CN113899243A - Intelligent electromagnetic propulsion device and method - Google Patents
Intelligent electromagnetic propulsion device and method Download PDFInfo
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- CN113899243A CN113899243A CN202111190844.3A CN202111190844A CN113899243A CN 113899243 A CN113899243 A CN 113899243A CN 202111190844 A CN202111190844 A CN 202111190844A CN 113899243 A CN113899243 A CN 113899243A
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- 230000009471 action Effects 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000012937 correction Methods 0.000 claims description 19
- 230000001276 controlling effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B6/00—Electromagnetic launchers ; Plasma-actuated launchers
- F41B6/003—Electromagnetic launchers ; Plasma-actuated launchers using at least one driving coil for accelerating the projectile, e.g. an annular coil
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- Multimedia (AREA)
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- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses an intelligent electromagnetic propulsion device and a method, wherein the device comprises a data processing unit, an acquisition module and an action module; the acquisition module is used for acquiring the characteristic identification in the target area and generating target position information; the data processing unit is used for receiving the target position information and outputting a control instruction; the action module is used for implementing the transmitting action to the feature identifier according to the control instruction. The method comprises the specific steps of collecting a characteristic mark in a target area and generating target position information; outputting a control instruction according to the target position information; and implementing a transmitting action to the feature identifier according to the control instruction. The electromagnetic propulsion device realizes automatic energy charging, and can realize more distant and powerful shooting by adjusting the energy charging time.
Description
Technical Field
The invention belongs to the technical field of electromagnetic emission, and particularly relates to an intelligent electromagnetic propulsion device and method.
Background
Most of the propulsion devices in the industry at present are traditional chemical energy propulsion devices and electromagnetic propulsion devices, and the chemical energy propulsion devices can be widely applied because the chemical energy propulsion devices are relatively simple in structure, low in research and development cost and easy to popularize, but have limitations.
The electromagnetic propulsion device is more clean, almost has no smoke and dust and no muzzle flame during launching, and has smaller electromagnetic launching recoil and is beneficial to improving the launching precision from the perspective of improving the launching performance. However, the conventional electromagnetic propulsion device cannot automatically adjust the energy of electromagnetic propulsion and automatically identify the target to be hit, and needs to manually lock the target again through complicated measurement and input, so that the consumption of manpower and material resources is high.
Disclosure of Invention
The invention aims to provide an intelligent electromagnetic propelling device and method, which are used for solving the problems in the prior art, so that a shot to be launched is accelerated to an extremely high speed, and a target is destroyed by the shot with huge kinetic energy.
In order to achieve the purpose, the invention provides the following scheme:
an intelligent electromagnetic propulsion device comprises a data processing unit, an acquisition module and an action module;
the data processing unit is connected with the acquisition module and the action module;
the acquisition module is used for acquiring the characteristic identification in the target area and generating target position information;
the data processing unit is used for receiving the target position information and outputting a control instruction;
the action module is used for implementing transmitting action to the feature identifier according to the control instruction.
Preferably, the data processing unit comprises a single chip microcomputer system and a correction module;
the single chip microcomputer system is connected with the correction module;
the correction module is used for receiving the target position information and outputting a correction instruction;
the single chip microcomputer system is used for receiving the target position information and the correction instruction and outputting the control instruction, and the control instruction comprises an energy charging instruction, an emission instruction and an angle adjusting instruction.
Preferably, the modification module adopts a PID regulator.
Preferably, the action module comprises a cradle head, a switch module and a propulsion device;
the holder and the switch module are both connected with the propelling device;
the holder is used for controlling the action direction of the propelling device according to the angle adjusting instruction;
the switch module is used for respectively controlling the charging state of the propelling device and the launching action according to the charging instruction and the launching instruction.
Preferably, the switch module employs a relay switch device.
Preferably, the propulsion device is an electromagnetic propulsion device.
Preferably, the acquisition module adopts an OpenMV camera module.
The invention also discloses an intelligent electromagnetic propulsion method, which comprises the following steps:
collecting the characteristic identification in the target area to generate target position information;
outputting a control instruction according to the target position information;
and implementing a transmitting action to the feature identifier according to the control instruction.
The invention discloses the following technical effects:
(1) the invention adds the OPENMV module to automatically identify the electromagnetic propulsion system by extracting and identifying the characteristics of the target object, measures the distance and realizes the striking of specific target objects with different distances.
(2) Compared with the traditional electromagnetic propulsion device, the steering engine cradle head is controlled by introducing the PID regulator, so that the target is accurately hit.
(3) The invention realizes automatic energy charging and carries out quick shooting after searching the target.
(4) The electromagnetic propulsion device has good maneuvering flexibility, and can realize shooting at longer distance and with greater power by adjusting the charging time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of a system configuration of an intelligent electromagnetic propulsion device in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart of the operation of the intelligent electromagnetic propulsion device in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Further, for numerical ranges in this disclosure, it is understood that each intervening value, between the upper and lower limit of that range, is also specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference herein for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
Fig. 1 is a schematic structural diagram of an intelligent electromagnetic propulsion device system according to an embodiment of the present application, which mainly includes a data processing unit, an acquisition module, and an action module.
Specifically, the data processing unit is connected with the acquisition module and the action module;
specifically, the acquisition module is used for acquiring a feature identifier in a target area to generate target position information; the data processing unit is used for receiving the target position information and outputting a control instruction; the action module is used for implementing the transmitting action to the feature identifier according to the control instruction.
In the first embodiment, the data processing unit includes a single chip system and a correction module;
the single chip microcomputer system is connected with the correction module; the correction module is used for receiving the target position information and outputting a correction instruction; the single chip microcomputer system is used for receiving the target position information and the correction instruction and outputting a control instruction, wherein the control instruction comprises an energy charging instruction, an emission instruction and an angle adjusting instruction.
Further, the acquisition module adopts an OpenMV camera module, and the specific acquisition process is as follows: firstly, the tripod head is rotated, a target object is searched through the OpenMV camera in the rotating process, if the target object is not found, the PWM value received by the tripod head is continuously increased, the tripod head is rotated between minus 30 degrees and 30 degrees, if the target object is searched and locked through the camera, the object in the shooting area of the camera is subjected to target identification and returned to the coordinate position of the object, and meanwhile, the target distance is estimated through the inverse ratio relation between the number of pixels occupied by the target and the distance of the camera.
Further, the correction module adopts a PID regulator, specifically adopts an incremental PID control algorithm, and the correction process is as follows: the two-time target position information deviation with the shortest time interval acquired by the OpenMV camera module is used as the input quantity of the PID regulator, and the PID regulator corrects the deviation signal, so that the target position information is controlled or regulated, the pan-tilt automatically tracks the target position information, the system control is quickly responded, the target is accurately locked, the tracking error is reduced, the control precision is improved, the influence of disturbance signals is inhibited, and the system stability is improved.
Furthermore, the invention adopts a target tracking algorithm to keep the moving target at the central position of the image at any moment. When the moving target moves, the camera tracks the target movement by controlling the holder so as to keep the moving target at the central position of the image at all times. When the moving target deviates from the center of the image, comparing the obtained pixel point of the center position of the moving target with the coordinates of the center position of the image, and subtracting the two coordinates, wherein the deviation is the displacement amount of the movement required by the holder system. And if the target cannot be identified in the image range acquired by the camera, returning the steering engine to the median, acquiring the coordinates of the center point of the guide mark again, and starting automatic tracking again. The invention realizes the closed-loop control, fully plays the important role of feedback, eliminates factors which are difficult to predict or uncertain, ensures that the correction action is more accurate and more powerful, and can start the next charging and shooting immediately if the target is not knocked down.
In the first embodiment, the action module comprises a holder, a switch module and a propelling device;
the holder and the switch module are both connected with the propelling device; the cradle head comprises a plurality of independent steering engines and is used for controlling the action direction of the propelling device according to the angle adjusting instruction; the switch module is used for respectively controlling the charging state and the transmitting action of the propelling device according to the charging instruction and the transmitting instruction.
Furthermore, the switch module adopts relay switch equipment to respectively control the charging state and the launching state of the electromagnetic propulsion device.
Furthermore, the electromagnetic propulsion device is adopted, and comprises a power supply, an inverter circuit, a boost rectifier circuit, a voltage-limiting charging circuit and a transmitting device, so that the charging of the electromagnetic propulsion device is realized. The boost rectifying circuit of the electromagnetic propulsion device comprises a CBB capacitor, an MOS tube, a 100 mu H inductance coil, a rectifying bridge and a voltage stabilizing diode.
Furthermore, the single chip microcomputer system adopts an STM32F103c8t6 control chip, the clock frequency is high, the IO ports are rich, I2C and SPI communication are supported, and transmission and processing of multi-path data can be realized. The system is used for processing target position information returned by the OpenMV camera module and outputting a PWM signal to control the pan-tilt to turn and control the relay switch equipment to realize emission.
Furthermore, the cradle head is composed of two independent steering engines, and the X-axis direction and the Y-axis direction of the electromagnetic propulsion transmitting device are controlled respectively, so that the electromagnetic propulsion device can realize the function of tracking the target in a large range.
Further, the launched object can be a projectile, a particle, or a rocket or a missile.
Example two
As shown in fig. 2, a flow of an intelligent electromagnetic propulsion method according to a second embodiment of the present invention is as follows:
s1: collecting the characteristic identification in the target area to generate target position information;
in the second embodiment, the target position information includes a target coordinate position in the acquisition area and a distance between the target and the acquisition module.
S2: outputting a control instruction according to the target position information;
in the second embodiment, the control command is output by the data processing unit according to the received target position information, and specifically includes a charging command, a transmitting command, and an angle adjusting command.
S3: and implementing a transmitting action to the feature identifier according to the control instruction.
In the second embodiment, the action module receives the control instruction and performs a transmission action on the feature identifier.
EXAMPLE III
The intelligent electromagnetic propulsion device can be applied to a moving vehicle, the OpenMV camera module identifies the position information of the vehicle, estimates the distance of the vehicle and transmits the position information to the singlechip system, and outputs a charging instruction to the relay switch equipment, so that the relay switch equipment controls the charging time of the electromagnetic propulsion device, the position information of the vehicle is simultaneously transmitted to the PID regulator, the PID regulator performs proportional, integral and differential operations on the deviation of the position information of the vehicle at two times with the shortest time interval, the control or mediation of the position information of the vehicle is realized, accurate position information of the vehicle is output, the singlechip system receives the accurate position information of the vehicle, when the electromagnetic propulsion device finishes charging, the singlechip system outputs a transmitting instruction to the relay switch equipment to control the electromagnetic propulsion device to transmit a shot to the moving vehicle, and simultaneously the singlechip system outputs an angle adjusting instruction to a steering engine pan head, the steering engine cradle head controls the launching direction of the electromagnetic propelling device, and the next charging and shooting can be started immediately if the target is not knocked down.
It is worth to be noted that, the electromagnetic propulsion device is based on the faraday's law of electromagnetic induction as a theoretical basis, when the magnetic flux passing through the closed conductor loop changes, an induced current is generated in the conductor loop, and a lead through which the induced current flows is pushed by a force in an original magnetic field.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (8)
1. An intelligent electromagnetic propulsion device, characterized in that: the device comprises a data processing unit, an acquisition module and an action module;
the data processing unit is connected with the acquisition module and the action module;
the acquisition module is used for acquiring the characteristic identification in the target area and generating target position information;
the data processing unit is used for receiving the target position information and outputting a control instruction;
the action module is used for implementing transmitting action to the feature identifier according to the control instruction.
2. The intelligent electromagnetic propulsion device of claim 1, wherein the data processing unit includes a single chip microcomputer system and a correction module;
the single chip microcomputer system is connected with the correction module;
the correction module is used for receiving the target position information and outputting a correction instruction;
the single chip microcomputer system is used for receiving the target position information and the correction instruction and outputting the control instruction, and the control instruction comprises an energy charging instruction, an emission instruction and an angle adjusting instruction.
3. The intelligent electromagnetic propulsion device of claim 2, wherein the correction module employs a PID regulator.
4. The intelligent electromagnetic propulsion device of claim 2, wherein the action module includes a pan-tilt, a switch module, and a propulsion device;
the holder and the switch module are both connected with the propelling device;
the holder is used for controlling the action direction of the propelling device according to the angle adjusting instruction;
the switch module is used for respectively controlling the charging state of the propelling device and the launching action according to the charging instruction and the launching instruction.
5. Intelligent electromagnetic propulsion device according to claim 4, characterized in that said switching module employs a relay switching device.
6. The intelligent electromagnetic propulsion device of claim 4, wherein the propulsion device is an electromagnetic propulsion device.
7. The intelligent electromagnetic propulsion device of claim 1, wherein the acquisition module employs an OpenMV camera module.
8. An intelligent electromagnetic propulsion method is characterized in that,
collecting the characteristic identification in the target area to generate target position information;
outputting a control instruction according to the target position information;
and implementing a transmitting action to the feature identifier according to the control instruction.
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|---|---|---|---|---|
| AUPR080400A0 (en) * | 2000-10-17 | 2001-01-11 | Electro Optic Systems Pty Limited | Autonomous weapon system |
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| CN211626251U (en) * | 2020-02-10 | 2020-10-02 | 桂林电子科技大学 | Automatic simulation electromagnetism of aiming shooting curved cannon circuit |
| CN111912289A (en) * | 2020-08-10 | 2020-11-10 | 安徽信息工程学院 | Self-propelled electromagnetic gun control system, method and device |
| CN112050684A (en) * | 2020-09-15 | 2020-12-08 | 西安科技大学 | Accurate target practice device and system of electromagnetic gun |
| CN112818546A (en) * | 2021-02-04 | 2021-05-18 | 中国人民解放军63863部队 | Method for calculating hit probability of direct-aiming ammunition on moving target |
-
2021
- 2021-10-13 CN CN202111190844.3A patent/CN113899243A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR080400A0 (en) * | 2000-10-17 | 2001-01-11 | Electro Optic Systems Pty Limited | Autonomous weapon system |
| CN104184990A (en) * | 2014-06-03 | 2014-12-03 | 南通航运职业技术学院 | Navigation radar or AIS tracking parameter booted intelligent video monitoring system |
| CN110631415A (en) * | 2019-10-25 | 2019-12-31 | 南京邮电大学 | Automatic target shooting control system of electromagnetic gun based on voltage detection |
| CN211626251U (en) * | 2020-02-10 | 2020-10-02 | 桂林电子科技大学 | Automatic simulation electromagnetism of aiming shooting curved cannon circuit |
| CN111475958A (en) * | 2020-04-13 | 2020-07-31 | 电子科技大学成都学院 | Electromagnetic curved fire gun design method based on machine vision |
| CN111912289A (en) * | 2020-08-10 | 2020-11-10 | 安徽信息工程学院 | Self-propelled electromagnetic gun control system, method and device |
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Application publication date: 20220107 |