CN106075915B - A kind of unmanned plane aerial fight device can receive multiple directions shooting laser beam - Google Patents
A kind of unmanned plane aerial fight device can receive multiple directions shooting laser beam Download PDFInfo
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- CN106075915B CN106075915B CN201610558054.9A CN201610558054A CN106075915B CN 106075915 B CN106075915 B CN 106075915B CN 201610558054 A CN201610558054 A CN 201610558054A CN 106075915 B CN106075915 B CN 106075915B
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- unmanned plane
- laser
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- shooting
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/837—Shooting of targets
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/50—Controlling the output signals based on the game progress
- A63F13/53—Controlling the output signals based on the game progress involving additional visual information provided to the game scene, e.g. by overlay to simulate a head-up display [HUD] or displaying a laser sight in a shooting game
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/04—Building blocks, strips, or similar building parts
Abstract
The invention discloses a kind of unmanned plane aerial fight devices that can receive multiple directions shooting laser beam, and device includes unmanned plane and ground remote control equipment.Laser pick-off inductor on unmanned plane of the present invention is that omnidirectional is received, alternatively, the laser pick-off inductor on unmanned plane is that part direction is received；Laser pick-off inductor on unmanned plane can receive the laser beam that multiple directions launch；Laser pick-off inductor on unmanned plane is that one or more can receive the laser beam that another unmanned plane launches when guaranteeing unmanned plane with any posture flight；Laser pick-off inductor has filtering function, is only capable of receiving the laser beam of specific characteristic；Display device or operating device in unmanned aerial vehicle equipment are that virtual reality (VR) shows the helmet, and the flight or fire of unmanned plane are controlled by the VR helmet.
Description
Technical field
The present invention relates to a kind of unmanned plane aerial fight devices that can receive multiple directions shooting laser beam.
Background technique
UAV abbreviation unmanned plane is operated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Unmanned plane includes that unmanned plane monitoring, unmanned plane cruise and unmanned plane transport goods and materials etc. in the application of military field.
With the continuous maturation of unmanned air vehicle technique, a large amount of civilian unmanned plane puts into production, and is mainly used for take photo by plane Deng fields.
Existing aircraft battle game is virtual on computer or mobile phone.And unmanned plane is in true three-dimension space
Flight, the operation and control of unmanned plane feel more demanding to the three-dimensional space motion of operator, need to operate unmanned plane
Personnel are trained.The battle between unmanned plane in true three-dimension space is a very interesting Xiang Yundong.Even if there is nobody
Machine battle, also there is no the technologies for being combined unmanned plane and virtual reality device.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind can receive multiple directions shooting laser beam
Unmanned plane aerial fight device.
The purpose of the present invention is achieved through the following technical solutions: one kind can receive multiple directions shooting laser beam
Unmanned plane aerial fight device, including unmanned plane and ground remote control equipment are provided with laser pick-off sense on the unmanned plane
Device is answered, the laser pick-off inductor is omnidirectional's reception or the received laser pick-off inductor in part direction.
The laser pick-off inductor can receive the laser beam that multiple directions launch.
The laser pick-off inductor has N number of, is respectively arranged at the N number of direction of unmanned plane, for guaranteeing unmanned plane to appoint
The laser beam that another unmanned plane launches can be received when what posture flight；N is more than or equal to 1.
The laser pick-off inductor is provided with filtering module, and the filtering module is for making laser pick-off inductor
It is only capable of receiving the laser beam of specific characteristic.
The ground remote control equipment includes that a virtual reality shows the helmet, shows that the helmet controls nothing by virtual reality
Man-machine flight or fire.
Often hit by the unmanned plane of other side it is primary after, the unmanned plane of oneself include flying speed, turning speed, penetrate
Hit weakening by certain rule for the unmanned plane performance including performance.
The unmanned plane further includes a countermeasure set, when unmanned plane operator feels that other side's unmanned plane may be hit
Oneself when, the unmanned plane that draws oneself up opens countermeasure set.
On the video of unmanned plane shooting, it is superimposed with aiming visual information, shows the accuracy of run-home；It is also used to sharp
It is calibrated in the direction of optical transmitting set.
Out producer or user can the shooting accuracy to the laser emitter of unmanned plane calibrate.
The unmanned plane and ground remote control equipment is respectively arranged with storage unit, includes unmanned plane battle for storing
Track, shooting time point, unmanned plane flight attitude including the data analyzed can be exported after battle.
The beneficial effects of the present invention are:
(1) unmanned plane and virtual reality device are combined by the present invention, by the posture of virtual reality device to nobody
Machine carries out gesture stability, and carries out virtual reality to camera data by virtual reality device and show, allows user true
Entity tests the feeling of aerial fight；
(2) the laser pick-off inductor on unmanned plane can receive the laser beam that multiple directions launch, Huo Zhewu
Laser pick-off inductor on man-machine is one or more, when guaranteeing unmanned plane with any posture flight, can be received another
The laser beam that one unmanned plane launches；The prior art is avoided to hide by what rotation was shot at；
(3) laser pick-off inductor has filtering function, is only capable of receiving the laser beam of specific characteristic；
(4) after often being hit by other side's unmanned plane once, flying speed, turning speed, the shooting property of oneself unmanned plane
The unmanned planes performances such as energy are weakened by certain rule；
(5) when unmanned plane operator feels that other side's unmanned plane may hit oneself, the unmanned plane controlled self is opened
Countermeasure set.For example, blanket bullet etc..
(6) on the video of unmanned plane shooting, it is superimposed with aiming visual information, shows the accuracy of run-home, simultaneously also
Direction for the laser emitter to unmanned plane carries out self calibration；Producer or user out, can be to the essence of unmanned plane laser shooting
Exactness is calibrated；
(7) track of unmanned plane battle, shooting time point, unmanned plane the data records such as flight attitude under, battle terminates
Afterwards, data are exported, post analysis is carried out, improve a kind of method of the technical ability of unmanned plane battle.
Detailed description of the invention
Fig. 1 is unmanned plane circuit block diagram of the present invention；
Fig. 2 be include more laser pick-off processing units laser pick-off inductive module schematic diagram；
Fig. 3 is ground remote control circuitry block diagram of the present invention；
In figure, 1- laser emitter, 2- laser emitter power supply unit, 3- laser alignment fine tuning controller, 4- laser hair
Emitter emission switch, 5- camera, 6- laser pick-off inductor, the first computing unit of 7-, 8- control circuit, 9- correct unit,
10- uplink remote control reception channel, 11- first antenna, the second antenna of 12-, 13- downlink remote-transmitter channel, 14- Downstream video hair
Penetrate channel, 15- flight control units, the first storage unit of 16-, the first transmit-receive switch of 17-, 18- laser pick-off sensing unit,
19- filter, 20- amplifier, 21- combiner, 22- analog-digital converter, 23- third antenna, the second transmit-receive switch of 24-, on 25-
Row remote-transmitter channel, the second storage unit of 26-, 27- downlink remote control reception channel, the 4th antenna of 28-, 29- interface unit,
The second computing unit of 30-, 31- Downstream video receiving channel, 32- virtual implementing helmet.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam, including nobody
Machine and ground remote control equipment.
In the present embodiment, the unmanned plane includes that first antenna 11, the first transmit-receive switch 17, uplink remote control reception are logical
Road 10, downlink remote-transmitter channel 13, the first computing unit 7, control circuit 8, laser transmitter projects switch 4, Laser emission
Device 1, laser emitter power supply unit 2, laser pick-off inductive module, camera 5, Downstream video transmission channel 14, the second antenna
12, unit 9 is corrected, laser alignment finely tunes controller 3, flight control units 15, the first storage unit 16；The first antenna
The remote signal received is sent to the first transmit-receive switch 17 by 11, and the remote signal output end of the first transmit-receive switch 17 passes through upper
Row remote control reception channel 10 is connect with the first computing unit 7, the Laser emission control output end of the first computing unit 7 and control electricity
Road 8 connects, the output end and laser transmitter projects switch 4 of control circuit 8, laser transmitter projects switch 4, laser emitter
1 and laser emitter power supply unit 2 formed closed loop；The output end of the laser pick-off inductive module and first calculates list
Member 7 connects, and the calculated result output end of the first computing unit 7 is connected by downlink remote-transmitter channel 13 and the first transmit-receive switch 17
It connects, the data output end of the first transmit-receive switch 17 is connect with first antenna 11；The output end of the camera 5 and first calculates
Unit 7 connects, and the video output terminals of the first computing unit 7 are connect by Downstream video transmission channel 14 with the second antenna 12；Institute
The first computing unit 7 stated is received according to uplink remote control reception channel 10, downlink remote-transmitter channel 13 and the data of transmitting are logical
The direction of overcorrect unit 9 and laser alignment fine tuning 3 adjustment laser emitter 1 of controller；The flight control units 15 connect
The flight control data that first computing unit 7 is sent, controls the flight attitude of unmanned plane；First storage unit
16 for storing the data including the track of unmanned plane, shooting time point and flight attitude；
The ground remote control equipment include third antenna 23, the second transmit-receive switch 24, uplink remote-transmitter channel 25, under
Row remote control reception channel 27, computing unit, the second storage unit 26, Downstream video receiving channel 31, the 4th antenna 28 and virtual
The real helmet 32；The data-signal that the third antenna 23 will receive is sent to the second transmit-receive switch 24, and the second transmitting-receiving is opened
The data output end of pass 24 is connect by downlink remote control reception channel 27 with computing unit；The remote signal of the computing unit
Output end is connect by uplink remote-transmitter channel 25 with the second transmit-receive switch 24, the remote signal output of the second transmit-receive switch 24
End is connect with third antenna 23；4th antenna 28 receives the vision signal sent from unmanned plane, and is received by Downstream video
Channel 31 is sent to the second computing unit 30；Second computing unit 30 respectively with the second storage unit 26 and virtual implementing helmet 32
Two-phase connection；The virtual implementing helmet 32 includes unmanned aerial vehicle (UAV) control module, display unit and shooting criterions module, described
Unmanned aerial vehicle (UAV) control module generates no-manned machine distant control signal according to the mobile posture of virtual implementing helmet 32, and the display unit is used
The vision signal of downlink after virtualizing computing unit carries out real-time display, and the shooting criterions module is penetrated for generating
Hit signal.
On one frame unmanned plane, there are one or more laser emitters 1, emits laser on the direction to facilitate each selection.
One of laser emitter 1 can be selected to emit laser by the control on ground.An example: unmanned plane it is left and right, preceding,
Afterwards, upper respectively to have a laser emitter 1.
The laser pick-off inductive module includes the laser pick-off processing for the N number of parallel connection for being set to the N number of direction of unmanned plane
Unit, 1 N close 1 combiner 21 and 1 analog-digital converter 22, and the output end of N number of laser pick-off unit closes 1 combiner with N respectively
21 N number of input terminal connection, the output end that N closes 1 combiner 21 are connect with analog-digital converter 22, the output end of analog-digital converter 22
It is connect with the first computing unit 7.The purpose of this design is that facilitating the laser irradiation of either direction, can be received.One
Example: upper respectively there are a laser pick-off component in the left, right, front and rear of unmanned plane.
The laser pick-off processing unit includes the laser pick-off inductor 6 being sequentially connected in series, for filtering out non-designated spy
The filter 19 and amplifier 20 of reference number, the output end of amplifier 20 close 1 combiner 21 with N and connect.Filter 19 has spy
Identification function is levied, the only signal of specific characteristic could pass through.
Multiple laser pick-off inductors 6 form laser pick-off sensing unit 18, earth.
Laser pick-off inductor 6 in the laser pick-off inductive module is omnidirectional's laser pick-off inductor 6.Laser connects
Receiving inductor 6, there are many forms.One such form is: it is spherical, to facilitate other side's unmanned plane from the aiming in all directions.
The ground remote control equipment further includes an interface unit 29, the interface unit 29 and the second computing unit
30 connections.The various connection equipment needed for unmanned plane battle need.The export etc. of update and data including program.
Display unit superposition shooting on the picture of unmanned plane video camera shooting video aims at unit；Described penetrates
It hits and aims at unit for assisting using aiming and for assisting correction unit 9, the laser alignment fine tuning controller 3 of unmanned plane right
The direction of laser emitter 1 carries out adjustment.This example for aiming at information is: one or more circle or cross etc..Pass through school
Positive unit 99 etc., corrects entire unmanned plane, when being targeted to target point, shooting is accurate.
The mode with the video superimposed of unmanned plane shooting is aimed at, a virtual implementing helmet 32 is can be and one non-virtual
The real helmet 32 and even.
On the video of unmanned plane shooting, it is superimposed with aiming visual information, shows the accuracy of run-home.
Producer or user out can calibrate the accuracy of unmanned plane laser shooting.
The unmanned plane further includes a countermeasure set, and the countermeasure set is connect with the first computing unit 7；It is described
Virtual implementing helmet 32 further include an interference control module.When unmanned plane operator feels that other side's unmanned plane may be hit
Oneself when, control unmanned plane self and open countermeasure set.For example, blanket bullet etc..
The track of unmanned plane battle, shooting time point, unmanned plane the data such as flight attitude, be recorded in the first storage unit
16 or second in storage unit 26.After battle, related data is exported, carries out post analysis, iteration improves, to improve unmanned plane
The technical ability of battle.
First computing unit 7 and the second computing unit 30, can be central computation unit (CPU), FPGA, DSP etc..
Flight control, shooting are completed by two independent equipment.
The method of the device, including unmanned aerial vehicle (UAV) control step, data reception step, 1 self calibration of laser emitter step
Suddenly；
The unmanned aerial vehicle (UAV) control step includes one or more below:
(1) UAV Attitude control: the second computing unit 30 receive user virtual implementing helmet 32 is moved or
The variation of person's posture, and attitude data is sent out by uplink remote-transmitter channel 25, the second transmit-receive switch 24 and third antenna 23
It send to unmanned plane；The first antenna 11 of unmanned plane passes through 17 uplink remote control reception channel 10 of the first transmit-receive switch after receiving signal
It is sent to the first computing unit 7；First computing unit 7 is sent to flight control units 15 after handling attitude data, flies
Row control unit 15 controls UAV Attitude；
(2) unmanned plane shooting criterions: the second computing unit 30 receives user to the shooting criterions of virtual implementing helmet 32
Shooting criterions data are passed through uplink remote-transmitter channel 25, the second transmit-receive switch 24 and the after processing by the control signal of module
Triantennary 23 is sent to unmanned plane；The first antenna 11 of unmanned plane is remotely controlled after receiving signal by 17 uplink of the first transmit-receive switch
Receiving channel 10 is sent to the first computing unit 7；First computing unit 7 is sent to control after handling shooting criterions data
Circuit 8 forms closed loop with laser emitter 1 and laser emitter power supply unit 2 after the connection of control circuit 8, controls Laser emission
Device 1 shoots laser；
The data reception step includes one or more below:
(1) laser hits data receiver: laser pick-off inductive module receives laser signal from multiple directions, gives first and connects
It receives unit to be handled, calculated result passes sequentially through downlink remote-transmitter channel 13, the first transmit-receive switch 17 and first antenna 11
It is sent to ground remote control equipment；The third antenna 23 of ground remote control equipment passes through the second transmit-receive switch 24 under after receiving signal
Row remote control reception channel 27 is sent to the second computing unit 30, and the second computing unit 30 is sent to virtually after handling signal
The real helmet 32 is shown；
(2) virtual reality data receives: camera 5 shoots the realtime image data of unmanned plane, and is sent to the
Treated video data is passed through Downstream video transmission channel 14 and the second antenna by one computing unit 7, the first computing unit 7
12 are sent to ground remote control equipment；4th antenna 28 of ground remote control equipment is received after receiving vision signal by Downstream video
Channel 31 is sent to the second computing unit 30；Second computing unit 30 is sent to void after carrying out virtual reality processing to video data
The quasi- reality helmet 32, the display unit of virtual implementing helmet 32 are shown；
The 1 self calibration step of laser emitter include: the first computing unit 7 according to uplink remote control reception channel 10,
Downlink remote-transmitter channel 13 receives and the data of transmitting pass through correction unit 9 and laser alignment fine tuning 3 adjustment laser of controller
The direction of transmitter 1.
The method further includes a data replay procedure: after battle terminates, by unmanned plane storage data or
The data of person's ground remote control equipment storage play back, and the equipment of playback includes that virtual implementing helmet 32 or external display are set
It is standby；The data of the storage include the flight attitude of the track of unmanned plane battle, shooting time point and unmanned plane.
The method further includes one and hits impaired performance step: after unmanned plane is by laser hits, the packet of unmanned plane
The performance including flying speed, turning speed, shooting performance is included to weaken by certain rule.
Claims (10)
1. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam, including unmanned plane and ground remote control
Equipment, it is characterised in that: be provided on the unmanned plane laser pick-off inductor (18), the laser pick-off inductor
It (18) is omnidirectional's reception or the received laser pick-off inductor (18) in part direction；
The unmanned plane further includes first antenna (11), the first transmit-receive switch (17), uplink remote control reception channel (10), downlink
Remote-transmitter channel (13), the first computing unit (7), control circuit (8), laser transmitter projects switch (4), laser emitter
(1), laser emitter power supply unit (2), laser pick-off inductive module, camera (5), Downstream video transmission channel (14),
Two antennas (12), correction unit (9), laser alignment finely tune controller (3), flight control units (15), the first storage unit
(16)；The remote signal that the first antenna (11) will receive is sent to the first transmit-receive switch (17), the first transmit-receive switch
(17) remote signal output end is connect by uplink remote control reception channel (10) with the first computing unit (7), and first calculates list
The Laser emission control output end of first (7) is connect with control circuit (8), and the output end and laser emitter of control circuit (8) are sent out
Switch (4) connection is penetrated, laser transmitter projects switch (4), laser emitter (1) and laser emitter power supply unit (2) formation
Closed loop；The output end of the laser pick-off inductive module is connect with the first computing unit (7), the first computing unit (7)
Calculated result output end connect with the first transmit-receive switch (17) by downlink remote-transmitter channel (13), the first transmit-receive switch
(17) data output end is connect with first antenna (11)；The output end and the first computing unit (7) of the camera (5) are even
It connects, the video output terminals of the first computing unit (7) are connect by Downstream video transmission channel (14) with the second antenna (12)；It is described
The first computing unit (7) according to uplink remote control reception channel (10), downlink remote-transmitter channel (13) receive and transmitting number
According to the direction by correction unit (9) and laser alignment fine tuning controller (3) adjustment laser emitter (1)；The flight control
Unit (15) processed receives the flight control data that the first computing unit (7) are sent, and controls the flight attitude of unmanned plane；Institute
The first storage unit (16) stated is used to store the data including the track of unmanned plane, shooting time point and flight attitude.
2. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the laser pick-off inductor (18) can receive the laser beam that multiple directions launch.
3. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the laser pick-off inductor (18) has N number of, it is respectively arranged at the N number of direction of unmanned plane, for guaranteeing nobody
Machine is can receive the laser beam that another unmanned plane launches when any posture flight；N is more than or equal to 1.
4. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the laser pick-off inductor (18) is provided with filtering module, the filtering module is for connecing laser
Inductor (18) are received to be only capable of receiving the laser beam of specific characteristic.
5. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the ground remote control equipment includes a virtual implementing helmet (32), controlled by virtual implementing helmet (32)
The flight or fire of unmanned plane processed.
6. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the unmanned plane of oneself includes flying speed, turning speed after often being hit by the unmanned plane of other side once
Unmanned plane performance including degree, shooting performance is weakened by certain rule.
7. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the unmanned plane further includes a countermeasure set, when unmanned plane operator feels that other side's unmanned plane may
When hitting oneself, the unmanned plane to draw oneself up opens countermeasure set.
8. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: being superimposed with aiming visual information on the video of unmanned plane shooting, showing the accuracy of run-home；It is also used to
The direction of laser emitter (1) is calibrated.
9. a kind of unmanned plane aerial fight dress that can receive multiple directions shooting laser beam according to claim 1 or 8
Set, it is characterised in that: go out producer or user can the shooting accuracy of laser emitter (1) to unmanned plane calibrate.
10. a kind of unmanned plane aerial fight device that can receive multiple directions shooting laser beam according to claim 1,
It is characterized by: the unmanned plane and ground remote control equipment is respectively arranged with storage unit (16,26), it include nothing for storing
The track of man-machine battle, shooting time point, unmanned plane flight attitude including can export and analyzed after battle
Data.
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| CN107820706A (en) * | 2016-12-30 | 2018-03-20 | 深圳市柔宇科技有限公司 | A kind of implementation method at augmented reality interface and wear display device |
| CN106940149B (en) * | 2017-03-30 | 2018-09-25 | 林星森 | A kind of figure layer fusion method applied to the weapon-aiming system under VR scenes |
| CN106940899B (en) * | 2017-03-30 | 2020-06-05 | 林星森 | Layer fusion method applied to weapon aiming system in AR scene |
| CN107050843A (en) * | 2017-04-14 | 2017-08-18 | 广州市智专信息科技有限公司 | A kind of unmanned plane method for gaming and corresponding unmanned plane and laser gun |
| CN107551539A (en) * | 2017-08-29 | 2018-01-09 | 安徽瓦尔特机械贸易有限公司 | A kind of aerial fight analog machine and system |
| CN110645827A (en) * | 2019-08-21 | 2020-01-03 | 北京华如科技股份有限公司 | Scattering type omnidirectional laser signal receiving device and harness |
| CN117563239A (en) * | 2024-01-16 | 2024-02-20 | 天津理工大学 | Laser simulation intelligent network allies oneself with collaborative fight system of unmanned aerial vehicle cluster |
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