller, the first blade group control module, the second blade group control module, ultrasonic testing module, infra-ray sensing module, probe revolution control module, probe pitch control subsystem module, wireless communication module;
Described controller is electrical connected with described the first blade group control module, described the second blade group control module, described ultrasonic testing module, described infra-ray sensing detection module, described probe revolution control module, described probe pitch control subsystem module, described wireless communication module respectively;
Described infra-ray sensing module is electrical connected with the first infrared probe, the second infrared probe respectively, and described the first infrared probe and described the second infrared probe are arranged on flight body symmetrically; The infra-red detection amplitude angle A of described the first infrared probe is identical with the infra-red detection amplitude angle B of described the second infrared probe; The infra-red detection region S of described the first infrared probe
3infra-red detection region S with described the second infrared probe
4mutually intersect to form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, described infrared ray blind area region S
1with described infrared ray overlap-add region S
2coaxially;
Described ultrasonic testing module comprises described super sonic radiating portion and described super sonic receiving unit, the downrange of described super sonic radiating portion, the receive direction of described super sonic receiving unit and described infrared ray overlap-add region S
2axis direction in the same way.
Go straight up to scout system according to above-described remotely pilotless, preferably, also comprise GPS locating module, described GPS locating module and described controller are electrical connected.
Go straight up to scout system according to above-described remotely pilotless, preferably, also comprise video acquisition module, described video acquisition module and described controller are electrical connected.
Go straight up to scout system according to above-described remotely pilotless, preferably, also comprise gyro locating module, described gyro locating module and described controller are electrical connected.
Go straight up to scout system according to above-described remotely pilotless, preferably, the receive direction of the admission direction of described video acquisition module and the downrange of described super sonic radiating portion, described super sonic receiving unit is consistent.
Go straight up to scout system according to above-described remotely pilotless, preferably, described infrared ray overlap-add region S
2angle C be 4-50 degree.
The control object that remotely pilotless of the present invention is gone straight up to scout system is surveillance drone helicopter, reconnaissance helicopter comprises the body that flies, the first blade group motor, the second blade group motor, scouting probe mechanism, probe turning motor, probe pitching motor, electrokinetic cell and control system recited above, and control system is controlled the first blade group motor, the second blade group motor, scouting probe mechanism, the turning motor of popping one's head in, the probe pitching motor that are arranged on flight body; The first blade group control module is connected to realize the control to the first blade group motor with the first blade group motor, the second blade group control module is connected to realize the control to the second blade group motor with the second blade group motor, the first blade group motor and the second blade group motor have completed the sporting flying of helicopter jointly.Probe revolution control module is connected to realize the control to probe turning motor with probe turning motor, and probe pitch control subsystem module is connected to realize the control to probe pitching motor with probe pitching motor; Adjusting probe turning motor and probe pitching motor is to adjust scouting probe mechanism in order to realize, and then makes probe obtain different collection orientation angles.Electrokinetic cell provides electric energy power for the first blade group motor, the second blade group motor, probe turning motor, probe pitching motor, and provides electric energy by voltage reduction module for the each several part in control system.Controller of the present invention is connected with wireless communication module, GPS locating module, video acquisition module, gyro locating module respectively, extraneous wireless remote control signals is sent to controller by wireless communication module, the signal of the signal of GPS locating module, the signal of video acquisition module, gyro locating module can send to wireless communication module by controller, sends to extraneous wireless remote control control terminal by wireless communication module.
That the present invention compared with prior art has is simple in structure, dependable performance, the feature such as easy to operate, easy to operate, by of the present invention nobody go straight up to scout and can realize the effective scouting to various Complex Battlefield Environments, can carry out effectively monitoring to the blind area of naked eyes None-identified and scout and send warning.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram one that remotely pilotless of the present invention is gone straight up to scout system;
Accompanying drawing 2 is schematic diagrams two that remotely pilotless of the present invention is gone straight up to scout system;
Accompanying drawing 3 is schematic diagrams three that remotely pilotless of the present invention is gone straight up to scout system;
Accompanying drawing 4 is schematic diagrams four that remotely pilotless of the present invention is gone straight up to scout system;
Accompanying drawing 5 is schematic diagrams that remotely pilotless of the present invention is gone straight up to scout system;
Accompanying drawing 6 is structural representations of infra-ray sensing module of the present invention;
Accompanying drawing 7 is electrical block diagrams of super sonic radiating portion of the present invention;
Accompanying drawing 8 is electrical block diagrams of super sonic receiving unit of the present invention.
Detailed description of the invention
Fig. 1 is the schematic diagram one that remotely pilotless of the present invention is gone straight up to scout system; Fig. 2 is the schematic diagram two that remotely pilotless of the present invention is gone straight up to scout system; Fig. 3 is the schematic diagram three that remotely pilotless of the present invention is gone straight up to scout system; Fig. 4 is the schematic diagram four that remotely pilotless of the present invention is gone straight up to scout system.Remotely pilotless of the present invention is gone straight up to scout system, and nobody goes straight up to flight body on scout, the first blade group motor, the second blade group motor, scout probe mechanism, probe turning motor, probe pitching motor, electrokinetic cell and control system; Scouting probe mechanism is arranged on flight body, the motion of the first blade group motor and the second blade group motor co-controlling flight body, the first blade group motor provides power for Helicopter Main rotor provides the balance rotor that power, the second blade group motor are helicopter afterbody, probe turning motor and probe pitching motor control are scouted the motion of probe mechanism and are scouted visual angle to adjust, and electrokinetic cell provides power for the first blade group motor, the second blade group motor, probe turning motor and probe pitching motor.The first blade group motor, the second blade group motor, probe turning motor, probe pitching motor, electrokinetic cell are all placed in interior of aircraft, do not show the first blade group motor, the second blade group motor, probe turning motor, probe pitching motor, electrokinetic cell in Fig. 1, Fig. 2, Fig. 3, Fig. 4.
Go straight up to scout flight body and there is motion characteristics flexibly and can ensure the co-ordination of infrared detection part and ultrasonic testing part; The body that flies in this preferred embodiment adopts double dynamical version, controller 1 is coordinated to control to the first blade group control module 2 and the second blade group control module 3, and body moving, scouting to coordinate infrared detection part and ultrasonic testing part to carry out effectively monitoring to quilt scouting object along any direction and height can make to fly.The principle that middle controller 1 of the present invention is coordinated control to the first blade group control module 2 and the second blade group control module 3 is identical with helicopter model control principle of the prior art.
Fig. 5 be the present invention nobody go straight up to the structural representation of scout control system; Control system comprises controller 1, the first blade group control module 2, the second blade group control module 3, ultrasonic testing module 4, infra-ray sensing module 5, probe revolution control module 6, probe pitch control subsystem module 7, wireless communication module 8, GPS locating module 9, video acquisition module 10.
Controller 1 respectively with the first blade group control module 2, the second blade group control module 3, ultrasonic testing module 4, infra-ray sensing detection module 5, probe revolution control module 6, probe pitch control subsystem module 7, wireless communication module 8, GPS locating module 9, video acquisition module 10 is electrical connected, controller 1 is respectively to the first blade group control module 2, the second blade group control module 3, ultrasonic testing module 4, infra-ray sensing detection module 5, probe revolution control module 6, probe pitch control subsystem module 7, wireless communication module 8, GPS locating module 9, video acquisition module 10 is controlled, electrokinetic cell by voltage reduction module be respectively controller 1, the first blade group control module 2, the second blade group control module 3, ultrasonic testing module 4, infra-ray sensing detection module 5, probe revolution control module 6, probe pitch control subsystem module 7, wireless communication module 8, GPS locating module 9, video acquisition module 10 provides power supply, electrokinetic cell is placed in helicopter body.
The second blade group control module 3 and the first blade group motor are electrical connected to realize the control to the first blade group motor, the first blade group control module 2 and the second blade group motor are electrical connected to realize the control to the second blade group motor, by the control of the first blade group motor and the second blade group motor having been realized to flight body.Probe revolution control module 6 is connected to realize the control to probe turning motor with probe turning motor, probe pitch control subsystem module 7 is connected to realize the control to probe pitching motor with probe pitching motor, has realized the control to scouting probe mechanism by the control to probe turning motor with to the control of probe pitching motor.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the investigation probe below flight body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4mutually intersect to form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxially.
Ultrasonic testing module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged near the mid point between the first infrared probe 501 and the second infrared probe 502; The downrange of the axis of the first infrared probe 501, the axis of the second infrared probe 502 and super sonic radiating portion 401, the receive direction of super sonic receiving unit 402 are all positioned at same plane, can ensure like this infrared ray and hypracoustic testing result optimum.
Control system is carried out communication contact, wireless remote control transceiver module and wireless communication module 8 bidirectional wireless communications by wireless communication module 8 and the wireless remote control transceiver module that supplies wireless terminal remote control center personnel, wireless remote control transceiver module and wireless communication module 8 wireless telecommunications can realize carries out remote wireless control to reconnaissance flight robot, make reconnaissance flight robot there is intelligent automatic function and artificial remote control function, greatly expanded application scenario and the recon effect of scouting unmanned plane.
The admission direction of video acquisition module 10 and the downrange of super sonic radiating portion 401, the receive direction of super sonic receiving unit 402 is consistent, the video information that video acquisition module 10 collects sends to wireless remote control control terminal by controller 1 and wireless communication module 8, scout the operating personal of unmanned plane and can see intuitively that the video information and the infrared ray that on wireless remote control module 12, show combine alerting signal with hypracoustic, the direction of video acquisition module 10 and ultrasonic ranging is consistent and can makes the video information that video acquisition module 10 collects to scout alarming result for further confirming infrared ray and hypracoustic.
Ultrasonic testing module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, and super sonic radiating portion 401 and super sonic receiving unit 402 are arranged near the mid point between the first infrared probe 501 and the second infrared probe 502; The downrange of the axis of the first infrared probe 501, the axis of the second infrared probe 502 and super sonic radiating portion 401, the receive direction of super sonic receiving unit 402 all can be positioned at same plane.
Fig. 6 is the structural representation of infrared detection of the present invention, when the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary scouting monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, wherein region, blind area S
1axis active distance be H
2, infrared ray overlap-add region S
2axis active distance be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial line, i.e. H
2and H
3coaxial line, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of upper scouting probe be consistent, i.e. H
2and H
3be consistent with the investigation dead ahead of scouting probe on flight body.
The first infrared probe 501 and the second infrared probe 502 all can adopt pyroelectric infrared sensor to detect by the infrared signal of scouting personnel or object radiation, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C scope be 4-50 degree, infrared ray overlap-add region S
2the preferred 10-20 degree of angle C.What the infrared ray being sent by scouting object just constantly alternately changed enters infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.Be 9～10um by the infrared ray centre wavelength of scouting personnel or object radiation, offered a window that filter glass is housed on sensor top, this filter can be 7～10um by light wavelength scope, just in time be suitable for by the detection of scouting personnel or object infrared radiation, and the infrared ray of other wavelength is absorbed by filter.
Infra-ray sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on the front end of scouting probe mechanism symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2.Ultrasonic testing module 4 is electrical connected with super sonic radiating portion 401, super sonic receiving unit 402 respectively, super sonic radiating portion 401 and super sonic receiving unit 402 be arranged on flight body on and with flight body on scout probe investigation forward be consistent.
Fig. 7 is the constructional drawing of Drones for surveillance's super sonic radiating portion 401 of the present invention; Super sonic emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 parallel connection, phase inverter U6 and phase inverter U7 parallel connection, be connected with two self-oscillation circuit respectively with two input ends of door U8, two Schmidt trigger U1 of difference and U2 in two self-oscillation circuit.
Fig. 8 is Drones for surveillance's super sonic receiving unit of the present invention 402 constructionals drawing; 5V direct current (DC) through the resistance to stream wire fuse F1 that is 500mA and diode D1, and form 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Super sonic receiving sensor LS1 10K resistance R 3 in parallel changes the ultrasonic signal receiving into incoming signal, and incoming signal is input to ultrasonic testing module 4 after first order amplifier NE5532P amplification, second stage amplifier NE5532P amplification, incoming signal has amplified altogether 400 times after two-stage is amplified.
Claims (6)
1. a remotely pilotless is gone straight up to scout system, it is characterized in that, comprise controller (1), the first blade group control module (2), the second blade group control module (3), ultrasonic testing module (4), infra-ray sensing module (5), probe revolution control module (6), probe pitch control subsystem module (7), wireless communication module (8);
Described controller (1) is electrical connected with described the first blade group control module (2), described the second blade group control module (3), described ultrasonic testing module (4), described infra-ray sensing detection module (5), described probe revolution control module (6), described probe pitch control subsystem module (7), described wireless communication module (8) respectively;
Described infra-ray sensing module (5) is electrical connected with the first infrared probe (501), the second infrared probe (502) respectively, and described the first infrared probe (501) and described the second infrared probe (502) are arranged on flight body symmetrically; The infra-red detection amplitude angle A of described the first infrared probe (501) is identical with the infra-red detection amplitude angle B of described the second infrared probe (502); The infra-red detection region S of described the first infrared probe (501)
3infra-red detection region S with described the second infrared probe (502)
4mutually intersect to form an infrared ray blind area region S
1an and infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, described infrared ray blind area region S
1with described infrared ray overlap-add region S
2coaxially;
Described ultrasonic testing module (4) comprises described super sonic radiating portion (401) and described super sonic receiving unit (402), the downrange of described super sonic radiating portion (401), the receive direction of described super sonic receiving unit (402) and described infrared ray overlap-add region S
2axis direction in the same way.
2. remotely pilotless according to claim 1 is gone straight up to scout system, it is characterized in that, also comprises GPS locating module (9), and described GPS locating module (9) is electrical connected with described controller (1).
3. remotely pilotless according to claim 1 is gone straight up to scout system, it is characterized in that, also comprises video acquisition module (10), and described video acquisition module (10) is electrical connected with described controller (1).
4. remotely pilotless according to claim 1 is gone straight up to scout system, it is characterized in that, also comprises gyro locating module (11), and described gyro locating module (11) is electrical connected with described controller (1).
5. remotely pilotless according to claim 1 is gone straight up to scout system, it is characterized in that, the downrange of the admission direction of described video acquisition module (10) and described super sonic radiating portion (401), the receive direction of described super sonic receiving unit (402) are consistent.
6. remotely pilotless according to claim 1 is gone straight up to scout system, it is characterized in that, described infrared ray overlap-add region S
2angle C be 4-50 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410182530.2A CN103963968A (en) | 2014-04-30 | 2014-04-30 | Remotely-controlled unmanned helicopter reconnaissance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410182530.2A CN103963968A (en) | 2014-04-30 | 2014-04-30 | Remotely-controlled unmanned helicopter reconnaissance system |
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| CN103963968A true CN103963968A (en) | 2014-08-06 |
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|---|---|---|---|
| CN201410182530.2A Pending CN103963968A (en) | 2014-04-30 | 2014-04-30 | Remotely-controlled unmanned helicopter reconnaissance system |
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| CN104515432A (en) * | 2014-12-17 | 2015-04-15 | 蔡德权 | Infrared ultrasonic auxiliary scanning sighting instrument for assault rifle |
| CN104515434A (en) * | 2014-12-17 | 2015-04-15 | 蔡德权 | Rifle scanning detection aiming device |
| CN104534929A (en) * | 2014-12-17 | 2015-04-22 | 蔡德权 | Infrared ultrasonic-assisted scanning aiming device for assault rifle |
| CN104634172A (en) * | 2014-12-17 | 2015-05-20 | 蔡德权 | Rifle target scanning detecting instrument |
| CN104634170A (en) * | 2014-12-17 | 2015-05-20 | 蔡德权 | Rifle auxiliary target scanning sighting device |
| CN104634168A (en) * | 2014-12-17 | 2015-05-20 | 蔡德权 | Auxiliary scanning device for firearm aiming |
| CN104654923A (en) * | 2014-12-17 | 2015-05-27 | 席雅南 | Gun provided with infrared ultrasonic hybrid sighting device |
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Application publication date: 20140806 |