CN113534287A - All-weather sound-light mine detection device and method - Google Patents
All-weather sound-light mine detection device and method Download PDFInfo
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Abstract
The invention discloses an all-weather acousto-optic mine detection device and a method, the device takes an instrument loading vehicle as a main body, and is provided with a sound wave excitation module, a low-light-level night vision module, a laser vibration measurement module, a power supply driving module and a data processing module, wherein the sound wave excitation module consists of infrared remote control equipment, a parameter array control cabinet and a parameter array holder; the low-light-level night vision module consists of a low-light-level night vision device and a low-light-level night vision device holder; the laser vibration measuring module consists of a laser speckle interferometer, a laser transmitter holder and a laser vibration measuring instrument holder; the data processing module consists of an Arduino module and a high-performance GPU computer, and the power supply driving module is responsible for supplying power to the other four modules; the sound wave excitation module and the laser vibration measurement module are combined to realize the detection of the land mines buried in shallow soil in the daytime, and the low-light night vision module realizes the detection of the throwing land mines at night.
Description
Technical Field
The invention relates to the field of shallow underground buried object and throwing type target detection, in particular to an all-weather mine detection device and method by combining a night vision technology and an acoustic-optical mine detection technology.
Background
Modern wars focus on fast mobility and require all-weather observation and monitoring mechanisms. The rapid detection of the landmine at night is one of the important factors for ensuring the rapid maneuver of the night war. At present, two main night detection technologies for throwing mines are available: imaging technology detection and non-imaging technology detection. Non-imaging detection techniques such as radar detection, but the techniques are greatly affected by the surrounding environment of the scattering type mines; the imaging technology detection represented by the low-light night vision technology is a high and new technology for researching physical processes of spectrum and photoelectric conversion, enhancement, processing, display and the like through a low-light night vision sensor and an implementation method thereof under the conditions of night light or poor visibility, is one of important support technologies of military night vision equipment, and has huge development potential and wide application prospect in local war and informatization night war of the high and new technology.
The acoustic resonance mine exploring technology is a mine exploring method based on the mechanical characteristics of mines, mines buried in the shallow ground surface and surrounding soil form a resonance system, and when the resonance system is excited by external sound waves, the vibration of a mine body housing can present a specific vibration mode and influence the vibration state of the ground surface; the speckle interferometry has the characteristics of high imaging quality, high imaging efficiency and the like in the field of micro-vibration measurement, and researches of scholars in recent years also show that the classification task of the target to be detected can be realized by directly inputting the speckle image into a neural network, so that the complexity of subsequent processing of the speckle image is greatly reduced.
At present, a commercial or special device and a method for all-weather detection of shallow underground buried objects and a throwing type mine are lacked, how to detect the shallow buried mine by using the sound vibration characteristic of the mine and effectively detect the throwing type mine at night are key problems to be solved in the modern international mine drainage and loss industry, and the invention is developed aiming at the key technology.
Disclosure of Invention
The invention aims to overcome the problem that no special all-weather detection device and method for plastic-shell mines exist at present, provides a device and a method for performing all-weather intelligent rapid identification on mines buried in shallow layers and scattering-type mines by means of a night vision technology and by utilizing the sound vibration characteristic of the mines, and can realize all-weather rapid intelligent identification on the mines under the two conditions.
In order to achieve the purpose, the invention adopts the following technical scheme:
an all-weather sound-light mine detection device takes an instrument loading vehicle as a main body, and is provided with a sound wave excitation module, a low-light-level night vision module, a laser vibration measurement module, a power supply driving module and a data processing module; the acoustic wave excitation module consists of infrared remote control equipment, a parametric array control cabinet and a parametric array holder, wherein the parametric array control cabinet and the parametric array holder are installed on the instrument loading vehicle, the parametric array is installed on the parametric array holder, and the parametric array is connected with the parametric array control cabinet through a twin-core audio aerial plug wire; the low-light-level night vision module consists of a low-light-level night vision device and a low-light-level night vision device holder, the low-light-level night vision device holder is mounted on the instrument loading vehicle, the low-light-level night vision device is mounted on the low-light-level night vision device holder, and image information acquired by the low-light-level night vision device is transmitted to the high-performance GPU computer in the data processing module through an image data transmission line; the laser vibration measuring module consists of a laser speckle interferometer, a laser transmitter holder and a laser vibration measuring instrument holder, wherein the laser transmitter holder and the laser vibration measuring instrument holder are both arranged on the instrument loading vehicle, the laser speckle interferometer is arranged on the laser vibration measuring instrument holder, the laser transmitter is arranged on the laser transmitter holder, and the laser speckle interferometer and the laser transmitter are both connected with a high-performance GPU computer in the data processing module through USB data lines; the data processing module consists of an Arduino module and a high-performance GPU computer; the power supply driving module is connected with the parametric array control cabinet, the laser speckle interferometer, the high-performance GPU computer and the laser transmitter through 220V power lines, the power supply driving module is connected with the low-light-level night vision module through eight driving circuits, and the power supply driving module is connected with the Arduino module through 5 VmicoROUSB; the Arduino module with the parametric array cloud platform shimmer night-time vision device cloud platform laser emitter cloud platform and connect through the data line between the laser vibrometer cloud platform.
An all-weather sound-light mine detection method is used for detecting mines buried in shallow soil in a daytime state, and comprises the following specific implementation steps:
1) the instrument loading vehicle drives into the area to be tested, adjusts and writes in parameters in the Arduino module, and realizes the adjustment of the angle postures of the parametric array holder, the laser emitter holder and the laser vibration meter holder, so that low-frequency sound waves emitted by the parametric array, laser beams emitted by the laser emitter and the receiving end of the laser speckle interferometer are converged in the same area to be tested, and the area range to be tested is 1m2；
2) Starting the laser speckle interferometer, starting the laser transmitter, starting the parametric array by using the infrared remote control equipment to emit low-frequency sound waves of 500-1KHz, exciting the ground surface to be detected to generate vibration with the sound wave intensity not lower than 105dB, forming a resonance system by the landmine buried in the shallow ground surface and soil, and generating a resonance phenomenon under the excitation of the sound waves;
3) after the resonance phenomenon occurs, the laser speckle interferometer continuously records earth surface vibration information and stores the earth surface vibration information into the high-performance GPU computer in the form of speckle images;
4) the high-performance GPU computer is loaded with a pre-trained ResNet network model, and speckle images are directly input into the network model to obtain detailed information of the landmine to be detected;
5) after this regional detection is accomplished, Arduino module automatic control parametric array cloud platform laser emitter cloud platform and laser vibrometer cloud platform angle gesture makes the low frequency sound wave that the parametric array sent laser emitter the laser beam that sends and the laser speckle interferometer receiving end assembles in same piece area that awaits measuring and follows the route and do the circulation and detect, until accomplishing the detection task in appointed area.
The method realizes the detection of the ground landmine throwing under the night state, and comprises the following specific implementation steps:
1) the Arduino module sends an attitude control command to the low-light-level night vision device holder to enable a lens of the low-light-level night vision device to be aligned to the ground to be detected;
2) starting the low-light night vision device, collecting an image of the ground to be detected, and transmitting the image of the area to be detected to the high-performance GPU computer;
3) the high-performance GPU computer is loaded with a pre-trained ResNet network model, and the image of the area to be tested is directly input into the network model to obtain the type and position information of the mine to be tested;
4) after this regional detection is accomplished, Arduino module automatic control shimmer night-light night-time vision device cloud platform angle gesture makes shimmer night-time vision device camera lens aim at the detection area who awaits measuring the film area all the time to do the circulation along the route and detect, until accomplishing the detection task in appointed region.
Compared with the prior art, the invention has the following prominent substantive characteristics and remarkable advantages:
1) the device designed by the invention can realize all-weather mine exploration tasks, and the related system is integrated on the loading vehicle, so that the detection efficiency is improved;
2) the laser vibration measurement module and the acoustic wave excitation module are combined to realize a large-breadth mine exploration task;
3) the application of the intelligent algorithm can improve the identification accuracy of the landmine and improve the overall operation efficiency.
Drawings
FIG. 1 is a schematic view of an all-weather acousto-optic mine exploring device of the present invention.
FIG. 2 is a model diagram of an all-weather acousto-optic mine exploring device of the present invention.
FIG. 3 is a flow chart of the present invention for detecting a shallow buried mine using the sonic vibration characteristics of the mine under daytime conditions.
Fig. 4 is a flow chart of the detection of a throwing type mine by means of low-light night vision technology in the night state of the invention.
Detailed Description
The preferred embodiments of the present invention are discussed below in conjunction with the following figures:
as shown in fig. 1 and 2, an all-weather acousto-optic mine detecting device mainly includes an instrument-loading vehicle 100, on which an acoustic wave excitation module 200, a low-light night vision module 300, a laser vibration measurement module 400, a power driving module 500 and a data processing module 600 are mounted; the acoustic wave excitation module is composed of an infrared remote control device 201, a parametric array 202, a parametric array control cabinet 203 and a parametric array holder 204, the parametric array control cabinet 203 and the parametric array holder 204 are installed on the instrument loading vehicle 100, the parametric array 202 is installed on the parametric array holder 204, and the parametric array 202 and the parametric array control cabinet 203 are connected by a twin-core audio aerial plug wire; the low-light-level night vision module 300 is composed of a low-light-level night vision device 301 and a low-light-level night vision device holder 302, the low-light-level night vision device holder 302 is mounted on the instrument loading vehicle 100, the low-light-level night vision device 301 is mounted on the low-light-level night vision device holder 302, and image information acquired by the low-light-level night vision device 301 is transmitted to a high-performance GPU computer 602 in the data processing module 600 through an image data transmission line; the laser vibration measuring module 400 is composed of a laser speckle interferometer 401, a laser transmitter 402, a laser transmitter holder 403 and a laser vibration measuring instrument holder 404, the laser transmitter holder 403 and the laser vibration measuring instrument holder are both mounted on the instrument loading vehicle 100, the laser speckle interferometer 401 is mounted on the laser vibration measuring instrument holder 404, the laser transmitter 402 is mounted on the laser transmitter holder 403, and the laser speckle interferometer 401 and the laser transmitter 402 are both connected with a high-performance GPU computer 602 in the data processing module 600 through USB data lines; the data processing module 600 is composed of an Arduino module 601 and a high-performance GPU computer 602; the power driving module 500 is connected with the parametric array control cabinet 204, the laser speckle interferometer 401, the high-performance GPU computer 602 and the laser transmitter 402 through 220V power lines, the power driving module 500 is connected with the low-light-level night vision module 300 through eight driving circuits, and the power driving module 500 is connected with the Arduino module 601 through 5 VmicoROUSB; arduino module 601 with parametric array cloud platform 204 shimmer night-vision device cloud platform 302 laser emitter cloud platform 403 and connect through the data line between the laser vibrometer cloud platform 404.
As shown in fig. 3, an all-weather acousto-optic mine exploring method is implemented by using the above device to detect mines buried in shallow soil in daytime, and the specific implementation steps are as follows:
1) the instrument loading vehicle 100 drives into an area to be measured, adjusts and writes parameters in the Arduino module 601, and adjusts the angular postures of the parametric array holder 204, the laser emitter holder 403 and the laser vibration meter holder 404, so that low-frequency sound waves emitted by the parametric array 202, laser beams emitted by the laser emitter 402 and the receiving end of the laser speckle interferometer 401 are converged in the same area to be measured, and the area to be measured is 1m in range2；
2) Starting the laser speckle interferometer 401, starting the laser emitter 402, starting the parametric array 202 by using the infrared remote control equipment 201 to emit low-frequency sound waves of 500-1KHz, wherein the intensity of the sound waves is not lower than 105dB, exciting the ground surface to be detected to generate vibration, forming a resonance system by the landmine buried in the shallow ground surface and soil, and generating a resonance phenomenon under the excitation of the sound waves;
3) after the resonance phenomenon occurs, the laser speckle interferometer 401 continuously records earth surface vibration information, and stores the earth surface vibration information into the high-performance GPU computer 602 in the form of speckle images;
4) the high-performance GPU computer 602 is loaded with a pre-trained ResNet network model, and speckle images are directly input into the network model to obtain detailed information of the landmine to be tested;
5) after this regional detection is accomplished, Arduino module 601 automatic control parametric array cloud platform 204 laser emitter cloud platform 403 and laser vibrometer cloud platform 404 angle gesture makes the low frequency sound wave that parametric array 202 sent laser beam that laser emitter 402 sent and laser speckle interferometer 401 receiving end assembles in same piece region that awaits measuring and follows path 700 and do the circulation and detect, until accomplishing the detection task in appointed region.
As shown in fig. 4, the method realizes detection of ground-throwing mines in a night state, and comprises the following specific implementation steps:
1) the Arduino module 601 sends an attitude control instruction to the low-light night vision device pan-tilt 302, so that the lens of the low-light night vision device 301 is aligned to the ground to be detected;
2) starting the low-light night vision device 301, collecting an image of the ground to be detected, and transmitting the image of the area to be detected to the high-performance GPU computer 602;
3) the high-performance GPU computer 602 is loaded with a pre-trained ResNet network model, and the image of the area to be tested is directly input into the network model to obtain the type and position information of the mine to be tested;
4) after this regional detection is accomplished, Arduino module 601 automatic control shimmer night-light night-vision device cloud platform 302 angle gesture makes shimmer night-vision device 301 camera lens aim at the detection area that awaits measuring the film area all the time to do the circulation along route 700 and detect, until accomplishing the detection task in appointed region.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.
Claims (3)
1. An all-weather acousto-optic mine detection device is characterized in that an instrument loading vehicle (100) is taken as a main body, and a sound wave excitation module (200), a low-light night vision module (300), a laser vibration measurement module (400), a power supply driving module (500) and a data processing module (600) are carried; the acoustic wave excitation module is composed of an infrared remote control device (201), a parametric array (202), a parametric array control cabinet (203) and a parametric array holder (204), the parametric array control cabinet (203) and the parametric array holder (204) are installed on the instrument loading vehicle (100), the parametric array (202) is installed on the parametric array holder (204), and the parametric array (202) is connected with the parametric array control cabinet (203) through a twin-core audio aerial plug wire; the low-light-level night vision module (300) is composed of a low-light-level night vision device (301) and a low-light-level night vision device holder (302), the low-light-level night vision device holder (302) is installed on the instrument loading vehicle (100), the low-light-level night vision device (301) is installed on the low-light-level night vision device holder (302), and image information acquired by the low-light-level night vision device (301) is transmitted to a high-performance GPU computer (602) in the data processing module (600) through an image data transmission line; the laser vibration measurement module (400) is composed of a laser speckle interferometer (401), a laser transmitter (402), a laser transmitter holder (403) and a laser vibration measurement instrument holder (404), the laser transmitter holder (403) and the laser vibration measurement instrument holder are both installed on the instrument loading vehicle (100), the laser speckle interferometer (401) is installed on the laser vibration measurement instrument holder (404), the laser transmitter (402) is installed on the laser transmitter holder (403), and the laser speckle interferometer (401) and the laser transmitter (402) are both connected with a high-performance GPU computer (602) in the data processing module (600) through USB data lines; the data processing module (600) is composed of an Arduino module (601) and a high-performance GPU computer (602); the power driving module (500) is connected with the parametric array control cabinet (204), the laser speckle interferometer (401), the high-performance GPU computer (602) and the laser emitter (402) through 220V power lines, the power driving module (500) is connected with the low-light-level night vision module (300) through an eight-path driving circuit, and the power driving module (500) is connected with the Arduino module (601) through 5 VmicroUSB; arduino module (601) with parametric array cloud platform (204), shimmer night-time vision device cloud platform (302), laser emitter cloud platform (403) and connect through the data line between laser vibrometer cloud platform (404).
2. An all-weather acousto-optic mine exploring method, which utilizes the device of claim 1 to realize the detection of mines buried in shallow soil under the daytime condition, and is characterized by comprising the following specific implementation steps:
1) the instrument loading vehicle (100) drives into an area to be measured, parameters written into the Arduino module (601) are adjusted, the angle postures of the parametric array holder (204), the laser emitter holder (403) and the laser vibration meter holder (404) are adjusted, low-frequency sound waves emitted by the parametric array (202), laser beams emitted by the laser emitter (402) and a receiving end of the laser speckle interferometer (401) are converged in the same area to be measured, and the range of the area to be measured is 1;
2) starting the laser speckle interferometer (401), starting the laser transmitter (402), starting the parametric array (202) by using the infrared remote control equipment (201) to emit low-frequency sound waves of 500-1KHz, wherein the intensity of the sound waves is not lower than 105dB, exciting the earth surface to be detected to generate vibration, forming a resonance system by the landmine buried in the shallow earth surface and soil, and generating a resonance phenomenon under the excitation of the sound waves;
3) after the resonance phenomenon occurs, the laser speckle interferometer (401) continuously records earth surface vibration information and stores the earth surface vibration information into the high-performance GPU computer (602) in the form of speckle images;
4) the high-performance GPU computer (602) is loaded with a pre-trained ResNet network model, and speckle images are directly input into the network model to obtain detailed information of the landmine to be tested;
5) after this regional detection is accomplished, Arduino module (601) automatic control parametric array cloud platform (204) laser emitter cloud platform (403) and laser vibrometer cloud platform (404) angle gesture makes the low frequency sound wave that parametric array (202) sent laser beam that laser emitter (402) sent and laser speckle interferometer (401) receiving end assembles in same region that awaits measuring and follows path (700) and do the circulation and detect, until accomplishing the detection task in appointed region.
3. An all-weather acousto-optic mine exploring method, which utilizes the device of claim 1 to realize the detection of the land mine thrown on the ground in the night state, and is characterized by comprising the following specific implementation steps:
1) the Arduino module (601) sends an attitude control instruction to the low-light night vision device holder (302) to enable a lens of the low-light night vision device (301) to be aligned to the ground to be detected;
2) starting the low-light night vision device (301), collecting an image of the ground to be detected, and transmitting the image of the area to be detected to the high-performance GPU computer (602);
3) the high-performance GPU computer (602) is loaded with a pre-trained ResNet network model, and the image of the area to be tested is directly input into the network model to obtain the type and position information of the mine to be tested;
4) after this regional detection is accomplished, Arduino module (601) automatic control shimmer night-vision device cloud platform (302) angle gesture makes shimmer night-vision device (301) camera lens aim at the detection area who awaits measuring the film area all the time to do the circulation along route (700) and detect, until accomplishing the detection task in appointed region.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113879234A (en) * | 2021-10-27 | 2022-01-04 | 北京星箭长空测控技术股份有限公司 | Special car assistant driving positioning system |
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Application publication date: 20211022 |