CN112565683B - Portable photoelectric heel searching system and method - Google Patents
Portable photoelectric heel searching system and method Download PDFInfo
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- CN112565683B CN112565683B CN202011301582.9A CN202011301582A CN112565683B CN 112565683 B CN112565683 B CN 112565683B CN 202011301582 A CN202011301582 A CN 202011301582A CN 112565683 B CN112565683 B CN 112565683B
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- 238000004891 communication Methods 0.000 claims description 6
- 230000006855 networking Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/22—Adaptations for optical transmission
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Abstract
The invention discloses a portable photoelectric searching and tracking system which comprises a photoelectric subsystem, a servo control subsystem and a main control subsystem, wherein the servo control subsystem and the main control subsystem are connected with the photoelectric subsystem, the photoelectric subsystem comprises a data acquisition module, a plurality of detectors connected with the data acquisition module and three optical control panels respectively electrically connected with the detectors, the servo control subsystem comprises a rotation control module, a positioning and orientation module and an inertial navigation gyroscope connected with the rotation control module, the positioning and orientation module and the inertial navigation gyroscope jointly acquire real-time position signals, and the data acquisition module acquires real-time video signals and transmits the real-time video signals back to the main control subsystem in combination with the position signals. Compared with the prior art, the portable photoelectric searching and tracking system provided by the invention has the advantages of small volume, light weight, good maneuverability, flexible arrangement, convenience for networking and good concealment. The invention also provides a photoelectric heel searching method.
Description
Technical Field
The invention belongs to the field of photoelectric equipment, and particularly relates to a portable photoelectric heel searching system and a portable photoelectric heel searching method.
Background
The photoelectric searching and tracking system is a photoelectric searching and tracking system for short, combines infrared and CCD imaging, laser ranging, high-speed image information processing, precise servo control and other technologies and integrates the technologies into the system, and can remarkably enhance the detection, identification, tracking and confrontation capabilities of targets under day and night, severe weather and poor field environments.
The photoelectric searching and tracking system has the advantages of high sensitivity, high spatial resolution, large dynamic range, quasi-weather, good concealment, strong anti-interference and complex background adapting capability, multi-target detection, identification and tracking capability and the like, so that the photoelectric searching and tracking system is widely applied to the fields of laser communication, astronomical observation, aerial photography, target range test and the like and also has the function of lifting the foot.
However, the photoelectric searching and tracking system in the prior art is often used as a matching system, that is, the whole structure of the photoelectric searching and tracking system is generally fixed on a base, and the photoelectric searching and tracking system does not have the characteristic of mobility, so that the use scene is limited due to the defect of insufficient flexibility, and meanwhile, the miniaturization and portability development of the photoelectric searching and tracking system are hindered due to the large size and mass.
Therefore, there is a need to provide a portable photoelectric tracking system and method with small size, light weight, good mobility, flexible arrangement, convenient networking and good concealment to solve the above problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a portable photoelectric searching and tracking system and a method which are small in size, light in weight, good in mobility, flexible in arrangement, convenient to network and good in concealment.
In order to achieve the purpose, the invention provides the following technical scheme:
a portable photoelectric searching and tracking system comprises a photoelectric subsystem, a servo control subsystem and a main control subsystem, wherein the servo control subsystem and the main control subsystem are connected with the photoelectric subsystem, the photoelectric subsystem comprises a data acquisition module, a plurality of detectors connected with the data acquisition module and three optical control panels respectively electrically connected with the detectors, the servo control subsystem comprises a rotation control module, a positioning and orientation module and an inertial navigation gyroscope, and the positioning and orientation module and the inertial navigation gyroscope are connected with the rotation control module and jointly acquire real-time position signals;
when the device is used, the transfer control module is in communication connection with the main control subsystem and receives a working instruction sent by the main control subsystem, the transfer control module converts the working instruction into a control instruction and sends the control instruction to the three optical control panels, the detectors acquire the working instruction through the three optical control panels and adjust parameters of the data acquisition module according to the control instruction so as to drive the data acquisition module to work, and the data acquisition module acquires real-time video signals and transmits the real-time video signals back to the main control subsystem in combination with the position signals.
Preferably, the detector is a visible light detector or an infrared detector.
Preferably, the photoelectric subsystem further comprises a laser ranging module, the laser ranging module is used for acquiring distance signals between the photoelectric subsystem and a target, and the data acquisition module simultaneously transmits the video signals, the position signals and the distance signals back to the main control subsystem.
Preferably, the data acquisition module comprises a camera for acquiring the video signal and an optical transceiver electrically connected with the camera, the camera is further electrically connected with the plurality of detectors, and the optical transceiver is in communication connection with the main control subsystem;
when the system is used, the plurality of detectors adjust parameters of the camera according to the control instructions forwarded by the three optical control panels, and the optical transceiver converts the acquired video signals, the acquired position signals and the acquired distance signals into optical signals and then transmits the optical signals back to the main control subsystem.
Preferably, the data acquisition module is electrically connected with the plurality of detectors, the rotation control module is electrically connected with the positioning and orientation module, and the rotation control module is electrically connected with the inertial navigation gyroscope.
Preferably, the data acquisition module and the three light control panels are provided with aerial plug interfaces.
Preferably, the positioning and orientation system receives a GPS or beidou signal.
Preferably, the rated power of the portable photoelectric searching and tracking system is less than 80W, the peak power is less than 120W, and the total weight is not more than 20kg.
A photoelectric searching and tracking method provides the portable photoelectric searching and tracking system, which comprises the following steps:
step S10, the main control subsystem sends working instructions to the transfer control module, and the transfer control module converts the working instructions into control instructions which can be identified by a plurality of detectors respectively;
s20, adjusting parameters of the data acquisition module by the plurality of detectors according to the control instructions respectively;
and S30, while the data acquisition module acquires the video signal of the target, the data acquisition module converts the video signal, the position signal and the distance signal into an optical signal and transmits the optical signal back to the main control subsystem.
Preferably, the method further comprises the step S40, and the step S20 and the step S30 are repeated after the unit time.
In summary, compared with the prior art, the portable photoelectric heel searching system provided by the invention can complete the heel searching task through the photoelectric subsystem and the servo control subsystem, has a simple structure and comprehensive functions, is convenient to operate and use to a great extent compared with the conventional technology in which the portable photoelectric heel searching system is required to be installed on an external machine, and makes the portable development of the photoelectric heel searching system possible; through the optical transmitter and receiver will video signal, positional information and distance information convert the light signal after the passback to master control subsystem, promoted signal transmission's promptness and security, the reliability is stronger.
Drawings
FIG. 1 is a block diagram of a portable optoelectronic tracking system according to the present invention;
fig. 2 is a flowchart of the photoelectric tracking method provided in the present invention.
In the figure, 100, a portable photoelectric tracking system; 10. a photoelectric subsystem; 11. a data acquisition module; 111. a camera; 112. an optical transmitter and receiver; 12. a detector; 13. a three-light control panel; 14. a laser ranging module; 20. a servo control system; 21. a transfer control module; 22. a positioning orientation module; 23. an inertial navigation gyroscope; 30. a main control subsystem.
Detailed Description
The invention is described in detail below with reference to the figures and examples. The following experimental examples and examples are intended to further illustrate but not limit the invention.
Referring to fig. 1, the present invention provides a portable photoelectric tracking system 100, wherein the portable photoelectric tracking system 100 includes a photoelectric subsystem 10, a servo control subsystem 20 connected to the photoelectric subsystem 10, and a main control subsystem 30.
The photoelectric subsystem 10 comprises a data acquisition module 11, a plurality of detectors 12 connected with the data acquisition module 11, a three-light control panel 13 and a laser ranging module 14, wherein the three-light control panel 13 and the laser ranging module 14 are respectively electrically connected with the plurality of detectors 12.
The servo control subsystem 20 comprises a rotation control module 21, and a positioning and orientation module 22 and an inertial navigation gyroscope 23 which are connected with the rotation control module 21. The rotation control module 21 is in communication connection with the main control subsystem 30 and receives a working instruction sent by the main control subsystem 30, and the positioning and orientation module 22 and the inertial navigation gyroscope 23 jointly acquire a real-time position signal.
Specifically, the data acquisition module 11 includes a camera 111 for acquiring a video signal and an optical transceiver 112 electrically connected to the camera 111. The camera 111 is also electrically connected to a plurality of the detectors 12, and the optical transceiver 112 is communicatively connected to the main control subsystem 30.
When the device is used, the control conversion module 21 converts the working instruction into a control instruction and sends the control instruction to the three-light control panel 13, the plurality of detectors 12 acquire the working instruction through the three-light control panel 13 and adjust the parameters of the data acquisition module 11 according to the control instruction, so as to drive the data acquisition module to work 11, and the data acquisition module 11 acquires a real-time video signal and transmits the real-time video signal back to the main control subsystem 30 in combination with the position signal. Through setting up change accuse module 21 forwards the work order of main control subsystem 30, convert work order into the recognizable control command of three light control panels 13, for the transmission encryption of signal, increased the security and the reliability of portable photoelectricity is searched for with system 100.
The laser ranging module 14 is configured to obtain a distance signal from a target, and in this embodiment, the data acquisition module 11 simultaneously transmits the video signal, the position signal, and the distance signal back to the main control subsystem 30.
Specifically, in this embodiment, the plurality of detectors 12 adjust parameters of the camera 111 according to the control command forwarded by the three optical control boards 13, and the optical transceiver 112 converts the acquired video signal, the position signal and the distance signal into an optical signal and transmits the optical signal back to the main control subsystem 30. The video signals, the position information and the distance information are converted into optical signals by the optical transceiver 112 and then transmitted back to the main control subsystem 30, so that the timeliness and the safety of signal transmission are improved, and the reliability is higher.
More specifically, the optical transceiver 112 converts two paths of camera links into one path of optical data transmission.
Preferably, the rated power efficiency of the portable photoelectric tracking system 100 is 80W, the peak power is less than 120W, and the total amount is not more than 20kg. Specifically, in the present embodiment, in order to miniaturize the portable photoelectric heel searching system 100, the number of the detectors 12 is two, and the two detectors 12 are a visible light detector and an infrared detector, respectively. Of course, in other embodiments, the number of the detectors 12 may be set to be greater on the premise that the portable optoelectronic tracking system 100 meets the weight requirement, and the invention is within the protection scope of the present invention.
By limiting the total weight of the portable photoelectric tracking system 100, the portable photoelectric tracking system 100 can be miniaturized, and can work independently without being installed on other machines, thereby being convenient for a single person to carry for operation.
Preferably, the data acquisition module 11 is electrically connected with the plurality of detectors 12, the rotation control module 21 is electrically connected with the positioning and orientation module 22, and the rotation control module 21 is electrically connected with the inertial navigation gyroscope 23. Through the mode of setting up this kind of wired connection of electricity connection for the transmission of signal is more stable, safe, high-efficient.
Preferably, the data acquisition module 11 and the three light control panels 13 are both provided with an air interface. The positioning and orientation system 22 receives GPS or beidou signals for positioning. By arranging the aerial plug interfaces on the data acquisition module 11 and the three-optical control panel 13, when the optical transceiver 112 fails, the data can be read by connecting the socket with an external machine, so that the data loss is avoided.
Referring to fig. 2, the present invention further provides a photoelectric tracking method, which specifically includes the following steps:
step S10, the main control subsystem 30 sends work instructions to the steering control module 21, and the steering control module 21 converts the work instructions into control instructions which can be recognized by a plurality of detectors 12 respectively;
step S20, the plurality of detectors 12 respectively adjust parameters of the data acquisition module 11 according to the control instruction;
step S30, while the data acquisition module 11 acquires the video signal of the target, the data acquisition module 11 converts the video signal, the position signal and the distance signal into an optical signal and transmits the optical signal back to the main control subsystem 30.
And step S40, repeating the step S20 and the step S30 after unit time. The unit time can be changed by the data acquisition module 11, and specifically, in this embodiment, the unit time is set to be 5s. That is, the data acquisition module 11 transmits optical signals back to the main control subsystem 30 every 5s, so that the transmitted data can be updated in real time.
Compared with the prior art, the portable photoelectric searching and tracking system provided by the invention can complete the searching and tracking task through the photoelectric subsystem and the servo control subsystem, has a simple structure and comprehensive functions, is convenient to operate and use to a great extent compared with the conventional technology in which the system is required to be installed on an external machine, and makes the portable development of the photoelectric searching and tracking system possible; the video signals, the position information and the distance information are converted into optical signals by the optical transmitter and receiver and then are transmitted back to the main control subsystem, so that the timeliness and the safety of signal transmission are improved, and the reliability is higher.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that several improvements and modifications without departing from the principle of the present invention will occur to those skilled in the art, and such improvements and modifications should also be construed as within the scope of the present invention.
Claims (8)
1. A portable photoelectric heel searching system is characterized by comprising a photoelectric subsystem, a servo control subsystem and a main control subsystem, wherein the servo control subsystem and the main control subsystem are connected with the photoelectric subsystem, the photoelectric subsystem comprises a data acquisition module, a plurality of detectors connected with the data acquisition module and three optical control panels respectively electrically connected with the detectors, the servo control subsystem comprises a rotation control module, a positioning and orientation module and an inertial navigation gyroscope, and the positioning and orientation module and the inertial navigation gyroscope are connected with the rotation control module and acquire real-time position signals together;
when the device is used, the transfer control module is in communication connection with the main control subsystem and receives a working instruction sent by the main control subsystem, the transfer control module converts the working instruction into a control instruction and sends the control instruction to the three-optical control panel, the plurality of detectors acquire the working instruction through the three-optical control panel and adjust parameters of the data acquisition module according to the control instruction so as to drive the data acquisition module to work, and the data acquisition module acquires a real-time video signal and transmits the real-time video signal to the main control subsystem in combination with the position signal;
the photoelectric subsystem further comprises a laser ranging module, the laser ranging module is used for acquiring a distance signal between the photoelectric subsystem and a target, and the data acquisition module simultaneously transmits the video signal, the position signal and the distance signal back to the main control subsystem;
the data acquisition module comprises a camera for acquiring the video signals and an optical transceiver electrically connected with the camera, the camera is also electrically connected with the detectors, and the optical transceiver is in communication connection with the main control subsystem; when the device is used, the plurality of detectors adjust parameters of the camera according to the control instructions forwarded by the three optical control panels, and the optical transceiver converts the acquired video signals, the position signals and the distance signals into optical signals and then transmits the optical signals back to the main control subsystem.
2. The portable electro-optical heel searching system of claim 1, wherein the detector is a visible light detector or an infrared detector.
3. The portable photoelectric heel searching system of claim 1, wherein the data acquisition module is electrically connected to the plurality of detectors, the steering module is electrically connected to the positioning and orienting module, and the steering module is electrically connected to the inertial navigation gyroscope.
4. The system of claim 1, wherein the data acquisition module and the three light control panels are each provided with an air interface.
5. The portable photoelectric heel searching system of claim 1, wherein the positioning and orientation module receives a GPS or beidou signal.
6. The portable photoelectric heel searching system of any one of claims 1 to 5, wherein the rated power of the portable photoelectric heel searching system is less than 80W, the peak power of the portable photoelectric heel searching system is less than 120W, and the total weight of the portable photoelectric heel searching system is not more than 20kg.
7. A photoelectric tracking method for providing a portable photoelectric tracking system as claimed in any one of claims 1 to 5, comprising the steps of:
step S10, the main control subsystem sends working instructions to the transfer control module, and the transfer control module converts the working instructions into control instructions which can be identified by a plurality of detectors respectively;
s20, adjusting parameters of the data acquisition module by the plurality of detectors according to the control instructions respectively;
and S30, while the data acquisition module acquires the video signal of the target, the data acquisition module converts the video signal, the position signal and the distance signal into an optical signal and transmits the optical signal back to the main control subsystem.
8. The method of claim 7, further comprising step S40, and repeating step S20 and step S30 after a unit time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011301582.9A CN112565683B (en) | 2020-11-19 | 2020-11-19 | Portable photoelectric heel searching system and method |
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| CN202011301582.9A CN112565683B (en) | 2020-11-19 | 2020-11-19 | Portable photoelectric heel searching system and method |
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| CN112565683A CN112565683A (en) | 2021-03-26 |
| CN112565683B true CN112565683B (en) | 2023-03-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20170102467A1 (en) * | 2013-11-20 | 2017-04-13 | Certusview Technologies, Llc | Systems, methods, and apparatus for tracking an object |
| CN104155006B (en) * | 2014-08-27 | 2017-03-01 | 湖北久之洋红外***股份有限公司 | A kind of hand-held thermal infrared imager and its method to the range finding of Small object quick lock in |
| CN207816465U (en) * | 2018-01-22 | 2018-09-04 | 北京波谱华光科技有限公司 | Hand-held infrared thermal imagery arrangement for detecting |
| CN108490446B (en) * | 2018-01-25 | 2020-12-01 | 中国人民解放军91977部队 | Photoelectric three-coordinate searching and tracking device and method |
| CN210526874U (en) * | 2019-06-25 | 2020-05-15 | 沈阳上博智像科技有限公司 | Airborne three-light photoelectric pod system |
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