CN101916109A - Somatosensory television collimator - Google Patents
Somatosensory television collimator Download PDFInfo
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- CN101916109A CN101916109A CN 201010228559 CN201010228559A CN101916109A CN 101916109 A CN101916109 A CN 101916109A CN 201010228559 CN201010228559 CN 201010228559 CN 201010228559 A CN201010228559 A CN 201010228559A CN 101916109 A CN101916109 A CN 101916109A
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Abstract
The invention relates to a somatosensory television collimator, which belongs to photoelectric observation and collimation equipment and relates to the fields of photoelectric technology, automatic control technology, inertial navigation attitude measurement technology, digital signal processing technology and the like. The somatosensory television collimator comprises a direction indicator which comprises a first sensor, a second sensor and a synchronous attitude measuring apparatus, wherein the first sensor is used for measuring the attitude angle of the head or arm of an operator; the second sensor is used for measuring the attitude angle of the direction indicator; and the synchronous attitude measuring apparatus is connected with the first sensor and the second sensor and used for calculating difference between the two attitude angels and converting the difference into a moving angle required by the direction indictor so as to control the direction indicator to rotate. The invention has strong generality, and the system is provided with an owned collimation execution device, namely the direction indicator, so that the somatosensory television collimator can be combined with various collimation weapon systems.
Description
Technical field
The present invention relates to a kind of Somatosensory television collimator, belong to photoelectric observation and sight device, relate to technical fields such as photoelectric technology, automatic control technology, inertial navigation attitude measurement technology, digital signal processing.
Background technology
Somatosensory television collimator belongs to helmet-type photoelectronic imaging gunsight on its technology type.Current, helmet-type photoelectricity is taken aim at tool and mainly is divided into airborne pilot and takes aim at tool and individual soldier's tactics photoelectricity alignment clamp with helmet-type photoelectricity.
Airborne pilot takes aim at the guidance control that tool is mainly used in tactical missile with helmet-type photoelectricity, and it is the part of airborne fire control system.Usually, after airborne radar or Airborne IR thermal imaging system discovery target, connect helmet-type and take aim at tool.Helmet-type is taken aim at the mode vectored flight person run-home that tool is generally indicated by quadrant, promptly put the pilot lamp of target place quadrant on the bright display, the pilot carries out the head movement of upper and lower, left and right according to the indication of pilot lamp, makes target can be in the central area that gunsight shows.Simultaneously the airborne fire control system also in by passenger cabin, carry or the helmet on photoelectric sensor, continual detection head position obtains target continuously with respect to head and with respect to the coordinate data of aircraft.
Individual soldier's tactics mainly are to substitute gun aiming device to use with the photoelectricity alignment clamp, and camera system is installed on the firearms, and to substitute traditional gun aiming device, the user observes the aiming visual field by the miniscope that is placed in eye and realizes aimed fire.
In current aiming, tracker under the overall background of synthesization, integrated direction development, because functional module is constantly integrated, on the one hand the sight device function is become stronger day by day, performance constantly strengthens, on the other hand the cost of system is significantly increased, volume increases, that the operation of equipment becomes is complicated unusually, loaded down with trivial details, be difficult to grasp, under this background, improve sighting system man-machine interface, simplifying the operation becomes the emphasis that the designer considers.
Simultaneously, it is all corresponding with specific system platform with the photoelectricity alignment clamp that airborne pilot takes aim at tool, individual soldier's tactics with helmet-type photoelectricity, and specialized characteristic is outstanding on the function, the versatility deficiency, and difficult to other application transplanting.It mainly is to be main means with infrared quadrant Detection Techniques that domestic airborne pilot's helmet-type photoelectricity is taken aim at tool, does not have the Active Imaging function.
Summary of the invention
The present invention has overcome shortcoming of the prior art, a kind of Somatosensory television collimator is provided, has the function that localizer orientation, pitching, roll attitude angle are provided fully to system peripheral, be a kind ofly have versatility, towards the sighting device of general-purpose platform design, has initiatively television imaging function, and its low cost of manufacture, simple to operate.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
A kind of Somatosensory television collimator, comprise localizer, comprise and be used for the measurement operation first sensor of portion or arm attitude angle at hand, be used to measure second sensor of above-mentioned localizer attitude angle, be connected, be used to calculate the difference of above-mentioned two attitude angle and be converted into the required move angle of above-mentioned localizer and then control the synchronous attitude measurement instrument of this localizer rotation with above-mentioned two sensors.
Further, described localizer comprises the turntable and the television camera that is contained on this turntable of Three Degree Of Freedom, and a master control set is used to receive the sight picture of above-mentioned television camera shooting and the resolved data of above-mentioned synchronous attitude measurement instrument, and shows by display device.
Further, this display device is a helmet display device.
Further, also comprise the arm keyboard that is worn on operator arm front end, it can carry out the rotating operation of data typing and localizer.
Further, the described first sensor and second sensor are the attitude reference device.
Further, described first sensor is worn on the helmet or arm of operator.
Compared with prior art, the invention has the beneficial effects as follows:
1) highly versatile: system has own aiming actuating unit, and promptly localizer can combine Somatosensory television collimator with various aiming armament systems; It can use as the aiming opertaing device of individual soldier's Tactical Weapon System, also can be used as reconnaissance equipment and uses; Can be applied to RWS; Can substitute the use such as observing periscope, driver's periscope, aiming periscope of armored vehicle; Can lift-launch and fighter plane or unmanned plane, bear armament systems aiming or investigation (observation) task; Can be used as submarine periscope, fill up the blank of the universal helmet-type electronic sight of China.
2) separate the locus: operator and localizer can wide aparts.Operator can be observed aiming near the target the localizer position at far-end;
3) head arm induction: except that can inductive operation at hand portion's athletic posture, operator can be worn on the attitude reference device (AHRS) in the helmet display device arm or other movable position of health, except that aiming is implemented in the motion that utilizes head, also can utilize position such as arm to point to aiming;
4) simple operation: the Operating Complexity and the intelligibility that have significantly reduced sighting system, operator is observed the image on the helmet display device liquid crystal display, the motion that utilizes self head (or arm) motion control localizer to be consistent, convenient, accurately interested object is observed, aimed at.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is a schematic diagram of the present invention;
Fig. 2 is a system of the present invention composition diagram.
Embodiment
Fig. 1 is the schematic diagram of Somatosensory television collimator of the present invention, utilize first sensor 1 to record operator head (or arm) attitude angle, utilize second sensor 2 to record the sensing optical axis attitude angle of localizer 3, utilize digital signal processor (DSP) to calculate the difference of the two and resolve to be converted into the controlled quentity controlled variable that need impose on localizer 3 motors by controlled quentity controlled variable.
Fig. 2 is a system of the present invention composition diagram.In the present embodiment, the first sensor 1 and second sensor 2 are attitude reference device (AHRS), helmet display device 4 is worn on the head of operator, it comprises a pocket LCD, first sensor 1 is installed on the helmet display device 4, first sensor 1 can also be worn on the arm of operator or on other the movable position of health, wherein, first sensor 1 is used for head (or arm) motion of measuring operation hand, attitude, and these data are sent to synchronous attitude measurement instrument 6, master control set 5 is used for synthetic being presented in the image of resolved data with the sight picture of the television camera shooting of localizer 3 and synchronous attitude measurement instrument 6, and gives the user by pocket liquid crystal display displays.
Attitude measurement instrument 6 adopts digital signal processor (DSP) to receive the first sensor 1 from helmet display device 4, the attitude data of second sensor 2 in the localizer 3 respectively synchronously, find the solution the attitude angle deviation of the television camera aiming optical axis of localizer 3 according to these two groups of data with respect to operator head (or arm), and this deviation is converted to the rotation controlled quentity controlled variable of localizer 3, the rotation of localizer 3 is applied control.
Localizer 3 comprises a cover to have Three-degree of Freedom Rotational Platform, second sensor 2 of three rotating shafts (azimuth axis (Yaw), pitch axis (Pitch), roll axle (Roll)) and is installed in a television camera on the turntable.The rotation controlled quentity controlled variable of attitude measurement instrument 6 transmissions is synchronously amplified through the driving of power supply and servo unit 7, three independently motor rotations on the control Three-degree of Freedom Rotational Platform, by this rotation, the optical axis of the television camera of installing on the turntable and the head of operator (or arm) are pointed to be consistent.
Master control set 5 adopts the ARM controller, is used for system-level control and man-machine interaction.The attitude algorithm data, localizer 3 that master control set 5 receives synchronous attitude measurement instrument 6 are the video image of video camera on TV, and these data are sent to pocket LCD on the helmet display device 4, observes for operator.
Power supply and servo unit 7 are mainly in the system each component units power supply, and the driving amplification etc. of finishing the controlled quentity controlled variable of synchronous attitude measurement instrument 6.
The present invention is not limited to above-mentioned embodiment, if various changes of the present invention or distortion are not broken away from the spirit and scope of the present invention, if these changes and distortion belong within claim of the present invention and the equivalent technologies scope, then the present invention also is intended to comprise these changes and distortion.
Claims (6)
1. Somatosensory television collimator, comprise localizer, it is characterized in that: comprise being used for the measurement operation first sensor of portion or arm attitude angle at hand, be used to measure second sensor of above-mentioned localizer attitude angle, be connected, be used to calculate the difference of above-mentioned two attitude angle and be converted into the required move angle of above-mentioned localizer and then control the synchronous attitude measurement instrument of this localizer rotation with above-mentioned two sensors.
2. Somatosensory television collimator according to claim 1, it is characterized in that: described localizer comprises the turntable and the television camera that is contained on this turntable of Three Degree Of Freedom, one master control set is used to receive the sight picture of above-mentioned television camera shooting and the resolved data of above-mentioned synchronous attitude measurement instrument, and shows by display device.
3. Somatosensory television collimator according to claim 2 is characterized in that: this display device is a helmet display device.
4. Somatosensory television collimator according to claim 1 is characterized in that: also comprise the arm keyboard that is worn on operator arm front end, it can carry out the rotating operation of data typing and localizer.
5. Somatosensory television collimator according to claim 1 is characterized in that: the described first sensor and second sensor are the attitude reference device.
6. Somatosensory television collimator according to claim 1 is characterized in that: described first sensor is worn on the helmet or arm of operator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010228559 CN101916109A (en) | 2010-07-16 | 2010-07-16 | Somatosensory television collimator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010228559 CN101916109A (en) | 2010-07-16 | 2010-07-16 | Somatosensory television collimator |
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| CN101916109A true CN101916109A (en) | 2010-12-15 |
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| CN 201010228559 Pending CN101916109A (en) | 2010-07-16 | 2010-07-16 | Somatosensory television collimator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017084157A1 (en) * | 2015-11-20 | 2017-05-26 | 广州亿航智能技术有限公司 | Apparatus for controlling pointing orientation of photographing device |
| WO2017113648A1 (en) * | 2015-12-31 | 2017-07-06 | 北京臻迪机器人有限公司 | Somatosensory remote controller, somatosensory remote control flight system and method, and remote control method |
| CN111650594A (en) * | 2020-05-08 | 2020-09-11 | 江苏杰瑞科技集团有限责任公司 | Beyond-the-horizon target positioning system and method based on unmanned aerial vehicle |
Citations (6)
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| CN1059411A (en) * | 1990-08-30 | 1992-03-11 | 帕利亚克有限公司 | Sighting device |
| US5200856A (en) * | 1991-02-12 | 1993-04-06 | Intertechnique | Helmet sight including a graticule image with increasing deviation with helmet displacement |
| JP2000225998A (en) * | 1999-02-02 | 2000-08-15 | Shimadzu Corp | Rescue target position indicating device |
| CN201449215U (en) * | 2009-05-22 | 2010-05-05 | 中山市东黎光电仪器有限公司 | Wireless video sighting telescope |
| CN101762262A (en) * | 2009-10-28 | 2010-06-30 | 安徽华东光电技术研究所 | Pose measuring method in head tracing system |
| CN201754246U (en) * | 2010-07-16 | 2011-03-02 | 王靖微 | Somatosensory TV collimator |
-
2010
- 2010-07-16 CN CN 201010228559 patent/CN101916109A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1059411A (en) * | 1990-08-30 | 1992-03-11 | 帕利亚克有限公司 | Sighting device |
| US5200856A (en) * | 1991-02-12 | 1993-04-06 | Intertechnique | Helmet sight including a graticule image with increasing deviation with helmet displacement |
| JP2000225998A (en) * | 1999-02-02 | 2000-08-15 | Shimadzu Corp | Rescue target position indicating device |
| CN201449215U (en) * | 2009-05-22 | 2010-05-05 | 中山市东黎光电仪器有限公司 | Wireless video sighting telescope |
| CN101762262A (en) * | 2009-10-28 | 2010-06-30 | 安徽华东光电技术研究所 | Pose measuring method in head tracing system |
| CN201754246U (en) * | 2010-07-16 | 2011-03-02 | 王靖微 | Somatosensory TV collimator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017084157A1 (en) * | 2015-11-20 | 2017-05-26 | 广州亿航智能技术有限公司 | Apparatus for controlling pointing orientation of photographing device |
| WO2017113648A1 (en) * | 2015-12-31 | 2017-07-06 | 北京臻迪机器人有限公司 | Somatosensory remote controller, somatosensory remote control flight system and method, and remote control method |
| CN111650594A (en) * | 2020-05-08 | 2020-09-11 | 江苏杰瑞科技集团有限责任公司 | Beyond-the-horizon target positioning system and method based on unmanned aerial vehicle |
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Application publication date: 20101215 |